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Siemens SIROTEC Function Manual
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Function m
odules
8.14
Adva
nced Pos
ition Co
ntrol (
includi
ng Active
Vibra
tion Suppr
essio
n)
Drive functions
Functi
on Manual
,
11/2017
,
6SL3097
-
4AB00
-
0BP5
607
Examples
Ye
l-
low:
Speed con
trolled system
witho
ut encoder comb
ination
Red:
Speed controll
ed system with encoder
combination (
p3702 =
0.3)
Figure
8-
39
Encod
er combination,
effect on the speed control system
606
608
Table of Contents
Default Chapter
5
Preface
5
Table of Contents
9
1 Fundamental Safety Instructions
25
General Safety Instructions
25
Warranty and Liability for Application Examples
26
Industrial Security
27
2 Infeed
29
Active Infeed
30
Active Infeed Closed-Loop Control Booksize
31
Active Infeed Closed-Loop Control Chassis
33
Line Supply and DC Link Identification
35
Active Infeed Open-Loop Control
36
Reactive Current Control
38
Harmonics Controller
39
Parameterizable Bandstop Filters for Active Infeed Controls in Chassis Format
39
Function Diagrams and Parameters
40
Smart Infeed
43
Line Supply and DC Link Identification Routine for Smart Infeed Booksize
45
Extended Smart Mode
46
Smart Infeed Open-Loop Control
46
Function Diagrams and Parameters
49
Basic Infeed
51
Basic Infeed Open-Loop Control
53
Function Diagrams and Parameters
56
Line Contactor Control
57
Precharging and Bypass Contactor Chassis
59
3 Extended Setpoint Channel
61
Fundamentals
61
Activating the Function Module for Servo Control
61
Description
62
Motorized Potentiometer
64
Fixed Setpoints
66
Speed Setpoint
67
Main/Supplementary Setpoint and Setpoint Scaling
67
Jogging
68
Direction of Rotation Limiting and Direction Reversal
72
Speed Limiting
74
Ramp-Function Generator
76
Ramp-Function Generator Tracking
79
Signal Overview, Function Diagrams and Important Parameters
81
4 Servo Control
83
Technological Application
87
Setpoint Addition
88
Speed Setpoint Filter
90
Speed Controller
92
Speed Controller Adaptation
93
Torque-Controlled Operation
95
Torque Setpoint Limitation
98
Current Setpoint Filter
103
Lowpass 2Nd Order (PT2 Filter)
106
Bandstop with Infinite Notch Depth
106
Bandstop with Defined Notch Depth
107
Bandstop with Defined Reduction
108
General Low-Pass with Reduction
109
Transfer Function General 2Nd Order Filter
110
Function Diagrams and Parameters
110
Current Controller
112
Autotuning
115
One Button Tuning
116
Online Tuning
120
Drive-Based" Online Tuning
120
Automatic Pre-Assignment and Adaptation During Operation
123
Application Examples
125
Problem Handling
126
Current Setpoint Filter Adaptation
127
Activating/Deactivating the Current Setpoint Filter Adaptation
127
Principle of Operation of the Current Setpoint Filter Adaptation
129
Stability of the Speed Control Loop
131
Lower and Upper Limit Frequencies
132
Remedy for Insufficient Adaptation
132
Function Diagrams and Parameters
133
Note about the Electronic Motor Model
135
V/F Control
136
Optimizing the Current and Speed Controller
141
Encoderless Operation
143
Motor Data Identification
149
Motor Data Identification Induction Motor
153
Motor Data Identification Synchronous Motor
154
Pole Position Identification
158
Notes Regarding Pole Position Identification
159
Pole Position Identification Technique
161
Commutation Angle Offset Commissioning Support (P1990)
163
Overview of Important Parameters (See SINAMICS S120/S150 List Manual)
163
VDC Control
165
Dynamic Servo Control (DSC)
169
Travel to Fixed Stop
174
Vertical Axes
179
Variable Signaling Function
180
Central Probe Evaluation
182
Examples
188
Function Diagrams and Parameters
191
Voltage Precontrol
192
Configuring the Voltage Precontrol
192
Function Diagrams and Parameters
201
5 Vector Control
203
Technological Application
208
Vector Control Without Encoder (SLVC)
209
Three-Phase Induction Motor
209
Torque Setpoint Setting
210
Passive Loads
212
Blocking Drives
213
Active Loads
213
Permanent-Magnet Synchronous Motors
214
Synchronous Reluctance Motors
214
Overview
214
Closed-Loop Controlled Operation down to F = 0 Hz with Test Signal
215
Extended Method: Closed-Loop Controlled Operation down to 0 Hz
216
Vector Control with Encoder
219
Speed Controller
220
Speed Controller Adaptation
223
Speed Controller Precontrol and Reference Model
226
Droop
230
Open Actual Speed Value
232
Closed-Loop Torque Control
234
Torque Limiting
237
VDC Control
239
Current Setpoint Filter
244
Speed Actual Value Filter
246
Current Controller Adaptation
247
Motor Data Identification and Rotating Measurement
249
Overview
249
Motor Data Identification
251
Rotating Measurement
254
Shortened Rotating Measurement
256
Overview of Important Parameters
257
Pole Position Identification
258
Operation Without an Encoder
258
Operation with Encoder
258
Notes Regarding Pole Position Identification
261
Messages and Parameters
261
Efficiency Optimization
263
Efficiency Optimization for Induction Motors
263
Efficiency Optimization for Reluctance Motors
265
Function Diagrams and Parameters
266
Fast Magnetization for Induction Motors
267
Flying Restart
271
Fast Flying Restart
273
Flying Restart for a Synchronous Reluctance Motor
275
Messages and Parameters
276
Synchronization
277
Voltage Sensing Module
279
Simulation Mode
281
Redundancy Mode Power Units
282
Bypass
283
Overview
283
Bypass with Synchronization with Overlap
284
Bypass with Synchronization Without Overlap
288
Bypass Without Synchronization
290
Function Diagrams and Parameters
292
Asynchronous Pulse Frequency
293
6 V/F Control (Vector Control)
297
Technological Application
301
Voltage Boost
302
Slip Compensation
305
Resonance Damping
306
VDC Control
307
7 Basic Functions
313
Switching over Units
313
Reference Parameters/Scaling
315
Configuring the Short-Circuit/Ground Fault Test Mode
320
Modular Machine Concept
321
Sine-Wave Filter
324
Motor Reactors
326
DV/Dt Filter Plus Voltage Peak Limiter
328
DV/Dt Filter Compact Plus Voltage Peak Limiter
330
Pulse Frequency Wobbling
332
Direction Reversal Without Changing the Setpoint
333
Automatic Restart
335
Armature Short-Circuit, DC Braking
339
Armature Short-Circuit Braking for Permanent-Magnet Synchronous Motors
340
Internal Armature Short-Circuit Braking
340
External Armature Short-Circuit Braking
341
DC Braking
344
Activation Via Parameters
344
Activation Via Fault Response
345
Activation Via off Fault Responses
346
Activation Via a Speed Threshold
346
Internal Voltage Protection
347
Configuring the Fault Response
348
Function Diagrams and Parameters
348
Motor Module as a Braking Module
350
Features
350
Configuring Resistors
351
Activating the "Braking Module" Function
354
Protective Equipment
356
Overview of the Important Parameters
357
OFF3 Torque Limits
358
Technology Function Friction Characteristic
359
Simple Brake Control
361
Runtime (Operating Hours Counter)
364
Energy-Saving Display
366
Encoder Diagnostics
369
Datalogger
369
Encoder Dirty Signal
370
Tolerant Encoder Monitoring
371
Encoder Track Monitoring
372
Zero Mark Tolerance
373
Freezing the Speed Raw Value
374
Adjustable Hardware Filter
374
Edge Evaluation of the Zero Mark
375
Pole Position Adaptation
376
Pulse Number Correction for Faults
377
Tolerance Band Pulse Number" Monitoring
378
Signal Edge Evaluation (1X, 4X)
379
Setting the Measuring Time to Evaluate Speed "0
380
Sliding Averaging of the Speed Actual Value
380
Troubleshooting
381
Tolerance Window and Correction
383
Dependencies
384
Overview of Important Parameters
386
Parking Axis and Parking Encoder
387
Position Tracking
390
General Information
390
Measuring Gearbox
391
Creating an Encoder as Drive Object
396
Requirements for Creating a Project
396
Creating an ENCODER Drive Object
397
Terminal Module 41
398
SIMOTION Mode
398
SINAMICS Mode
399
Zero Mark Emulation (SINAMICS Mode)
401
Synchronization of the Zero Marks (SINAMICS Mode)
404
Limit Frequencies for TM41
405
Example in the SINAMICS Mode
406
Function Diagrams and Parameters
407
Upgrade the Firmware and Project
409
Overview
409
Updating the Firmware Via the Web Server
410
Overview
410
Updating Firmware/Configuration on the Memory Card
411
Updating the Firmware
413
Downgrade Lock
415
Protection against Power Failure While Updating Via the Web Server
415
Extended Service Mode for CU310-2 Connected to Blocksize Power Units
417
Overview
417
Configuring the Essential Service Mode
420
Function Diagrams and Parameters
421
Pulse/Direction Interface
422
Derating Function for Chassis Units
424
Parallel Connection of Motors
425
Web Server
428
Overview
428
Requirements and Addressing
429
Configuring the Web Server
431
Performing the Basic Configuration
431
Assigning a Password
433
Access Protection and Rights
436
SINAMICS Access Protection
436
Web Server Access Protection
437
Access Protection for Parameter Lists in the Web Server
439
Starting the Web Server
440
Displaying Device Information
444
Displaying Diagnostic Functions
445
Status and Operating Display of the Drive Object
445
Loading Trace Files
446
Displaying Messages
448
Displaying the Diagnostic Buffer
448
Displaying Faults and Alarms
450
Displaying and Changing Drive Parameters
451
Creating a Parameter List
451
Deleting a Parameter List
454
Displaying and Changing Drive Parameters
456
Updating the Firmware or Configuration
459
Certificates for the Secure Data Transfer
460
Overview
460
Using the Certificate Default Configuration
462
Generating Your Own Certificates
463
Messages and Parameters
464
8 Function Modules
465
Technology Controller
467
Extended Monitoring Functions
472
Extended Brake Control
474
Braking Module External
480
Cooling Unit
483
Extended Torque Control (Kt Estimator, Servo)
485
Position Control
488
General Features
488
Position Actual Value Conditioning
488
Features
488
Description
488
Indexed Actual Value Acquisition
491
Load Gear Position Tracking
493
Commissioning Position Tracking Load Gear Using STARTER
499
Function Diagrams and Parameters
500
Position Controller
500
Monitoring Functions
502
Measuring Probe Evaluation and Reference Mark Search
504
Commissioning
506
Basic Positioner
507
Mechanical System
509
Limits
511
EPOS and Safe Setpoint Velocity Limitation
516
Referencing
517
Function Diagrams and Parameters
527
Referencing with Several Zero Marks Per Revolution
528
Safely Referencing under EPOS
531
Traversing Blocks
533
Travel to Fixed Stop
539
Direct Setpoint Input (MDI)
542
Jog
545
Status Signals
546
Master/Slave Function for Active Infeed
549
Operating Principle
549
Basic Structure
549
Types of Communication
552
Description of Functions
553
Commissioning
556
Function Diagrams and Parameters
558
Parallel Connection of Power Units
559
Applications of Parallel Connections
562
Parallel Connection of Basic Line Modules
564
Parallel Connection of Smart Line Modules
566
Parallel Connection of Active Line Modules
567
Parallel Connection of Motor Modules
568
Commissioning
571
Additional Drive in Addition to the Parallel Connection
571
Extended Stop and Retract
575
Activating and Enabling the ESR Function Module
576
Valid Sources for Triggering the ESR Functions
576
Invalid Sources
577
ESR Responses
578
Extended Stopping
578
Extended Retract
578
Regenerative Operation
580
Restrictions for ESR
580
Profidrive Telegram for ESR
581
Function Diagrams and Parameters
581
Moment of Inertia Estimator
583
Introduction
583
Commissioning
587
Supplementary Functions of the Moment of Inertia Estimator for Vector Control
588
Function Diagrams and Parameters
589
Additional Controls for Active Infeed
591
Advanced Position Control (Including Active Vibration Suppression)
592
Introduction
592
Commissioning the Function Module
595
Active Vibration Suppression (APC Without Sensor on the Load Side)
597
APC with Encoder Combination and Differential Position Feedback
604
APC with Acceleration Feedback
609
APC with Load Velocity Control
616
Additional Information
619
Measuring Frequency Responses
622
Function Diagrams and Parameters
626
Cogging Torque Compensation
628
Overview
628
Commissioning
629
Filling Compensation Tables
630
Examples
632
Messages and Parameters
634
9 Monitoring Functions and Protective Functions
635
Power Unit Protection, General
635
Thermal Monitoring and Overload Responses
636
Blocking Protection
638
Stall Protection (Vector Control Only)
639
Thermal Motor Protection
640
Thermal Motor Models
640
Thermal Motor Model 1
641
Thermal Motor Model 2
643
Thermal Motor Model 3
643
Function Diagrams and Parameters
644
Motor Temperature Sensing
646
Sensor Modules
648
Sensor Module Cabinet-Mounted
648
Sensor Module External
649
Sensor Module SME 20/25
649
Terminal Modules
651
Terminal Module 31
652
Terminal Module 120
653
Terminal Module 150
655
Measurement with up to 6 Channels
657
Measurement with up to 12 Channels
657
Forming Groups of Temperature Sensors
658
Evaluating Temperature Channels
658
Setting the Smoothing Time for Temperature Channels
659
Motor Module/Power Module Chassis Format
660
Connection of the CU310-2 and the CUA31/CUA32 Adapters
662
Motor with DRIVE-Cliq
663
Temperature Sensor Evaluation
663
Function Diagrams and Parameters
664
10 Safety Integrated Basic Functions
667
Latest Information
667
General Information
669
Explanations, Standards and Terminology
669
Supported Functions
672
Control Possibilities
674
Parameter, Checksum, Version, Password
674
Forced Checking Procedure (Test Stop)
677
Safety Instructions
679
Safe Torque off (STO)
681
Safe Stop 1 (SS1, Time Controlled)
685
SS1 with OFF3
685
SS1 with External Stop
687
Function Diagrams and Parameters
688
Safe Brake Control (SBC)
689
SBC for Motor Modules in the Chassis Format
691
Response Times
693
Controlling Via Terminals on the Control Unit and Motor Module
694
Control Via Profisafe
694
Control Via TM54F
695
Control Via Terminals on the Control Unit and Motor/Power Module
696
Simultaneity and Tolerance Time of the Two Monitoring Channels
700
Bit Pattern Test
701
Control Via TM54F
702
Design
702
Fault Acknowledgment
703
F-DI Function
703
Function of the F-DO
705
Commissioning the "STO", "SBC" and "SS1" Functions
709
General Information about Commissioning Safety Functions
709
Commissioning Via Direct Parameter Access
711
Safety Faults
714
Acceptance Test and Acceptance Report
716
Acceptance Test Structure
716
Content of the Complete Acceptance Test
718
Content of the Partial Acceptance Test
719
Test Scope for Specific Measures
721
Safety Logbook
722
Documentation
722
Machine Description and Overview Diagram
722
SI Functions for each Drive
723
Acceptance Tests
724
General Information about Acceptance Tests
724
Acceptance Test for Safe Torque off (STO)
725
Acceptance Test for Safe Stop 1, Time Controlled (SS1)
726
Acceptance Test for "Safe Brake Control" (SBC)
728
Completion of Certificate
729
Overview of Parameters and Function Diagrams
731
11 Communication
733
Communication According to Profidrive
733
Profidrive Application Classes
736
Cyclic Communication
738
Telegrams and Process Data
738
Information about Control Words and Status Words
743
Examples
743
Motion Control with Profidrive
746
Parallel Operation of Communication Interfaces
749
Acyclic Communication
752
General Information about Acyclic Communication
752
Structure of Requests and Responses
754
Determining the Drive Object Numbers
759
Example 1: Read Parameters
760
Example 2: Writing Parameters (Multi-Parameter Request)
762
Diagnostics Channels
765
PROFINET-Based Diagnostics
767
PROFIBUS-Based Diagnostics
769
Communication Via PROFIBUS DP
774
General Information about PROFIBUS
774
General Information about PROFIBUS for SINAMICS
774
Example: Telegram Structure for Cyclic Data Transmission
777
Commissioning PROFIBUS
780
Setting the PROFIBUS Interface
780
PROFIBUS Interface in Operation
782
Commissioning PROFIBUS
783
Diagnostics Options
784
SIMATIC HMI Addressing
784
Monitoring Telegram Failure
786
Motion Control with PROFIBUS
788
Slave-To-Slave Communication
792
Setpoint Assignment in the Subscriber
794
Activating/Parameterizing Slave-To-Slave Communication
794
Commissioning PROFIBUS Slave-To-Slave Communication
796
Diagnosing the PROFIBUS Slave-To-Slave Communication in STARTER
801
Messages Via Diagnostics Channels
802
Communication Via PROFINET IO
804
General Information about PROFINET IO
804
Real-Time (RT) and Isochronous Real-Time (IRT) Communication
805
Addresses
806
Dynamic IP Address Assignment
808
DCP Flashing
810
Data Transfer
810
Communication Channels for PROFINET
812
References
813
RT Classes for PROFINET IO
815
Profinet Gsdml
821
Motion Control with PROFINET
822
Communication with CBE20
826
Communication Via PROFINET Gate
827
Functions Supported by PN Gate
828
Preconditions for PN Gate
829
PROFINET with 2 Controllers
831
Control Unit Settings
831
Configuring Shared Device
832
Overview of Important Parameters
841
PROFINET Media Redundancy
842
PROFINET System Redundancy
842
Overview
842
Design, Configuring and Diagnostics
844
Messages and Parameters
845
Profienergy
846
Tasks of Profienergy
848
Profienergy Commands
849
Profienergy Measured Values
851
Profienergy Energy-Saving Mode
851
Profienergy Inhibit and Pause Time
852
Function Diagrams and Parameters
852
Messages Via Diagnostics Channels
853
Support of I&M Data Sets 1
854
Communication Via MODBUS TCP
857
Overview
857
Configuring Modbus TCP Via Interface X150
859
Configuring Modbus TCP Via Interface X1400
860
Mapping Tables
861
Write and Read Access Using Function Codes
864
Communication Via Data Set 47
866
Communication Details
867
Examples: Read Parameter
868
Examples: Write Parameter
869
Communication Procedure
870
Messages and Parameters
871
Communication Via Ethernet/Ip
873
Overview
873
Connect Drive Device to Ethernet/Ip
873
Requirements for Communication
875
Configuring Communication
875
Supported Objects
876
Integrate the Drive Device into the Ethernet Network Via DHCP
886
Messages and Parameters
887
Communication Via SINAMICS Link
888
Basic Principles of SINAMICS Link
888
Topology
890
Configuring and Commissioning
892
Example
896
Communication Failure When Booting or in Cyclic Operation
899
Examples: Transmission Times for SINAMICS Link
899
Function Diagrams and Parameters
900
Communication Services and Used Port Numbers
901
Time Synchronization between the Control and Converter
905
Overview
905
Setting SINAMICS Time Synchronization
907
Set NTP Time Synchronization
908
Messages and Parameters
910
12 Applications
911
Application Examples
911
Infeed Switch on by a Drive
914
Control Units Without Infeed Control
917
Quick Stop in the Event of a Power Failure or Emergency Stop (Servo)
919
Motor Changeover
921
Application Examples with DMC20
926
DCC and DCB Extension Applications
930
13 Basic Information about the Drive System
933
Parameter
933
Drive Objects
936
Licensing
939
Overview
939
Overview of Licenses
941
Activating a Trial License
943
Creating a License Key
945
Displaying/Entering the License Key
947
Messages and Parameters
949
BICO Technology: Interconnecting Signals
950
Binectors, Connectors
950
Interconnecting Signals Using BICO Technology
951
Internal Coding of the Binector/Connector Output Parameters
952
Sample Interconnections
953
Notes on BICO Technology
954
Scaling
955
Propagation of Faults
956
Data Sets
957
CDS: Command Data Set
957
DDS: Drive Data Set
958
EDS: Encoder Data Set
959
MDS: Motor Data Set
961
Function Diagrams and Parameters
962
Inputs/Outputs
964
Digital Inputs/Outputs
965
Use of Bidirectional Inputs/Outputs on the CU
969
Analog Inputs
970
Analog Outputs
972
Write Protection
973
Know-How Protection
976
Overview
976
Know-How Protection Features
977
Configuring Know-How Protection
979
Maintaining the List of Exceptions
979
Activate Know-How Protection
980
Deactivating Know-How Protection
983
Changing the Password
984
Loading Know-How Protected Data to the File System
985
Overview of Important Parameters
990
Component Replacement
991
Replacing Components
991
Examples of Replacing Components
992
Data Backup
995
Backing up the Non-Volatile Memory
995
Redundant Data Backup on Memory Card
997
DRIVE-Cliq
999
DRIVE-Cliq Topology
999
DRIVE-Cliq Diagnostics
1001
Emergency Operating Mode for DRIVE-Cliq Components
1001
System Rules, Sampling Times and DRIVE-Cliq Wiring
1004
Overview of System Limits and System Utilization
1004
System Rules
1005
Rules on the Sampling Times
1007
Rules When Setting the Sampling Times
1007
Rules for Isochronous Mode
1009
Default Settings for the Sampling Times
1011
Setting the Pulse Frequency
1012
Setting Sampling Times
1013
Overview of Important Parameters
1014
Rules for Wiring with DRIVE-Cliq
1014
Binding DRIVE-Cliq Interconnection Rules
1015
Recommended Interconnection Rules
1017
Rules for Automatic Configuration
1020
Changing the Offline Topology in the STARTER Commissioning Tool
1021
Modular Machine Concept: Offline Correction of the Reference Topology
1022
Notes on the Number of Controllable Drives
1025
Number of Drives Depending on the Control Mode and Cycle Times
1025
Cycle MIX for Servo Control and Vector Control
1031
Appendix
1035
List of Abbreviations
1035
Documentation Overview
1044
Supported Sample Topologies
1045
Topology Example: Drives in Vector Control
1045
Topology Example: Parallel Motor Modules in Vector Control
1047
Topology Example: Power Modules
1048
Example Topologies: Drives in Servo Control
1050
Example: Sampling Time 125 Μs
1050
Examples: Sampling Time 62.5 Μs and 31.25 Μs
1051
Topology Example: Drives in V/F Control (Vector Control)
1052
Parameterization Using the BOP20
1053
General Information about the BOP20
1053
Displays and Using the BOP20
1056
Fault and Alarm Displays
1061
Controlling the Drive Using the BOP20
1062
Availability of Hardware Components
1063
Availability of SW Functions
1069
Functions of SINAMICS S120 Combi
1080
Index
1083
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Siemens SIROTEC Specifications
General
Brand
Siemens
Model
SIROTEC
Category
DC Drives
Language
English
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