Document Outline

• SINAMICS S120 Drive Functions
• Foreword
• Contents
• 1 Infeed
  • 1.1 Active Infeed
    • 1.1.1 Introduction
    • 1.1.2 Active Infeed closed-loop control Booksize
    • 1.1.3 Active Infeed closed-loop control Chassis
    • 1.1.4 Integration
    • 1.1.5 Line and DC link identification
    • 1.1.6 Active Infeed open-loop control
    • 1.1.7 Reactive current control
    • 1.1.8 Harmonics controller
  • 1.2 Smart Infeed
    • 1.2.1 Smart Infeed closed-loop control
    • 1.2.2 Line supply and DC link identification routine for Smart Infeed Booksize
    • 1.2.3 Smart Infeed open-loop control
  • 1.3 Basic Infeed
    • 1.3.1 Basic Infeed open-loop control
    • 1.3.2 Basic Infeed open-loop control
  • 1.4 Line contactor control
  • 1.5 Pre-charging and bypass contactor chassis
  • 1.6 Derating function for chassis units
  • 1.7 Parallel connections of 6-pulse and 12-pulse chassis infeeds
• 2 Extended setpoint channel
  • 2.1 Activating the "extended setpoint channel" function module in servo mode
  • 2.2 Description
  • 2.3 Jog
  • 2.4 Fixed speed setpoints
  • 2.5 Motorized potentiometer
  • 2.6 Main/supplementary setpoint and setpoint modification
  • 2.7 Direction of rotation limiting and direction of rotation changeover
  • 2.8 Suppression bandwidths and setpoint limits
  • 2.9 Ramp-function generator
• 3 Servo control
  • 3.1 Speed controller
  • 3.2 Speed setpoint filter
  • 3.3 Speed controller adaptation
  • 3.4 Torque-controlled operation
  • 3.5 Torque setpoint limitation
  • 3.6 Current controller
  • 3.7 Current setpoint filter
  • 3.8 Note about the electronic motor model
  • 3.9 V/f control for diagnostics
  • 3.10 Optimizing the current and speed controller
  • 3.11 Sensorless operation (without an encoder)
  • 3.12 Motor data identification
    • 3.12.1 Motor data identification - induction motor
    • 3.12.2 Motor data identification - synchronous motor
  • 3.13 Pole position identification
  • 3.14 Vdc control
  • 3.15 Dynamic Servo Control (DSC)
  • 3.16 Travel to fixed stop
  • 3.17 Vertical axes
• 4 Vector control
  • 4.1 Sensorless vector control (SLVC)
  • 4.2 Vector control with encoder
  • 4.3 Speed controller
  • 4.4 Speed controller adaptation
  • 4.5 Speed controller pre-control and reference model
  • 4.6 Droop
  • 4.7 Torque control
  • 4.8 Torque limiting
  • 4.9 Vdc control
  • 4.10 Current setpoint filter
  • 4.11 Current controller adaptation
  • 4.12 Motor data identification and rotating measurement
  • 4.13 Efficiency optimization
  • 4.14 Instructions for commissioning induction motors (ASM)
  • 4.15 Instructions for commissioning permanent-magnet synchronous motors
    • 4.15.1 Automatic encoder adjustment
    • 4.15.2 Pole position identification
  • 4.16 Flying restart
  • 4.17 Synchronization
  • 4.18 Simulation operation
    • 4.18.1 Description
    • 4.18.2 Features
    • 4.18.3 Commissioning
  • 4.19 Redundance operation power units
  • 4.20 Bypass
    • 4.20.1 Bypass with synchronization with overlap (p1260 = 1)
    • 4.20.2 Bypass with synchronization, without overlap (p1260 = 2)
    • 4.20.3 Bypass without synchronization (p1260 = 3)
• 5 Vector V/f control (r0108.2 = 0)
  • 5.1 Introduction
  • 5.2 Voltage boost
  • 5.3 Slip compensation
  • 5.4 Vdc control
• 6 Basic functions
  • 6.1 Changing over units
  • 6.2 Reference parameters/normalizations
  • 6.3 Modular machine concept
  • 6.4 Sinusoidal filter
  • 6.5 dv/dt filter plus VPL
  • 6.6 Direction reversal without changing the setpoint
  • 6.7 Automatic restart (vector, servo, infeed)
  • 6.8 Armature short-circuit brake, internal voltage protection, DC brake
  • 6.9 OFF3 torque limits
  • 6.10 Technology function: friction characteristic
  • 6.11 Simple brake control
    • 6.11.1 Features
    • 6.11.2 Description
    • 6.11.3 Commissioning
    • 6.11.4 Integration
  • 6.12 Runtime (operating hours counter)
  • 6.13 Parking axis and parking sensor
    • 6.13.1 Description
    • 6.13.2 Example: parking axis and parking sensor
    • 6.13.3 Overview: key parameters
  • 6.14 Position tracking
    • 6.14.1 General Information
    • 6.14.2 Measuring gear
      • 6.14.2.1 Features
      • 6.14.2.2 Description
      • 6.14.2.3 Prerequisites
      • 6.14.2.4 Integration
  • 6.15 Terminal Module 41 (TM41)
  • 6.16 Updating the firmware
    • 6.16.1 Upgrading firmware and the project in STARTER
• 7 Function modules
  • 7.1 Function modules - Definition and commissioning
  • 7.2 Technology controller
    • 7.2.1 Description
    • 7.2.2 Features
    • 7.2.3 Commissioning with STARTER
    • 7.2.4 Examples
    • 7.2.5 Integration
  • 7.3 Extended monitoring functions
    • 7.3.1 Features
    • 7.3.2 Commissioning
    • 7.3.3 Integration
  • 7.4 Extended brake control
    • 7.4.1 Features
    • 7.4.2 Description
    • 7.4.3 Commissioning
    • 7.4.4 Examples
    • 7.4.5 Integration
  • 7.5 Braking Module
    • 7.5.1 "Braking Module" function module
  • 7.6 Cooling system
    • 7.6.1 "Cooling system" function module
  • 7.7 Extended torque control (kT estimator, Servo)
  • 7.8 Closed-loop position control
    • 7.8.1 General features
    • 7.8.2 Position actual value conditioning
      • 7.8.2.1 Features
      • 7.8.2.2 Description
      • 7.8.2.3 Indexed actual value acquisition
      • 7.8.2.4 Load gear position tracking
      • 7.8.2.5 Commissioning with STARTER
      • 7.8.2.6 Integration
    • 7.8.3 Position controller
    • 7.8.4 Monitoring functions
    • 7.8.5 Measuring probe evaluation and reference mark search
    • 7.8.6 Integration
  • 7.9 Basic positioner
    • 7.9.1 Mechanical system
    • 7.9.2 Limits
    • 7.9.3 Referencing
    • 7.9.4 Traversing blocks
    • 7.9.5 Travel to fixed stop
      • 7.9.5.1 Introduction
      • 7.9.5.2 Fixed stop reached
      • 7.9.5.3 Fixed stop is not reached
      • 7.9.5.4 Cancel
      • 7.9.5.5 Vertical axes
      • 7.9.5.6 Integration
    • 7.9.6 Direct setpoint input (MDI)
    • 7.9.7 Jog
    • 7.9.8 Status signals
  • 7.10 DCC axial winder
  • 7.11 Parallel connection of chassis power units (vector)
    • 7.11.1 Features
    • 7.11.2 Integration
    • 7.11.3 Description
    • 7.11.4 Application examples
    • 7.11.5 Commissioning
• 8 Monitoring and protective functions
  • 8.1 Power unit protection, general
  • 8.2 Thermal monitoring and overload responses
  • 8.3 Block protection
  • 8.4 Stall protection (only for vector control)
  • 8.5 Thermal motor protection
• 9 Safety Integrated basic functions
  • 9.1 General information
    • 9.1.1 Explanations, standards, and terminology
    • 9.1.2 Supported functions
    • 9.1.3 Parameter, Checksum, Version, Password
    • 9.1.4 Forced checking procedure
  • 9.2 Safety instructions
  • 9.3 Safe Torque Off (STO)
  • 9.4 Safe Stop 1 (SS1, time controlled)
  • 9.5 Safe Brake Control (SBC)
  • 9.6 Control via terminals on the Control Unit and the power unit
  • 9.7 Commissioning the "STO", "SBC" and "SS1" functions
    • 9.7.1 General information about commissioning safety functions
    • 9.7.2 Procedure for commissioning "STO", "SBC" and "SS1"
    • 9.7.3 Safety faults
  • 9.8 Acceptance test and certificate
    • 9.8.1 General information about acceptance
    • 9.8.2 Documentation
    • 9.8.3 Acceptance test for Safe Torque Off (STO)
    • 9.8.4 Acceptance test for Safe Stop 1, time controlled (SS1)
    • 9.8.5 Acceptance test for "Safe Brake Control" (SBC)
    • 9.8.6 Completion of certificate
  • 9.9 Application examples
    • 9.9.1 Safe Stop 1 (SS1, time-controlled) when protective door is locked, emergency stop switch-off
  • 9.10 Overview of parameters and function diagrams
• 10 Communication PROFIBUS DP/PROFINET IO
  • 10.1 Communications according to PROFIdrive
    • 10.1.1 General information about PROFIdrive for SINAMICS
    • 10.1.2 Application classes
    • 10.1.3 Cyclic communication
      • 10.1.3.1 Telegrams and process data
      • 10.1.3.2 Monitoring: telegram failure
      • 10.1.3.3 Description of control words and setpoints
      • 10.1.3.4 Description of status words and actual values
      • 10.1.3.5 Control and status words for encoder
      • 10.1.3.6 Central control and status words
      • 10.1.3.7 Motion Control with PROFIdrive
    • 10.1.4 Acyclic communication
      • 10.1.4.1 General information about acyclic communication
      • 10.1.4.2 Structure of orders and responses
      • 10.1.4.3 Determining the drive object numbers
      • 10.1.4.4 Example 1: read parameters
      • 10.1.4.5 Example 2: write parameters (multi-parameter request)
  • 10.2 Communication via PROFIBUS DP
    • 10.2.1 General information about PROFIBUS
      • 10.2.1.1 General information about PROFIBUS for SINAMICS
      • 10.2.1.2 Example: telegram structure for cyclic data transmission
    • 10.2.2 Commissioning PROFIBUS
      • 10.2.2.1 General information about commissioning
      • 10.2.2.2 Commissioning procedure
      • 10.2.2.3 Diagnosis options
      • 10.2.2.4 SIMATIC HMI addressing
      • 10.2.2.5 Monitoring: telegram failure
    • 10.2.3 Motion Control with PROFIBUS
    • 10.2.4 Slave-to-slave communications
      • 10.2.4.1 General information
      • 10.2.4.2 Setpoint assignment in the subscriber
      • 10.2.4.3 Activating/parameterizing slave-to-slave communications
      • 10.2.4.4 Commissioning of the PROFIBUS slave-to-slave communication
      • 10.2.4.5 GSD (GeräteStammDaten) file
      • 10.2.4.6 Diagnosing the PROFIBUS slave-to-slave communication in STARTER
  • 10.3 Communications via PROFINET IO
    • 10.3.1 General information about PROFINET IO
      • 10.3.1.1 General information about PROFINET IO for SINAMICS
      • 10.3.1.2 Real-time (RT) and isochronous real-time (IRT) communication
      • 10.3.1.3 Addresses
      • 10.3.1.4 Data transfer
    • 10.3.2 Hardware setup
      • 10.3.2.1 Configuring SINAMICS drives with PROFINET
    • 10.3.3 RT classes
      • 10.3.3.1 RT classes for PROFINET IO
      • 10.3.3.2 PROFINET IO with RT
      • 10.3.3.3 PROFINET IO with IRT - Overview
      • 10.3.3.4 PROFINET IO with IRTtop
    • 10.3.4 Motion Control with PROFINET
• 11 Applications
  • 11.1 Parallel operation of communication interfaces for CU320
  • 11.2 Switching on a drive object x_Infeed by means of a vector drive object
  • 11.3 Motor changeover
    • 11.3.1 Description
    • 11.3.2 Example: motor switchover for four motors
    • 11.3.3 Example of a star/delta switchover
    • 11.3.4 Integration
  • 11.4 Application examples with the DMC20
    • 11.4.1 Features
    • 11.4.2 Description
    • 11.4.3 Example, distributed topology
    • 11.4.4 Example, hot plugging
    • 11.4.5 Instructions for offline commissioning with STARTER
    • 11.4.6 Overview of key parameters (see SINAMICS S List Manual)
  • 11.5 Control Units without infeed control
    • 11.5.1 Description
    • 11.5.2 Examples: interconnecting "Infeed ready"
  • 11.6 Application: emergency stop with power failure and/or emergency stop (Servo)
    • 11.6.1 Introduction
    • 11.6.2 Description
• 12 Basic information about the drive system
  • 12.1 Parameter
  • 12.2 Data sets
    • 12.2.1 CDS: Command Data Set
    • 12.2.2 DDS: Drive Data Set
    • 12.2.3 EDS: Encoder Data Set
    • 12.2.4 MDS: Motor Data Set
    • 12.2.5 Integration
  • 12.3 Drive objects
  • 12.4 BICO technology: interconnecting signals
    • 12.4.1 Description
    • 12.4.2 Binectors, connectors
    • 12.4.3 Interconnecting signals using BICO technology
    • 12.4.4 Internal encoding of the binector/connector output parameters
    • 12.4.5 Sample interconnections
    • 12.4.6 BICO technology
    • 12.4.7 Scaling
  • 12.5 Inputs/outputs
    • 12.5.1 Overview of inputs/outputs
    • 12.5.2 Digital inputs/outputs
    • 12.5.3 Analog inputs
    • 12.5.4 Analog outputs
  • 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20)
    • 12.6.1 General information about the BOP20
    • 12.6.2 Displays and using the BOP20
    • 12.6.3 Fault and alarm displays
    • 12.6.4 Controlling the drive using the BOP20
  • 12.7 Examples of replacing components
  • 12.8 Exchanging a SINAMICS Sensor Module Integrated
    • 12.8.1 Data backup on CompactFlash card
    • 12.8.2 Replacing a device
  • 12.9 DRIVE-CLiQ topology
  • 12.10 Rules for wiring with DRIVE-CLiQ
    • 12.10.1 General rules
    • 12.10.2 Rules for different firmware releases
    • 12.10.3 Sample wiring for vector drives
    • 12.10.4 Sample wiring of Vector drives connected in parallel
    • 12.10.5 Sample wiring: Power Modules
    • 12.10.6 Changing the offline topology in STARTER
    • 12.10.7 Sample wiring for servo drives
    • 12.10.8 Sample wiring for vector U/f drives
  • 12.11 Notes on the number of controllable drives
    • 12.11.1 Introduction
    • 12.11.2 Number of controllable drives
  • 12.12 System sampling times
    • 12.12.1 Description
    • 12.12.2 Setting the sampling times
    • 12.12.3 Rules for setting the sampling time
    • 12.12.4 Default settings for the sampling times
    • 12.12.5 Examples when changing sampling times / pulse frequencies
    • 12.12.6 Overview of key parameters (see SINAMICS S List Manual)
  • 12.13 Licensing
• Appendix A
  • A.1 Availability of hardware components
  • A.2 Availability of SW functions
  • A.3 List of abbreviations
• Index