Siemens SIMODRIVE 6SN11 Series Technical manual

SIMODRIVE
Planning Guide 11.2000 Edition
AC Motors for Feed and
Main Spindle Drives
Manufacturer/Service Documentation

Valid for
6SN11 equipment series
11.2000 Edition
SIMODRIVE
AC Motors for Feed and
Main Spindle Drives
Planning Guide
Foreword
General Information on
AC Servomotors AL S
General Information on
AC Induction motors AL A
AC Servomotors 1FT5
AC Servomotors 1FT6
AC Servomotors 1FK6
AC Built–in Motors 1PH2
AC Main Spindle Motors 1PH4
AC Main Spindle Motors 1PH7
Encoder Systems GE
Attachment A:
EEC Declaration of Conformity A

SIMODRIVEdocumentation
Edition coding
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.. . . . . If factual changes have been made on the page since the last edition,
this is indicated by a new Edition coding in the header on that page.
Edition Order No. Remarks
04.93 6SN1060–0AC00–0BP0 A
11.93 6SN1197–0AA20–0BP0 C
08.95 6SN1197–0AA20–0BP1 C
10.96 6SN1197–0AA20–0BP2 C
01.98 6SN1197–0AA20–0BP3 C
11.00 6SN1197–0AA20–0BP4 C
This Manual is also included in the documentation on CD–ROM (DOCONCD)
Edition Order No. Remarks
10.00 6FC5298–6CA00–0BG0 C
Trademarks
SIMATICr, SIMATIC HMIr, SIMATIC NETr, SIROTECr, SINUMERIKrand SIMODRIVErare registered
trademarks of Siemens. Other names in this publication might be trademarks whose use by a third party for
his own purposes may violate the rights of the registered holder.
You will find additional information in the Internet under:
http://www.ad.siemens.de/sinumerik
This document was generated with Interleaf V 7
The reproduction, transmission or use of this document or its
contents is not permitted without express written authority.
Offenders will be liable for damages. All rights, including rights
created by patent grant or registration of a utility model or design,
are reserved.
Siemens AG 1993 –2000. All rights reserved.
Functions may be executable in the control but are not described in
this documentation. No claims can be made on these functions if
included with a new shipment or when involved with service.
We have checked the contents of this document to ensure that they
coincide with the described hardware and software. The information
in this document is regularly checked and necessary corrections are
included in reprints.
We are thankful for any recommendations for improvement.
Subject to change without prior notice.
Siemens–AktiengesellschaftOrder No.. 6SN1197–0AA20–0BP4
Printed in the Federal Republic of Germany

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Siemens AG 2000 All rights reserved 6SN1197–0AA20
SIMODRIVE Planning Guide Motors (PJM) – 11.00 Edition
Foreword
This document is part of the documentation developed for SIMODRIVE. All do-
cuments are available individually. The documentation list, which includes all
advertising Brochures, Catalogs, Overviews, Short Descriptions, User Manuals
and Technical Descriptions can be obtained from your local Siemens office with
Order No., location and price.
This Manual does not purport to cover all details or variations in equipment, nor
to provide for every possible contingency to be met in connection with installa-
tion, operation or maintenance. Should further information be desired or should
particular problems arise, which are not covered sufficiently for the purchaser’s
purposes, the matter should be referred to the local Siemens sales office. The
contents of this Guide shall not become part of nor modify any prior or existing
agreement, commitment or relationship. The sales contract contains the entire
obligation of Siemens. Any statements contained herein neither create new war-
ranties nor modify the existing warranty.

09.00
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SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
Qualified personnel
For the purpose of this documentation and product labels, a “qualified
person”is someone who is familiar with the installation, mounting, start–up
and operation of the equipment and the hazards involved. He or she must
have the following qualifications:
STrained and authorized to energize, de–energize, clear, ground and tag
circuits and equipment in accordance with established safety procedu-
res.
STrained in the proper care and use of protective equipment in accor-
dance with established safety procedures.
STrained in rendering first aid
!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 property damage
can result if proper precautions are not taken.
!Caution
This symbol indicates that minor personal injury or material damage can result
if proper precautions are not taken.
Caution
This warning notice (without warning triangle) means that a material damage
can result if the appropriate precautions are not taken.
Notice
This warning notice means that an undesired event or an undesired state can
result if the appropriate notices are not observed.
Definitions
11.00

09.00
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Siemens AG 2000 All rights reserved 6SN1197–0AA20
SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
!Important
This symbol appears in the documentation if a particular issue is significant.
Note
For the purpose of this documentation, “Note”indicates information about the
product or the respective part of the document which is essential to highlight.
!Warning
Operational electrical equipment has parts and components which are at ha-
zardous voltage levels.
Incorrect handling of these units, i.e. not observing the warning information, can
therefore lead to death, severe bodily injury or significant material damage.
Only appropriately qualified personnel may commission/start–up this equip-
ment.
This personnel must have in–depth knowledge regarding all of the warning
information and service measures according to this Planning Guide.
Perfect, safe and reliable operation of this equipment assumes that it has been
professionally transported, stored, mounted and installed as well as careful
operator control and service.
Hazardous axis motion can occur when working with the equipment.
Note
When handling cables, observe the following
Sthey must not be damaged,
Sthey must not be strained and
Sthey must not come into contact with rotating components

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SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
Note
It is not permissible to connect SIMODRIVE equipment to a supply system with
ELCBs (this restriction is permitted acc. to DIN VDE 0160/05.88, Section 6.5).
When operational, protection against direct contact is provided in a form to al-
low the unit to be used in enclosed electrical equipment rooms
(DIN VDE 0558 Part 1/07.87, Section 5.4.3.2.4).
In compliance with DIN VDE 0160/05.88, all SIMODRIVE units are subject to a
high–voltage test at the time of routine testing. If the electrical equipment of
industrial tools is subject to a high–voltage test, all connections must be discon-
nected so that sensitive electronic components in the SIMODRIVE converter
are not damaged (permissible according to DIN VDE 0113/06.93, Part 1,
Section 20.4).
!Warning
Start–up/commissioning is absolutely prohibited until it has been ensured that
the machine in which the components described here are to be installed, fulfills
the regulations/specifications of the Directive 89/392/EWG.
!Warning
The information and instructions in all of the documentation supplied and any
other instructions must always be observed to eliminate hazardous situations
and damage.
SFor special versions of the machines and equipment, the information in the
associated catalogs and quotations applies.
SFurther, all of the relevant national, local and plant/system–specific regula-
tions and specifications must be taken into account.
SAll work should be undertaken with the system in a no–voltage condition!
SFor the feed motors, when the rotor is rotating, a voltage is present at the
motor terminals (as a result of the integrated permanent magnets).
SThe motor must be connected according to the circuit diagram supplied.
SIt is not permissible to directly connect the motor to the three–phase supply
as this would destroy the motor.
SSurface temperatures of above 100dC can occur at the motor enclosure
surface. No temperature–sensitive parts or components, e.g. cables or
electronic components may be in contact with or connected to the motor.
!Warning
The holding brake is only designed for a limited number of emergency braking
operations. It is not permissible to use it as working brake.

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SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
Electro–static discharge sensitive devices
Components which can be destroyed by electrostatic discharge are individual
components, integrated circuits, or boards, which when handled, tested or
transported, could be destroyed by electrostatic fields or electrostatic dis-
charge. These components are designated as ESDS (ElectroStatic Discharge
Sensitive Devices).
Handling ESDS boards:
SThe human body, working area and packing should be well grounded when
handling ESDS components!
SElectronic boards should only be touched when absolutely necessary.
SComponents may only be touched, if
–you are continuously grounded through an ESDS bracelet,
–you are wearing ESDS shoes or ESDS shoe grounding strips in con-
junction with an ESDS floor surface.
SBoards may only be placed on conductive surfaces (desk with ESDS sur-
face, conductive ESDS foam rubber, ESDS packing bag, ESDS transport
containers).
SBoards may not be brought close to data terminals, monitors or television
sets (a minimum of 10 cm should be kept between the board and the
screen).
SBoards may not be brought into contact with materials which can be char-
ged–up and which are highly insulating.
SMeasuring work may only be carried out on the boards, if
–the measuring equipment is grounded (e.g. via the protective conductor)
or
–for floating measuring equipment, the probe is briefly discharged before
making measurements (e.g. a bare control housing is touched).
Note
Please refer to the following manuals for technical information on SIMODRIVE
611:
SIMODRIVE 611, Planning Guide
Transistor PWM Inverters for AC Feed Drives and AC Main Spindle Drives
Order No.: 6SN1197–0AA00–0VPV
SIMODRIVE 611 Analog System, Start–Up Instructions
Transistor PWM Inverter for AC Feed Drives and AC Main Spindle Drives
Order No.: 6SN1197–0AA60–0VPV
ESDS information

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SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
Note
Start–up software is available for the start–up of main spindle, synchronous
and induction motor modules.
Order No. of the start–up software: 6SN1153–2AX10–VABV5
Order No. of the documentation: 6SN1197–0AA30–0VBV

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Siemens AG 2000 All rights reserved 6SN1197–0AA20
SIMODRIVE Planning Guide Motors (PJM) – 11.00 Edition
General Information on AC Servomotors
1 Electrical Data ALS/1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Definitions ALS/1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Rating plate data ALS/1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Mechanical Data ALS/2-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Definitions ALS/2-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Mounted/integrated components ALS/2-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Functions – Options ALS/3-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Termination Technology ALS/4-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Power cables ALS/4-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Signal cables ALS/4-39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Cable versions ALS/4-40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Index ALS/5-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Note
Stepping motors can also be used to supplement the feed motor series. The
Siemens SIMOSTEP series is described in the Description of Functions (FB)
Order No.: 6SN1197–0AA70.

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SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
Notes

ALS
09.00 1.1 Definitions
ALS/1-3
Siemens AG 2000 All rights reserved 6SN1197–0AA20
SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
Electrical Data
1.1 Definitions
S3 (100 K)–25 %
1
2
3
4Max. torque Mmax
M [Nm]
10 min
10 min
10 min
S1 (100 K)
n [RPM]
Thermal limiting characteristics for
SContinuous duty
S1 (100 K) and S1 (60 K),
SIntermittent duty
S3–60 % (100 K), S3–40 % (100 K)
S3–25 % (100 K)
for a 10 min duty cycle
Speed limits nmax
CF H K
S1 (60 K)
1000 3000 4000 5000 60002000 7000
S3 (100 K)–40 %
S3 (100 K)–60 %
Voltage limiting characteristics
Mlimit
Mlimit
Mlimit
Mlimit
(Example of winding designs)
Fig. 1-1 Speed–torque diagram
Example of the
characteristics
General Information on AC Servomotors
1

ALS
09.00
1.1 Definitions
ALS/1-4 Siemens AG 2000 All rights reserved 6SN1197–0AA20
SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
100 K or 60 K is the average winding temperature rise
105 K corresponds to a utilization according to temperature rise Class F.
60 K lies within the utilization according to temperature rise Class B. The 60 K
utilization should therefore only be used, if
Sthe enclosure temperature must be below 90 °C for safety reasons,
Sor if the shaft temperature rise has a negative impact on the mounted ma-
chine
All of the data is valid for a permissible ambient temperature or cooling medium
temperature of 40 °C.
Several armature circuit designs are possible within any one frame size. The
AC servomotors offer a torque characteristic which is constant up to approx.
2000 RPM, above which, depending on the type, it is reduced. A higher over-
load capability is provided over the complete speed control range.
The following limits are always valid for the servomotor–drive converter module
combinations.
Winding temperature rise
DTW= 100 K
M0(60 K)
M0(100 K)
Mrated (100 K)
1)
0.5
1
1.5
2
2.5
3
0
nrated [RPM]
0
Dynamic limiting range 200 ms
Continuous duty S1
Speed
Winding temperature rise
DTW= 60 K
Limited by the DC link
voltage (max. possible
dynamic torque)
M torque (refer to the stall torque M060 K)
Voltage–limiting
characteristic
Mlimit
Limited by the max. possible torque or PWM converter
Fig. 1-2 Torque characteristics of AC servomotors
1) Dynamic limiting range 2 M0(60 K) corresponds to a standard drive assignment. Further, the drive
converter can be assigned corresponding to the particular drive application. If an additional overload protection is
required for the motor, the mechanical limit of the motors is 4 M0(100 K).
100 K, 60 K values
Torque characteri-
stics
General Information on AC Servomotors

ALS
09.00 1.1 Definitions
ALS/1-5
Siemens AG 2000 All rights reserved 6SN1197–0AA20
SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
!Warning
Under fault conditions, the motor can accelerate to nmax (acc. to the technical
data), and for higher supply or DC link voltages, this speed can be significantly
exceeded. Only the dynamic torque, limited by the voltage limiting characteri-
stic, can occur.
Corresponds in the diagrams to the S1 (100 K) characteristic. The arithmetic
average may not be exceeded, even in intermittent duty.
t
Load duty cycle 10 min
S3–25 %
The power–on duration is acc. VDE 0530, normalized for 15 %, 25 %, 40 %, 60 %.
If a duty cycle is not specified, it is 10 min.
25 %
Fig. 1-3 Power–on duration in intermittent duty
The motor EMF increases proportionally with increasing speed. Only the diffe-
rence between the DC link voltage and the increasing motor EMF is available to
impress the current. This limits the magnitude of the current which can be im-
pressed at high speeds
!Warning
It is not permissible for the motor to be continuously operated at the voltage
limiting characteristic in the range above the S1 characteristic for thermal
reasons.
The voltage limiting characteristics of a motor with a rated speed of 6000 RPM
lies far above that of the same motor type with 2000 RPM. However, this motor
requires a significantly higher current for the same torque. Thus, it is practical to
select the rated speed, so that this does not lie too far above the required maxi-
mum speed for the particular application. This allows the rating of the drive con-
verter module (current rating) to be minimized.
The voltage limiting characteristics are valid for
1FT5/1FT6/1FK6 for 600 V.
Thermal limiting
characteristic
Voltage limiting
characteristics
General Information on AC Servomotors

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09.00
1.1 Definitions
ALS/1-6 Siemens AG 2000 All rights reserved 6SN1197–0AA20
SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
Table 1-1 Code letter, winding version
Rated speed
[RPM] Winding version (10th pos. of the Order No.)
1200 A
1500 B
2000 C
3000 F
4000 G
4500 H
6000 K
Operating drive modules with 1FT5 and 1FT6/1FK6 motors from an uncon-
trolled infeed
Under certain circumstances, the following restrictions can be expected due to
the lower DC link voltage of 490V for the UE module (600V for the U/E mo-
dule):
–The dynamic drive performance is reduced in the upper speed range
General Information on AC Servomotors

ALS
09.00 1.1 Definitions
ALS/1-7
Siemens AG 2000 All rights reserved 6SN1197–0AA20
SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
In order to be able to identify the motor limits at DC link voltages other than
600 V, the indicated voltage limiting characteristic for the particular armature
circuit, must be shifted. A lower DC link voltage is obtained, for example, when
operating the motor from uncontrolled supply infeeds. A higher DC link voltage
can occur, e.g. if the drive converter is connected to a 480 V supply.
The degree of the actual shift is obtained as follows:
The shift along the X axis (speed), for a DC link voltage of VDC link(new), is given
by: UDC link(new)/600 V for1FT5/6/ 1FK6
Example:
If a point (P1) of the particular voltage limiting characteristic is at 3000 RPM, the
new voltage limiting characteristic for 490 V runs through (P2):
490 V
600 V = 0.82
3000 RPM  0.82 = 2460 RPM.
The new voltage limiting characteristic must, for n = 2460 RPM, be drawn in
parallel to the existing characteristic.
P1P2
M [Nm]
Mlimit (P3)
0,82
n [RPM]
nrated 2460 3000
S1 (100 K)
490 V limiting characteristics
600 V limiting characteristic
Mlimit (P4) Thermal limiting characteristic
shiftDC link < 600V DC link > 600 V (700 V)
Fig. 1-4 Voltage limiting characteristic shift
The new limiting torque with the new limiting characteristic can be calculated
according to the following formula:
1FT5: VDC link(new) – kE*nrated/1000
600 V –kE*nrated/1000 * Mlimit
VDC link(new) – 2 *kE*nrated/1000
600 V –2 *kE*nrated/1000 * Mlimit
Mlimit(new) =
1FT6/1FK6: Mlimit(new) =
kE= Voltage constant from the data sheet
Mlimit = Limiting torque from the data sheet (P3)
Mlimit(new) = New limiting torque at nrated (P4)
nrated = Rated speed from the data sheet
Check: P4 must lie on the new limiting characteristic
Shifting the vol-
tage limiting cha-
racteristic
General Information on AC Servomotors

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09.00
1.1 Definitions
ALS/1-8 Siemens AG 2000 All rights reserved 6SN1197–0AA20
SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
Thermal limiting torque when the motor is at a standstill, corresponding to the
utilization according to 100 K or 60 K. This torque is available at n = 0 for an
unlimited time. M0is always greater than the rated torque Mrated.
Motor phase current which is used to generate the particular stall torque.
1FT6 and 1FK6 motors are supplied with sinusoidal currents, 1FT5 motors are
supplied with squarewave currents. For 1FT5 motors, the current I0corres-
ponds to the peak value.
Thermally permissible continuous torque at the rated motor speed.
RMS motor phase current which is required to generate the rated torque.
Output which is available at the rated speed and rated torque.
Maximum torque which is still available at rated speed for acceleration.
Motor phase current which generates the limiting torque.
This current limit is determined by the magnetic circuit. The magnetic material
could be irreversibly de–magnetized if this current is exceeded, even for a short
time.
The maximum permissible operating speed is nmax. It is either defined electri-
cally (voltage limiting characteristic) or mechanically (centrifugal forces, bearing-
stressing). The lower value is always specified in the catalog data.
Stall torque M0
Stall current I0
Rated torque
Mrated
Rated current Irated
Rated output Prated
Limiting torque
Mlimit
Limiting current
Ilimit
Maximum current
Imax
Mechanical limi-
ting speed nmax
General Information on AC Servomotors

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09.00 1.1 Definitions
ALS/1-9
Siemens AG 2000 All rights reserved 6SN1197–0AA20
SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
Torque, which is generated at the maximum permissible current.
The maximum torque is available for fast, dynamic operations.
The maximum torque is limited by the control parameters. The rotor will be de–
magnetized if the current is further increased.
2
3
4
1
M
M0
134 652 7I
I0
28
36
48
63
71
80 100 132
Shaft heights
Fig. 1-5 Typical current–torque characteristic for various shaft heights for non–ventila-
ted motors
The individual characteristics of the individual 1FT5/6 and 1FK6 motors are
combined to form “typical shaft height ranges”. The lefthand characteristic can
be considered as the “best case”and the righthand as “worst case”.
Quotient of the stall torque and stall current. kT= M0/I0. The constants are valid
up to approx. 2 M0.
!Important
These constants are not valid (motor losses) when calculatig the neces-
sary rated and accelerating currents.
Further, the steady–state load and the friction torques must be included
in the calculation.
Value of the induced motor voltage at a speed of 1000 RPM. The phase–to–
phase motor terminal voltage is specified.
Maximum torque
Mmax
Typical
M/I characteristic
Torque constant kT
Voltage constant
kE
General Information on AC Servomotors

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09.00
1.1 Definitions
ALS/1-10 Siemens AG 2000 All rights reserved 6SN1197–0AA20
SIMODRIVE Planning Guide Motors (PJM) –11.00 Edition
The resistance of a phase is specified at a room temperature of 20 °C. The win-
ding is in a star configuration
The three–phase inductance LD= 1.5 Lph is specified.
Quotient of the three–phase inductance and winding resistance. Tel = LD/Rph.
The mechanical time constant is obtained from the tangent along a theoretical
ramp–function starting at the origin.
1FT5: Tmech = 2 Rph. Jmot/kT2[s]
1FT6/1FK6: Tmech = 3 Rph. Jmot/kT2[s]
Jmot = Moment of inertia of the servomotors [kgm2]
Rph. = Resistance of a stator winding phase [Ohm]
kT= Torque constant[Nm/A]
Defines the temperature increase of the motor housing when the motor load is
quickly increased (step increase) to the permissible S1 torque. After Tth, the
motor has reached 63 % of its final temperature.
Describes the power dissipation through the motor enclosure at the rated oper-
ting point [in W/K]
Raopt corresponds to the resistor, externally connected in series to the motor
winding for each phase for armature short–circuit braking. If the resistor value is
zero, the optimum braking is achieved without using any external resistors, i.e. a
direct short–circuit at the terminal.
Mbopt corresponds to the average optimum braking torque which can be achie-
ved by modifying the resistance.
Data going beyond this lie below the achievable measuring accuracy)
Table1-2 Tolerance data of the motor list data
Motor list data Typ. value Theoretical value
Standstill (stall) current I03 % 7.5 %
Max. speed nmax 3 % 7.5 %
Electrical time constant Tel 5 % 10 %
Torque constant kT3 % 7.5 %
Voltage constant kT3 % 7.5 %
Winding resistance RStr 5 % 10 %
Moment of inertia JMot 2 % 10 %
Core types are a subset of the complete motor spectrum. Core types have shor-
ter delivery times. The various options are restricted. They have a different Or-
der No.
Winding resi-
stance Rstr
Inductance LD
Electrical time
constant Tel
Mechanical time
constant Tmech
Thermal time con-
stant Tth
Thermal
resistance Rth
Brake
resistor Raopt
Braking torque
Mbopt
Tolerance data
Core types
General Information on AC Servomotors