Siemens SINAMICS S120 Parts list manual

SINAMICS S120 Drive Functions
SINAMICS S120
sinamics
s
Function Manual 07/2007

Foreword
Infeed
1
Extended setpoint channel
2
Servo control
3
Vector control
4
Vector V/f control
(r0108.2 = 0)
5
Basic functions
6
Function modules
7
Monitoring and protective
functions
8
Safety Integrated basic
functions
9
Communication PROFIBUS
DP/PROFINET IO
10
Applications
11
Basic information about the
drive system
12
Appendix
A
SINAMICS
S120
Drive Functions
Function Manual
(FH1), 07/2007
6SL3097-2AB00-0BP4
A
pplies to:
Firmware version FW2.5 SP1

Safety Guidelines
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
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
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 device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
Prescribed Usage
Note the following:
WARNING
This device may only be used for the applications described in the catalog or the technical description and only
in connection with devices or components from other manufacturers which have been approved or
recommended by Siemens. Correct, reliable operation of the product requires proper transport, storage,
positioning and assembly as well as careful operation and maintenance.
Trademarks
All names identified by ® are registered trademarks of the 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
Automation and Drives
Postfach 48 48
90327 NÜRNBERG
GERMANY
Order number: 6SL3097-2AB00-0BP4
Ⓟ 08/2007
Copyright © Siemens AG 2007.
Technical data subject to change

Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 5
Foreword
SINAMICS documentation
The SINAMICS documentation is organized in 2 parts:
● General documentation / catalogs
● Manufacturer/service documentation
A current overview of the documentation in the available languages is provided in the
Internet:
http://www.siemens.com/motioncontrol
Select the menu items "Support" --> "Technical Documentation" --> "Overview of
Publications."
The Internet version of DOConCD (DOConWEB) is available on the Internet:
http://www.automation.siemens.com/doconweb
Information on the range of training courses and FAQs (Frequently Asked Questions) is
available on the Internet:
http://www.siemens.com/motioncontrol
Follow the menu item "Support".
Usage phases and their tools/documents (as an example)
Table 1 Usage phases and the available documents/tools
Usage phase Document/tool
Orientation SINAMICS S Sales Documentation
Planning/configuration •SIZER configuration tool
•Configuration Manuals, Motors
Decision/ordering SINAMICS S Catalogs
Installation/assembly •SINAMICS S120 Equipment Manual for Control Units and
Additional System Components
•SINAMICS S120 Equipment Manual for Booksize Power
Units
•SINAMICS S120 Equipment Manual for Chassis Power
Units
•SINAMICS S120 Equipment Manual for AC Drives

Foreword
Drive Functions
6 Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
Usage phase Document/tool
Commissioning •STARTER parameterization and commissioning tool
•SINAMICS S120 Getting Started
•SINAMICS S120 Commissioning Manual
•SINAMICS S120 CANopen Commissioning Manual
•SINAMICS S120 Function Manual
•SINAMICS S List Manual
Usage/operation •SINAMICS S120 Commissioning Manual
•SINAMICS S List Manual
Maintenance/servicing •SINAMICS S120 Commissioning Manual
•SINAMICS S List Manual
Target group
This documentation is intended for machine manufacturers, commissioning engineers, and
service personnel who use the SINAMICS S drive system.
Benefits
The Function Manual describes all the procedures and operational instructions required for
the commissioning of functions and servicing of SINAMICS S120.
The Function Manual is structured as follows:
Chapter 1 Infeed
Chapter 2 Extended setpoint channel
Chapter 3 Servo control
Chapter 4 Vector control
Chapter 5 Vector V/f control (r0108.2 = 0)
Chapter 6 Basic functions
Chapter 7 Function modules
Chapter 8 Monitoring and protective functions
Chapter 9 Safety Integrated basic functions
Chapter 10 PROFIBUS DP/PROFINET IO communication
Chapter 11 Applications
Chapter 12 Basic information about the drive system
Advice for beginners:
First read the chapter on basic functions and then read the relevant chapters.
Search guides
The following guides are provided to help you locate information in this manual:
1. Contents
2. List of abbreviations
3. Index

Foreword
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 7
Standard scope
The scope of the functionality described in this document can differ from the scope of the
functionality 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 servicing.
● Functions can be described in the documentation that are not available in a particular
product version of the drive system. The functionality of the supplied drive system should
only be taken from the ordering documentation.
● 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. This documentation cannot take into consideration every
conceivable type of installation, operation and service/maintenance.
Technical Support
In case of questions, please contact us through the following hotline:
European and African time zones
A&D Technical Support
Tel.: [phone] - 222
Fax: [phone] - 223
Internet: http://www.siemens.de/automation/support-request
Asian and Australian time zones
A&D Technical Support
Tel: [phone]
Fax: [phone]
E-mail: [e-mail]
America time zone
A&D Technical Support
Tel: [phone]
Fax: [phone]
E-mail: techsupport.s[email protected]
Note
Country-specific telephone numbers for technical support are provided under the following
Internet address:
http://www.siemens.com/automation/service&support

Foreword
Drive Functions
8 Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
Questions on the manual
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following fax number or E-Mail address:
Fax: [phone] / 98 - 63315
Email: [e-mail]
Fax form: Refer to the reply form at the end of this manual
Internet address for SINAMICS
http://www.siemens.com/sinamics.
EC Declaration of Conformity
The EC Declaration of Conformity for the EMC Directive can be obtained from:
● Internet
http://www.ad.siemens.de/csinfo
Product/Order no: 15257461
● Branch offices
For the responsible regional offices of the A&D MC business division of Siemens AG.
Notation
The following notation and abbreviations are used in this documentation:
Notation for parameters (examples):
● p0918 Adjustable parameter 918
● r1024 Display parameter 1024
● p1070[1] Adjustable parameter 1070, index 1
● p2098[1].3 Adjustable parameter 2098, index 1, bit 3
● p0099[0...3] Adjustable parameter 99 indices 0 to 3
● r0945[2](3) Display parameter 945 index 2 of drive object 3
● p0795.4 Adjustable parameter 795 bit 4
Notation for faults and alarms (examples):
● F12345 Fault 12345
● A67890 Alarm 67890

Foreword
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 9
ESD Notes
CAUTION
Electrostatic sensitive devices (ESD) are single components, integrated circuits or devices
that can be damaged by electrostatic fields or electrostatic discharges.
Regulations for the ESD handling:
During the handling of electronic components, pay attention to the grounding of the person,
workplace and packaging!
Electronic components may be touched by persons only when
•these persons are grounded using an ESD bracelet, or
•these persons in ESD areas with a conducting floor wear ESD shoes or ESD grounding
straps.
Electronic components should be touched only when this is unavoidable. The touching is
permitted only on the front panel or on the circuit board edge.
Electronic components must not be brought into contact with plastics or clothing made of
artificial fibers.
Electronic components may only be placed on conducting surfaces (table with ESD coating,
conducting ESD foamed material, ESD packing bag, ESD transport container).
Electronic components may not be placed near display units, monitors or televisions
(minimum distance from the screen > 10 cm).
Measurements may be made on electronic components when the measuring unit is
grounded (e.g. with a protective conductor) or prior to measuring with a potential-free
measuring unit, the measuring head is briefly discharged (e.g. by touching a bare metal
housing).

Foreword
Drive Functions
10 Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
Safety instructions
DANGER
•Commissioning must 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.
•SINAMICS devices and AC motors must only be commissioned by suitably qualified
personnel.
•The personnel must take into account the information provided in the technical customer
documentation for the product, and be familiar with and follow the specified danger and
warning notices.
•When electrical equipment and motors are operated, the electrical circuits automatically
conduct a dangerous voltage.
•When the machine or system is operated, hazardous axis movements can occur.
•All of the work carried-out on the electrical machine or system must be carried-out with it
in a no-voltage condition.
•SINAMICS 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
•The successful and safe operation of this equipment and motors is dependent on
correct transport, proper storage, installation and mounting as well as careful operator
control, service and maintenance.
•For special versions of the drive units and motors, information and data in the Catalogs
and quotations additionally apply.
•In addition to the danger and warning information provided in the technical customer
documentation, the applicable national, local, and plant-specific regulations and
requirements must be taken into account.
•Only protective extra-low voltages (PELV) that comply with EN60204-1 may be
connected to all connections and terminals between 0 and 48 V.
CAUTION
•The motors can have surface temperatures of over +80 °C.
•This is the reason that temperature-sensitive components, e.g. cables or electronic
components may neither be in contact nor be attached to the motor.
•When attaching the connecting cables, you must ensure that:
– they are not damaged
– they are not under tension
– they cannot come into contact with any rotating parts

Foreword
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 11
CAUTION
•As 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.
•Motors should be connected-up according to the circuit diagram provided. otherwise
they can be destroyed.
Note
When operated in dry operating areas, SINAMICS equipment with AC motors conforms to
Low-Voltage Directive 73/23/EEC.

Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 13
Contents
Foreword ................................................................................................................................................... 5
1 Infeed ...................................................................................................................................................... 21
1.1 Active Infeed ................................................................................................................................21
1.1.1 Introduction ..................................................................................................................................21
1.1.2 Active Infeed closed-loop control Booksize .................................................................................22
1.1.3 Active Infeed closed-loop control Chassis...................................................................................24
1.1.4 Integration ....................................................................................................................................25
1.1.5 Line and DC link identification......................................................................................................26
1.1.6 Active Infeed open-loop control ...................................................................................................27
1.1.7 Reactive current control ...............................................................................................................30
1.1.8 Harmonics controller ....................................................................................................................30
1.2 Smart Infeed.................................................................................................................................31
1.2.1 Smart Infeed closed-loop control .................................................................................................31
1.2.2 Line supply and DC link identification routine for Smart Infeed Booksize ...................................33
1.2.3 Smart Infeed open-loop control....................................................................................................35
1.3 Basic Infeed .................................................................................................................................38
1.3.1 Basic Infeed open-loop control ....................................................................................................38
1.3.2 Basic Infeed open-loop control ....................................................................................................40
1.4 Line contactor control...................................................................................................................42
1.5 Pre-charging and bypass contactor chassis................................................................................44
1.6 Derating function for chassis units...............................................................................................45
1.7 Parallel connections of 6-pulse and 12-pulse chassis infeeds ....................................................46
2 Extended setpoint channel ...................................................................................................................... 47
2.1 Activating the "extended setpoint channel" function module in servo mode ...............................47
2.2 Description ...................................................................................................................................48
2.3 Jog ...............................................................................................................................................49
2.4 Fixed speed setpoints ..................................................................................................................53
2.5 Motorized potentiometer ..............................................................................................................54
2.6 Main/supplementary setpoint and setpoint modification..............................................................56
2.7 Direction of rotation limiting and direction of rotation changeover...............................................57
2.8 Suppression bandwidths and setpoint limits................................................................................58
2.9 Ramp-function generator .............................................................................................................60
3 Servo control ........................................................................................................................................... 65
3.1 Speed controller...........................................................................................................................65
3.2 Speed setpoint filter .....................................................................................................................66
3.3 Speed controller adaptation.........................................................................................................67

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Drive Functions
14 Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
3.4 Torque-controlled operation........................................................................................................ 69
3.5 Torque setpoint limitation............................................................................................................ 71
3.6 Current controller ........................................................................................................................ 75
3.7 Current setpoint filter................................................................................................................... 78
3.8 Note about the electronic motor model ....................................................................................... 84
3.9 V/f control for diagnostics............................................................................................................ 84
3.10 Optimizing the current and speed controller ...............................................................................87
3.11 Sensorless operation (without an encoder) ................................................................................ 88
3.12 Motor data identification.............................................................................................................. 92
3.12.1 Motor data identification - induction motor .................................................................................. 94
3.12.2 Motor data identification - synchronous motor............................................................................ 96
3.13 Pole position identification........................................................................................................... 98
3.14 Vdc control ................................................................................................................................ 102
3.15 Dynamic Servo Control (DSC) .................................................................................................. 106
3.16 Travel to fixed stop.................................................................................................................... 109
3.17 Vertical axes.............................................................................................................................. 113
4 Vector control ........................................................................................................................................ 115
4.1 Sensorless vector control (SLVC)............................................................................................. 115
4.2 Vector control with encoder....................................................................................................... 118
4.3 Speed controller ........................................................................................................................ 119
4.4 Speed controller adaptation ...................................................................................................... 121
4.5 Speed controller pre-control and reference model ................................................................... 124
4.6 Droop......................................................................................................................................... 127
4.7 Torque control ........................................................................................................................... 129
4.8 Torque limiting........................................................................................................................... 132
4.9 Vdc control ................................................................................................................................ 133
4.10 Current setpoint filter................................................................................................................. 137
4.11 Current controller adaptation..................................................................................................... 137
4.12 Motor data identification and rotating measurement................................................................. 138
4.13 Efficiency optimization............................................................................................................... 145
4.14 Instructions for commissioning induction motors (ASM)........................................................... 146
4.15 Instructions for commissioning permanent-magnet synchronous motors ................................ 148
4.15.1 Automatic encoder adjustment ................................................................................................. 152
4.15.2 Pole position identification......................................................................................................... 153
4.16 Flying restart ............................................................................................................................. 154
4.17 Synchronization......................................................................................................................... 156
4.18 Simulation operation ................................................................................................................. 157
4.18.1 Description ................................................................................................................................ 157

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Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 15
4.18.2 Features.....................................................................................................................................158
4.18.3 Commissioning...........................................................................................................................158
4.19 Redundance operation power units ...........................................................................................158
4.20 Bypass .......................................................................................................................................159
4.20.1 Bypass with synchronization with overlap (p1260 = 1)..............................................................160
4.20.2 Bypass with synchronization, without overlap (p1260 = 2)........................................................163
4.20.3 Bypass without synchronization (p1260 = 3).............................................................................164
5 Vector V/f control (r0108.2 = 0).............................................................................................................. 169
5.1 Introduction ................................................................................................................................169
5.2 Voltage boost .............................................................................................................................171
5.3 Slip compensation......................................................................................................................174
5.4 Vdc control .................................................................................................................................175
6 Basic functions ...................................................................................................................................... 179
6.1 Changing over units ...................................................................................................................179
6.2 Reference parameters/normalizations.......................................................................................180
6.3 Modular machine concept..........................................................................................................183
6.4 Sinusoidal filter...........................................................................................................................185
6.5 dv/dt filter plus VPL ....................................................................................................................186
6.6 Direction reversal without changing the setpoint .......................................................................187
6.7 Automatic restart (vector, servo, infeed)....................................................................................188
6.8 Armature short-circuit brake, internal voltage protection, DC brake..........................................191
6.9 OFF3 torque limits .....................................................................................................................198
6.10 Technology function: friction characteristic................................................................................199
6.11 Simple brake control ..................................................................................................................200
6.11.1 Features.....................................................................................................................................200
6.11.2 Description .................................................................................................................................200
6.11.3 Commissioning...........................................................................................................................201
6.11.4 Integration ..................................................................................................................................202
6.12 Runtime (operating hours counter) ............................................................................................203
6.13 Parking axis and parking sensor................................................................................................204
6.13.1 Description .................................................................................................................................204
6.13.2 Example: parking axis and parking sensor................................................................................205
6.13.3 Overview: key parameters .........................................................................................................206
6.14 Position tracking.........................................................................................................................207
6.14.1 General Information ...................................................................................................................207
6.14.2 Measuring gear ..........................................................................................................................208
6.14.2.1 Features.....................................................................................................................................208
6.14.2.2 Description .................................................................................................................................208
6.14.2.3 Prerequisites ..............................................................................................................................211
6.14.2.4 Integration ..................................................................................................................................212
6.15 Terminal Module 41 (TM41).......................................................................................................212
6.16 Updating the firmware................................................................................................................217
6.16.1 Upgrading firmware and the project in STARTER.....................................................................218

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16 Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
7 Function modules .................................................................................................................................. 219
7.1 Function modules - Definition and commissioning ................................................................... 219
7.2 Technology controller................................................................................................................ 220
7.2.1 Description ................................................................................................................................ 220
7.2.2 Features .................................................................................................................................... 220
7.2.3 Commissioning with STARTER ................................................................................................ 221
7.2.4 Examples................................................................................................................................... 221
7.2.5 Integration ................................................................................................................................. 222
7.3 Extended monitoring functions.................................................................................................. 224
7.3.1 Features .................................................................................................................................... 224
7.3.2 Commissioning.......................................................................................................................... 225
7.3.3 Integration ................................................................................................................................. 225
7.4 Extended brake control ............................................................................................................. 226
7.4.1 Features .................................................................................................................................... 226
7.4.2 Description ................................................................................................................................ 226
7.4.3 Commissioning.......................................................................................................................... 226
7.4.4 Examples................................................................................................................................... 227
7.4.5 Integration ................................................................................................................................. 228
7.5 Braking Module ......................................................................................................................... 231
7.5.1 "Braking Module" function module ............................................................................................ 231
7.6 Cooling system.......................................................................................................................... 233
7.6.1 "Cooling system" function module ............................................................................................ 233
7.7 Extended torque control (kT estimator, Servo) ......................................................................... 235
7.8 Closed-loop position control...................................................................................................... 237
7.8.1 General features ....................................................................................................................... 237
7.8.2 Position actual value conditioning............................................................................................. 237
7.8.2.1 Features .................................................................................................................................... 237
7.8.2.2 Description ................................................................................................................................ 238
7.8.2.3 Indexed actual value acquisition ............................................................................................... 240
7.8.2.4 Load gear position tracking....................................................................................................... 241
7.8.2.5 Commissioning with STARTER ................................................................................................ 244
7.8.2.6 Integration ................................................................................................................................. 245
7.8.3 Position controller...................................................................................................................... 246
7.8.4 Monitoring functions.................................................................................................................. 247
7.8.5 Measuring probe evaluation and reference mark search ......................................................... 249
7.8.6 Integration ................................................................................................................................. 250
7.9 Basic positioner......................................................................................................................... 251
7.9.1 Mechanical system.................................................................................................................... 253
7.9.2 Limits......................................................................................................................................... 255
7.9.3 Referencing............................................................................................................................... 259
7.9.4 Traversing blocks ...................................................................................................................... 267
7.9.5 Travel to fixed stop.................................................................................................................... 272
7.9.5.1 Introduction ............................................................................................................................... 272
7.9.5.2 Fixed stop reached.................................................................................................................... 273
7.9.5.3 Fixed stop is not reached.......................................................................................................... 274
7.9.5.4 Cancel ....................................................................................................................................... 274
7.9.5.5 Vertical axes.............................................................................................................................. 275
7.9.5.6 Integration ................................................................................................................................. 275
7.9.6 Direct setpoint input (MDI) ........................................................................................................ 276
7.9.7 Jog............................................................................................................................................. 279
7.9.8 Status signals............................................................................................................................ 280

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Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 17
7.10 DCC axial winder .......................................................................................................................282
7.11 Parallel connection of chassis power units (vector)...................................................................288
7.11.1 Features.....................................................................................................................................288
7.11.2 Integration ..................................................................................................................................288
7.11.3 Description .................................................................................................................................289
7.11.4 Application examples .................................................................................................................289
7.11.5 Commissioning...........................................................................................................................290
8 Monitoring and protective functions ....................................................................................................... 291
8.1 Power unit protection, general ...................................................................................................291
8.2 Thermal monitoring and overload responses ............................................................................292
8.3 Block protection..........................................................................................................................293
8.4 Stall protection (only for vector control) .....................................................................................294
8.5 Thermal motor protection...........................................................................................................295
9 Safety Integrated basic functions........................................................................................................... 299
9.1 General information ...................................................................................................................299
9.1.1 Explanations, standards, and terminology.................................................................................299
9.1.2 Supported functions ...................................................................................................................301
9.1.3 Parameter, Checksum, Version, Password ...............................................................................303
9.1.4 Forced dormant error detection .................................................................................................306
9.2 Safety instructions......................................................................................................................307
9.3 Safe Torque Off (STO)...............................................................................................................308
9.4 Safe Stop 1 (SS1, time controlled) ............................................................................................311
9.5 Safe Brake Control (SBC)..........................................................................................................312
9.6 Control via terminals on the Control Unit and the power unit ....................................................315
9.7 Commissioning the "STO", "SBC" and "SS1" functions ............................................................318
9.7.1 General information about commissioning safety functions ......................................................318
9.7.2 Procedure for commissioning "STO", "SBC" and "SS1"............................................................320
9.7.3 Safety faults ...............................................................................................................................323
9.8 Acceptance test and certificate..................................................................................................325
9.8.1 General information about acceptance......................................................................................325
9.8.2 Documentation...........................................................................................................................326
9.8.3 Acceptance test for Safe Torque Off (STO)...............................................................................329
9.8.4 Acceptance test for Safe Stop 1, time controlled (SS1) ............................................................330
9.8.5 Acceptance test for "Safe Brake Control" (SBC) .......................................................................331
9.8.6 Completion of certificate ............................................................................................................333
9.9 Application examples .................................................................................................................334
9.9.1 Safe Stop 1 (SS1, time-controlled) when protective door is locked, emergency stop
switch-off ....................................................................................................................................334
9.10 Overview of parameters and function diagrams ........................................................................338
10 Communication PROFIBUS DP/PROFINET IO..................................................................................... 341
10.1 Communications according to PROFIdrive................................................................................341
10.1.1 General information about PROFIdrive for SINAMICS..............................................................341
10.1.2 Application classes ....................................................................................................................342
10.1.3 Cyclic communication ................................................................................................................347
10.1.3.1 Telegrams and process data .....................................................................................................347

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18 Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
10.1.3.2 Monitoring: telegram failure....................................................................................................... 353
10.1.3.3 Description of control words and setpoints ............................................................................... 354
10.1.3.4 Description of status words and actual values.......................................................................... 364
10.1.3.5 Control and status words for encoder....................................................................................... 375
10.1.3.6 Central control and status words .............................................................................................. 384
10.1.3.7 Motion Control with PROFIdrive ............................................................................................... 389
10.1.4 Acyclic communication.............................................................................................................. 392
10.1.4.1 General information about acyclic communication ................................................................... 392
10.1.4.2 Structure of orders and responses............................................................................................ 394
10.1.4.3 Determining the drive object numbers ...................................................................................... 399
10.1.4.4 Example 1: read parameters..................................................................................................... 399
10.1.4.5 Example 2: write parameters (multi-parameter request) .......................................................... 401
10.2 Communication via PROFIBUS DP .......................................................................................... 405
10.2.1 General information about PROFIBUS..................................................................................... 405
10.2.1.1 General information about PROFIBUS for SINAMICS ............................................................. 405
10.2.1.2 Example: telegram structure for cyclic data transmission......................................................... 407
10.2.2 Commissioning PROFIBUS ...................................................................................................... 410
10.2.2.1 General information about commissioning................................................................................ 410
10.2.2.2 Commissioning procedure ........................................................................................................ 413
10.2.2.3 Diagnosis options...................................................................................................................... 413
10.2.2.4 SIMATIC HMI addressing ......................................................................................................... 414
10.2.2.5 Monitoring: telegram failure....................................................................................................... 415
10.2.3 Motion Control with PROFIBUS................................................................................................ 416
10.2.4 Slave-to-slave communications ................................................................................................ 421
10.2.4.1 General information................................................................................................................... 421
10.2.4.2 Setpoint assignment in the subscriber ...................................................................................... 423
10.2.4.3 Activating/parameterizing slave-to-slave communications ....................................................... 424
10.2.4.4 Commissioning of the PROFIBUS slave-to-slave communication ........................................... 426
10.2.4.5 GSD (GeräteStammDaten) file ................................................................................................. 434
10.2.4.6 Diagnosing the PROFIBUS slave-to-slave communication in STARTER ................................ 435
10.3 Communications via PROFINET IO.......................................................................................... 437
10.3.1 General information about PROFINET IO ................................................................................ 437
10.3.1.1 General information about PROFINET IO for SINAMICS......................................................... 437
10.3.1.2 Real-time (RT) and isochronous real-time (IRT) communication ............................................. 438
10.3.1.3 Addresses ................................................................................................................................. 439
10.3.1.4 Data transfer ............................................................................................................................. 440
10.3.2 Hardware setup......................................................................................................................... 441
10.3.2.1 Configuring SINAMICS drives with PROFINET........................................................................ 441
10.3.3 RT classes................................................................................................................................. 444
10.3.3.1 RT classes for PROFINET IO ................................................................................................... 444
10.3.3.2 PROFINET IO with RT.............................................................................................................. 445
10.3.3.3 PROFINET IO with IRT - Overview........................................................................................... 446
10.3.3.4 PROFINET IO with IRTtop........................................................................................................ 447
10.3.4 Motion Control with PROFINET ................................................................................................ 448
11 Applications ........................................................................................................................................... 451
11.1 Parallel operation of communication interfaces for CU320....................................................... 451
11.2 Switching on a drive object x_Infeed by means of a vector drive object .................................. 454
11.3 Motor changeover ..................................................................................................................... 455
11.3.1 Description ................................................................................................................................ 455
11.3.2 Example: motor switchover for four motors .............................................................................. 455
11.3.3 Example of a star/delta switchover ........................................................................................... 457
11.3.4 Integration ................................................................................................................................. 459

Contents
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 19
11.4 Application examples with the DMC20 ......................................................................................460
11.4.1 Features.....................................................................................................................................460
11.4.2 Description .................................................................................................................................460
11.4.3 Example, distributed topology....................................................................................................460
11.4.4 Example, hot plugging ...............................................................................................................461
11.4.5 Instructions for offline commissioning with STARTER...............................................................462
11.4.6 Overview of key parameters (see SINAMICS S List Manual) ...................................................463
11.5 Control Units without infeed control ...........................................................................................463
11.5.1 Description .................................................................................................................................463
11.5.2 Examples: interconnecting "Infeed ready" .................................................................................464
11.6 Application: emergency stop with power failure and/or emergency stop (Servo)......................465
11.6.1 Introduction ................................................................................................................................465
11.6.2 Description .................................................................................................................................465
12 Basic information about the drive system .............................................................................................. 467
12.1 Parameter ..................................................................................................................................467
12.2 Data sets....................................................................................................................................470
12.2.1 CDS: Command Data Set..........................................................................................................470
12.2.2 DDS: Drive Data Set ..................................................................................................................471
12.2.3 EDS: Encoder Data Set .............................................................................................................472
12.2.4 MDS: Motor Data Set.................................................................................................................473
12.2.5 Integration ..................................................................................................................................475
12.3 Drive objects ..............................................................................................................................476
12.4 BICO technology: interconnecting signals .................................................................................478
12.4.1 Description .................................................................................................................................478
12.4.2 Binectors, connectors ................................................................................................................478
12.4.3 Interconnecting signals using BICO technology ........................................................................479
12.4.4 Internal encoding of the binector/connector output parameters ................................................481
12.4.5 Sample interconnections............................................................................................................481
12.4.6 BICO technology........................................................................................................................482
12.4.7 Scaling .......................................................................................................................................483
12.5 Inputs/outputs.............................................................................................................................484
12.5.1 Overview of inputs/outputs.........................................................................................................484
12.5.2 Digital inputs/outputs..................................................................................................................485
12.5.3 Analog inputs .............................................................................................................................488
12.5.4 Analog outputs ...........................................................................................................................489
12.6 Parameterizing using the BOP20 (Basic Operator Panel 20)....................................................490
12.6.1 General information about the BOP20.......................................................................................490
12.6.2 Displays and using the BOP20 ..................................................................................................493
12.6.3 Fault and alarm displays ............................................................................................................497
12.6.4 Controlling the drive using the BOP20.......................................................................................498
12.7 Examples of replacing components...........................................................................................499
12.8 Exchanging a SINAMICS Sensor Module Integrated ................................................................502
12.8.1 Data backup on CompactFlash card .........................................................................................502
12.8.2 Replacing a device.....................................................................................................................503
12.9 DRIVE-CLiQ topology................................................................................................................504
12.10 Rules for wiring with DRIVE-CLiQ .............................................................................................505
12.10.1 General rules..............................................................................................................................506
12.10.2 Rules for different firmware releases .........................................................................................510

Contents
Drive Functions
20 Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
12.10.3 Sample wiring for vector drives................................................................................................. 514
12.10.4 Sample wiring of Vector drives connected in parallel ............................................................... 515
12.10.5 Sample wiring: Power Modules................................................................................................. 517
12.10.6 Changing the offline topology in STARTER.............................................................................. 518
12.10.7 Sample wiring for servo drives.................................................................................................. 519
12.10.8 Sample wiring for vector U/f drives ........................................................................................... 520
12.11 Notes on the number of controllable drives .............................................................................. 521
12.11.1 Introduction ............................................................................................................................... 521
12.11.2 Number of controllable drives ................................................................................................... 521
12.12 System sampling times ............................................................................................................. 523
12.12.1 Description ................................................................................................................................ 523
12.12.2 Setting the sampling times........................................................................................................ 524
12.12.3 Rules for setting the sampling time........................................................................................... 526
12.12.4 Default settings for the sampling times..................................................................................... 528
12.12.5 Examples when changing sampling times / pulse frequencies................................................. 529
12.12.6 Overview of key parameters (see SINAMICS S List Manual)................................................... 530
12.13 Licensing ................................................................................................................................... 531
A Appendix................................................................................................................................................ 535
A.1 Availability of hardware components ........................................................................................ 535
A.2 Availability of SW functions....................................................................................................... 536
A.3 List of abbreviations .................................................................................................................. 541
Index...................................................................................................................................................... 553