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SIMOTICS S-1FL6
Siemens SIMOTICS S-1FL6
432 pages
Manual
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Connect
ing
4.3
Contro
l/status
interfac
e
-
X8
SINAM
ICS
V90,
SIMOT
ICS S
-
1F
L6
138
Operating Inst
ructions
,
04/2019
,
A5E
36037884
-
007
4.3.4.2
Fast pulse train input position contr
ol (
Fast PTI)
Standard
wiring f
or fast p
ulse tr
ain input
posit
ion contr
ol mode
:
139
141
Table of Contents
Main Page
Default Chapter
5
Preface
5
Table of Contents
9
1 Fundamental Safety Instructions
15
General Safety Instructions
15
Equipment Damage Due to Electric Fields or Electrostatic Discharge
22
Warranty and Liability for Application Examples
22
Industrial Security
23
Residual Risks of Power Drive Systems
25
2 General Information
27
Scope of Delivery
27
Drive Components
27
Motor Components
32
Device Combination
36
Product Overview
40
System Configuration
44
Accessories
47
MOTION-CONNECT 300 Cables and Connectors
47
Setpoint Cables and Connectors
50
Connectors Used on the Drive Front Panel
50
External 24 V DC Power Supply
51
Fuse/Type-E Combination Motor Controller
52
Braking Resistor
53
Line Filter
54
Micro SD Card/Sd Card
60
Replacement Fans
60
Function List
61
Technical Data
63
Technical Data - Servo Drives
63
SINAMICS V90 200 V Variant
63
SINAMICS V90 400 V Variant
66
Technical Data - Servo Motors
70
1FL6 Servo Motor - Low Inertia
70
1FL6 Servo Motor - High Inertia
74
Power Derating
79
Technical Data - Cables
80
Address of CE-Authorized Manufacturer
82
3 Mounting
83
Mounting the Drive
83
Mounting Orientation and Clearance
84
Drill Patterns and Outline Dimensions
86
Mounting the Drive
90
Mounting the Motor
90
Mounting Orientation and Dimensions
91
Mounting the Motor
100
Attaching Output Elements
101
Motor Heating Conditions
102
4 Connecting
103
System Connection
103
Safety Instructions
103
EMC Instructions
105
System Connection Diagrams
107
Cable Connection
113
Main Circuit Wiring
116
Line Supply - L1, L2, L3
116
Motor Power - U, V, W
118
Control/Status Interface - X8
121
Digital Inputs/Outputs (Dis/Dos)
124
Dis
125
Dos
130
Pulse Train Inputs/Encoder Outputs (Ptis/Ptos)
134
Ptis
134
Ptos
135
Analog Inputs/Outputs (Ais/Aos)
135
Ais
135
Aos
136
Standard Application Wiring (Factory Setting)
138
Pulse Train Input Position Control (PTI)
138
Fast Pulse Train Input Position Control (Fast PTI)
140
Internal Position Control (Ipos)
142
Speed Control (S)
144
Torque Control (T)
146
Connection Examples with Plcs
148
Simatic S7-200 Smart
148
Simatic S7-200
154
Simatic S7-1200
159
Power Supply/Sto
164
Encoder Interface - X9
166
External Braking Resistor - DCP, R1
170
Motor Holding Brake
170
RS485 Interface - X12
176
5 Commissioning
177
General Commissioning Information
177
Initial Commissioning in JOG Mode
178
Commissioning in Pulse Train Position Control Mode (PTI)
180
Commissioning in Fast Pulse Train Position Control Mode (Fast PTI)
182
Commissioning in Internal Position Control Mode (Ipos)
183
Commissioning in Speed Control Mode (S)
186
Commissioning in Torque Control Mode (T)
187
6 Basic Operator Panel (BOP)
189
BOP Overview
189
LED Status Indicators
190
BOP Display
191
Control Buttons
194
Parameter Structure
195
Actual Status Display
196
Basic Operations
197
Editing Parameters
198
Viewing Parameters
200
Searching Parameters in "P ALL" Menu
200
Auxiliary Functions
201
Jog
202
Saving Parameters (RAM to ROM)
203
Setting Parameters to Default
204
Transferring Data (Drive to SD)
205
Transferring Data (SD to Drive)
205
Updating Firmware
206
Adjusting AI Offsets
207
Adjusting an Absolute Encoder
209
7 Control Functions
211
Compound Controls
211
General Functions
213
Servo on
213
Motor Direction of Rotation
214
300% Overload Capacity
215
Over-Travel
216
Stopping Method at Servo off
218
Travel to Fixed Stop
219
Pulse Train Input Position Control (PTI)
224
Sequence of SON
224
Selecting a Setpoint Pulse Train Input Channel
224
Selecting a Setpoint Pulse Train Input Form
225
In Position (INP)
226
Smoothing Function
226
Electronic Gear Ratio
227
Inhibiting Pulse Train Input Setpoint (P-TRG)
230
Speed Limit
231
Torque Limit
232
Clearing Droop Pulses (CLR)
235
Referencing (Only for Absolute Encoder)
236
PTO Function
236
Fast Pulse Train Input Position Control (Fast PTI)
237
Internal Position Control (Ipos)
238
Setting Mechanical System
238
Setting Fixed Position Setpoint
239
Selecting a Positioning Mode - Absolute/Incremental
241
Configuring the Linear/Modular Axis
242
Backlash Compensation
242
Referencing
243
Software Position Limit
252
Speed Limit
252
Torque Limit
252
Selecting a Fixed Position Setpoint and Starting Positioning
252
Position Tracking
255
Speed Control (S)
258
Configuring Speed Setpoint
258
Speed Control with External Analog Speed Setpoint
258
Speed Control with Fixed Speed Setpoint
260
Direction and Stop
260
Speed Limit
261
Torque Limit
261
Zero Speed Clamp
261
Ramp-Function Generator
262
Torque Control (T)
263
Torque Setpoint
263
Torque Control with External Analog Torque Setpoint
264
Torque Control with Fixed Torque Setpoint
265
Direction and Stop
265
Speed Limit
265
Communicating with the PLC
266
USS Communication
266
Modbus Communication
268
Overview
268
Cyclic Communication
273
Acyclic Communication
283
Absolute Position System
292
Overview
292
Transmitting Sequence for the Absolute Position Data
293
8 Safety Integrated Function
295
Standards and Regulations
295
General Information
295
Aims
295
Functional Safety
296
Safety of Machinery in Europe
296
Machinery Directive
296
Harmonized European Standards
297
Standards for Implementing Safety-Related Controllers
298
Din en Iso 13849-1
299
Series of Standards en 61508 (VDE 0803)
301
Risk Analysis/Assessment
302
Risk Reduction
303
Residual Risk
304
Machine Safety in the USA
304
Minimum Requirements of the OSHA
304
NRTL Listing
305
Nfpa 79
305
Ansi B11
306
Machine Safety in Japan
307
Equipment Regulations
307
General Information about SINAMICS Safety Integrated
308
System Features
308
STO Functional Safety Data
308
Certification
308
Safety Instructions
309
Probability of Failure of the Safety Function
310
Response Time
311
Residual Risk
311
Safety Integrated Basic Functions
311
Safe Torque off (STO)
311
Forced Dormant Error Detection
314
9 Tuning
315
Controller Overview
315
Tuning Mode
317
One-Button Auto Tuning
318
Real-Time Auto Tuning
323
Manual Tuning
327
Resonance Suppression
328
Low Frequency Vibration Suppression
331
Gain Switching
332
Gain Switching Using an External Digital Input Signal (G-CHANGE)
333
Gain Switching Using Position Deviation
334
Gain Switching Using Position Setpoint Frequency
334
Gain Switching Using Actual Speed
335
PI/P Switching
336
PI/P Switching Using Torque Setpoint
338
PI/P Switching Using an External Digital Input Signal (G-CHANGE)
339
PI/P Switching Using Speed Setpoint
340
PI/P Switching Using Acceleration Setpoint
340
PI/P Switching Using Pulse Deviation
341
10 Parameters
343
Overview
343
Parameter List
345
11 Diagnostics
385
Overview
385
List of Faults and Alarms
389
Appendix
411
Cable Assembly
411
Assembly of Cable Terminals/Connectors on the Drive Side
413
Power Terminal Assembly
413
Encoder Connector Assembly
414
Brake Terminal Assembly
415
Setpoint Connector Assembly
415
Assembly of Cable Connectors on the Motor Side
416
Power Connector Assembly
416
Encoder Connector Assembly
419
Brake Connector Assembly
423
Motor Selection
424
Selection Procedure
424
Parameter Description
425
Selection Examples
427
Replacing Fans
428
Index
429
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