Siemens SINAMICS G120X User manual

SINAMICS G120X
commissioning guide
for permanent
magnet motors PMSM
SINAMICS G120X
https://support.industry.siemens.com/cs/ww/en/view/109780815
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G120X commissioning guide for permanent magnet motors PMSM
Entry-ID: 109780815, V1.0, 07/2020
2
©Siemens 2020 All rights reserved
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Table of content
1Introduction .............................................................................................................................3
1.1 Document purpose ....................................................................................................3
1.2 Reference list of commissioned PM motors..............................................................3
1.3 Related documents....................................................................................................4
1.4 Support contacts........................................................................................................4
2General conditions of operation............................................................................................5
2.1 Supported permanent magnet motor designs...........................................................5
2.2 Application restrictions...............................................................................................5
2.3 General requirements on using 3rd party PMSM motors with SINAMICS drives ......6
2.4 Motor run-up..............................................................................................................6
2.5 Explanation on inductances Ld, Lq............................................................................6
2.6 Motor data required for commissioning.....................................................................7
2.7 Sizing of G120X with a PMSM motor........................................................................7
2.8 Operation with a sine-wave filter ...............................................................................8
3Commissioning using IOP-2..................................................................................................9
3.1 Preconditions.............................................................................................................9
3.2 Procedure..................................................................................................................9
3.3 Common issues and possible solutions ..................................................................15
3.3.1 Speed controller optimization ..................................................................................15
3.3.2 Troubleshooting.......................................................................................................16
4Appendix 1: Guidance on commissioning LSPM –Line Started Permanent
Magnet motors ......................................................................................................................17

1 Introduction
G120X commissioning guide for permanent magnet motors PMSM
Entry-ID: 109780815, V1.0, 07/2020
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©Siemens AG 2020 All rights reserved
1 Introduction
1.1 Document purpose
It provides guidance for commissioning permanent magnet synchronous motors (PMSM) with
SINAMICS G120X drives using the IOP-2 interface. Despite the fact the PMSM motors are not
standardized and the optimal performance with G120X drive cannot be always guaranteed most
3rd party PMSM motors that meet the criteria described in this guide can be successfully
commissioned.
1.2 Reference list of commissioned PM motors
This document contains information based on several successful tests with PMSM motors.
So far the biggest power rating of the motor that was tested with G120X inverter is
18.5kW/400V. For that reason the information provided in this guide is currently
restricted to applications of up to 18.5kW.
Table 1-1
Make
Type
Design
kW
rpm
V
Hz
Poles
Lq/Ld
Note
Hanning
P3S120-040P0110-
030-003-HS0-029
IPM
1.1
3000
310
150
6
1.3
Lq, Ld set
according to data
sheet
VEM
IE5-PS2R 90 S 4 H
TMP140
SMPM
1.5
3000
310
100
4
1
Lq, Ld set
according to data
sheet
VOLT
Pro
IE5 - 80
IPM
1.5
3000
300
250
10
1.1
ID run ok. Tested
up to 200Hz.
KSB
UMA-S 150E 7/42
Submersible
borehole motor
IPM
4
3000
400
100
4
1.7
Nominal voltage
corrected to
331V. Lq, Ld set
according to data
sheet values.
Tested with sine-
wave filter.
KSB
UMA-S 150E 18/42
Submersible
borehole motor
IPM
18.5
3000
400
100
4
1.6
Nominal voltage
corrected to
366V. Lq, Ld set
according to data
sheet values.
Tested with
du/dt+VPL and
sine-wave filter.

1 Introduction
G120X commissioning guide for permanent magnet motors PMSM
Entry-ID: 109780815, V1.0, 07/2020
4
©Siemens AG 2020 All rights reserved
1.3 Related documents
SINAMICS G120X Operating instructions
https://support.industry.siemens.com/cs/ww/en/view/109769350
SINAMICS IOP-2 Operating instructions
https://support.industry.siemens.com/cs/ww/en/view/109767180
General system requirements for S120 drives regarding 3rd party motors (in most aspects
applicable to all SINAMICS drives including G120X)
https://support.industry.siemens.com/cs/ww/en/view/109760445
1.4 Support contacts
Competence center in Prague
gmc.tech.team.infrastructure-[email protected]
Drive System Enhancement in Congleton
sinamics.solutions.mot[email protected]om

2 General conditions of operation
G120X commissioning guide for permanent magnet motors PMSM
Entry-ID: 109780815, V1.0, 07/2020
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©Siemens AG 2020 All rights reserved
2 General conditions of operation
2.1 Supported permanent magnet motor designs
Supported designs:
•Surface mounted permanent magnet motors SMPM (preferred)
•Internal permanent magnet motors IPM
•Line started permanent magnet motors LSPM
(see Appendix 1 for instructions on commissioning this type of motor)
Not supported designs:
•Brushless DC motors BLDC
•Permanent magnet assisted synchronous reluctance motors PMASynRM
2.2 Application restrictions
•G120X only supports Encoderless operation with PMSM (p1300 = 20). It is required to
set Application class p96 = 2: Dynamic Drive Control.
•Deragging function is currently not supported with PMSM.
•High-dynamic applications are not suitable for PMSM operated from G120X.
•Flying start is not possible with PMSM. Motor must be standstill before each start.
•Regenerative applications are not released with PMSM.
•DC braking in not effective and must not be activated.
•PMSM rated voltage should be ideally ≤0.9 x inverter supply voltage.
Note: Some motor manufactures provide rated power grid voltage instead of the real
motor rated voltage at nominal speed and load.
If the motor nameplate shows nominal mains voltage values like 380V, 400V, 480V etc.
then see the Commissioning chapter on how to calculate motor rated voltage in such a
case.
•PMSM Multimotor applications are not allowed
•All applications requiring continues operation below 15% of motor nominal speed are
not allowed
•Operation is only allowed in range up to motor nominal speed –no operation in the field
weakening range is allowed
•Long cable + sinus wave filter systems are not generally supported (exceptions require
a customer specific test to be done)
•Maximum operating frequency is 200Hz (exceptionally up to 240Hz)
•The load inertia should not be less than 20% of the motor inertia. See p341 and p342

2 General conditions of operation
G120X commissioning guide for permanent magnet motors PMSM
Entry-ID: 109780815, V1.0, 07/2020
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©Siemens AG 2020 All rights reserved
2.3 General requirements on using 3rd party PMSM motors with
SINAMICS drives
General requirements on 3rd party motors and their operations are described in the document
SINAMICS S120 Requirements placed on third-party motors:
https://support.industry.siemens.com/cs/ww/en/view/109760445
Most important are:
•Motor insulation system –check requirements regarding voltage stress. If needed use
dv/dt filter.
•BEMF waveform –must be sinusoidal ideally up to 2% THD.
•Low cogging torque –up to 4% peak-peak value compared to rated torque.
•Rated motor voltage –this should be ideally ≤0.9 x inverter supply voltage otherwise
derating may apply.
•Pulse frequency –depending on frame size and/or voltage rating the standard pulse
frequency of G120X inverters is either 4kHz or 2kHz. The motor must be of a suitable
design for this.
2.4 Motor run-up
During operation the rotor position is derived from known motor parameters and measured
quantities (voltage and current).
1. At every drive enable the initial rotor position is measured indirectly. This is called Pole
Position Identification (PolID). As default a sequence of voltage pulses is sent to the
motor phases, this results in a current increase which is evaluated to determine the pole
positions. This results in a short delay of approx. 200ms during which a “humming”
noise can be heard from motor.
2. The acceleration phase then follows with an injected current 10% more according to the
maximum expected load.
3. Once the speed reaches the value defined by p1755 (Motor model changeover speed
encoderless operation) the inverter operation switches to closed-loop mode providing
highly efficient motor control.
Note that motor operation in the open-loop phase is utilized only for transient conditions i.e. start
of acceleration or end of deceleration. The motor minimum operating speed (p1080) must
always be greater than Motor model changeover speed!
2.5 Explanation on inductances Ld, Lq
Ld –direct inductance and Lq –quadrature inductance. These motor parameters represent the
motor inductance when the rotor is positioned either in direct or in quadrature axis.
Direct axis is where the rotor magnetic axis is aligned with stator magnetic axis.
Quadrature axis is where the rotor magnetic axis is at an angle = (90°/pole-pair number) with
respect to the stator magnetic axis. That means 90° electrical.
Non equality between Ld and Lq indicates that a reluctance torque may be present in the motor.
This must be taken into account in the motor control to optimize efficient operation –MTPC
(Maximum Torque Per Current)
User experience shows the best results can be expected when the Ld, Lq difference is less than
20% like in case of SMPM.

2 General conditions of operation
G120X commissioning guide for permanent magnet motors PMSM
Entry-ID: 109780815, V1.0, 07/2020
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©Siemens AG 2020 All rights reserved
2.6 Motor data required for commissioning
For correct automatic setting of motor model and control loop parameters some important data
must be entered into the inverter during commissioning. They can usually be found either on the
motor nameplate or in the datasheet provided by the motor supplier:
Table 2-1
Parameter name
Parameter number
Unit
Rated motor current
p305
Arms
Rated motor power
p307
kW
Rated motor speed
p311
rpm
Maximum motor speed
p322
rpm
Minimum speed
p1080
rpm
Rated motor voltage
p304
V
Rated motor frequency
p310
Hz
Maximum motor current/ current limit
p640
Arms
Motor temperature sensor type1
p601
-
Other motor parameters that are recommended and preferred to know for commissioning:
Table 2-2
Parameter name
Parameter number
Unit
Motor moment of inertia
p341
kg.m2
Ratio between the total and motor
moment of inertia 2
p342
-
Motor stator resistance cold
p350
Ohm
Cable resistance (if length exceeds 5m)
p352
Ohm
Motor stator inductance q axis3
p356
mH
Motor stator inductance d axis
p357
mH
2.7 Sizing of G120X with a PMSM motor
Always check the motor rated current and preferably use an inverter with at least 5% greater
rated current after considering all derating factors like altitude, ambient temperature, sine-wave
filter, number of starts per hour, overload requirements, increased pulse frequency requirements
etc.
This is important because there are usually some production tolerances in the properties of
permanent magnets and they also tend to decrease slightly in strength during the service life of
the motor.
1
It is strongly recommended to use temperature sensor for motor thermal protection particularly when using
a non-standardized motor.
2
(JLoad + JMotor) / JMotor
3
With some motors the inductance becomes significantly smaller at higher currents (saturation effect) than
given in the name plate, hence the current controller has to be adapted. IOP-2 displayed name may be Motor
stator leakage inductance.

2 General conditions of operation
G120X commissioning guide for permanent magnet motors PMSM
Entry-ID: 109780815, V1.0, 07/2020
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©Siemens AG 2020 All rights reserved
2.8 Operation with a sine-wave filter
Currently only G120X FSA-G support sine-wave filters.
Basically a sine-wave filter with a PMSM motor can be used however the operation with long
cables may lead to instability and without making a customer specific test the operation cannot
be guaranteed.
Table 2-3
Important sine wave filter application notes
Always activate the sine-wave filter option in the Startup menu to protect the filter from
possible damage. Advanced Startup → Hardware Options → Output filter. Enter filter
inductance and capacitance.
Ensure p1901[1] is set at default (0).
Set p1980 = 10 and perform Save RAM to ROM.4
If using a 3rd party sine-wave filter check for suitability regarding maximum operating
frequency, minimum pulse frequency and current rating.
Consider the volt-drop due to the filter impedance (usually 10-15%) and the naturally lower
drive output voltage due to inhibition of Pulse Edge Modulation (approx. 0.92* Drive input
voltage). This can result in a significant derating.
Enter motor inductances Ld, Lq manually. Before performing the stationary ID run set
p1909[15] = 1.
4
Ensure rotor is unloaded before every start. Repeat after every motor ID run.

3 Commissioning using IOP-2
G120X commissioning guide for permanent magnet motors PMSM
Entry-ID: 109780815, V1.0, 07/2020
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©Siemens AG 2020 All rights reserved
3 Commissioning using IOP-2
3.1 Preconditions
•Mounting, wiring and safety requirements are done in accordance to G120X Operating
instructions
•G120X drive and IOP-2 are both in factory setting
•User has fundamental skills with drive commissioning
Note: If not explicitly mentioned in the following procedure the inverter setting or parameter
value is to remain in factory setting.
3.2 Procedure
Table 3-1
Step
Description
Instructions
1
From initial screen go to Setup menu and
use Advanced Startup when
commissioning PM motor
2
If the inverter is not in factory setting do it
now: Factory Reset → Drive factory reset

3 Commissioning using IOP-2
G120X commissioning guide for permanent magnet motors PMSM
Entry-ID: 109780815, V1.0, 07/2020
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©Siemens AG 2020 All rights reserved
3
If you are using any type of output choke
or filter go to Hardware Options and
Output filter and select the right option:
Motor Reactor –enter its inductance and
number of reactors connected in series
Dv/dt filter –just select this option to
activate filter protection
Sinus Filter Siemens or 3rd party –enter
its inductance and capacitance values
from filter nameplate or data sheet. If
Siemens filter is selected the values are
pre-filled already and should equal
nameplate data.
4
In Control Type option select Dynamic
Drive Control
5
Go to Motor Data and enter the
parameters as shown in the table below.
Table 3-2
Motor data
Standard
Depending on power units to be used for commissioning enter
either IEC (50Hz, SI) or NEMA (60Hz, SI) for values in kW or NEMA
(60Hz, US) for values in HP.
Motor Type
2:Sync
Current
Enter Motor Rated Current
Power
Enter Motor Rated Power (mechanical)
Speed
Enter Motor Rated Speed
Voltage
Enter Motor Rated Voltage (refer to NOTE)
Frequency
Enter Motor Rated Frequency