Siemens SINAMICS S120 Parts list manual

Function Manual 06/2005Edition
sinamics
SINAMICS S120

Valid for
Drive Firmware release
SINAMICS S120 2.3
06/2005 Edition
Drive Functions
SINAMICS S120
Manufacturer/Service Documentation
Infeed 1
Setpoint Channel 2
Operating Modes 3
Extended Functions 4
Basic Information about
the Drive System 5
List of Abbreviations
References
Index

SINAMICS®Documentation
Printing history
Brief details of this edition and previous editions are listed below.
The status of each edition is shown by the code in the ”Remarks” column.
Status code in the ”Remarks” column:
ANew documentation
BUnrevised reprint with new Order No.
CRevised edition with new status
Edition Order No. Comments
12.04 6SL3 097--2AB00--0AP0 A
06.05 6SL3 097--2AB00--0BP1 C
SINAMICSr, SIMOTIONr, SIMATICr, SIMATIC HMIr, SIMATIC NETr,SIROTECr, SINUMERIKr, and
SIMODRIVErare registered trademarks of Siemens AG. The designations in this documentation whose
use by third--parties for their own purposes may infringe the the rights of the owner.
Additional information is available on the Internet at:
http://www.siemens.de/motioncontrol
Information about SINAMICS S120 is available at:
http://www.siemens.com/sinamics
This publication was produced with Interleaf V 7
©Siemens AG, 2005. All rights reserved
Other functions not described in this documentation might be
executable in the control. The customer is not, however, entitled to
these functions in the event of the system being replaced or serviced.
We have checked that the contents of this document correspond to
the hardware and software described. Nevertheless, differences
might exist and therefore we cannot guarantee that they are
completely identical. However, the data in this manual is reviewed
regularly and any necessary corrections included in subsequent
editions. We are thankful for any recommendations or suggestions.
We reserve the right to make technical changes.
Siemens Aktiengesellschaft
Order No.6SL3 097--2AB00--0BP1
Printed in theFederal Re
p
ublic of German
y
3ls

v
©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
Preface
Information on the SINAMICS S120 documentation
The SINAMICS S120 documentation is divided into the following areas:
SGeneral documentation/catalogs
SManufacturer/service documentation
SElectronic documentation
Table 1-1 Useful phases and available documentation/tools
Useful phase Document/tool
Exploratory Sales documents for SINAMICS S120
Planning/configuration SIZER configuration tool
Decision/ordering SINAMICS S120 catalog
Installation/assembly SINAMICS S120 Equipment Manuals
SControl Units and additional system components
SBooksize power sections
SChassis power sections
Commissioning SSTARTER parameterization and commissioning tool
SGetting Started: SINAMICS S120
SSINAMICS S120 Installation and Start-Up Manual
SSINAMICS S120 Function Manual
SSINAMICS S List Manual
Usage/operation SSINAMICS S120 Installation and Start-Up Manual
SSINAMICS S120 Function Manual
SSINAMICS S List Manual
Maintenance/servicing SSINAMICS S120 Installation and Start-Up Manual
SSINAMICS S120 Function Manual
SSINAMICS S List Manual
SBooksize power sections
SChassis power sections
This documentation is part of the technical customer documentation for
SINAMICS. All documents can be obtained separately.
You can obtain detailed information about the documents named in the documen-
tation overview and other documents available for SINAMICS from your local
Siemens office.

Preface
vi ©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
In the interests of clarity, this documentation does not contain all the detailed infor-
mation for all product types and cannot take into account every possible aspect of
installation, operation, or maintenance.
The contents of this documentation are not part of an earlier or existing agreement,
a promise, or a legal agreement, nor do they change this. All obligations entered
into by Siemens result from the respective contract of sale that contains the com-
plete and sole valid warranty arrangements. These contractual warranty provisions
are neither extended nor curbed as a result of the statements made in this docu-
mentation.
Audience
This documentation is intended for machine manufacturers, commissioning engi-
neers, and service personnel who use the SINAMICS S drive system.
Objective
The Function Manual describes all the procedures and operational instructions re-
quired for commissioning and servicing SINAMICS S120.
The Function Manual is structured as follows:
Chapter 1 Infeed
Chapter 2 Setpoint Channel
Chapter 3 Operating Modes
Chapter 4 Extended Functions
Chapter 5 Basic Information About the Drive System
Beginners are advised to read Chapter 5 first.
Finding Your Way Around
To help you find information more easily, the following sections have been included
in the appendix in addition to the table of contents:
1. List of Abbreviations
2. References
3. Index

Preface
vii
©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
Danger and warning symbols -- explanations
The following danger and warning notices are used in this document:
!Danger
This symbol indicates that death, severe personal injury, or substantial property
damage will result if proper precautions are not taken.
!Warning
This symbol indicates that death, severe personal injury, or substantial property
damage may result if proper precautions are not taken.
!Caution
This symbol indicates that minor personal injury or property damage may result if
proper precautions are not taken.
Caution
(Without a warning triangle) indicates that material damage can result if proper
precautions are not taken.
Notice
Indicates that an unwanted result or situation may result if the appropriate advice
is not taken into account.
Note
This symbol always appears in this documentation where further, explanatory
information is provided.

Preface
viii ©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
Definition: Qualified personnel
For the purpose of this documentation and the product warning labels, a “qualified
person” is someone who is familiar with the installation, mounting, start-up, opera-
tion, and maintenance of the product. He or she must have the following qualifica-
tions:
STraining and instruction, i.e. authority to switch on and off, to earth and to label
circuits and equipment according to safety regulations.
STrained in the proper care and use of protective equipment in accordance with
established safety procedures.
SFirst aid training.

Preface
ix
©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
Technical notes
Technical Support
If you have any further questions, please call our hotline:
A&D Technical Supports Tel.: [phone] -- 222
Fax: [phone] -- 223
http://www.siemens.com/automation/support-request
Please send any questions about the documentation (suggestions for improve-
ment, corrections, and so on) to the following fax number or e-mail address:
[phone] -- 2176
Fax form: see feedback page at the end of this documentation
e-mail: [e-mail]
Internet Address
Up-to-date information about our products can be found on the Internet at the fol-
lowing address:
http://www.siemens.com/drives
Notation
The following notation and abbreviations are used in this documentation:
Notation for parameters (examples):
Sp0918 Adjustable parameter 918
Sr1024 Visualization parameter 1024
Sp1070[1] Adjustable parameter 1070, index 1
Sp0099[0...3] Adjustable parameter 99, indices 0 to 3
Sr0945[2](3) Visualization parameter 945, index 2 of drive object 3
Sp0795.4 Adjustable parameter 795, bit 4
Notation for faults and alarms (examples):
SF1234 Fault 1234
SA5678 Alarm 5678
General notation:
SThesign“≐” means “is equal to”

Preface
x©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
ESD notices
!Caution
An electrostatic-sensitive device (ESD) is an individual component, integrated
circuit, or module that can be damaged by electrostatic fields or discharges.
Regulations for handling ESD components:
SWhen handling components, make sure that personnel, workplaces, and
packaging are well earthed.
SPersonnel in ESD areas with conductive flooring may only handle electronic
components if:
-- They are grounded with an ESD wrist band
-- They are wearing ESD shoes or ESD shoe grounding straps
SElectronic boards should only be touched if absolutely necessary. They must
only be handled on the front panel or, in the case of printed circuit boards, at
the edge.
SElectronic boards must not come into contact with plastics or items of clothing
containing synthetic fibers.
SBoards must only be placed on conductive surfaces (work surfaces with ESD
surface, conductive ESD foam, ESD packing bag, ESD transport container).
SElectronic modules must be kept at a distance from data display equipment,
monitors, and televisions (minimum distance from screen: >10 cm).
SMeasurements must only be taken on boards when:
-- The measuring device is grounded (with a protective conductor, for
example).
-- The measuring head has been temporarily discharged before
measurements are taken on a floating measuring device (e.g. touching a
bare metal controller housing).

Preface
xi
©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
Safety Information
!Danger
SCommissioning shall not start until you have ensured that the machine in which
the components described here are to be installed complies with Directive
98/37/EC.
SSINAMICS devices and AC motors must only be commissioned by suitably
qualified personnel.
SThe personnel must take into account the information provided in the technical
customer documentation for the product, and be familiar with and observe the
specified danger and warning notices.
SWhen electrical equipment and motors are operated, the electrical circuits
automatically conduct a dangerous voltage.
SDangerous mechanical movements may occur in the system during operation.
SAll work on the electrical system must be carried out when the system has
been disconnected from the power supply.
SSINAMICS devices with AC motors must only be connected to the power
supply via an AC-DC residual-current-operated device with selective switching
once verification has been provided that the SINAMICS device is compatible
with the residual-current-operated device in accordance with EN 50178,
Chapter 5.2.11.2.
!Warning
SThe successful and safe operation of these devices and motors depends on
correct transport, proper storage and installation, as well as careful operation
and maintenance.
SThe specifications in the catalogs and offers also apply to special variants of
the devices and motors.
SIn addition to the danger and warning information provided in the technical
customer documentation, the applicable national, local, and system-specific
regulations and requirements must be taken into account.
SOnly protective extra-low voltages (PELVs) that comply with EN60204-1 must
be connected to all connections and terminals between 0 and 48 V.

Preface
xii ©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
!Caution
SThe surface temperature of the motors can reach over +80_C.
SFor this reason, temperature-sensitive parts (lines or electronic components,
for example) must not be placed on or attached to the motor.
SWhen attaching the connecting cables, you must ensure that:
-- They are not damaged
-- They are not under tension
-- They cannot come into contact with rotating parts
Caution
SAs part of routine tests, SINAMICS devices with AC motors undergo a voltage
test in accordance with EN 50178. Before the voltage test is performed on the
electrical equipment of industrial machines to EN 60204--1, Section 19.4, all
connectors of SINAMICS equipment must be disconnected/unplugged to
prevent the equipment from being damaged.
SMotors must be connected in accordance with the circuit diagram provided,
otherwise they could be destroyed.
Note
SWhen operated in dry operating areas, SINAMICS equipment with three-phase
motors conforms to low-voltage Directive 73/23/EEC.
J

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©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
Contents
1 Supply 1-17.................................................................
1.1 Active infeed 1-18....................................................
1.1.1 Active Infeed closed-loop control 1-18..................................
1.1.2 Line and DC link identification 1-21.....................................
1.1.3 Active infeed open-loop control 1-22....................................
1.1.4 Reactive current control 1-25..........................................
1.1.5 Harmonics controller 1-25.............................................
1.2 Smart infeed 1-27....................................................
1.2.1 Smart Infeed closed-loop control 1-27..................................
1.2.2 Line and DC link identification 1-29.....................................
1.2.3 Smart Infeed open-loop control 1-30....................................
1.3 Basic Infeed 1-33....................................................
1.3.1 Basic Infeed open-loop control 1-33....................................
1.3.2 Basic Infeed open-loop control 1-34....................................
1.4 Line contactor control 1-37............................................
1.5 Pre-charging and bypass contactor (chassis) 1-39........................
2 Extended Setpoint Channel 2-41.............................................
2.1 Extended setpoint channel servo (booksize) 2-42........................
2.1.1 Dynamic Servo Control (DSC) 2-42....................................
2.1.2 Activating the “extended setpoint channel” function module in servo mode 2-43
2.2 Extended setpoint channel 2-44........................................
2.2.1 Description 2-44.....................................................
2.2.2 Jog 2-45............................................................
2.2.3 Fixed speed setpoints 2-50............................................
2.2.4 Motorized potentiometer 2-51..........................................
2.2.5 Main/supplementary setpoint and setpoint modification 2-53...............
2.2.6 Direction of rotation limiting and direction of rotation changeover 2-55.......
2.2.7 Suppression bandwidths and setpoint limitation 2-57......................
2.2.8 Ramp-function generator 2-59.........................................
3 Operating Modes 3-63.......................................................
3.1 Servo control 3-64...................................................
3.1.1 Speed controller 3-64.................................................
3.1.2 Speed setpoint filter 3-65.............................................
3.1.3 Speed controller adaptation 3-66.......................................
3.1.4 Torque-controlled operation 3-69.......................................
3.1.5 Torque setpoint limitation 3-72.........................................
3.1.6 Current controller 3-77................................................
3.1.7 Current setpoint filter 3-80............................................
3.1.8 Optimizing the current and speed controller 3-86.........................

Contents
xiv ©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
3.1.9 V/f Control for Diagnostics 3-88........................................
3.1.10 Operation without encoder 3-91........................................
3.1.11 Pole position identification 3-95........................................
3.1.12 Vdc control 3-100.....................................................
3.1.13 Travel to fixed stop 3-103..............................................
3.1.14 Vertical axes 3-107....................................................
3.2 Vector control 3-108...................................................
3.2.1 Vector control without encoder (SLVC) 3-108.............................
3.2.2 Vector control with encoder 3-111.......................................
3.2.3 Speed controller 3-112.................................................
3.2.4 Speed controller adaptation 3-115.......................................
3.2.5 Speed controller pre-control and reference model 3-118....................
3.2.6 Droop function 3-122..................................................
3.2.7 Closed-loop torque control 3-123........................................
3.2.8 Torque limiting 3-127..................................................
3.2.9 Vdc control 3-128.....................................................
3.2.10 Current setpoint filter 3-133............................................
3.2.11 Motor data identification and rotating measurement 3-134..................
3.2.12 Automatic encoder adjustment 3-140....................................
3.2.13 Pole position identification 3-141........................................
3.3 Vector V/f control (r0108.2 = 0) 3-142....................................
3.3.1 Voltage boost 3-145...................................................
3.3.2 Slip compensation 3-148...............................................
3.3.3 Vdc control 3-149.....................................................
3.4 Notes on commissioning vector motor types 3-154........................
4 Extended functions 4-161.....................................................
4.1 Technology Controller function module 4-162.............................
4.1.1 Features 4-162.......................................................
4.1.2 Integration 4-162......................................................
4.1.3 Description 4-164.....................................................
4.1.4 Examples 4-165......................................................
4.1.5 Commissioning 4-166.................................................
4.2 Extended Monitoring Functions function module 4-167.....................
4.2.1 Features 4-167.......................................................
4.2.2 Integration 4-168......................................................
4.2.3 Commissioning 4-169.................................................
4.3 Simple brake control 4-170.............................................
4.3.1 Features 4-170.......................................................
4.3.2 Integration 4-170......................................................
4.3.3 Description 4-171.....................................................
4.3.4 Commissioning 4-172.................................................
4.4 Extended Brake Control function module 4-173...........................
4.4.1 Features 4-173.......................................................
4.4.2 Integration 4-173......................................................
4.4.3 Description 4-175.....................................................
4.4.4 Examples 4-176......................................................
4.4.5 Commissioning 4-176.................................................
4.5 Runtime (operating hours counter) 4-177.................................

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4.6 Automatic restart function (vector) 4-178.................................
4.7 Parallel Connection of Chassis Power Units (Vector) function module 4-181...
4.7.1 Features 4-181.......................................................
4.7.2 Integration 4-182......................................................
4.7.3 Description 4-182.....................................................
4.7.4 Sample applications 4-183.............................................
4.7.5 Commissioning 4-184.................................................
4.8 Friction characteristic technology function 4-185..........................
4.9 Motor changeover 4-187...............................................
4.9.1 Description 4-187.....................................................
4.9.2 Integration 4-187......................................................
4.9.3 Example of changing over between four motors 4-189.....................
4.9.4 Example of a star / delta changeover 4-191...............................
4.10 Simulation mode (vector) 4-194.........................................
4.10.1 Description 4-194.....................................................
4.10.2 Features 4-195.......................................................
4.10.3 Commissioning 4-195.................................................
4.11 Parking axis and parking encoder 4-196..................................
4.11.1 Description 4-196.....................................................
4.11.2 Examples of parking axis and parking encoder 4-197......................
4.11.3 Integration 4-198......................................................
4.12 Ramp-up with partial topologies 4-199...................................
4.12.1 Description 4-199.....................................................
4.13 Sinusoidal filter 4-202..................................................
4.14 Flying restart (vector) 4-203............................................
5 Basic information about the drive system 5-205................................
5.1 Parameters 5-206.....................................................
5.2 Data sets 5-209.......................................................
5.3 Drive objects 5-215...................................................
5.4 BICO technology: interconnecting signals 5-218...........................
List of Abbreviations A-227...................................................
References R-235.............................................................
Index I-242..................................................................

Contents
xvi ©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
Notes

1-17
©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
Supply
Contents of Chapter “Supply”
SActive infeed
SSmart infeed
SBasic infeed
SLine contactor control
SPre-charging and bypass contactor (chassis)
1

Supply
Active infeed
1-18 ©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
1.1 Active infeed
1.1.1 Active Infeed closed-loop control
Features
SControlled DC link voltage whose level can be adjusted
SRegenerative feedback capability
SSpecific reactive current setting
SLow line harmonics, sinusoidal line current
Description
Active Infeed closed-loop control works together with the line reactor and the Ac-
tive Line Module as a step-up converter. The DC voltage level can be defined via
parameters.
The open and closed-loop control firmware for the Active Line Module runs on the
Control Unit assigned to it. The Active Line Module and Control Unit communicate
via DRIVE-CLiQ.
act_infeed_booksize.vsd
Terminal diagram for Active Infeed
booksize
Active Line Module
Main circuit --breaker
with leading auxiliary
contact
Fuses
Line contactor
(optional )
Line filter (optional )
Line reactor
Network
DC link
Control unit
Firmware
Active
Infeed
Control
Actual values
Manipulated variables
DRIVE CLiQ
Fig. 1-1 Schematic structure of Active Infeed (booksize)

Supply
Active infeed
1-19
©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
act_infeed_chassis.vsd
Terminal diagram for Active Infeed
chassis
Active Line Module
Main circuit --breaker
Fuses
Active Interface Module
Network
DC link
Control unit
Firmware
Active
Infeed
Control Actual values
Manipulated variables
DRIVE CLiQ
Actual
values
DRIVE CLiQ
Voltage Sensing Module
Fig. 1-2 Schematic structure of Active Infeed (chassis)
Operating modes of Active Infeed closed-loop control for Active Line Modules
(booksize)
The Active Line Module can be operated in two different modes depending on the
parameterized line supply voltage (p0210):
SActive mode
In active mode, the DC link voltage is regulated to a variable setpoint (p3510),
which results in a sinusoidal line current (cosϕ=1).
SSmart mode
In smart mode, the DC link voltage is not regulated but is, instead, derived from
the rectified line supply voltage. The current waveform in the direction of
incoming supply is the same as that of a B6 diode converter. A square-line
current occurs in the direction of regenerative feedback.
The DC link voltage setpoint (p3510) and the control type are preset as follows
during commissioning in line with the connection voltage (p0210):
Table 1-1 Presetting the control type and DC link voltage (booksize)
Supply voltage p0210
[V]
380--400 401--415 416--440 460 480
Control type p3400.0 “0” = active mode “1” = smart mode
Vdc_setp p3510 [V] 600 625 562--5941) 6211) 6481)
1) Voltages specified for smart mode are derived from the rectified line supply voltage. The DC link voltage
setpoint (p3510) has no effect in this control mode.

Supply
Active infeed
1-20 ©Siemens AG, 2005. All rights reserved
SINAMICS S120 Function Manual, 06/05 Edition
Operating modes of Active Infeed closed-loop control for Active Line Modules (chassis)
Active Line Modules (chassis) only function in active mode.
The DC link voltage setpoint (p3510) is preset in line with the
supply voltage (p0210) according to the following formula: p3510 = 1.5 * p0210.
Commissioning
During commissioning, the device supply voltage (p0210) and the rated line fre-
quency (p0211) must be parameterized. In addition, an optional line filter (p0220)
must be selected.
Note
In a supply system without regenerative feedback capability (e.g. generators),
regenerative operation must be inhibited via the binector input p3533.
The DC link voltage (p3510) can be set within the following limits:
SBooksize
-- Upper limit: Maximum DC link voltage (p0280)
-- Lower limit: Supply voltage (p0210) multiplied by 1.42
SChassis
-- Upper limit: Supply voltage (p0210) multiplied by 2
-- Lower limit: Supply voltage (p0210) multiplied by 1.42
Note
If automatic commissioning was carried out with STARTER, the line filter (if used)
must be included in the configuration.
Function diagram for Active Infeed (see List Manual)
S1774 Overviews -- Active Infeed
S8920 Control word sequential control infeed
S...
S8964 Messages and monitoring, supply frequency and Vdc
monitoring