Commissioning (software)
6.5 Additional information on configuring the SINAMICS Integrated
SIMOTION D4x5-2
Commissioning and Hardware Installation Manual, 02/2012
211
6.5.2 Using vector drives
Changes need to be made in HW Config when using SINAMICS vector drives. This means,
for example, that the T
I
/T
O
time and the minimum DP cycle depend on the number of vector
drives or, with chassis drives, also on the device type used.
Therefore, we recommend adopting the following procedure when using vector drives with
the SIMOTION D4x5-2.
Scenario 1: Current and speed controller cycle is known
As long as you know the current and speed controller cycle, you will be able to determine
times T
MAPC
, T
DP
, T
I
, and T
O
. Where there are several drives with different cycle clocks, the
largest cycle clock must be used for the current and speed controller cycle.
Procedure
1. Open HW Config. Double-clicking SINAMICS Integrated allows you to change the
properties of the DP slave on the "Isochronous mode" tab.
2. For T
I
= T
O
=, enter an integer multiple of the current controller cycle.
3. For T
DP
, enter an integer multiple of the speed controller cycle. For drives on the
SINAMICS Integrated, T
DP
must always be ≥ T
O
.
4. Enter T
MAPC
= T
DP
(exception: you are working with cycle clock scaling; i.e. position
control cycle clock > DP cycle).
5. Use the "Download project to target system" menu command to load the configuration to
the SIMOTION D4x5-2.
6. After the download has successfully completed, you should determine the current and
speed controller cycles of the drives from the drives' expert lists, as the cycle clocks are
set in the SINAMICS drive unit after a project has been downloaded.
p0115[0] current controller cycle clock
p0115[1] speed controller cycle clock
7. If the current and speed controller cycles from the expert lists are different to the cycle
clocks used in steps 2 and 3, you will have to repeat the steps with the current values for
the current and speed controller cycles.
Table 6- 4 Example for power units in booksize format (vector drives)
Example Settings
1 to 3 vector drives
Current controller cycle = 250 µs
Speed controller cycle = 1 ms
T
I
= T
O
= at least 250 µs
T
DP
= 1 ms (... or 2 ms, 3 ms, ....)
T
MAPC
= T
DP
4 to 6 vector drives
Current controller cycle = 500 µs
Speed controller cycle = 2 ms
T
I
= T
O
= at least 500 µs
T
DP
= 2 ms (... or 4 ms, 8 ms, ....)
T
MAPC
= T
DP
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