Siemens SINAMICS S120 Parts list manual

Function Manual
Drive functions
Edition www.siemens.com/drives 06/2019
S120
SINAMICS

SINAMICS
S120
Drive functions
Function Manual
Valid as of:
Firmware version 5.2
06/2019
6SL3097-5AB00-0BP2
Introduction 1
Fundamental safety
instructions 2
Infeed 3
Extended setpoint channel 4
Servo control 5
Vector control 6
U/f control (vector control) 7
Basic functions 8
Function modules 9
Monitoring functions and
protective functions 10
Safety Integrated Basic
Functions 11
Applications 12
Web server 13
Basic information about the
drive system 14
Appendix A

Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified
personnel are those who, based on their training and experience, are capable of identifying risks and avoiding
potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this
publication is reviewed regularly and any necessary corrections are included in subsequent editions.
Siemens AG
Digital Industries
Postfach 48 48
90026 NÜRNBERG
GERMANY
Document order number: 6SL3097-5AB00-0BP2
Ⓟ 07/2019 Subject to change
Copyright © Siemens AG 2004 - 2019.
All rights reserved

Table of contents
1 Introduction.................................................................................................................................................17
1.1 The SINAMICS converter family ............................................................................................17
1.2 General information about SINAMICS documentation...........................................................18
1.3 Usage phases and their documents/tools (as an example) ..................................................20
1.4 Where can the various topics be found?................................................................................21
1.5 Training and support ..............................................................................................................22
1.6 Using OpenSSL .....................................................................................................................23
1.7 General Data Protection Regulation ......................................................................................24
2 Fundamental safety instructions.................................................................................................................25
2.1 General safety instructions.....................................................................................................25
2.2 Warranty and liability for application examples ......................................................................26
2.3 Industrial security ...................................................................................................................27
3 Infeed..........................................................................................................................................................29
3.1 Active Infeed ..........................................................................................................................30
3.1.1 Active Infeed closed-loop control booksize ............................................................................31
3.1.2 Active Infeed closed-loop control chassis ..............................................................................33
3.1.3 Line supply and DC link identification ....................................................................................35
3.1.4 Active Infeed open-loop control..............................................................................................36
3.1.5 Reactive current control .........................................................................................................39
3.1.6 Harmonics controller ..............................................................................................................39
3.1.7 Parameterizable bandstop filters for Active Infeed Controls in chassis format ......................40
3.1.8 Function diagrams and parameters .......................................................................................41
3.2 Basic Infeed ...........................................................................................................................43
3.2.1 Basic Infeed open-loop control...............................................................................................45
3.2.2 Function diagrams and parameters .......................................................................................47
3.3 Smart Infeed...........................................................................................................................49
3.3.1 Line supply and DC link identification routine for Smart Infeed Booksize ..............................51
3.3.2 Extended Smart Mode ...........................................................................................................52
3.3.3 Smart Infeed open-loop control..............................................................................................52
3.3.4 Function diagrams and parameters .......................................................................................55
3.4 Line contactor control.............................................................................................................56
3.5 Pre-charging and bypass contactor Chassis and Chassis-2..................................................58
4 Extended setpoint channel .........................................................................................................................59
4.1 Motorized potentiometer ........................................................................................................62
4.2 Fixed setpoints .......................................................................................................................64
4.3 Speed setpoint .......................................................................................................................65
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4.3.1 Main/supplementary setpoint and setpoint scaling ................................................................65
4.3.2 Jogging...................................................................................................................................66
4.3.3 Direction of rotation limiting and direction reversal ................................................................70
4.4 Speed limiting.........................................................................................................................71
4.5 Ramp-function generator .......................................................................................................73
4.5.1 Ramp-function generator tracking..........................................................................................76
4.5.2 Signal overview, function diagrams and important parameters ............................................78
5 Servo control ..............................................................................................................................................81
5.1 Comparison between servo control and vector control ..........................................................82
5.2 Influencing calculation of the open-loop control and closed-loop control parameters............86
5.3 Setpoint addition ....................................................................................................................87
5.4 Speed setpoint filter ...............................................................................................................89
5.5 Speed controller .....................................................................................................................91
5.5.1 Speed controller adaptation ...................................................................................................91
5.5.2 Torque-controlled operation ...................................................................................................93
5.6 Torque setpoint limitation .......................................................................................................96
5.7 Current setpoint filter............................................................................................................100
5.8 Current controller .................................................................................................................107
5.9 Autotuning ............................................................................................................................109
5.9.1 One Button Tuning ...............................................................................................................109
5.9.2 Online tuning ........................................................................................................................114
5.9.2.1 "Drive-based" online tuning..................................................................................................114
5.9.2.2 Adaptation of the control parameters ...................................................................................118
5.9.2.3 Problem handling .................................................................................................................119
5.9.3 Current setpoint filter adaptation ..........................................................................................120
5.9.3.1 Stability of the speed control loop ........................................................................................124
5.9.3.2 Lower and upper limit frequencies .......................................................................................124
5.9.3.3 Remedy for insufficient adaptation.......................................................................................125
5.9.4 Function diagrams and parameters .....................................................................................125
5.10 Notes about the electronic motor model ..............................................................................127
5.11 Increased stall power at the voltage limit .............................................................................128
5.12 U/f control.............................................................................................................................131
5.13 Optimizing the current and speed controller ........................................................................135
5.14 Encoderless operation .........................................................................................................137
5.15 Motor data identification .......................................................................................................142
5.15.1 Motor data identification for induction motors ......................................................................145
5.15.2 Motor data identification for synchronous motors ................................................................147
5.16 Pole position identification....................................................................................................150
5.16.1 Supplementary conditions....................................................................................................151
5.16.2 Important parameters (process-dependent).........................................................................155
5.16.3 Setting of the elasticity-based pole position identification ....................................................156
5.16.4 Commutation angle offset commissioning support (p1990) .................................................165
5.16.5 Overview of important parameters (see SINAMICS S120/S150 List Manual) .....................165
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5.17 Vdc control ...........................................................................................................................167
5.18 Dynamic Servo Control (DSC) .............................................................................................171
5.19 Travel to fixed stop...............................................................................................................176
5.20 Vertical axes.........................................................................................................................181
5.21 Variable signaling function ...................................................................................................182
5.22 Central probe evaluation ......................................................................................................184
5.22.1 Examples .............................................................................................................................190
5.22.2 Function diagrams and parameters .....................................................................................191
5.23 Voltage precontrol ................................................................................................................193
5.23.1 Function diagrams and parameters .....................................................................................201
6 Vector control ...........................................................................................................................................203
6.1 Technology application (application) (p0500) ......................................................................208
6.2 Vector control without encoder (SLVC)................................................................................209
6.2.1 Three-phase induction motor ...............................................................................................209
6.2.2 Permanent-magnet synchronous motors .............................................................................213
6.2.3 Synchronous reluctance motors...........................................................................................215
6.3 Vector control with encoder..................................................................................................218
6.4 Speed controller ...................................................................................................................219
6.4.1 Speed controller adaptation .................................................................................................221
6.4.2 Speed controller precontrol and reference model ................................................................224
6.5 Droop ...................................................................................................................................228
6.6 Open actual speed value .....................................................................................................230
6.7 Closed-loop torque control ...................................................................................................232
6.8 Torque limiting......................................................................................................................235
6.9 Vdc control ...........................................................................................................................237
6.9.1 Function diagrams and parameters .....................................................................................240
6.10 Current setpoint filter............................................................................................................241
6.11 Speed actual value filter.......................................................................................................242
6.12 Current controller adaptation................................................................................................243
6.13 Motor data identification and rotating measurement............................................................244
6.13.1 Overview ..............................................................................................................................244
6.13.2 Motor data identification .......................................................................................................245
6.13.3 Rotating measurement.........................................................................................................248
6.13.4 Shortened rotating measurement.........................................................................................250
6.13.5 Overview of important parameters .......................................................................................251
6.14 Pole position identification....................................................................................................253
6.14.1 Operation without an encoder ..............................................................................................253
6.14.2 Operation with encoder ........................................................................................................254
6.14.3 Messages and parameters...................................................................................................256
6.15 Efficiency optimization..........................................................................................................258
6.15.1 Efficiency optimization for induction motors .........................................................................258
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6.15.2 Efficiency optimization for reluctance motors.......................................................................260
6.15.3 Function diagrams and parameters .....................................................................................261
6.16 Fast magnetization for induction motors ..............................................................................262
6.17 Flying restart ........................................................................................................................266
6.17.1 Fast flying restart..................................................................................................................268
6.17.2 Flying restart for a synchronous reluctance motor ...............................................................270
6.17.3 Messages and parameters...................................................................................................271
6.18 Synchronization....................................................................................................................272
6.19 Voltage Sensing Module ......................................................................................................274
6.20 Simulation mode ..................................................................................................................276
6.21 Redundancy mode power units............................................................................................277
6.22 Bypass .................................................................................................................................278
6.22.1 Bypass with synchronization with overlap............................................................................280
6.22.2 Bypass with synchronization without overlap.......................................................................283
6.22.3 Bypass without synchronization ...........................................................................................284
6.22.4 Function diagrams and parameters .....................................................................................286
6.23 Asynchronous pulse frequency ............................................................................................288
7 U/f control (vector control) ........................................................................................................................291
7.1 Technology application (application) (p0500) ......................................................................295
7.2 Voltage boost .......................................................................................................................296
7.3 Slip compensation................................................................................................................300
7.4 Resonance damping ............................................................................................................301
7.5 Vdc control ...........................................................................................................................302
8 Basic functions .........................................................................................................................................307
8.1 Switching over units .............................................................................................................307
8.2 Reference parameters/scaling .............................................................................................309
8.3 Checking for a short-circuit/ground fault at a motor .............................................................313
8.4 Modular machine concept ....................................................................................................314
8.5 Sine-wave filter.....................................................................................................................317
8.6 Motor reactors ......................................................................................................................319
8.7 dv/dt filter plus Voltage Peak Limiter....................................................................................321
8.8 dv/dt filter compact plus Voltage Peak Limiter .....................................................................323
8.9 Pulse frequency wobbling ....................................................................................................325
8.10 Direction reversal without changing the setpoint..................................................................326
8.11 Automatic restart ..................................................................................................................328
8.12 Armature short-circuit...........................................................................................................331
8.12.1 Internal armature short-circuit braking .................................................................................332
8.12.2 External armature short-circuit braking ................................................................................333
8.12.3 Internal voltage protection....................................................................................................336
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8.12.4 Configuring a fault reaction ..................................................................................................337
8.12.5 Function diagrams and parameters .....................................................................................337
8.13 DC braking ...........................................................................................................................339
8.13.1 Configuring the function via parameters ..............................................................................339
8.13.2 Activating a function via fault reaction..................................................................................341
8.13.3 Activating a function via OFF fault responses......................................................................341
8.13.4 Configuring a function as a response to a speed threshold .................................................341
8.13.5 Internal voltage protection....................................................................................................342
8.13.6 Configuring a fault reaction ..................................................................................................343
8.13.7 Function diagrams and parameters .....................................................................................344
8.14 Motor Module as a Braking Module .....................................................................................345
8.14.1 Configuring resistors ............................................................................................................346
8.14.2 Activating the "Braking Module" function .............................................................................349
8.14.3 Protective equipment ...........................................................................................................352
8.14.4 Overview of the important parameters .................................................................................352
8.15 OFF3 torque limits................................................................................................................354
8.16 Technology function friction characteristic ...........................................................................355
8.17 Simple brake control ............................................................................................................357
8.18 System runtime / operating hours counter ...........................................................................360
8.19 Energy-saving display ..........................................................................................................362
8.20 Encoder diagnostics.............................................................................................................365
8.20.1 Datalogger............................................................................................................................365
8.20.2 Encoder dirty signal..............................................................................................................366
8.20.3 Early encoder failure detection.............................................................................................366
8.20.4 Function diagrams and parameters .....................................................................................367
8.21 Tolerant encoder monitoring ................................................................................................368
8.21.1 Encoder track monitoring .....................................................................................................369
8.21.2 Zero mark tolerance .............................................................................................................370
8.21.3 Freezing the speed raw value ..............................................................................................371
8.21.4 Adjustable hardware filter.....................................................................................................371
8.21.5 Edge evaluation of the zero mark ........................................................................................372
8.21.6 Pole position adaptation.......................................................................................................373
8.21.7 Pulse number correction for faults .......................................................................................374
8.21.8 "Tolerance band pulse number" monitoring .........................................................................375
8.21.9 Signal edge evaluation (1x, 4x)............................................................................................376
8.21.10 Setting the measuring time to evaluate speed "0" ...............................................................377
8.21.11 Sliding averaging of the speed actual value.........................................................................377
8.21.12 Troubleshooting ...................................................................................................................378
8.21.13 Tolerance window and correction ........................................................................................381
8.21.14 Dependencies ......................................................................................................................382
8.21.15 Overview of important parameters .......................................................................................384
8.22 Parking axis / parking encoder.............................................................................................385
8.23 Position tracking...................................................................................................................388
8.23.1 Position tracking with a measuring gearbox.........................................................................389
8.24 Encoder as drive object........................................................................................................393
8.25 Terminal Module 41 .............................................................................................................396
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8.25.1 SIMOTION mode .................................................................................................................396
8.25.2 SINAMICS mode..................................................................................................................397
8.25.3 Zero mark emulation (SINAMICS mode) .............................................................................399
8.25.4 Synchronization of the zero marks (SINAMICS mode) ........................................................402
8.25.5 Limit frequencies for TM41...................................................................................................403
8.25.6 Example in the SINAMICS mode .........................................................................................404
8.25.7 Function diagrams and parameters .....................................................................................405
8.26 Upgrade the firmware and project........................................................................................407
8.26.1 Updating the firmware and STARTER project data using the web server ...........................408
8.26.2 Downgrade lock ...................................................................................................................409
8.26.3 Protection against power failure while updating via the Web server....................................409
8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units................................411
8.27.1 Configuring the essential service mode ...............................................................................414
8.27.2 Function diagrams and parameters .....................................................................................415
8.28 Pulse/direction interface.......................................................................................................416
8.29 Derating function for chassis units .......................................................................................418
8.30 Parallel connection of motors...............................................................................................419
9 Function modules .....................................................................................................................................423
9.1 Technology controller...........................................................................................................425
9.2 Extended monitoring functions.............................................................................................430
9.3 Extended Brake Control .......................................................................................................432
9.4 Braking Module external ......................................................................................................438
9.5 Cooling unit ..........................................................................................................................440
9.6 Extended torque control (kT estimator, servo) .....................................................................442
9.7 Position control.....................................................................................................................445
9.7.1 Position actual value conditioning ........................................................................................445
9.7.1.1 Indexed actual value acquisition ..........................................................................................449
9.7.1.2 Load gear position tracking ..................................................................................................450
9.7.1.3 Function diagrams and parameters .....................................................................................456
9.7.2 Position controller.................................................................................................................457
9.7.3 Monitoring functions .............................................................................................................458
9.7.4 Measuring probe evaluation and reference mark search.....................................................460
9.7.5 Commissioning the function .................................................................................................461
9.8 Basic positioner....................................................................................................................463
9.8.1 Mechanical system...............................................................................................................465
9.8.2 Limits....................................................................................................................................468
9.8.2.1 Maximum velocity.................................................................................................................468
9.8.2.2 Maximum acceleration/deceleration.....................................................................................468
9.8.2.3 Limit traversing range...........................................................................................................469
9.8.2.4 Jerk limitation .......................................................................................................................472
9.8.2.5 Starting against a closed brake............................................................................................473
9.8.2.6 Function diagrams and parameters .....................................................................................473
9.8.3 EPOS and safe setpoint velocity limitation...........................................................................474
9.8.4 Referencing..........................................................................................................................474
9.8.4.1 Reference point approach (incremental measuring system)................................................478
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9.8.4.2 Flying referencing.................................................................................................................482
9.8.4.3 Data set switchover..............................................................................................................483
9.8.4.4 Function diagrams and parameters .....................................................................................485
9.8.5 Referencing with several zero marks per revolution ............................................................485
9.8.5.1 Evaluating BERO signals .....................................................................................................487
9.8.6 Safely referencing under EPOS ...........................................................................................488
9.8.7 Traversing blocks .................................................................................................................491
9.8.8 Travel to fixed stop...............................................................................................................496
9.8.9 Direct setpoint input (MDI) ...................................................................................................499
9.8.10 Jog .......................................................................................................................................502
9.8.11 Status signals.......................................................................................................................503
9.9 Master/slave function for Active Infeed ................................................................................506
9.9.1 Basic structure .....................................................................................................................508
9.9.2 Commissioning the function .................................................................................................510
9.9.3 Types of communication ......................................................................................................512
9.9.4 Explanations for the function diagrams ................................................................................513
9.9.5 Function diagrams and parameters .....................................................................................514
9.10 Parallel connection of power units .......................................................................................515
9.10.1 Applications of parallel connections .....................................................................................518
9.10.1.1 Parallel connection of Basic Line Modules...........................................................................520
9.10.1.2 Parallel connection of Smart Line Modules..........................................................................522
9.10.1.3 Parallel connection of Active Line Modules..........................................................................523
9.10.1.4 Parallel connection of Motor Modules ..................................................................................526
9.10.2 Commissioning the parallel connection................................................................................528
9.10.3 Additional drive in addition to the parallel connection ..........................................................529
9.11 Extended stop and retract ....................................................................................................532
9.11.1 Commissioning the function .................................................................................................533
9.11.2 Valid trigger sources ............................................................................................................533
9.11.3 Invalid trigger sources ..........................................................................................................534
9.11.4 Configuring ESR responses.................................................................................................534
9.11.4.1 Extended stopping ...............................................................................................................534
9.11.4.2 Extended retract...................................................................................................................535
9.11.4.3 Regenerative operation........................................................................................................536
9.11.5 Restrictions for ESR.............................................................................................................537
9.11.6 PROFIdrive telegram for ESR..............................................................................................538
9.11.7 Function diagrams and parameters .....................................................................................538
9.12 Moment of inertia estimator..................................................................................................540
9.12.1 Commissioning the function .................................................................................................544
9.12.2 Supplementary functions for vector control..........................................................................545
9.12.2.1 Moment of inertia precontrol ................................................................................................545
9.12.2.2 Additional functions ..............................................................................................................547
9.12.3 Function diagrams and parameters .....................................................................................547
9.13 Additional controls for Active Infeed.....................................................................................549
9.14 Advanced Position Control (including Active Vibration Suppression) ..................................550
9.14.1 Commissioning the function module ....................................................................................554
9.14.2 Active Vibration Suppression (APC without sensor on the load side)..................................556
9.14.2.1 Activating the function ..........................................................................................................560
9.14.2.2 Measuring the function.........................................................................................................561
9.14.3 APC to reduce machining-related oscillation .......................................................................562
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9.14.3.1 Activating the function ..........................................................................................................564
9.14.3.2 Measuring the function.........................................................................................................565
9.14.4 APC with encoder combination and differential position feedback: .....................................565
9.14.4.1 Important notes for parameterization ...................................................................................569
9.14.4.2 Measuring the function.........................................................................................................570
9.14.5 APC with acceleration feedback ..........................................................................................570
9.14.5.1 Important notes for parameterization ...................................................................................575
9.14.5.2 Measuring the function.........................................................................................................576
9.14.6 APC with load velocity control..............................................................................................576
9.14.6.1 Important notes for parameterization ...................................................................................578
9.14.6.2 Measuring the function.........................................................................................................578
9.14.7 Additional Information ..........................................................................................................579
9.14.8 Measuring frequency responses ..........................................................................................582
9.14.8.1 Use case SINUMERIK .........................................................................................................582
9.14.8.2 Application with STARTER ..................................................................................................582
9.14.8.3 Configuring measuring functions..........................................................................................584
9.14.9 Function diagrams and parameters .....................................................................................585
9.15 Cogging torque compensation .............................................................................................587
9.15.1 Activating the function module .............................................................................................590
9.15.2 Activate cogging torque compensation ................................................................................590
9.15.3 Filling compensation tables..................................................................................................590
9.15.4 Compensating periodic position errors.................................................................................593
9.15.5 Messages and parameters...................................................................................................594
10 Monitoring functions and protective functions ..........................................................................................595
10.1 Power unit protection ...........................................................................................................595
10.1.1 Thermal monitoring and overload responses.......................................................................595
10.2 Thermal motor protection .....................................................................................................599
10.2.1 Thermal motor models .........................................................................................................599
10.2.1.1 Thermal motor model 1 ........................................................................................................600
10.2.1.2 Thermal motor model 2 ........................................................................................................602
10.2.1.3 Thermal motor model 3 ........................................................................................................602
10.2.1.4 Motor overload protection according to IEC/UL 61800-5-1..................................................603
10.2.1.5 Function diagrams and parameters .....................................................................................605
10.2.2 Motor temperature sensing ..................................................................................................606
10.2.3 Sensor Modules ...................................................................................................................608
10.2.3.1 Sensor Module Cabinet-Mounted ........................................................................................608
10.2.3.2 Sensor Module External.......................................................................................................609
10.2.3.3 Sensor Module SME 20/25 ..................................................................................................609
10.2.3.4 Sensor Module External 120/125.........................................................................................609
10.2.4 Terminal Modules.................................................................................................................611
10.2.5 Terminal Module 31 .............................................................................................................612
10.2.6 Terminal Module 120 ...........................................................................................................613
10.2.7 Terminal Module 150 ...........................................................................................................615
10.2.7.1 Measurement with up to 6 channels ....................................................................................616
10.2.7.2 Measurement with up to 12 channels ..................................................................................617
10.2.7.3 Forming groups of temperature sensors ..............................................................................618
10.2.7.4 Evaluating temperature channels.........................................................................................618
10.2.7.5 Setting the smoothing time for temperature channels..........................................................619
10.2.8 Motor Module / Power Module Chassis ...............................................................................620
10.2.9 Connection of the CU310-2 and the CUA31/CUA32 adapters ............................................621
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10.2.10 Motor with DRIVE-CLiQ .......................................................................................................622
10.2.11 Temperature sensor evaluation ...........................................................................................623
10.2.12 Function diagrams and parameters .....................................................................................623
10.3 Blocking protection...............................................................................................................626
10.4 Stall protection (vector control only).....................................................................................627
11 Safety Integrated Basic Functions............................................................................................................629
11.1 Latest information.................................................................................................................629
11.2 General information..............................................................................................................631
11.2.1 Explanations, standards and terminology ............................................................................631
11.2.2 Supported functions .............................................................................................................633
11.2.3 Control possibilities ..............................................................................................................635
11.2.4 Parameters, checksum, version...........................................................................................636
11.2.5 Handling the Safety password .............................................................................................637
11.2.6 Forced checking procedure (test stop).................................................................................640
11.2.6.1 Forced checking procedure or test of the switch-off signal paths (test stop) for Safety
Integrated Basic ...................................................................................................................640
11.2.6.2 Forced checking procedure (test stop) with POWER ON ...................................................641
11.3 Safety instructions................................................................................................................642
11.4 Safe Torque Off (STO).........................................................................................................644
11.5 Safe Stop 1 (SS1, time controlled).......................................................................................648
11.5.1 SS1 with OFF3.....................................................................................................................648
11.5.2 SS1 with external stop .........................................................................................................650
11.5.3 Function diagrams and parameters .....................................................................................650
11.6 Safe Brake Control (SBC) ....................................................................................................651
11.6.1 SBC for Motor Modules in the chassis format......................................................................653
11.7 Response times ...................................................................................................................655
11.7.1 Controlling via terminals on the Control Unit and Motor Module..........................................656
11.7.2 Control via PROFIsafe .........................................................................................................657
11.7.3 Control via TM54F................................................................................................................658
11.8 Controlling via terminals on the Control Unit and Motor/Power Module...............................659
11.8.1 Simultaneity and tolerance time of the two monitoring channels_Basic_Functions .............662
11.8.2 Bit pattern test ......................................................................................................................664
11.9 Control via TM54F................................................................................................................666
11.9.1 Design ..................................................................................................................................666
11.9.2 Fault acknowledgment .........................................................................................................667
11.9.3 F-DI function.........................................................................................................................667
11.9.4 Function of the F-DO............................................................................................................669
11.10 Commissioning the functions "STO", "SBC" and "SS1".......................................................672
11.10.1 General information on commissioning Safety Integrated Functions...................................672
11.10.2 Commissioning with Startdrive.............................................................................................673
11.10.2.1 STO/SS1/SBC (Basic Functions).........................................................................................673
11.10.3 Commissioning via direct parameter access........................................................................675
11.10.4 Safety faults .........................................................................................................................677
11.11 Acceptance test and acceptance report...............................................................................680
11.11.1 Acceptance test structure.....................................................................................................682
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11.11.2 Safety Logbook ....................................................................................................................684
11.11.3 Acceptance test....................................................................................................................684
11.11.3.1 Preparing the acceptance test .............................................................................................685
11.11.3.2 Carrying out an acceptance test (example) .........................................................................686
11.12 Overview of parameters and function diagrams (WV) .........................................................689
12 Applications ..............................................................................................................................................691
12.1 Application examples ...........................................................................................................691
12.2 Switch on infeed unit via a drive axis ...................................................................................694
12.3 Control Units without infeed control .....................................................................................697
12.4 Quick stop in the event of a power failure or emergency stop (servo).................................699
12.5 Motor changeover ................................................................................................................701
12.6 Application examples with DMC20.......................................................................................706
12.7 DCC and DCB extension applications .................................................................................710
13 Web server ...............................................................................................................................................713
13.1 Overview ..............................................................................................................................713
13.2 Fundamentals ......................................................................................................................716
13.2.1 Supported browsers .............................................................................................................716
13.2.2 Accessing the web server ....................................................................................................716
13.2.2.1 Access via service interface X127 .......................................................................................717
13.2.2.2 Access via PROFINET interface X150.................................................................................717
13.2.2.3 Preparations.........................................................................................................................718
13.2.2.4 Interfaces and connection type ............................................................................................718
13.2.3 Access protection.................................................................................................................719
13.2.4 Users and access rights.......................................................................................................720
13.2.5 Dialog screen forms in the web server.................................................................................721
13.2.6 Changing parameter values .................................................................................................722
13.2.7 Assigning the administrator password .................................................................................722
13.2.8 Login/logout..........................................................................................................................725
13.2.9 Layout of the start page .......................................................................................................728
13.2.9.1 Navigation ............................................................................................................................728
13.2.9.2 Calling Support information..................................................................................................730
13.2.9.3 Saving data in a non-volatile fashion ...................................................................................730
13.2.10 Certificates for the secure data transfer ...............................................................................731
13.2.10.1 Overview ..............................................................................................................................731
13.2.10.2 Using the certificate default configuration ............................................................................731
13.2.10.3 Generating your own certificates..........................................................................................736
13.3 Diagnostic functions .............................................................................................................738
13.3.1 “Drive objects and components” display area ......................................................................738
13.3.2 “Alarms” display area ...........................................................................................................740
13.3.2.1 Filtering messages ...............................................................................................................742
13.3.2.2 Acknowledging faults ...........................................................................................................743
13.3.3 “Diagnostics buffer” display area..........................................................................................743
13.3.4 “Communication” display area .............................................................................................745
13.3.5 “Trace files” display area......................................................................................................745
13.4 Creating and adjusting the parameter list ............................................................................747
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13.4.1 Overview ..............................................................................................................................747
13.4.2 Creating a parameter list......................................................................................................747
13.4.3 Adding parameters...............................................................................................................749
13.4.4 Selecting/entering parameters .............................................................................................750
13.4.5 Changing the parameter sequence......................................................................................750
13.4.6 Deleting parameters.............................................................................................................750
13.4.7 Changing the list properties .................................................................................................750
13.4.8 Deleting a parameter list ......................................................................................................751
13.5 Backup and restore ..............................................................................................................752
13.5.1 Overview ..............................................................................................................................752
13.5.2 Backing up parameters ........................................................................................................753
13.5.3 Restore file parameters........................................................................................................754
13.5.4 Restoring the factory setting ................................................................................................754
13.6 System settings....................................................................................................................756
13.6.1 Setting or changing user accounts.......................................................................................756
13.6.2 Password forgotten ..............................................................................................................758
13.6.3 Configuring the IP connection ..............................................................................................759
13.6.4 Using functions that require a license ..................................................................................760
13.6.5 Displaying/entering the license key......................................................................................764
13.6.6 Updating the firmware via the web server............................................................................764
13.6.6.1 Overview ..............................................................................................................................764
13.6.6.2 Updating the firmware and STARTER project files ..............................................................765
13.6.6.3 Loading STARTER project data into the drive .....................................................................767
13.6.7 Transferring the configuration using the web server ............................................................768
13.6.8 System restoration ...............................................................................................................769
14 Basic information about the drive system.................................................................................................771
14.1 Parameter ............................................................................................................................771
14.2 Drive objects ........................................................................................................................774
14.3 Licensing ..............................................................................................................................776
14.3.1 Overview ..............................................................................................................................776
14.3.2 Overview of licenses ............................................................................................................778
14.3.3 Activating Trial License Mode ..............................................................................................781
14.3.4 Creating a license key..........................................................................................................783
14.3.5 Displaying/entering the License Key ....................................................................................784
14.3.6 Messages and parameters...................................................................................................785
14.4 BICO technology: Interconnecting signals ...........................................................................786
14.4.1 Binectors, connectors...........................................................................................................786
14.4.2 Interconnecting signals using BICO technology...................................................................787
14.4.3 Internal coding of the binector/connector output parameters...............................................788
14.4.4 Sample interconnections......................................................................................................788
14.4.5 Notes on BICO technology...................................................................................................789
14.4.6 Scaling .................................................................................................................................790
14.4.7 Propagation of faults ............................................................................................................791
14.5 Data sets ..............................................................................................................................792
14.5.1 CDS: Command data set .....................................................................................................792
14.5.2 DDS: Drive Data Set ............................................................................................................793
14.5.3 EDS: Encoder Data Set .......................................................................................................794
14.5.4 MDS: Motor Data Set ...........................................................................................................795
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14.5.5 Function diagrams and parameters .....................................................................................796
14.6 Inputs/outputs.......................................................................................................................798
14.6.1 Digital inputs/outputs............................................................................................................798
14.6.2 Use of bidirectional inputs/outputs on the CU ......................................................................801
14.6.3 Analog inputs .......................................................................................................................802
14.6.4 Analog outputs .....................................................................................................................804
14.7 Write protection ....................................................................................................................805
14.8 Know-how protection............................................................................................................808
14.8.1 Overview ..............................................................................................................................808
14.8.2 Know-how protection features..............................................................................................809
14.8.3 Configuring know-how protection.........................................................................................811
14.8.3.1 Maintaining the list of exceptions .........................................................................................811
14.8.3.2 Activate know-how protection ..............................................................................................812
14.8.3.3 Deactivating know-how protection .......................................................................................814
14.8.3.4 Changing the password .......................................................................................................815
14.8.4 Loading know-how protected data to the file system ...........................................................816
14.8.5 Overview of important parameters .......................................................................................820
14.9 Component replacement......................................................................................................822
14.9.1 Replacing components.........................................................................................................822
14.9.2 Examples of replacing components .....................................................................................823
14.10 Data backup .........................................................................................................................825
14.10.1 Backing up the non-volatile memory ....................................................................................825
14.10.2 Redundant data backup on memory card ............................................................................827
14.11 DRIVE-CLiQ.........................................................................................................................829
14.11.1 DRIVE-CLiQ topology ..........................................................................................................829
14.11.2 DRIVE-CLiQ diagnostics......................................................................................................830
14.11.3 Emergency operating mode for DRIVE-CLiQ components..................................................831
14.12 System rules, sampling times and DRIVE-CLiQ wiring........................................................834
14.12.1 Overview of system limits and system utilization .................................................................834
14.12.2 System rules ........................................................................................................................835
14.12.3 Special configurations and topologies..................................................................................837
14.12.4 Rules on the sampling times ................................................................................................838
14.12.4.1 Rules when setting the sampling times................................................................................838
14.12.4.2 Rules for isochronous mode ................................................................................................841
14.12.4.3 Default settings for the sampling times ................................................................................842
14.12.4.4 Setting the pulse frequency..................................................................................................843
14.12.4.5 Setting sampling times .........................................................................................................844
14.12.4.6 Overview of important parameters .......................................................................................845
14.12.5 Rules for wiring with DRIVE-CLiQ........................................................................................845
14.12.5.1 Binding DRIVE-CLiQ interconnection rules..........................................................................846
14.12.5.2 Recommended interconnection rules...................................................................................848
14.12.5.3 Rules for automatic configuration.........................................................................................850
14.12.5.4 Changing the offline topology in the STARTER commissioning tool ...................................852
14.12.5.5 Modular machine concept: Offline correction of the reference topology ..............................852
14.12.6 Notes on the number of controllable drives..........................................................................854
14.12.6.1 Number of drives depending on the control mode and cycle times .....................................854
14.12.6.2 Cycle mix for servo control and vector control .....................................................................861
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A Appendix...................................................................................................................................................865
A.1 List of abbreviations .............................................................................................................865
A.2 Documentation overview......................................................................................................877
A.3 Supported sample topologies...............................................................................................878
A.4 Parameterization using the BOP20......................................................................................885
A.4.1 Introduction ..........................................................................................................................885
A.4.2 General information about the BOP20 .................................................................................885
A.4.3 Displays and using the BOP20 ............................................................................................888
A.4.4 Fault and alarm displays ......................................................................................................893
A.4.5 Controlling the drive using the BOP20 .................................................................................894
A.4.6 Important functions via BOP20 ............................................................................................894
A.5 Replacing an encoder for SIMOTICS motors.......................................................................896
A.6 Availability of hardware components....................................................................................898
A.7 Availability of SW functions ..................................................................................................905
A.8 Functions of SINAMICS S120 Combi ..................................................................................916
Index.........................................................................................................................................................919
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Introduction 1
1.1 The SINAMICS converter family
With the SINAMICS converter family, you can solve any individual drive task in the low-voltage,
medium-voltage and DC voltage range. From converters to motors and controllers, all Siemens
drive components are perfectly matched to each other and can be easily integrated into your
existing automation system. With SINAMICS you are prepared for digitization. You benefit from
highly efficient engineering with a variety of tools for the entire product development and
production process. And you also save space in the control cabinet – thanks to the integrated
safety technology.
You can find additional information about SINAMICS at the following address (http://
www.siemens.com/sinamics).
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1.2 General information about SINAMICS documentation
SINAMICS documentation
The SINAMICS documentation is organized in the following categories:
● General documentation/catalogs
● User documentation
● Manufacturer/service documentation
Standard scope
The scope of the functionality described in this document can differ from that of the drive system
that is actually supplied.
● Other functions not described in this documentation might be able to be executed in the
drive system. However, no claim can be made regarding the availability of these functions
when the equipment is first supplied or in the event of service.
● The documentation can also contain descriptions of functions that are not available in a
particular product version of the drive system. Please refer to the ordering documentation
only for the functionality of the supplied drive system.
● Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on all
of the product types, and cannot take into consideration every conceivable type of installation,
operation and service/maintenance.
Target group
This documentation is intended for machine manufacturers, commissioning engineers, and
service personnel who use the SINAMICS drive system.
Benefits
This manual provides all of the information, procedures and operator actions required for the
particular usage phase.
Siemens MySupport/Documentation
You can find information on how to create your own individual documentation based on
Siemens content and adapt it for your own machine documentation at the following address
(https://support.industry.siemens.com/My/ww/en/documentation).
Introduction
1.2 General information about SINAMICS documentation
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