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SINAMICS S110
Function Manual
Page 28 (Overview of SINAMICS S110)
Siemens SINAMICS S110 - Overview of SINAMICS S110
714 pages
Manual
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General information for commissioning
1.2 BICO interconnecti
on procedu
re in STARTER
Function Manual
26
Function Manual, 01/2011, 6SL3097-4AB10-0BP
3
6.
Click
the "+" sign to open
the 16 bits of r parameter
r2090
.
Figure 1-4
Interconnect 3
27
29
Table of Contents
Main Page
Default Chapter
5
Preface
5
Table of Contents
13
1 General Information for Commissioning
23
Explanations Regarding the STARTER User Interface
23
BICO Interconnection Procedure in STARTER
25
DRIVE-Cliq Interface for CU305
34
Notes on the Commissioning of a 2-Pole Resolver as Absolute Encoder
34
Temperature Sensors for SINAMICS Components
35
2 Commissioning Preparations for PROFIBUS
39
Requirements for Commissioning
39
PROFIBUS Components
40
Connection Via Serial Interface
42
Powering-Up/Powering-Down the Drive System
44
3 Commissioning with PROFIBUS
47
Sequence of Operations During Commissioning
47
Safety Guidelines
48
STARTER Commissioning Tool
48
Important STARTER Functions
49
Activating Online Operation: STARTER Via PROFIBUS
52
Basic Operator Panel 20 (BOP20)
53
Important Functions Via BOP20
54
Creating a Project in STARTER
55
Creating a Project Offline
55
Searching for a Drive Unit Online
57
Searching for Nodes that Can be Accessed
59
Example of First Commissioning with STARTER
60
Task
60
Commissioning with STARTER (Example)
61
Initial Commissioning Using Servo AC DRIVE with BOP20 as an Example
62
Task
62
Component Wiring (Example)
63
Quick Commissioning Using the BOP (Example)
64
4 Commissioning with Canopen
67
Requirements for Commissioning
67
Previous Knowledge
67
Prerequisites for Commissioning CU305 with Canopen
68
CAN Bus on the CU305
69
CAN Bus Interface X126
70
Canopen Functionality CU305 CAN
71
Diagnostics LED "COM
72
Commissioning
72
Procedure When Commissioning the Drive for the First Time
72
Canopen Object Directory
73
Commissioning Options
74
Configuring the Drive Unit with STARTER (Overview)
74
Searching for the Drive Unit ONLINE
76
Configuring a Drive Unit
77
Monitoring
83
Loading the Project to the Drive Unit
85
Configuring COB-Ids and Process Data Objects
86
Configuring COB-Ids and Process Data
86
Interconnecting Process Data
86
Loading and Managing Projects ONLINE
87
In ONLINE Mode, Load the Projects from the Drive Unit to the PC/PG and Save
87
5 Diagnostics
89
Diagnostics Via Leds
89
Leds When the Control Unit Is Booted
89
Leds after the Control Unit CU305 Has Booted
91
Sensor Module Cabinet SMC10 / SMC20
93
Meaning of Leds on the Sensor Module Cabinet-Mounted SMC30
94
Diagnostics Via STARTER
95
Function Generator
95
Trace Function
99
Measuring Function
100
Measuring Sockets
103
Fault and Alarm Messages
107
General Information about Faults and Alarms
107
Buffer for Faults and Alarms
109
Configuring Messages
112
Parameters and Function Diagrams for Faults and Alarms
114
Forwarding of Faults and Alarms
115
6 Parameterization Using the Basic Operator Panel 20
117
General Information about the BOP20
117
Displays and Using the BOP20
119
Fault and Alarm Displays
123
Controlling the Drive Using the BOP20
124
7 Drive Functions
125
Servo Control
125
Speed Controller
125
Speed Setpoint Filter
126
Speed Controller Adaptation
127
Torque-Controlled Operation
129
Torque Setpoint Limitation
131
Current Controller
136
Current Setpoint Filter
139
Integration
145
Note about the Electronic Motor Model
145
V/F Control for Diagnostics
146
Optimizing the Current and Speed Controller
149
Operation Without an Encoder
152
Motor Data Identification
156
Motor Data Identification - Induction Motor
159
Motor Data Identification - Synchronous Motor
161
Pole Position Identification
164
VDC Control
168
Travel to Fixed Stop
172
Vertical Axes
177
Variable Signaling Function
178
Central Probe Evaluation
180
Pulse/Direction Interface
183
Commissioning the Pulse/Direction Interface
184
Basic Functions
189
Changing over Units
189
Reference Parameters/Normalizations
191
Automatic Restart
193
Armature Short-Circuit Brake, DC Brake
195
OFF3 Torque Limits
198
Simple Brake Control
199
Parking Axis and Parking Encoder
202
Runtime (Operating Hours Counter)
204
Changing the Direction of Rotation Without Changing the Setpoint
205
Function Modules
206
Function Modules - Definition and Commissioning
206
Technology Controller
207
Features
207
Description
207
Integration
210
Commissioning with STARTER
211
Extended Monitoring Functions
212
Description
212
Commissioning
213
Extended Brake Control
214
Features
214
Integration
214
Description
216
Examples
216
Commissioning
218
Closed-Loop Position Control
219
General Features
219
Position Actual Value Conditioning
219
Position Controller
229
Monitoring Functions
230
Measuring Probe Evaluation and Reference Mark Search
233
Integration
234
Basic Positioner
235
Mechanical System
237
Limits
239
Referencing
243
Referencing with more than One Zero Mark Per Revolution
251
Traversing Blocks
254
Travel to Fixed Stop
260
Direct Setpoint Input (MDI)
264
Jog
267
Status Signals
268
Extended Setpoint Channel
271
Activation of the "Extended Setpoint Channel" Function Module
271
Description
271
Jog
273
Fixed Speed Setpoints
277
Motorized Potentiometer
278
Main/Supplementary Setpoint and Setpoint Modification
280
Direction Limitation and Setpoint Inversion
282
Suppression Bandwidths and Setpoint Limits
283
Ramp-Function Generator
285
Free Function Blocks
289
Overview
289
Commissioning
300
And
304
XOR (Exclusive OR)
305
NOT (Inverter)
305
ADD (Adder)
306
SUB (Subtracter)
306
MUL (Multiplier)
306
DIV (Divider)
307
AVA (Absolute Value Generator with Sign Evaluation)
307
MFP (Pulse Generator)
308
PCL (Pulse Shortener)
308
PDE (on Delay)
309
PDF (off Delay)
310
PST (Pulse Stretcher)
311
RSR (RS Flip-Flop, Reset Dominant)
311
DFR (D Flip-Flop, Reset Dominant)
312
BSW (Binary Change-Over Switch)
312
NSW (Numeric Change-Over Switch)
313
LIM (Limiter)
313
PT1 (Smoothing Element)
314
INT (Integrator)
315
DIF (Derivative Action Element)
316
LVM (Double-Sided Limit Monitor with Hysteresis)
317
8 Safety Integrated Functions
319
Standards and Regulations
319
General Information
319
Aims
319
Functional Safety
320
Safety of Machinery in Europe
320
Machinery Directive
321
Harmonized European Standards
321
Standards for Implementing Safety-Related Controllers
323
EN ISO 13849-1 (Previously en 954-1)
324
En 62061
325
Series of Standards en 61508 (VDE 0803)
327
Risk Analysis/Assessment
328
Risk Reduction
330
Residual Risk
330
Machine Safety in the USA
330
Minimum Requirements of the OSHA
331
NRTL Listing
331
Nfpa 79
332
Ansi B11
332
Machine Safety in Japan
333
Equipment Regulations
333
Other Safety-Related Issues
334
Information Sheets Issued by the Employer's Liability Insurance Association
334
Additional References
334
General Information about SINAMICS Safety Integrated
335
Supported Functions
335
Control of Safety Integrated Functions
337
Drive Monitoring with or Without Encoder
338
Parameter, Checksum, Version, Password
339
System Features
342
Latest Information
342
Certification
343
Safety Instructions
344
Probability of Failure for Safety Functions
347
Response Times
347
Residual Risk
352
Safety Integrated Basic Functions
354
Safe Torque off (STO)
354
Safe Stop 1 (SS1, Time Controlled)
357
Safe Brake Control (SBC)
359
Safety Faults
361
Forced Dormant Error Detection
363
Safety Integrated Extended Functions
364
Safety Functions "With Encoder" / "Without Encoder
364
Safe Torque off
366
Safe Stop 1 (SS1)
367
Safe Stop 1 (SS1, Time and Acceleration Controlled)
367
Safe Stop 1 Without Encoder (Time and Speed Controlled)
369
Safe Stop 1 - Parameter
371
Safe Stop 2 (SS2)
372
EPOS and Safe Stop 2
374
Safe Operating Stop (SOS)
375
Safely Limited Speed (SLS)
377
Safely Limited Speed Without Encoder
379
Safely Limited Speed - Parameter
382
EPOS and Safely-Limited Speed
383
Safe Speed Monitor (SSM)
384
Safe Speed Monitor with Encoder
384
Safe Speed Monitor Without Encoder
387
Safe Speed Monitor Restart
389
Overview of Important Parameters
390
Safe Acceleration Monitor (SAM)
391
Safe Brake Ramp (SBR)
393
Safe Direction (SDI)
396
Safe Direction with Encoder
396
Safe Direction Without Encoder
398
Overview of Parameters and Function Diagrams
400
Safety Faults
401
Message Buffer
405
Safe Actual Value Acquisition
407
Reliable Actual Value Acquisition with the Encoder System
407
Safe Current Actual Value Acquisition Without Encoder
410
Forced Dormant Error Detection
411
Safety Info Channel
413
Controlling the Safety Functions
415
Control of the Basic Functions Via a Safe Input Terminal Pair
416
Control of the Extended Functions Using Safe Input Terminals
417
Note on F-Dis
421
Overview of the F-Dos
422
Control by Way of Profisafe
424
Enabling of the Control Via Profisafe
424
Structure of Telegram 30
425
Commissioning
429
Safety Integrated Firmware Versions
429
Commissioning of Safety Integrated Functions
430
General Information
430
Prerequisites for Commissioning the Safety Integrated Functions
432
Default Settings for Commissioning Safety Integrated Functions Without Encoder
432
Information Pertaining to Series Commissioning
436
Setting the Sampling Times
437
Commissioning the Safety Terminals by Means of STARTER/SCOUT
438
Basic Sequence of Commissioning
438
Configuration Start Screen
439
Configuration of the Safety Terminals (Extended Functions)
441
Test Stop
443
F-DI/F-DO Configuration
447
Control Interface
449
Profisafe Configuration with STARTER
450
Procedure for Configuring Profisafe Communication
451
Information Pertaining to Component Replacements
455
Application Examples
456
Input/Output Interconnections for a Safety Switching Device with CU305
456
Acceptance Test and Acceptance Report
460
General Information
460
Acceptance Test Structure
461
Content of the Complete Acceptance Test
462
Content of the Partial Acceptance Test
465
Test Scope for Specific Measures
468
Safety Logbook
469
Acceptance Reports
470
Plant Description - Documentation Part 1
470
Description of Safety Functions - Documentation Part 2
471
Acceptance Tests
476
Acceptance Tests - Basic Functions
477
Acceptance Tests for Extended Functions (with Encoder)
483
Acceptance Tests for Extended Functions (Without Encoder)
511
Completion of Certificate
522
9 Communication
523
Fieldbus Configuration
523
Communication According to Profidrive
524
General Information about Profidrive for SINAMICS
524
Application Classes
525
Cyclic Communication
530
Telegrams and Process Data
530
Description of Control Words and Setpoints
534
Description of Status Words and Actual Values
546
Control and Status Words for Encoder
560
Central Control and Status Words
570
Motion Control with Profidrive
576
Acyclic Communication
579
General Information about Acyclic Communication
579
Structure of Orders and Responses
580
Determining the Drive Object Numbers
585
Example 1: Read Parameters
586
Example 2: Write Parameters (Multi-Parameter Request)
588
Communication Via PROFIBUS DP
591
General Information about PROFIBUS
591
Commissioning PROFIBUS
593
General Information about Commissioning
593
Commissioning Procedure
596
Diagnostics Options
596
SIMATIC HMI Addressing
597
Monitoring: Telegram Failure
598
Motion Control with PROFIBUS
599
Slave-To-Slave Communication
604
General Information
604
Setpoint Assignment in the Subscriber
606
Activating/Parameterizing Slave-To-Slave Communications
606
Commissioning of the PROFIBUS Slave-To-Slave Communication
608
GSD File
617
Diagnosing the PROFIBUS Slave-To-Slave Communication in STARTER
618
Communication Via PROFINET IO
619
General Information about PROFINET IO
619
Real-Time (RT) and Isochronous Real-Time (IRT) Communication
619
Data Transfer
620
General Information about PROFINET IO for SINAMICS
620
Addresses
622
PROFINET: Address Parameters
624
Hardware Setup
624
Structuring CU305 with PROFINET
624
RT Classes for PROFINET IO
626
Selection of the PROFINET Variant
631
Profinet Gsd
632
Motion Control with PROFINET
634
PROFINET with 2 Controllers
637
Settings for SINAMICS S
637
Configuring the Controls
640
Overview of Important Parameters
641
Communication Using USS
642
Configuring the USS Interface
642
Transferring PZD
643
General Information about Communication with USS over RS485
644
Structure of a USS Telegram
644
User Data Range of the USS Telegram
646
Data Structure of the USS Parameter Channel
647
Time-Out and Other Errors
653
USS Process Data Channel (PZD)
655
10 Basic Information about the Drive System
657
Parameter
657
Data Sets
660
CDS: Command Data Set
660
DDS: Drive Data Set
662
EDS: Encoder Data Set
663
MDS: Motor Data Set
664
Integration
664
Using Data Sets
665
Working with the Memory Card
667
Using Parameter Data Sets
668
Working with Firmware Versions
671
Replacing the Device
673
Removing the Memory Card Safely
675
Integration
675
BICO Technology: Interconnecting Signals
676
Description
676
Binectors, Connectors
677
Interconnecting Signals Using BICO Technology
678
Internal Encoding of the Binector/Connector Output Parameters
679
Sample Interconnections
679
BICO Technology
680
Scaling
681
Inputs/Outputs
682
Overview of Inputs/Outputs
682
Digital Inputs/Outputs
683
Analog Input
685
Replacing SMI and DQI Components
685
System Sampling Times
686
Licensing
687
11 Appendix
691
Availability of SW Functions
691
Availability of Hardware Components
693
List of Abbreviations
694
Index
705
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