Fundamental safety 1 ___________________ instructions 2 ___________________ General information SINAMICS/SIMOTICS 3 ___________________ Mounting 4 ___________________ Connecting SINAMICS V90, SIMOTICS S-1FL6 Getting Started ___________________ 5 Commissioning ___________________ 6 PROFINET communication ___________________ 7 Parameters ___________________ 8 Diagnostics PROFINET (PN) interface 12/2018 A5E37208904-006 Legal information Warning notice system This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger. DANGER indicates that death or severe personal injury will result if proper precautions are not taken. WARNING indicates that death or severe personal injury may result if proper precautions are not taken. CAUTION indicates that minor personal injury can result if proper precautions are not taken. NOTICE indicates that property damage can result if proper precautions are not taken. If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage. Qualified Personnel The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems. Proper use of Siemens products Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed. Trademarks All names identified by (R) are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner. Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions. Siemens AG Division Digital Factory Postfach 48 48 90026 NURNBERG GERMANY A5E37208904-006 11/2018 Subject to change Copyright (c) Siemens AG 2016 - 2018. All rights reserved Table of contents 1 2 3 4 5 Fundamental safety instructions ................................................................................................................ 5 1.1 General safety instructions .......................................................................................................5 1.2 Equipment damage due to electric fields or electrostatic dischargeError! Bookmark not defined. 1.3 Warranty and liability for application examples ......................................................................11 1.4 Industrial security ....................................................................................................................12 1.5 Residual risks of power drive systems....................................................................................13 General information ................................................................................................................................. 14 2.1 2.1.1 2.1.2 Scope of delivery ....................................................................................................................14 Drive components ...................................................................................................................14 Motor components ..................................................................................................................19 2.2 Device combination.................................................................................................................23 2.3 Accessories.............................................................................................................................26 2.4 Function list .............................................................................................................................28 2.5 2.5.1 2.5.2 2.5.3 Technical data.........................................................................................................................28 Technical data - servo drives ..................................................................................................28 Technical data - servo motors ................................................................................................31 Address of CE-authorized manufacturer ................................................................................35 Mounting .................................................................................................................................................. 36 3.1 Mounting the drive ..................................................................................................................36 3.2 Mounting the motor .................................................................................................................43 Connecting .............................................................................................................................................. 51 4.1 System connection..................................................................................................................51 4.2 4.2.1 4.2.2 Main circuit wiring ...................................................................................................................58 Line supply - L1, L2, L3 ..........................................................................................................58 Motor power - U, V, W ............................................................................................................60 4.3 4.3.1 4.3.2 Control/Status interface - X8 ...................................................................................................62 Interface definition...................................................................................................................62 Standard wiring .......................................................................................................................63 4.4 24 V power supply/STO ..........................................................................................................65 4.5 Encoder interface - X9 ............................................................................................................66 4.6 External braking resistor - DCP, R1........................................................................................70 4.7 Motor holding brake ................................................................................................................71 4.8 PROFINET interface - X150 ...................................................................................................71 Commissioning ........................................................................................................................................ 73 SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 3 Table of contents 6 7 8 5.1 Introduction to the BOP.......................................................................................................... 75 5.2 Initial commissioning in JOG mode........................................................................................ 81 5.3 Commissioning in basic positioner control mode (EPOS) ..................................................... 83 5.4 Commissioning in speed control mode (S) ............................................................................ 84 5.5 5.5.1 5.5.2 5.5.3 Commissioning control functions ........................................................................................... 85 Speed limit ............................................................................................................................. 85 Torque limit ............................................................................................................................ 86 EJOG ..................................................................................................................................... 88 PROFINET communication...................................................................................................................... 90 6.1 Supported telegrams .............................................................................................................. 90 6.2 I/O data signals ...................................................................................................................... 92 6.3 6.3.1 6.3.2 6.3.3 6.3.4 6.3.5 6.3.6 6.3.7 6.3.8 6.3.9 6.3.10 6.3.11 6.3.12 Control word definition ........................................................................................................... 94 STW1 control word (for telegrams 1, 2, 3, 5) ......................................................................... 94 STW2 control word (for telegrams 2, 3, 5) ............................................................................. 95 STW1 control word (for telegrams 102, 105) ......................................................................... 96 STW2 control word (for telegrams 102, 105) ......................................................................... 97 STW1 control word (for telegrams 7, 9, 110, 111) ................................................................. 97 STW2 control word (for telegrams 9, 110, 111) ..................................................................... 98 G1_STW encoder 1 control word ........................................................................................... 99 SATZANW control word ......................................................................................................... 99 MDI_MOD control word ........................................................................................................ 100 POS_STW control word ....................................................................................................... 101 POS_STW1 positioning control word ................................................................................... 101 POS_STW2 positioning control word ................................................................................... 102 6.4 6.4.1 6.4.2 6.4.3 6.4.4 6.4.5 6.4.6 6.4.7 6.4.8 6.4.9 6.4.10 Status word definition ........................................................................................................... 103 ZSW1 status word (for telegrams 1, 2, 3, 5) ........................................................................ 103 ZSW2 status word (for telegrams 2, 3, 5) ............................................................................ 103 ZSW1 status word (for telegrams 102, 105) ........................................................................ 104 ZSW2 status word (for telegrams 102, 105) ........................................................................ 104 ZSW1 status word (for telegrams 7, 9, 110, 111) ................................................................ 105 ZSW2 status word (for telegrams 9, 110, 111) .................................................................... 105 G1_ZSW encoder 1 status word .......................................................................................... 106 MELDW status word ............................................................................................................ 107 POS_ZSW1 positioning status word .................................................................................... 107 POS_ZSW2 positioning status word .................................................................................... 108 6.5 PROFINET communication.................................................................................................. 108 Parameters ............................................................................................................................................ 109 7.1 Overview .............................................................................................................................. 109 7.2 Parameter list ....................................................................................................................... 110 Diagnostics ............................................................................................................................................ 143 8.1 Overview .............................................................................................................................. 143 8.2 List of faults and alarms ....................................................................................................... 146 Index ...................................................................................................................................................... 150 SINAMICS V90, SIMOTICS S-1FL6 4 Getting Started, 12/2018, A5E37208904-006 Fundamental safety instructions 1.1 1 General safety instructions WARNING Electric shock and danger to life due to other energy sources Touching live components can result in death or severe injury. * Only work on electrical devices when you are qualified for this job. * Always observe the country-specific safety rules. Generally, the following six steps apply when establishing safety: 1. Prepare for disconnection. Notify all those who will be affected by the procedure. 2. Isolate the drive system from the power supply and take measures to prevent it being switched back on again. 3. Wait until the discharge time specified on the warning labels has elapsed. 4. Check that there is no voltage between any of the power connections, and between any of the power connections and the protective conductor connection. 5. Check whether the existing auxiliary supply circuits are de-energized. 6. Ensure that the motors cannot move. 7. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or water. Switch the energy sources to a safe state. 8. Check that the correct drive system is completely locked. After you have completed the work, restore the operational readiness in the inverse sequence. WARNING Risk of electric shock and fire from supply networks with an excessively high impedance Excessively low short-circuit currents can lead to the protective devices not tripping or tripping too late, and thus causing electric shock or a fire. * In the case of a conductor-conductor or conductor-ground short-circuit, ensure that the short-circuit current at the point where the inverter is connected to the line supply at least meets the minimum requirements for the response of the protective device used. * You must use an additional residual-current device (RCD) if a conductor-ground short circuit does not reach the short-circuit current required for the protective device to respond. The required short-circuit current can be too low, especially for TT supply systems. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 5 Fundamental safety instructions 1.1 General safety instructions WARNING Risk of electric shock and fire from supply networks with an excessively low impedance Excessively high short-circuit currents can lead to the protective devices not being able to interrupt these short-circuit currents and being destroyed, and thus causing electric shock or a fire. * Ensure that the prospective short-circuit current at the line terminal of the inverter does not exceed the breaking capacity (SCCR or Icc) of the protective device used. WARNING Electric shock if there is no ground connection For missing or incorrectly implemented protective conductor connection for devices with protection class I, high voltages can be present at open, exposed parts, which when touched, can result in death or severe injury. * Ground the device in compliance with the applicable regulations. WARNING Electric shock due to connection to an unsuitable power supply When equipment is connected to an unsuitable power supply, exposed components may carry a hazardous voltage that might result in serious injury or death. * Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV(Protective Extra Low Voltage) output voltages for all connections and terminals of the electronics modules. WARNING Electric shock due to damaged motors or devices Improper handling of motors or devices can damage them. Hazardous voltages can be present at the enclosure or at exposed components on damaged motors or devices. * Ensure compliance with the limit values specified in the technical data during transport, storage and operation. * Do not use any damaged motors or devices. WARNING Electric shock due to unconnected cable shields Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected cable shields. * As a minimum, connect cable shields and the cores of cables that are not used at one end at the grounded housing potential. SINAMICS V90, SIMOTICS S-1FL6 6 Getting Started, 12/2018, A5E37208904-006 Fundamental safety instructions 1.1 General safety instructions WARNING Arcing when a plug connection is opened during operation Opening a plug connection when a system is operation can result in arcing that may cause serious injury or death. * Only open plug connections when the equipment is in a voltage-free state, unless it has been explicitly stated that they can be opened in operation. WARNING Electric shock due to residual charges in power components Because of the capacitors, a hazardous voltage is present for up to 5 minutes after the power supply has been switched off. Contact with live parts can result in death or serious injury. * Wait for 5 minutes before you check that the unit really is in a no-voltage condition and start work. NOTICE Property damage due to loose power connections Insufficient tightening torques or vibration can result in loose power connections. This can result in damage due to fire, device defects or malfunctions. * Tighten all power connections to the prescribed torque. * Check all power connections at regular intervals, particularly after equipment has been transported. WARNING Spread of fire from built-in devices In the event of fire outbreak, the enclosures of built-in devices cannot prevent the escape of fire and smoke. This can result in serious personal injury or property damage. * Install built-in units in a suitable metal cabinet in such a way that personnel are protected against fire and smoke, or take other appropriate measures to protect personnel. * Ensure that smoke can only escape via controlled and monitored paths. WARNING Active implant malfunctions due to electromagnetic fields Inverters generate electromagnetic fields (EMF) in operation. People with active implants in the immediate vicinity of this equipment are at particular risk. * As the operator of an EMF-emitting installation, assess the individual risks of persons with active implants. The following clearances are usually adequate: - No clearance to closed control cabinets and shielded MOTION-CONNECT supply cables - Forearm length (approx. 35 cm clearance) to distributed drive systems and open control cabinets SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 7 Fundamental safety instructions 1.1 General safety instructions WARNING Active implant malfunctions due to permanent-magnet fields Even when switched off, electric motors with permanent magnets represent a potential risk for persons with heart pacemakers or implants if they are close to converters/motors. * If you have a heart pacemaker or implant, maintain a minimum distance of 2 m. * When transporting or storing permanent-magnet motors always use the original packing materials with the warning labels attached. * Clearly mark the storage locations with the appropriate warning labels. * IATA regulations must be observed when transported by air. WARNING Unexpected movement of machines caused by radio devices or mobile phones When radio devices or mobile phones with a transmission power > 1 W are used in the immediate vicinity of components, they may cause the equipment to malfunction. Malfunctions may impair the functional safety of machines and can therefore put people in danger or lead to property damage. * If you come closer than around 2 m to such components, switch off any radios or mobile phones. * Use the "SIEMENS Industry Online Support app" only on equipment that has already been switched off. NOTICE Damage to motor insulation due to excessive voltages When operated on systems with grounded line conductor or in the event of a ground fault in the IT system, the motor insulation can be damaged by the higher voltage to ground. If you use motors that have insulation that is not designed for operation with grounded line conductors, you must perform the following measures: * IT system: Use a ground fault monitor and eliminate the fault as quickly as possible. * TN or TT systems with grounded line conductor: Use an isolating transformer on the line side. WARNING Fire due to inadequate ventilation clearances Inadequate ventilation clearances can cause overheating of components with subsequent fire and smoke. This can cause severe injury or even death. This can also result in increased downtime and reduced service lives for devices/systems. * Ensure compliance with the specified minimum clearance as ventilation clearance for the respective component. SINAMICS V90, SIMOTICS S-1FL6 8 Getting Started, 12/2018, A5E37208904-006 Fundamental safety instructions 1.1 General safety instructions WARNING Unrecognized dangers due to missing or illegible warning labels Dangers might not be recognized if warning labels are missing or illegible. Unrecognized dangers may cause accidents resulting in serious injury or death. * Check that the warning labels are complete based on the documentation. * Attach any missing warning labels to the components, where necessary in the national language. * Replace illegible warning labels. NOTICE Device damage caused by incorrect voltage/insulation tests Incorrect voltage/insulation tests can damage the device. * Before carrying out a voltage/insulation check of the system/machine, disconnect the devices as all converters and motors have been subject to a high voltage test by the manufacturer, and therefore it is not necessary to perform an additional test within the system/machine. WARNING Unexpected movement of machines caused by inactive safety functions Inactive or non-adapted safety functions can trigger unexpected machine movements that may result in serious injury or death. * Observe the information in the appropriate product documentation before commissioning. * Carry out a safety inspection for functions relevant to safety on the entire system, including all safety-related components. * Ensure that the safety functions used in your drives and automation tasks are adjusted and activated through appropriate parameterizing. * Perform a function test. * Only put your plant into live operation once you have guaranteed that the functions relevant to safety are running correctly. Note Important safety notices for Safety Integrated functions If you want to use Safety Integrated functions, you must observe the safety notices in the Safety Integrated manuals. WARNING Malfunctions of the machine as a result of incorrect or changed parameter settings As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death. * Protect the parameterization (parameter assignments) against unauthorized access. * Handle possible malfunctions by taking suitable measures, e.g. emergency stop or emergency off. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 9 Fundamental safety instructions 1.1 General safety instructions WARNING Injury caused by moving or ejected parts Contact with moving motor parts or drive output elements and the ejection of loose motor parts (e.g. feather keys) out of the motor enclosure can result in severe injury or death. * Remove any loose parts or secure them so that they cannot be flung out. * Do not touch any moving parts. * Safeguard all moving parts using the appropriate safety guards. WARNING Fire due to inadequate cooling Inadequate cooling can cause the motor to overheat, resulting in death or severe injury as a result of smoke and fire. This can also result in increased failures and reduced service lives of motors. * Comply with the specified cooling requirements for the motor. WARNING Fire due to incorrect operation of the motor When incorrectly operated and in the case of a fault, the motor can overheat resulting in fire and smoke. This can result in severe injury or death. Further, excessively high temperatures destroy motor components and result in increased failures as well as shorter service lives of motors. * Operate the motor according to the relevant specifications. * Only operate the motors in conjunction with effective temperature monitoring. * Immediately switch off the motor if excessively high temperatures occur. CAUTION Burn injuries caused by hot surfaces In operation, the motor can reach high temperatures, which can cause burns if touched. * Mount the motor so that it is not accessible in operation. Measures when maintenance is required: * Allow the motor to cool down before starting any work. * Use the appropriate personnel protection equipment, e.g. gloves. SINAMICS V90, SIMOTICS S-1FL6 10 Getting Started, 12/2018, A5E37208904-006 Fundamental safety instructions 1.2 Equipment damage due to electric fields or electrostatic discharge 1.2 Equipment damage due to electric fields or electrostatic discharge Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules or devices that may be damaged by either electric fields or electrostatic discharge. NOTICE Equipment damage due to electric fields or electrostatic discharge Electric fields or electrostatic discharge can cause malfunctions through damaged individual components, integrated circuits, modules or devices. * Only pack, store, transport and send electronic components, modules or devices in their original packaging or in other suitable materials, e.g conductive foam rubber of aluminum foil. * Only touch components, modules and devices when you are grounded by one of the following methods: - Wearing an ESD wrist strap - Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring * Only place electronic components, modules or devices on conductive surfaces (table with ESD surface, conductive ESD foam, ESD packaging, ESD transport container). 1.3 Warranty and liability for application examples Application examples are not binding and do not claim to be complete regarding configuration, equipment or any eventuality which may arise. Application examples do not represent specific customer solutions, but are only intended to provide support for typical tasks. As the user you yourself are responsible for ensuring that the products described are operated correctly. Application examples do not relieve you of your responsibility for safe handling when using, installing, operating and maintaining the equipment. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 11 Fundamental safety instructions 1.4 Industrial security 1.4 Industrial security Note Industrial security Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement - and continuously maintain - a holistic, state-of-the-art industrial security concept. Siemens' products and solutions constitute one element of such a concept. Customers are responsible for preventing unauthorized access to their plants, systems, machines and networks. Such systems, machines and components should only be connected to an enterprise network or the Internet if and to the extent such a connection is necessary and only when appropriate security measures (e.g. firewalls and/or network segmentation) are in place. For additional information on industrial security measures that may be implemented, please visit: Industrial security (http://www.siemens.com/industrialsecurity) Siemens' products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customer's exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed at: Industrial security (http://www.siemens.com/industrialsecurity) Further information is provided on the Internet: Industrial Security Configuration Manual (https://support.industry.siemens.com/cs/ww/en/view/108862708) WARNING Unsafe operating states resulting from software manipulation Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating states in your system that may lead to death, serious injury, and property damage. * Keep the software up to date. * Incorporate the automation and drive components into a holistic, state-of-the-art industrial security concept for the installation or machine. * Make sure that you include all installed products into the holistic industrial security concept. * Protect files stored on exchangeable storage media from malicious software by with suitable protection measures, e.g. virus scanners. * Protect the drive against unauthorized changes by activating the "know-how protection" drive function. SINAMICS V90, SIMOTICS S-1FL6 12 Getting Started, 12/2018, A5E37208904-006 Fundamental safety instructions 1.5 Residual risks of power drive systems 1.5 Residual risks of power drive systems When assessing the machine- or system-related risk in accordance with the respective local regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer must take into account the following residual risks emanating from the control and drive components of a drive system: 1. Unintentional movements of driven machine or system components during commissioning, operation, maintenance, and repairs caused by, for example, - Hardware and/or software errors in the sensors, control system, actuators, and cables and connections - Response times of the control system and of the drive - Operation and/or environmental conditions outside the specification - Condensation/conductive contamination - Parameterization, programming, cabling, and installation errors - Use of wireless devices/mobile phones in the immediate vicinity of electronic components - External influences/damage - X-ray, ionizing radiation and cosmic radiation 2. Unusually high temperatures, including open flames, as well as emissions of light, noise, particles, gases, etc., can occur inside and outside the components under fault conditions caused by, for example: - Component failure - Software errors - Operation and/or environmental conditions outside the specification - External influences/damage 3. Hazardous shock voltages caused by, for example: - Component failure - Influence during electrostatic charging - Induction of voltages in moving motors - Operation and/or environmental conditions outside the specification - Condensation/conductive contamination - External influences/damage 4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a risk to people with a pacemaker, implants or metal replacement joints, etc., if they are too close 5. Release of environmental pollutants or emissions as a result of improper operation of the system and/or failure to dispose of components safely and correctly 6. Influence of network-connected communication systems, e.g. ripple-control transmitters or data communication via the network For more information about the residual risks of the drive system components, see the relevant sections in the technical user documentation. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 13 2 General information The SINAMICS V90 drives with the PROFINET interface (referred to as SINAMICS V90 PN) are available in two variants, 400 V variant and 200 V variant. The 200 V variant is available in four frame sizes: FSA, FSB, FSC, and FSD. Frame sizes A, B, and C are used on the single phase or three phase power network while frame size D is used on the three phase power network only. The 400 V variant is available in four frame sizes: FSAA, FSA, FSB, and FSC. All the frame sizes are used on three phase power network only. 2.1 Scope of delivery 2.1.1 Drive components Components in the SINAMICS V90 PN 200 V variant drive package Component Illustration SINAMICS V90 PN, single/three-phase, 200 V Rated power (kW) Outline dimension Frame size Article number 0.1/0.2 45 x 170 x 170 FSA 6SL3210-5FB10-1UF2 0.4 55 x 170 x 170 FSB 6SL3210-5FB10-4UF1 0.75 80 x 170 x 195 FSC 6SL3210-5FB10-8UF0 1.0/1.5/2.0 95 x 170 x 195 FSD 6SL3210-5FB11-0UF1 (Width x Height x Depth, mm) 6SL3210-5FB10-2UF2 SINAMICS V90 PN, three-phase, 200 V 6SL3210-5FB11-5UF0 6SL3210-5FB12-0UF0 Connectors For FSA and FSB For FSC and FSD Shielding plate For FSA and FSB For FSC and FSD User documentation Information Guide English-Chinese bilingual version SINAMICS V90, SIMOTICS S-1FL6 14 Getting Started, 12/2018, A5E37208904-006 General information 2.1 Scope of delivery Components in the SINAMICS V90 PN 400 V variant drive package Component Illustration SINAMICS V90 PN, three-phase, 400 V Rated power (kW) Outline dimension Frame size Article number 0.4 0.75/1.0 60 x 180 x 200 FSAA 6SL3210-5FE10-4UF0 80 x 180 x 200 FSA 6SL3210-5FE10-8UF0 (Width x Height x Depth, mm) 6SL3210-5FE11-0UF0 1.5/2.0 100 x 180 x 220 FSB 6SL3210-5FE11-5UF0 6SL3210-5FE12-0UF0 3.5/5.0/7.0 140 x 260 x 240 FSC 6SL3210-5FE13-5UF0 6SL3210-5FE15-0UF0 6SL3210-5FE17-0UF0 Connectors For FSAA For FSA For FSB and FSC Shielding plate For FSAA and FSA For FSB and FSC User documentation Information Guide English-Chinese bilingual version SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 15 General information 2.1 Scope of delivery Drive rating plate (example) Drive name Power output Power input Rated motor power Article number MAC address Part number QR code Pollution degree and overvoltage criteria Product serial number Rated short-circuit current Copper wire SINAMICS V90, SIMOTICS S-1FL6 16 Getting Started, 12/2018, A5E37208904-006 General information 2.1 Scope of delivery Article number explanation (example) SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 17 General information 2.1 Scope of delivery Serial number explanation (example) SINAMICS V90, SIMOTICS S-1FL6 18 Getting Started, 12/2018, A5E37208904-006 General information 2.1 Scope of delivery 2.1.2 Motor components Components in the SIMOTICS S-1FL6 low inertia motor package Component Illustration SIMOTICS S-1FL6, low inertia Rated power (kW) Shaft height (mm) Article number 0.05/0.1 20 1FL6022-2AF21-11 1FL6024-2AF21-11 0.2/0.4 30 0.75/1.0 40 1FL6032-2AF21-11 1FL6034-2AF21-11 1FL6042-2AF21-11 1FL6044-2AF21-11 1.5/2.0 50 1FL6052-2AF21-01 1FL6054-2AF21-01 1.5/2.0 50 1FL6052-2AF21-21 1FL6054-2AF21-21 User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide Note: For the SH50 motors with a multi-turn absolute encoder, only angular connector version is available. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 19 General information 2.1 Scope of delivery Components in the SIMOTICS S-1FL6 high inertia motor package Component SIMOTICS S1FL6, high inertia Illustration Rated power (kW) Shaft height (mm) 0.4/0.75 45 1FL6042-1AF61- 1 1FL6044-1AF61- 1 0.75/1.0/1.5/1.7 5/2.0 65 1FL6061-1AC61- 1 1FL6062-1AC61- 1 1FL6064-1AC61- 1 1FL6066-1AC61- 1 1FL6067-1AC61- 1 1FL6090-1AC61- 1 1FL6092-1AC61- 1 1FL6094-1AC61- 1 1FL6096-1AC61- 1 2.5/3.5/5.0/7.0 User documentation 90 Article number Straight connectors with a fixed outlet direction 0 Angular connectors with a flexible outlet direction 2 SIMOTICS S-1FL6 Servo Motors Installation Guide SINAMICS V90, SIMOTICS S-1FL6 20 Getting Started, 12/2018, A5E37208904-006 General information 2.1 Scope of delivery Motor rating plate (example) Motor type Article number Serial number Rated torque Stall torque Rated voltage Rated power Encoder type and resolution Thermal class Degree of protection Motor operating mode Stall current Rated current Holding brake Motor ID Weight Maximum speed Rated speed SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 21 General information 2.1 Scope of delivery Article number explanation SINAMICS V90, SIMOTICS S-1FL6 22 Getting Started, 12/2018, A5E37208904-006 General information 2.2 Device combination 2.2 Device combination V90 PN 200 V servo system SIMOTICS S-1FL6 low inertia servo motors SINAMICS V90 PN 200 V servo drives MOTION-CONNECT 300 pre-assembled cables Power cable Brake cable Encoder cable Rated Rated torque power (Nm) (kW) Rated speed (rpm) Shaft height (mm) Article No. 1FL60 0.16 0.05 3000 20 22-2AF21-1 1 FB10-1UF2 0.32 0.1 3000 24-2AF21-1 1 0.64 0.2 3000 32-2AF21-1 1 FB10-2UF2 1.27 0.4 3000 34-2AF21-1 1 FB10-4UF1 FSB 2.39 0.75 3000 42-2AF21-1 1 FB10-8UF0 FSC 3.18 1 3000 44-2AF21-1 1 FB11-0UF1 FSD 4.78 1.5 3000 6.37 2 3000 4.78 1.5 3000 6.37 2 3000 30 40 50 50 Article No. 6SL3210-5 52-2AF21-0 1) 1 FB11-5UF0 54-2AF21-0 1) 1 FB12-0UF0 52-2AF21-2 2) 1 FB11-5UF0 54-2AF21-2 1 FB12-0UF0 2) Frame Article No. size 6FX3002-5 Article No. 6FX3002-5 Article No. 6FX3002-2 FSA CK01-.... BK02-.... 20-.... CK31-.... BL02-.... 10-.... CK32-.... BL03-.... 12-.... Incremental encoder TTL 2500 ppr A Incremental encoder TTL CT 2500 ppr Absolute encoder single-turn 21-bit M Absolute encoder singleturn 21-bit Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit + 12-bit multi-turn DB Cable length 3) 3m 1AD0 5m 1AF0 10 m 1BA0 20 m 1CA0 1) Low inertia motor with straight connectors 2) Low inertia motor with angular connectors 3) The last four numbers in the cable article number (....) SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 23 General information 2.2 Device combination V90 PN 400 V servo system SIMOTICS S-1FL6 high inertia servo motors with straight SINAMICS V90 PN connectors 400 V servo drives MOTION-CONNECT 300 preassembled cables Power cable Brake cable Encoder cable Rated Rated torque power (Nm) (kW) Rated speed (rpm) Shaft height (mm) Article No. 1FL60 1.27 0.4 3000 45 42-1AF61-0 2.39 0.75 3000 44-1AF61-0 3.58 0.75 2000 61-1AC61-0 65 Article No. 6SL3210-5 Frame Article No. size 6FX3002-5 Article No. 6FX3002-5 Article No. 6FX3002-2 1 FE10-4UF0 FSAA BL02-.... 1 FE10-8UF0 FSA 1 FE11-0UF0 4.78 1.0 2000 62-1AC61-0 1 7.16 1.5 2000 64-1AC61-0 1 8.36 1.75 2000 66-1AC61-0 1 9.55 2.0 2000 67-1AC61-0 1 11.9 2.5 2000 90-1AC61-0 1 16.7 3.5 2000 92-1AC61-0 1 FE13-5UF0 23.9 5.0 2000 94-1AC61-0 1 FE15-0UF0 33.4 7.0 2000 96-1AC61-0 1 FE17-0UF0 90 FE11-5UF0 FSB CL01-.... 10-.... CL11-.... FE12-0UF0 FSC Incremental encoder TTL 2500 ppr A Incremental encoder TTL CT 2500 ppr Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit + DB 12-bit multi-turn Cable length 1) 3m 1AD0 5m 1AF0 7m 1AH0 10 m 1BA0 15 m 1BF0 20 m 1CA0 1) The last four numbers in the cable article number (....) SINAMICS V90, SIMOTICS S-1FL6 24 Getting Started, 12/2018, A5E37208904-006 General information 2.2 Device combination SIMOTICS S-1FL6 high inertia servo motors with angular SINAMICS V90 PN connectors 400 V servo drives MOTION-CONNECT 300 pre-assembled cables Power cable Brake cable Encoder cable Rated Rated torque power (Nm) (kW) Rated speed (rpm) Shaft height (mm) Article No. 1FL60 1.27 0.4 3000 45 42-1AF61-2 1 FE10-4UF0 FSAA 2.39 0.75 3000 44-1AF61-2 1 FE10-8UF0 FSA 3.58 0.75 2000 61-1AC61-2 1 FE11-0UF0 4.78 1.0 2000 62-1AC61-2 1 7.16 1.5 2000 64-1AC61-2 1 8.36 1.75 2000 66-1AC61-2 1 9.55 2.0 2000 67-1AC61-2 1 11.9 2.5 2000 90-1AC61-2 1 16.7 3.5 2000 92-1AC61-2 1 FE13-5UF0 FSC 23.9 5.0 2000 94-1AC61-2 1 FE15-0UF0 33.4 7.0 2000 96-1AC61-2 1 FE17-0UF0 65 90 Article No. 6SL3210-5 Frame Article No. size 6FX3002-5 FE11-5UF0 FSB CL02-.... Article No. Article No. 6FX3002-5 6FX3002-2 BL03-.... -.... CL12-.... FE12-0UF0 Incremental encoder TTL 2500 ppr A Incremental encoder TTL 2500 ppr CT12 Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit + DB10 12-bit multi-turn Cable length 1) 3m 1AD0 5m 1AF0 7m 1AH0 10 m 1BA0 15 m 1BF0 20 m 1CA0 1) The last four numbers in the cable article number (....) Note You can select a SINAMICS V90 PN servo drive for all the SIMOTICS S-1FL6 servo motors whose rated power values are equal to or smaller than that specified as matching with this servo drive in the table above. Note Check the motor ID in the drive (p29000) and make sure that the value is that specified on the rating plate of the connected motor, especially when the drive is working with a motor whose rated power value is lower than that of this drive. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 25 General information 2.3 Accessories 2.3 Accessories Fuse/Type-E combination motor controller A fuse/type-E combination motor controller/circuit breaker can be used to protect the system. Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes. Refer to the following table for the selection of fuses, type-E combination motor controllers, and circuit breakers: SINAMICS V90 PN 200 V variant SINAMICS V90 PN Frame size Recommended fuse Rated power CE-compliant (kW) Type-E combination motor controller 1) UL/cULRated current compliant listed (A) (JDDZ) fuse Rated voltage Rated (VAC) power (hp) Article number 1-phase, 200 VAC to 240 VAC FSA 0.1 3NA3 801 (6 A) 6A 2.8 to 4 230/240 1/3 3RV 2011-1EA10 0.2 3NA3 801 (6 A) 6A 2.8 to 4 230/240 1/3 3RV 2011-1EA10 FSB 0.4 3NA3 803 (10 A) 10 A 5.5 to 8 230/240 1 3RV 2011-1HA10 FSC 0.75 3NA3 805 (16 A) 20 A 9 to 12.5 230/240 2 3RV 2011-1KA10 3-phase, 200 VAC to 240 VAC FSA 0.1 3NA3 801 (6 A) 6A 2.8 to 4 230/240 3/4 3RV 2011-1EA10 0.2 3NA3 801 (6 A) 6A 2.8 to 4 230/240 3/4 3RV 2011-1EA10 FSB 0.4 3NA3 803 (10 A) 10 A 2.8 to 4 230/240 3/4 3RV 2011-1EA10 FSC 0.75 3NA3 805 (16 A) 20 A 5.5 to 8 230/240 2 3RV 2011-1HA10 FSD 1.0 3NA3 805 (16 A) 20 A 7 to 10 230/240 3 3RV 2011-1JA10 1.5 3NA3 810 (25 A) 25 A 10 to 16 230/240 5 3RV 2011-4AA10 2.0 3NA3 810 (25 A) 25 A 10 to 16 230/240 5 3RV 2011-4AA10 1) The above types for type-E combination motor controllers are listed in compliance with both CE and UL/cUL standards. SINAMICS V90 PN 400 V variant SINAMICS V90 PN Frame size Recommended fuse type Rated power CE-compliant (kW) Type-E combination motor controller 1) UL/cULRated current compliant listed (A) (JDDZ) fuse Rated voltage Rated (VAC) power (hp) Article number 3-phase, 380 VAC to 480 VAC FSAA 0.4 3NA3 801-6 (6 A) 10 A 2.2 to 3.2 380/480 0.5 3RV 2021-1DA10 FSA 0.75 3NA3 801-6 (6 A) 10 A 2.8 to 4 380/480 1 3RV 2021-1EA10 1.0 3NA3 803-6 (10 A) 10 A 3.5 to 5 380/480 1.34 3RV 2021-1FA10 1.5 3NA3 803-6 (10 A) 15 A 5.5 to 8 380/480 2 3RV 2021-1HA10 2.0 3NA3 805-6 (16 A) 15 A 11 to 16 380/480 2.68 3RV 2021-4AA10 3.5 3NA3 807-6 (20 A) 25 A 14 to 20 380/480 4.7 3RV 2021-4BA10 5.0 3NA3 807-6 (20 A) 25 A 14 to 20 380/480 6.7 3RV 2021-4BA10 7.0 3NA3 810-6 (25 A) 25 A 20 to 25 380/480 9.4 3RV 2021-4DA10 FSB FSC 1) The above types for Type-E combination motor controllers are listed in compliance with both CE and UL/cUL standards. SINAMICS V90, SIMOTICS S-1FL6 26 Getting Started, 12/2018, A5E37208904-006 General information 2.3 Accessories For more information about the accessories, refer to SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. WARNING Requirements for United States/Canadian installations (UL/cUL) Suitable for use on a circuit capable of delivering not more than 65000 rms Symmetrical Amperes, 480 VAC maximum for 400 V variants of drives or 240 VAC maximum for 200 V variant drives, when protected by UL/cUL listed (JDDZ) fuse or type E combination motor controller. For each frame size AA, A, B, C and D, use 75 C copper wire only. This equipment is capable of providing internal motor overload protection according to UL508C. For Canadian (cUL) installations the drive mains supply must be fitted with any external recommended suppressor with the following features: * Surge-protective devices; device shall be a Listed Surge-protective device (Category code VZCA and VZCA7) * Rated nominal voltage 480/277 VAC, 50/60 Hz, 3-phase * Clamping voltage VPR = 2000 V, IN = 3kA min, MCOV = 508 VAC, SCCR = 65 kA * Suitable for Type 2 SPD application * Clamping shall be provided between phases and also between phase and ground Product maintenance The components are subject to continuous further development within the scope of product maintenance (improvements to robustness, discontinuations of components, etc). These further developments are "spare parts-compatible" and do not change the article number. In the scope of such spare parts-compatible further developments, connector positions are sometimes changed slightly. This does not cause any problems with proper use of the components. Please take this fact into consideration in special installation situations (e.g. allow sufficient clearance for the cable length). Use of third-party products This document contains recommendations relating to third-party products. Siemens accepts the fundamental suitability of these third-party products. You can use equivalent products from other manufacturers. Siemens does not accept any warranty for the properties of third-party products. Recycling and disposal For environmentally-friendly recycling and disposal of your old device, please contact a company certified for the disposal of waste electrical and electronic equipment, and dispose of the old device as prescribed in the respective country of use. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 27 General information 2.4 Function list 2.4 Function list Function Description Control mode Basic positioner (EPOS) Positions axes in absolute/relative terms with a motor encoder EPOS Speed control (S) Flexibly controls motor speed and direction through PROFINET communication port S Safe Torque Off (STO) Safely disconnects torque-generating motor power supply to prevent an unintentional motor restart EPOS, S One-button auto tuning Estimates the machine characteristic and sets the closed loop control parameters (speed loop gain, speed integral compensation, filter if necessary, etc.) without any user intervention EPOS, S Real-time auto tuning Estimates the machine characteristic and sets the closed loop control parameters (speed loop gain, speed integral compensation, filter if necessary, etc.) continuously in real time without any user intervention EPOS, S Resonance suppression Suppresses the mechanical resonance, such as workpiece vibration and base shake EPOS, S Low frequency vibration suppression Suppresses the low frequency vibration in the machine system EPOS Speed limit Limits motor speed through internal speed limit commands (two groups) EPOS, S Torque limit Limits motor torque through internal torque limit commands (two groups) EPOS, S Basic operator panel (BOP) Displays servo status on a 6-digit 7-segment LED display EPOS, S External braking resistor - DCP, R1 An external braking resistor can be used when the internal braking resistor is insufficient for regenerative energy EPOS, S Digital inputs/outputs (DIs/Dos) Control signals and status signals can be assigned to four programmable digital inputs and two digital outputs EPOS, S PROFINET communication Supports communication between the SINAMICS V90 PN servo drive and PLC with PROFINET communication protocol EPOS, S SINAMICS V-ASSISTANT You can perform parameter settings, test operation, adjustment and other operations with a PC EPOS, S 2.5 Technical data 2.5.1 Technical data - servo drives General technical data Parameter 24 VDC power supply Description Voltage (V) 24 (-15% to +20%) 1) Maximum current (A) When using a motor without a brake: 1.5 A When using a motor with a brake: 1.5 A + motor holding brake rated current (See Section "Technical data - servo motors (Page 31)".) Ripple caused by the rectifier 5% Safety insulation class PELV SINAMICS V90, SIMOTICS S-1FL6 28 Getting Started, 12/2018, A5E37208904-006 General information 2.5 Technical data Parameter Description Overload capability 300% Control system Servo control Dynamic brake Built-in Protective functions Earthing fault protection, output short-circuit protection 2), overvoltage/undervoltage protection 3), I2t inverter,I2t motor, IGBT overtemperature protection 4) Overvoltage criteria Category III Speed control mode Speed control range Internal speed command 1:5000 Torque limit Set through a parameter Environmental conditions Surrounding air temperature Operation Storage -40 C to +70 C Ambient humidity Operation < 90% (non-condensing) Storage 90% (non-condensing) Vibration 0 C to 45 C: without power derating 45 C to 55 C: with power derating Operating environment Indoors (without direct sunlight), free from corrosive gas, combustible gas, oil gas, or dust Altitude 1000 m (without power derating) Degree of protection IP 20 Degree of pollution Class 2 Operation Operational area II Shock Peak acceleration: 5 g, 30 ms and 15 g, 11 ms Quantity of shocks: 3 per direction x 6 directions Duration of shock: 1 s Vibration Operational area II 10 Hz to 58 Hz: 0.075 mm deflection 58 Hz to 200 Hz: 1 g vibration Product packaging Vibration 2 Hz to 9 Hz: 3.5 mm deflection 9 Hz to 200 Hz: 1 g vibration Quantity of cycles: 10 per axis Sweep seed: 1 octave/min Certification UL, CE, KC, C-Tick, EAC 1) When SINAMICS V90 PN works with a motor with a brake, the voltage tolerance of 24 VDC power supply must be -10% to +10% to meet the voltage requirement of the brake. 2) Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes. 3) The V90 PN 200 V servo drive has an overvoltage threshold of 410 VDC and an undervoltage threshold of 150 VDC; the V90 PN 400 V servo drive has an overvoltage threshold of 820 VDC and an undervoltage threshold of 320 VDC. 4) SINAMICS V90 PN does not support motor overtemperature protection. Motor overtemperature is calculated by I2t and protected by the output current from the drive. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 29 General information 2.5 Technical data Specific technical data SINAMICS V90 PN 200V variant Article No. 10-1UF2 10-2UF2 10-4UF1 10-8UF0 11-0UF1 11-5UF0 12-0UF0 Frame size 6SL3210-5FB... FSA FSA FSB FSC FSD FSD FSD Rated output current (A) 1.2 1.4 2.6 4.7 6.3 10.6 11.6 Max. output current (A) 3.6 4.2 7.8 14.1 18.9 31.8 34.8 Max. supported motor power (kW) 0.1 0.2 0.4 0.75 1.0 1.5 2.0 Power loss 1) Main circuit (W) 8 15 33 48 65 105 113 Regenerative resistor (W) 5 5 7 9 13 25 25 Control circuit (W) 16 16 16 16 16 18 18 Total (W) 29 36 56 73 94 148 156 Output frequency (Hz) 0 to 330 Power supply FSA, FSB and FSC: single phase/three phase 200 VAC to 240 VAC, 50/60 Hz FSD: three phase 200 VAC to 240 VAC, 50/60 Hz -15% to +10% Voltage/frequency Permissible voltage fluctuation Permissible frequency fluctuation Permissible supply configuration Short-circuit current (SCCR) Rated input current (A) Maximum permissible short-circuit current: 65 kA rms Minimum required short-circuit current: 5 kA rms 3.0 5.0 10.4 - - - 3-phase 1.5 1.8 3.0 5.0 7.0 11.0 12.0 Power supply 1-phase 0.5 capacity (kVA) 3-phase 0.5 0.7 1.2 2.0 - - - 0.7 1.1 1.9 2.7 4.2 4.6 Inrush current (A) 8.0 Self-cooled Fan-cooled Outline dimensions (W x 45 x 170 x 170 H x D, mm) Weight (kg) 1) TN, TT, IT 1-phase 2.5 Cooling method Mechanical design -10% to +10% 55 x 170 x 80 x 170 x 95 x 170 x 195 170 195 1.1 1.25 1.95 2.3 2.4 The values here are calculated at rated load. SINAMICS V90 PN 400V variant Article No. 6SL3210-5FE... 10-4UF0 10- 8UF0 11-0UF0 11-5UF0 12- 0UF0 13-5UF0 15-0UF0 17-0UF0 Frame size FSAA FSA FSA FSB FSB FSC FSC FSC Rated output current (A) 1.2 2.1 3.0 5.3 7.8 11.0 12.6 13.2 Max. output current (A) 3.6 6.3 9.0 13.8 23.4 33.0 37.8 39.6 Max. supported motor power (kW) 0.4 0.75 1.0 1.75 2.5 3.5 5.0 7.0 Power loss 1) Main circuit (W) 12 29 32 84 96 92 115 138 Regenerative resistor (W) 17 57 57 131 131 339 339 339 Control circuit (W) 32 32 35 35 35 36 36 36 Total (W) 61 118 124 250 262 467 490 513 SINAMICS V90, SIMOTICS S-1FL6 30 Getting Started, 12/2018, A5E37208904-006 General information 2.5 Technical data Article No. 6SL3210-5FE... 10-4UF0 10- 8UF0 11-0UF0 11-5UF0 12- 0UF0 13-5UF0 15-0UF0 17-0UF0 Frame size FSAA FSA FSA FSB FSB FSC FSC FSC Output frequency (Hz) 0 to 330 Power Voltage/frequency Three phase 380 VAC to 480 VAC, 50/60 Hz supply Permissible voltage fluctuation -15% to +10% Permissible frequency fluctuation -10% to +10% Permissible supply configuration TN, TT, IT Short-circuit current (SCCR) Maximum permissible short-circuit current: 65 kA rms Minimum required short-circuit current: 5 kA rms Rated input current (A) 1.5 2.6 3.8 6.6 9.8 13.8 15.8 16.5 Power supply capacity (kVA) 1.7 3.0 4.3 7.6 11.1 15.7 18.0 18.9 Inrush current (A) 8.0 8.0 8.0 4.0 4.0 2.5 2.5 2.5 Cooling method Self-cooled Fan-cooled Mechanical design 60 x 180 80 x 180 x 200 x 200 100 x 180 x 220 140 x 260 x 240 1.5 2.5 5.0 Outline dimensions (W x H x D, mm) Weight (kg) 1) 1.9 1.9 2.5 5.5 5.75 The values here are calculated at rated load. 2.5.2 Technical data - servo motors General technical data Parameter Description Type of motor Permanent-magnet synchronous motor Cooling Self-cooled Relative humidity [RH] 90% (non-condensing at 30C ) Installation altitude [m] 1000 (without power derating) Thermal class B Vibration severity grade A (according to IEC 60034-14) Shock resistance [m/s2] 25 (continuous in axial direction); 50 (continuous in radial direction); 250 (in a short time of 6 ms) Bearing lifetime [h] > 20000 1) Paint finish Black Protection degree of shaft IP 65, with shaft oil seal Type of construction IM B5, IM V1, and IM V3 Positive rotation Clockwise (default setting in servo drives) Certification CE, EAC 1) This lifetime is only for reference. When a motor keeps running at rated speed under rated load, replace its bearing after 20,000 to 30,000 hours of service time. Even if the time is not reached, the bearing must be replaced when unusual noise, vibration, or faults are found. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 31 General information 2.5 Technical data Specific technical data SIMOTICS S-1FL6, low inertia servo motor Article No. 1FL60... 22 24 32 34 42 44 52 54 Rated power [kW] 0.05 0.1 0.2 0.4 0.75 1 1.5 2 Rated torque [Nm] 0.16 0.32 0.64 1.27 2.39 3.18 4.78 6.37 Maximum torque [Nm] 0.48 0.96 1.91 3.82 7.2 9.54 14.3 19.1 Rated speed [rpm] 3000 Maximum speed [rpm] 5000 Rated frequency [Hz] 200 Rated current [A] 1.2 1.2 1.4 2.6 4.7 6.3 10.6 11.6 3.6 3.6 4.2 7.8 14.2 18.9 31.8 34.8 0.031 0.052 0.214 0.351 0.897 1.15 2.04 2.62 0.038 0.059 0.245 0.381 1.06 1.31 2.24 2.82 Maximum current [A] Moment of inertia [10-4 kgm2] Moment of inertia (with brake) [10-4 kgm2] Recommended load to motor inertia ratio Max. 30x Operating temperature [C] Max. 20x Max. 15x 1FL602, 1FL603 and 1FL604: 0 to 40 (without power derating) 1FL605: 0 to 30 (without power derating) 1) Storage temperature [C] -20 to +65 Maximum noise level [dB] 60 Holding brake Rated voltage (V) 24 10% Rated current (A) 0.25 0.3 0.35 0.57 Holding brake torque [Nm] 0.32 1.27 3.18 6.37 Maximum brake opening time [ms] 35 75 105 90 Maximum brake closing time [ms] 10 10 15 35 Maximum number of emergency stops 2000 2) Oil seal lifetime [h] 3000 to 5000 Encoder lifetime [h] > 20000 3) Protection degree of motor body IP 65 Protection degree of cable end connector IP20 Weight [kg] With brake 0.7 0.9 1.5 1.9 3.7 4.2 6.8/7.0 4) 8.0/8.2 4) 0.5 0.6 1.0 1.5 2.8 3.4 5.4/5.5 4) 6.6/6.7 4) Without brake - 1) When the surrounding temperature is between 30 C and 40 C, the 1FL605 motor will have a power derating of 10%. 2) Restricted emergency stop operation is permissible. Up to 2000 braking operations for the motors of 0.05 kW to 1 kW, and 200 braking operations for the motors of 1.5 kW to 2 kW can be executed with 300% rotor moment of inertia as external moment of inertia from a speed of 3000 rpm without the brake being subject to an inadmissible amount of wear. 3) This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is 30 C, the encoder lifetime can be ensured. 4) The former value indicates the data for low inertia motors with straight connectors; the latter value indicates the data for low inertia motors with angular connectors. SINAMICS V90, SIMOTICS S-1FL6 32 Getting Started, 12/2018, A5E37208904-006 General information 2.5 Technical data Note The data of rated torque, rated power, maximum torque in the above table allows a tolerance of 10%. SIMOTICS S-1FL6, high inertia servo motor Article No. 1FL60... 42 44 61 62 64 66 67 90 92 94 96 Rated power [kW] 0.40 0.75 0.75 1.00 1.50 1.75 2.00 2.5 3.5 5.0 7.0 1) Rated torque [Nm] 1.27 2.39 3.58 4.78 7.16 8.36 9.55 11.9 16.7 23.9 33.4 Maximum torque [Nm] 3.8 7.2 10.7 14.3 21.5 25.1 28.7 35.7 50.0 70.0 90.0 Rated speed [rpm] 3000 2000 2000 Maximum speed [rpm] 4000 3000 3000 2500 2000 Rated frequency [Hz] 200 133 133 Rated current [A] 1.2 2.1 2.5 3.0 4.6 5.3 5.9 7.8 11.0 12.6 13.2 Maximum current [A] 3.6 6.3 7.5 9.0 13.8 15.9 17.7 23.4 33.0 36.9 35.6 [10-4 2.7 5.2 8.0 15.3/ 11.7 2) 15.3 22.6 29.9 47.4 69.1 90.8 134.3 Moment of inertia (with brake) [10-4 kgm2] 3.2 5.7 9.1 16.4/ 16.4 13.5 2) 23.7 31.0 56.3 77.9 99.7 143.2 Recommended load to motor inertia ratio Max. 10x Operating temperature [C] 0 to 40 (without power derating) Storage temperature [C] -20 to +65 Maximum noise level [dB] 65 Moment of inertia kgm2] Holding brake Max. 5x Max. 5x 70 70 Rated voltage (V) 24 10% Rated current (A) 0.88 1.44 1.88 Holding brake torque [Nm] 3.5 12 30 Maximum brake opening time [ms] 60 180 220 Maximum brake closing time [ms] 45 60 115 Maximum number of emergency stops 2000 3) Oil seal lifetime [h] 5000 Encoder lifetime [h] > 20000 4) Degree of protection IP65, with shaft oil seal SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 33 General information 2.5 Technical data Article No. 42 44 61 62 64 66 67 90 92 94 96 Weight of With brake 2) incremental encoder Without brake motor [kg] 2) 1FL60... 4.6/ 4.8 6.4/ 6.6 8.6/ 8.8 11.3/ 10.1 11.3/ 11.5 14.0/ 14.2 16.6/ 16.8 21.3/ 21.5 25.7/ 25.9 30.3/ 30.5 39.1/ 39.3 3.3/ 3.4 5.1/ 5.2 5.6/ 5.7 8.3/ 7.0 8.3/ 8.4 11.0/ 11.1 13.6/ 13.7 15.3/ 15.4 19.7/ 19.8 24.3/ 24.4 33.2/ 33.3 Weight of absolute encoder motor [kg] With brake 2) 4.4/ 4.5 6.2/ 6.3 8.3/ 8.4 11.0/ 9.7 11.0/ 11.1 13.6/ 13.7 16.3/ 16.4 20.9/ 21.0 25.3/ 25.4 29.9/ 30.0 38.7/ 38.8 Without brake 3.1/3. 2 4.9/5. 0 5.3/ 5.4 8.0/ 6.7 8.0/ 8.1 10.7/ 10.8 13.3/ 13.4 14.8/ 14.9 19.3/ 19.4 23.9/ 24.0 32.7/ 32.8 2) 1) When the surrounding temperature is higher than 30 C, the 1FL6096 motors with brake will have a power derating of 10%. 2) The former value indicates the data for high inertia motors with straight connectors; the latter value indicates the data for high inertia motors with angular connectors. 3) Restricted emergency stop operation is permissible. Up to 2000 braking operations can be executed with 300% rotor moment of inertia as external moment of inertia from a speed of 3000 rpm without the brake being subject to an inadmissible amount of wear. 4) This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is 30 C, the encoder lifetime can be ensured. Note The data of rated torque, rated power, and maximum torque in the above table allows a tolerance of 10%. Power derating For deviating conditions (surrounding temperature > 40 C or installation altitude > 1000 m above sea level) the permissible torque/power must be determined from the following table. Surrounding temperatures and installation altitudes are rounded off to 5 C and 500 m respectively. Power derating as a function of the installation altitude and ambient temperature Installation altitude above sea level (m) Surrounding temperature in C < 30 30 to 40 45 50 55 1000 1.07 1.00 0.96 0.92 0.87 1500 1.04 0.97 0.93 0.89 0.84 2000 1.00 0.94 0.90 0.86 0.82 2500 0.96 0.90 0.86 0.83 0.78 3000 0.92 0.86 0.82 0.79 0.75 3500 0.88 0.82 0.79 0.75 0.71 4000 0.82 0.77 0.74 0.71 0.67 SINAMICS V90, SIMOTICS S-1FL6 34 Getting Started, 12/2018, A5E37208904-006 General information 2.5 Technical data 2.5.3 Address of CE-authorized manufacturer The CE Declaration of Conformity is held on file available to the competent authorities at the following address: SINAMICS V90 drive Siemens AG Digital Factory Motion Control Frauenauracher Strae 80 DE-91056 Erlangen Germany SIMOTICS S-1FL6 motor Siemens AG Digital Factory Motion Control Industriestrae 1 DE-97615 Bad Neustadt a. d. Saale Germany SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 35 3 Mounting 3.1 Mounting the drive Protection against the spread of fire The device may be operated only in closed housings or in control cabinets with protective covers that are closed, and when all of the protective devices are used. The installation of the device in a metal control cabinet or the protection with another equivalent measure must prevent the spread of fire and emissions outside the control cabinet. Protection against condensation or electrically conductive contamination Protect the device, e.g. by installing it in a control cabinet with degree of protection IP54 according to IEC 60529 or NEMA 12. Further measures may be necessary for particularly critical operating conditions. If condensation or conductive pollution can be excluded at the installation site, a lower degree of control cabinet protection may be permitted. WARNING Death or severe personal injury from harsh installation environment A harsh installation environment will jeopardize personal safety and equipment. Therefore, * Do not install the drive and the motor in an area subject to inflammables or combustibles, water or corrosion hazards. * Do not install the drive and the motor in an area where it is likely to be exposed to constant vibrations or physical shocks. * Do not keep the drive exposed to strong electro-magnetic interference. CAUTION Risk of injury due to touching hot surfaces There is a risk of injury if you touch the hot surfaces, because surfaces of the drive can reach a high temperature during operation and for a short time after switching-off. * Avoid coming into direct contact with the drive surface. For mounting conditions, see Technical data - servo drives (Page 28). The SINAMICS V90 PN 200 V variant servo drives with rated power of 400 W and 750 W support vertical mounting and horizontal mounting. Other drives support vertical mounting only. Mount the drive in a shielded cabinet by observing the mounting orientation and clearance specified in the following illustrations. SINAMICS V90, SIMOTICS S-1FL6 36 Getting Started, 12/2018, A5E37208904-006 Mounting 3.1 Mounting the drive Mounting orientation NOTICE Overheating due to inadmissible mounting orientation If you use an inadmissible mounting orientation, the drives can overheat and therefore be damaged. * Always observe the mounting orientation required in the instruction. Mounting clearance Note When mounting the drive horizontally, you need to make sure the distance between the drive front panel and the top cabinet wall is longer than 100 mm. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 37 Mounting 3.1 Mounting the drive Note The drive must be derated to 80% when one of the following conditions is satisfied: * The surrounding temperature is 0 C to 45 C, and the mounting clearance is less than 10 mm. In this case, the minimum mounting clearance should not be less than 5 mm. * The surrounding temperature is 45 C to 55 C. In this case, the minimum mounting clearance should not be less than 20 mm. Note When mounting the drive in the cabinet, you need to consider the temperature change of the cooling air. The rapid temperature change of the cooling air is forbidden. SINAMICS V90 PN 200V variant (unit: mm) SINAMICS V90, SIMOTICS S-1FL6 38 Getting Started, 12/2018, A5E37208904-006 Mounting 3.1 Mounting the drive SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 39 Mounting 3.1 Mounting the drive SINAMICS V90 PN 400V variant (unit: mm) SINAMICS V90, SIMOTICS S-1FL6 40 Getting Started, 12/2018, A5E37208904-006 Mounting 3.1 Mounting the drive Mounting the drive For V90 PN 200 V variant, use two M5 screws to mount the FSA and FSB drives and four M5 screws to mount the FSC, and FSD drives. For V90 PN 400 V variant, use two M5 screws to mount the FSAA drive and four M5 screws to mount the FSA, FSB, and FSC drives. The recommended tightening torque is 2.0 Nm. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 41 Mounting 3.1 Mounting the drive Note EMC instructions * To comply with the EMC standards, all cables connected with the SINAMICS V90 PN drive system must be shielded cables, which include cables from the line supply to the line filter and from the line filter to the drive. * Route signal cables and power cables separately in different cable conduits. The signal cables shall be at least 10 cm away from the power cables. * The SINAMICS V90 PN drives have been tested in accordance with the emission requirements of the category of C2 (domestic) environment. The conductive emissions and radiated emissions are in compliance with the standard of EN 55011 and reached Class A. * This device is designed for operation in the second environment (industrial area) and may not be used in the first environment (residential area) unless the appropriate noise suppression measures have been adopted. * For a radiated emission test, an external AC filter (between the mains supply and the drive) will be used to meet the EMC requirement and the drive will be installed inside the shielded metallic chamber, other parts of the motion control system (including the PLC, DC power supply, motor) will be put inside the shielded chamber. * For a conductive emission test, an external AC filter (between the mains supply and the drive) will be used to meet the EMC requirement. * For the radiated emission and conductive emission test, the length of the line supply cable between the line filter and the drive must be shorter than 1 m. * The harmonic current value of SINAMICS V90 PN drive exceeds the class A limit of IEC 61000-3-2, but the SINAMICS V90 PN drive system installed within the Category C2 First Environment require supply authority acceptance for connection to the public low-voltage power supply network. Please contact your local supply network provider. NOTICE Malfunction caused by radio devices or mobile phones When radio devices or mobile phones are used in the immediate vicinity of the drives (less than 20 cm), the drives can be disturbed, which can cause the drives to malfunction. This may impair the functional safety of drives and can therefore put people in danger or lead to property damage. * If you come closer than around 20 cm to the drives, switch off any radios or mobile phones. Note Screw tightening Make sure you fix the screw to the terminal door of the drive after you have completed the installation work. Note For the installation altitude lower than or equal to 2000 m above sea level, it is permissible to connect the drive to any of the line supplies that are specified for it. For the installation altitude higher than 2000 m and lower than 5000 m above see level, you must connect the drive to any of the specified line supplies either via an isolating transformer or with a grounded neutral point. SINAMICS V90, SIMOTICS S-1FL6 42 Getting Started, 12/2018, A5E37208904-006 Mounting 3.2 Mounting the motor 3.2 Mounting the motor NOTICE Damage to the encoder due to shocking Shocks at the motor shaft end can cause encoder damage. * Do not exert any shock at the shaft end. For mounting conditions, see Technical data - servo motors (Page 31). Mounting orientation SIMOTICS S-1FL6 supports flange mounting only and three types of constructions, so it can be installed in three orientations as shown in the following figure. Note When configuring the IM V3 type of construction, pay particular attention to the permissible axial force (weight force of the drive elements) and the necessary degree of protection. Motor dimensions (unit: mm) Low inertia servo motor, shaft height: 20 mm, 30 mm, and 40 mm SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 43 Mounting 3.2 Mounting the motor Low inertia servo motor, shaft height: 50 mm, with straight connectors Low inertia servo motor, shaft height: 50 mm, with angular connectors Type 1FL60... 22 24 32 34 42 44 52 Shaft height 20 30 40 50 LC 40 60 80 100 LD 42 63 82.6 103 LA 46 70 90 115 LZ 4.5 5.5 7 9 LB 30 - 0.02 50 - 0.03 70 - 0.03 95 - 0.03 LH 40 50 60 - LE 15 LR 25 31 35 45 T 2.5 - 0.2 3 - 0.2 3 - 0.3 3 - 0.3 LG 6 8 8 12 D 8 - 0.009 14 - 0.011 19 - 0.013 19 - 0.013 35 27 52 40 60 54 - SINAMICS V90, SIMOTICS S-1FL6 44 Getting Started, 12/2018, A5E37208904-006 Mounting 3.2 Mounting the motor Type 1FL60... 22 24 32 34 42 44 52 DB M3 x 8 M4 x 15 M6 x 16 M6 x 16 E 22 26 30 40 QK 17.5 22.5 28 28 GA 9.2 16 21.5 21.5 F 3 5 6 54 6 Without brake LL 86 106 98 123 139 158.8 192 216 KB1 - - - - - - 143.5 167.5 With brake LL 119 139 132.5 157.5 178.3 198.1 226 250 KB1 - - - - - - 177.5 201.5 KB2 - - - - - - 32.5 32.5 KL1 - - - - - - 135 135 KL2 - - - - - - 80 80 * -Power cable connector, -Incremental/absolute encoder cable connector, -Brake cable connector. These connectors should be ordered separately. For more information about the order information of the connectors, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. * For the low inertia motor with shaft-height of 50 mm, the boundary dimensions of encoder connector- and brake connector- are the same. * For the low inertia motor with shaft-height of 20 mm, only two screws are needed to mount the flange. High inertia servo motor with straight connectors, with the incremental encoder SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 45 Mounting 3.2 Mounting the motor High inertia servo motor with angular connectors, with the incremental encoder Type 1FL60... 42 44 61 62 64 66 67 90 92 Shaft height 45 65 90 LC 90 130 180 LA 100 145 200 LZ 7 9 13.5 LB 80 - 0.03 110 - 0.035 114.3 - 0.035 LR 35 58 80 T 4 - 0.3 6 - 0.3 3 - 0.3 LG 10 12 18 D 19 - 0.013 22 -0.013 35 - 0.016 DB M6 x 16 M8 x 16 M12 x 25 E 30 50 75 QK 25 44 60 GA 21.5 25 38 F 6 - 0.03 8 - 0.036 10 - 0.036 Without brake With brake With straight connectors 94 96 LL 154.5 201.5 148 181/ 164.5 1) 181 214 247 189.5 211.5 237.5 289.5 KB1 93.5 140.5 85.5 118.5 118.5 151.5 184.5 140 162 188 240 KB2 - LL 201 248 202.5 235.5/ 219 1) 235.5 268.5 301.5 255 281 307 359 KB1 140 187 140 173 173 206 239 206 232 258 310 KB2 31.5 39.5 44.5 KL1 136 158 184 KL2 92 115 149 KL3 13 23 34 KL4 14 22 34 - - SINAMICS V90, SIMOTICS S-1FL6 46 Getting Started, 12/2018, A5E37208904-006 Mounting 3.2 Mounting the motor Type 1FL60... 42 With angular connectors KL1 96.2 117.5 KL2 84.6 108 141.1 KL3 13 23 34 KL4 14 22 34 * 44 61 62 64 66 67 90 92 94 96 143 -Power cable connector, -Incremental encoder cable connector, -Brake cable connector. These connectors should be ordered separately. For more information about the order information of the connectors, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. * The boundary dimensions of encoder connector- and brake connector- are the same. * The shaft height 90 mm motor has two M8 screw holes for eyebolts. 1) The former value indicates the dimension for high inertia motors with straight connectors; the latter value indicates the dimension for high inertia motors with angular connectors. High inertia servo motor with straight connectors, with the absolute encoder High inertia servo motor with angular connectors, with the absolute encoder SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 47 Mounting 3.2 Mounting the motor Type 1FL60... 42 44 61 62 64 66 67 90 92 Shaft height 45 65 LC 90 130 180 LA 100 145 200 LZ 7 9 13.5 LB 80 - 0.03 110 - 0.035 114.3 - 0.035 LR 35 58 80 T 4 - 0.3 6 - 0.3 3 - 0.3 LG 10 12 18 D 19 - 0.013 22 - 0.013 35 - 0.016 DB M6 x 16 M8 x 16 M12 x 25 E 30 50 75 QK 25 44 60 GA 21.5 25 38 F 6 - 0.03 8 - 0.036 10 - 0.036 Without brake 94 96 90 LL 157 204 151 184/ 167.5 1) 184 217 250 197 223 249 301 KB1 100 147 92 125 125 158 191 135 161 187 239 KB2 - LL 203.5 250.5 205.5 238.5/ 222 1) 238.5 271.5 304.5 263 289 315 367 KB1 147 194 147 180 180 213 246 201 227 253 305 KB2 31.5 39.5 44.5 With straight connectors KL1 136 158 184 KL2 60 60 60 With angular connectors KL1 96.2 117.5 143 KL2 60 60 60 With brake * - - -Power cable connector, -Absolute encoder cable connector, -Brake cable connector. These connectors should be ordered separately. For more information about the order information of the connectors, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. * 1) The shaft height 90 mm motor has two M8 screw holes for eyebolts. The former value indicates the dimension for high inertia motors with straight connectors; the latter value indicates the dimension for high inertia motors with angular connectors. SINAMICS V90, SIMOTICS S-1FL6 48 Getting Started, 12/2018, A5E37208904-006 Mounting 3.2 Mounting the motor Mounting the motor WARNING Personal injury and material damage due to motor falling down Some motors especially the 1FL609 are heavy. Motor falling down can cause serious personal injury or material damage. * The excessive weight of the motor should be considered and any necessary assistance required for mounting should be sought. NOTICE Damage to the motor due to liquid entering If the liquid enters the motor, the motor may be damaged * During motor installation or operation, make sure that no liquid (water, oil, etc.) can penetrate into the motor. * When installing the motor horizontally, make sure that the cable outlet faces downward to protect the motor from ingress of oil or water. NOTICE Damage to the absolute encoder due to the magnetic interference from the magnetic field The magnetic interference from the magnetic field can cause a damage to the absolute encoder. * To avoid magnetic interference to the absolute encoder, keep the servo motor with an absolute encoder at least 15 mm away from the devices that produce a magnetic field stronger than 10 mT. Note Using the eyebolts The 1FL609 motor (90 mm shaft height) has two M8 screw holes for screwing in two eyebolts. Lift the 1FL609 motor only at the eyebolts. Eyebolts that have been screwed in must be either tightened or removed after mounting. Install the motor onto a steel flange with four screws as shown in the following figure: SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 49 Mounting 3.2 Mounting the motor Motor Screw Recommended flange size Tightening torque Flange material Steel Low inertia motors 1FL602 2 x M4 120 x 100 x 40 (mm) 2.4 Nm 1FL603 4 x M5 120 x 100 x 40 (mm) 4.7 Nm 1FL604 4 x M6 120 x 100 x 40 (mm) 8 Nm 1FL605 4 x M8 120 x 100 x 40 (mm) 20 Nm High inertia motors 1FL604 4 x M6 270 x 270 x 10 (mm) 8 Nm 1FL606 4 x M8 390 x 390 x 15 (mm) 20 Nm 1FL609 4 x M12 420 x 420 x 20 (mm) 85 Nm Steel Motor heating conditions The rated motor specifications are continuous allowable values at a surrounding air temperature of 40 C when the motor is installed with a steel flange. When the motor is mounted on a small surface, the motor temperature may rise considerably because of the limited heat radiating abilities of the surface. Make sure you use a suitable flange according to Siemens recommended flange sizes. Note The actual temperature rise depends on how the flange (motor mounting section) is fixed on the installation surface, what material is used for the motor mounting section, and motor speed. Always check the actual motor temperature. SINAMICS V90, SIMOTICS S-1FL6 50 Getting Started, 12/2018, A5E37208904-006 Connecting 4.1 4 System connection The following illustrations show the examples of the SINAMICS V90 PN servo system connection. Connection diagram for FSB on the single phase power network: SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 51 Connecting 4.1 System connection Connection diagram for FSD on the three phase power network: SINAMICS V90, SIMOTICS S-1FL6 52 Getting Started, 12/2018, A5E37208904-006 Connecting 4.1 System connection WARNING Danger to life when PE connectors are touched When the equipment is working, hazardous touch current can be present at the PE connectors; if touched, this can result in death or severe personal injury. * Do not touch the PE connector during operation or within a certain period since power disconnection. WARNING Personal injury and damage to property from improper connections Improper connections have high risks of electrical shock and short circuit, which will jeopardize personal safety and equipment. * The drive must be directly connected with the motor. It is not permissible to connect a capacitor, inductor or filter between them. * The line supply voltage must be within the allowable range (refer to the drive rating plate). Never connect the line supply cable to the motor terminals U, V, W or connect the motor power cable to the line input terminals L1, L2, L3. * Never wire up the U, V, W terminals in an interchanged phase sequence. * If the CE marking for cables is mandatory in some cases, the motor power cable, line supply cable and brake cable used must all be shielded cables. * For terminal connection, make sure that the clearances in air between non-insulated live parts are at least 5.5 mm. * Cables connected may not come into contact with rotating mechanical parts. CAUTION Personal injury and damage to property from inadequate protection Inadequate protection may cause minor personal injury or damage to property. * Route a second PE conductor with the cross section of the supply system lead in parallel to the protective earth via separate terminals or use a copper protective earth conductor with a cross section of 10 mm2. * Terminals for equipotential bondings that exist in addition to terminals for PE conductors must not be used for looping-through the PE conductors. * To ensure protective separation, an isolating transformer must be used for the 220 VAC/380 VAC line supply system. NOTICE Drive damage caused by short-circuiting between the shielding wire and the unused pin on the PROFINET I/O connector The shielding wire may inadvertently be short-circuited to the unused pin on the to-beassembled PROFINET I/O connector. This can cause damage to the drive. * Exercise caution when connecting the shielding cable to the PROFINET I/O connector. * For more information about the assembly method of the connector, see Section "Assembly of cable terminals on the drive side" in the SINAMICS V90, SIMOTICS S1FL6 Operating Instructions. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 53 Connecting 4.1 System connection Note Interruptions of the internal protective bonding of the equipment caused by cable movement The interruptions of the internal protective bonding of the equipment may be caused by cable movement such as dragging cables. * Do not drag cables when in operation. * Make sure that you have performed appropriate protective measures for the protective bonding when moving cables. Note Failure to meet the EMC requirements resulting from failure to observe the wiring instruction Failure to meet the EMC requirements because you do not observe the wiring instruction. * In order to meet EMC requirements, all cables must be shielded cables. * Make sure that you connect the cable shields of shielded twisted-pair cables to the shielding plate or the hose clamp of the servo drive. Note Low Voltage Directive complied Our products comply with EN61800-5-1: 2007 standards and Low Voltage Directive (Low Voltage Directive 2006/95/EC). Note For low inertia motors of shaft heights 20 mm, 30 mm and 40 mm, the encoder cable connectors may only be accessible to electrically skilled personnel. Note The mini-USB interface of the SINAMICS V90 PN is used for fast commissioning and diagnostics with SINAMICS V-ASSISTANT installed in the PC. Do not use it for long monitoring. SINAMICS V90, SIMOTICS S-1FL6 54 Getting Started, 12/2018, A5E37208904-006 Connecting 4.1 System connection Connecting the cable shields with the shielding plate To achieve EMC-compliant installation of the drive, use the shielding plate that is shipped with the drive to connect the cable shields. See the following example for steps of connecting cable shields with the shielding plate: SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 55 Connecting 4.1 System connection WARNING Risk of electric shock and fire from a network with an excessively high impedance Excessively low short-circuit currents can lead to the protective devices not tripping or tripping too late, and so causing electric shock or a fire. * In the case of a conductor-conductor or conductor-ground short-circuit, ensure that the short-circuit current at the point where the drive is connected to the line supply at least meets the minimum requirements for the response of the protective device used. * You must use an additional residual-current device (RCD) if a conductor-ground short circuit does not reach the short-circuit current required for the protective device to respond. The required short-circuit current can be too low, especially for TT systems. WARNING Risk of electric shock and fire from a network with an impedance that is too low Excessively high short-circuit currents can lead to the protective devices not being able to interrupt these short-circuit currents and being destroyed, and so causing electric shock or a fire. * Ensure that the uninfluenced short-circuit current at the line terminal of the drive does not exceed the breaking capacity (SCCR or Icc) of the protective device used. WARNING Death or severe personal injury from electrical shock The earth leakage current for the drive can be greater than AC 3.5 mA, which may cause death or severe personal injury due to electrical shock. * A fixed earth connection is required to eliminate the dangerous leakage current. In addition, the minimum size of the protective earth conductor shall comply with the local safety regulations for high leakage current equipment. Adjusting cable directions from the motor side For some low inertia motors and all high inertia motors, you can adjust the direction of the power cable, encoder cable, or brake cable from the motor side to facilitate cable connection. The following illustrations take high inertia motors with the incremental encoder for example to show how to adjust the cable directions. SINAMICS V90, SIMOTICS S-1FL6 56 Getting Started, 12/2018, A5E37208904-006 Connecting 4.1 System connection Low inertia motors with a shaft height of 50 mm and high inertia motors with straight connectors Note Rotating the connectors After connecting the cable to the motor, you can rotate the incremental encoder connector within 270 and rotate the absolute encoder connector within 180. For other connectors, you can rotate them within 360. High inertia motors with angular connectors Note Rotating the connectors For motors with angular connectors, you can rotate all the connectors within 310 except for the absolute encoder connector which can be rotated only within 180. Note For an absolute encoder cable on a high inertia motor with angular connectors, adjust its direction just the same as you adjust the cable directions on a high inertia motor with straight connectors mentioned above. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 57 Connecting 4.2 Main circuit wiring 4.2 Main circuit wiring 4.2.1 Line supply - L1, L2, L3 SINAMICS V90 PN 200 V variant Recommended minimum cable cross-section: When used on the single phase power network: FSA: 0.75 mm2 FSB: 0.52 mm2 FSC: 1.31 mm2 When used on the three phase power network: FSA: 0.75 mm2 FSB: 0.33 mm2 FSC: 0.52 mm2 FSD (1 kW): 0.82 mm2 FSD (1.5 kW to 2 kW): 2.08 mm2 SINAMICS V90 PN 400 V variant Recommended minimum cable cross-section: FSAA and FSA: 1.5 mm2 FSB and FSC: 2.5 mm2 Note For 200 V variant, when using the FSA, FSB and FSC on the single phase power network, you can connect the power supply to any two connectors of L1, L2, and L3. Assembling the line supply cable terminals The procedure of assembling a line supply cable terminal is the same as that for a power cable terminal on the drive side. For more information, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. SINAMICS V90, SIMOTICS S-1FL6 58 Getting Started, 12/2018, A5E37208904-006 Connecting 4.2 Main circuit wiring Attaching the line supply cable CAUTION Risk of injury due to improper cable connection When attaching the line supply cable to a line supply connector that has not been fixed on the drive, you can injure your fingers. * Make sure you first fix the line supply connector on the drive, and then attach the cable to the connector. 200 V variant For FSA and FSB For FSC and FSD 400 V variant For FSAA and FSA You can attach the line supply cable with the same method for 200 V variant drives of frame sizes FSC and FSD. For FSB and FSC The FSB and FSC servo drives are equipped with barrier terminals for line supply connection. You can fix the line supply cable on the servo drives by using the M4 screws with a tightening torque of 2.25 Nm (19.91 lbf.in). SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 59 Connecting 4.2 Main circuit wiring 4.2.2 Motor power - U, V, W Motor output - drive side SINAMICS V90 PN 200 V variant Recommended minimum cable cross-section: FSA and FSB: 0.75 mm2 FSC and FSD (1 kW): 0.75 mm2 FSD (1.5 kW to 2 kW): 2.5 mm2 SINAMICS V90 PN 400 V variant Recommended minimum cable cross-section: FSAA and FSA: 1.5 mm2 FSB and FSC: 2.5 mm2 Wiring * 4: high inertia motors with straight connectors and all low inertia motors : high inertia motors with angular connectors Attaching the motor power cable CAUTION Risk of injury due to improper cable connection When attaching the motor power cable to a motor power connector that has not been fixed on the drive, you can injure your fingers. * Make sure you first fix the motor power connector on the drive, and then attach the cable to the connector. SINAMICS V90, SIMOTICS S-1FL6 60 Getting Started, 12/2018, A5E37208904-006 Connecting 4.2 Main circuit wiring 200 V variant For FSA and FSB For FSC and FSD 400 V variant For FSAA and FSA You can attach the line supply cable with the same method for 200 V variant drives of frame sizes FSC and FSD. For FSB and FSC The FSB and FSC servo drives are equipped with barrier terminals for motor power connection. You can fix the motor power cable on the servo drives by using the M4 screws with a tightening torque of 2.25 Nm (19.91 lbf.in). SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 61 Connecting 4.3 Control/Status interface - X8 4.3 Control/Status interface - X8 4.3.1 Interface definition Pin Signal Wire color on the PROFINET I/O cable exposed side Description Type: 20-pin MDR socket Digital inputs/outputs 1 DI1 Green Digital input 1 2 DI2 Yellow Digital input 2 3 DI3 White Digital input 3 4 DI4 Brown Digital input 4 6 DI_COM Red Common terminal for digital inputs 7 DI_COM Blue Common terminal for digital inputs 11 DO1+ Gray-Pink Digital output 1, positive 12 DO1- Red-Blue Digital output 1, negative 13 DO2+ Gray Digital output 2, positive 14 DO2- Pink Digital output 2, negative 17 * BK+ Black Motor holding brake control signal, positive 18 * BK- Violet Motor holding brake control signal, negative None 5 - - Reserved 8 - - Reserved 9 - - Reserved 10 - - Reserved 15 - - Reserved 16 - - Reserved 19 - - Reserved 20 - - Reserved * The pins are used to connect the brake control signals for 200 V variant drive only. SINAMICS V90, SIMOTICS S-1FL6 62 Getting Started, 12/2018, A5E37208904-006 Connecting 4.3 Control/Status interface - X8 4.3.2 Standard wiring Example 1 SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 63 Connecting 4.3 Control/Status interface - X8 Example 2 * Digital inputs, supporting both PNP and NPN types. ** The pins are used to connect the brake control signals for 200 V variant drive only. Refer to the section "Motor holding brake" in SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions for the detailed connections. SINAMICS V90, SIMOTICS S-1FL6 64 Getting Started, 12/2018, A5E37208904-006 Connecting 4.4 24 V power supply/STO 4.4 24 V power supply/STO The pin assignment for the 24 V power supply/STO interface is shown as follows: Interface Signal name STO 1 Description Safe torque off channel 1 STO + Specific power supply for safe torque off STO 2 Safe torque off channel 2 +24 V Power supply, 24 VDC M Power supply, 0 VDC Maximum conductor cross-section: 1.5 mm2 Wiring WARNING Material damages and personal injuries by the drop of a hanging axis When the servo system is used as a hanging axis, the axis will drop if the positive and negative poles of the 24 V power supply are connected inversely. Unexpected drop of the hanging axis can cause material damages and personal injuries. * Make sure that the 24 V power supply is correctly connected. WARNING Material damages and personal injuries by the drop of a hanging axis Unexpected drop of the hanging axis can cause material damages and personal injuries. * It is not allowed to use the STO with a hanging axis because the axis may drop. Note Using the STO function The STO1, STO+ and STO2 are short connected at the factory setting. When the STO function is to be used, you must remove the short-circuit stick before connecting the STO interfaces. The safety function of the servo drive is SIL 2 (EN61800-52). If you do not need to use it any more, you must reinsert the short-circuit stick; otherwise, the motor will not run. For detailed information about the STO function, refer to chapter "Safety Integrated basic functions" of SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 65 Connecting 4.5 Encoder interface - X9 Assembling the 24 V power supply and STO cable terminals The procedure of assembling a 24 V power cable terminal or an STO cable terminal is the same as that for a power cable terminal on the drive side of the V90 PN 200 V servo drives. For more information, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. Plugging the 24 V power supply and STO cables 4.5 Encoder interface - X9 The SINAMICS V90 PN 200V variant servo drive supports two kinds of encoders: Incremental encoder TTL 2500 ppr Absolute encoder single-turn 21-bit Absolute encoder 20-bit + 12-bit multi-turn The SINAMICS V90 PN 400V variant servo drive supports two kinds of encoders: Incremental encoder TTL 2500 ppr Absolute encoder 20-bit + 12-bit multi-turn SINAMICS V90, SIMOTICS S-1FL6 66 Getting Started, 12/2018, A5E37208904-006 Connecting 4.5 Encoder interface - X9 NOTICE Drive damage caused by short-circuiting between the shielding wire and the unused pin on the encoder connector The shielding wire may inadvertently be short-circuited to the unused pin on the to-beassembled encoder connector. This can cause damage to the drive. * Exercise caution when connecting the shielding cable to the encoder connector. * For more information, see Section "Assembly of cable terminals on the drive side" in the SINAMICS V90, SIMOTICS S- 1FL6 Operating Instructions. Note Failure to meet the EMC requirements because the cable is not shielded If a cable is not shielded, it can not meet the EMC requirements. * The encoder cable must be shielded to meet the EMC requirements. Encoder interface - drive side Illustration Pin No. Signal name Description 1 Biss_DataP Absolute encoder data signal, positive 2 Biss_DataN Absolute encoder data signal, negative 3 Biss_ClockN Absolute encoder clock signal, negative 4 Biss_ClockP Absolute encoder clock signal, positive 5 P5V Encoder power supply, 5 V 6 P5V Encoder power supply, 5 V 7 M Encoder power supply, grounding 8 M Encoder power supply, grounding 9 Rp Encoder R phase positive signal 10 Rn Encoder R phase negative signal 11 Bn Encoder B phase negative signal 12 Bp Encoder B phase positive signal 13 An Encoder A phase negative signal 14 Ap Encoder A phase positive signal Screw type: UNC 4-40 (plug-in terminal block) Tightening torque: 0.4 Nm SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 67 Connecting 4.5 Encoder interface - X9 Encoder connector - motor side Illustration Pin Incremental encoder TTL 2500 No. ppr Illustration Absolute encoder single-turn 21-bit Absolute encoder 20-bit + 12bit multi-turn Signal Description Signal Description Low inertia motor, shaft height: 20 mm, 30 mm and 40 mm 1 P_Supply Power supply 5 V P_Supply Power supply 5 V 2 M Power supply 0 V M Power supply 0 V 3 A+ Phase A+ Clock_P Clock 4 B+ Phase B+ Data_P Data 5 R+ Phase R+ n. c. Not connected 6 n. c. Not connected P_Supply Power supply 5 V 7 P_Supply Power supply 5 V M Power supply 0 V 8 M Power supply 0 V Clock_N Inverted clock 9 A- Phase A- Data_N Inverted data Shielding Grounding 10 B- Phase B- 11 R- Phase R- Note 12 Shielding Grounding The pin11 to pin15 of the absolute encoder connector are not connected. Illustration Pin Incremental encoder TTL 2500 ppr Absolute encoder single-turn 21-bit No. Absolute encoder 20-bit + 12-bit multi-turn Signal Description Signal Description Low inertia motor, shaft height: 50 mm High inertia motor, shaft height: 45 mm, 65 mm, and 90 mm Straight connectors: Angular connectors: 1 P_Supply Power supply 5 V P_Supply Power supply 5 V 2 M Power supply 0 V M Power supply 0 V 3 A+ Phase A+ n. c. Not connected 4 A- Phase A- Clock_N Inverted clock 5 B+ Phase B+ Data_P Data 6 B- Phase B- Clock_P Clock 7 R+ Phase R+ n. c. Not connected 8 R- Phase R- Data_N Inverted data SINAMICS V90, SIMOTICS S-1FL6 68 Getting Started, 12/2018, A5E37208904-006 Connecting 4.5 Encoder interface - X9 Wiring Low inertia motor, shaft height: 20 mm, 30 mm and 40 mm Low inertia motor, shaft height: 50 mm High inertia motor, shaft height: 45 mm, 65 mm, and 90 mm SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 69 Connecting 4.6 External braking resistor - DCP, R1 Grounding To ensure better EMC effects, you are recommended to strip the encoder cable and connect the cable shield to earth, as shown in the following figure: 4.6 External braking resistor - DCP, R1 The SINAMICS V90 PN has been designed with an internal braking resistor to absorb regenerative energy from the motor. When the internal braking resistor cannot meet the braking requirements (e.g. the alarm A52901 is generated), you can connect an external braking resistor. For more information about how to select a braking resistor, see Section "Accessories" in the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. Note The 200 V variant servo drive with rated power of 0.1 kW does not have a built-in resistor. Connecting an external braking resistor NOTICE Damage to the drive due to not moving the short-circuit stick between terminals DCP and R2 There is a damage to the drive if you do not move the short-circuit stick between terminals DCP and R2 when using an external resistor. * Before connecting an external resistor to DCP and R1, remove the connection between terminals DCP and R2. For more information about how to connect the external braking resistor, see Section "System connection (Page 51)". SINAMICS V90, SIMOTICS S-1FL6 70 Getting Started, 12/2018, A5E37208904-006 Connecting 4.7 Motor holding brake 4.7 Motor holding brake You can connect the SINAMICS V90 PN servo drive to a servo motor with brake to use the function of motor holding brake. NOTICE Motor brake service life shortened due to the improper use The motor brake is used for holding purpose only. Frequent emergency stops with the motor brake will shorten its service life. * Unless absolutely necessary, do not apply the motor brake as an emergency stop or deceleration mechanism. 4.8 PROFINET interface - X150 PROFINET interface PROFINET devices from the SINAMICS family have a PROFINET interface (Ethernetcontroller/interface) with two ports (physical connection possibilities). Every PROFINET device on the network is uniquely identified via its PROFINET interface. For this purpose, each PROFINET interface has: A MAC address (factory default) An IP address A device name (name of the station) Illustration Pin PROFINET communication port 1 P1 Signal Description PROFINET communication port 2 P2 Signal Description 1 P1RXP Port 1 receive data + P2RXP Port 2 receive data + 2 P1RXN Port 1 receive data - P2RXN Port 2 receive data - 3 P1TXP Port 1 transmit data + P2TXP Port 2 transmit data + 4 PE terminal Protective earthing PE terminal Protective earthing 5 PE terminal Protective earthing PE terminal Protective earthing 6 P1TXN 7 PE terminal Protective earthing PE terminal Protective earthing 8 PE terminal Protective earthing PE terminal Protective earthing Port 1 transmit data - P2TXN Port 2 transmit data - SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 71 Connecting 4.8 PROFINET interface - X150 LED displays For diagnostic purposes, the RJ45 sockets are each equipped with a green and an orange LED. This allows the following status information about the respective PROFINET port to be displayed: Name Color Status Link Green lit Transfer rate 100 Mbit/s off No or faulty connection lit Data exchange off No data exchange Activity Orange Meaning Wiring The maximum length of cables between stations (L1 to Ln) is 100 m. For a long cable, you are recommended to fix it on the cabinet to prevent the connector damage caused by dragging. Note When connecting the ports P1 and P2, you need to make sure that the physical input and output connections are the same with the connections in the topology. SINAMICS V90, SIMOTICS S-1FL6 72 Getting Started, 12/2018, A5E37208904-006 Commissioning 5 Prior to commissioning, read "Introduction to the BOP (Page 75)" for more information about the BOP operations. In case of any faults or alarms during commissioning, refer to Chapter "Diagnostics (Page 143)" for detailed description. CAUTION Danger to injury resulting from failure to observe the safety instructions Failure to observe the instructions can result in serious injuries. * Before your commissioning or operation, read the safety instructions in Chapter "Fundamental safety instructions (Page 5)" carefully. WARNING Material damages and personal injuries by the drop of a hanging axis When the servo system is used as a hanging axis, the axis will drop if the positive and negative poles of the 24 V power supply are connected inversely. Unexpected drop of the hanging axis may cause material damages and personal injuries. * Before commissioning, you need to make sure that a crosstie is used to hold the hanging axis in prevention of an unexpected drop. In addition, make sure that the 24 V power supply is correctly connected. NOTICE Firmware damage due to drive power-off during data transfer Switching off the 24 V power supply for the drive during data transfer from the micro SD card/SD card to the drive can cause damage to the drive firmware. * Do not switch off the drive power supply when the data transfer from the micro SD card/SD card to the drive is in process. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 73 Commissioning NOTICE Existing setting data is overwritten by the setting data on the micro SD card/SD card during the drive startup Existing setting data is overwritten by the setting data on the micro SD card/SD card during the drive startup. This situation occurs when a drive is switched on with a micro SD card/SD card containing user setting data, the existing setting data on the drive will be overwritten, or when a drive is switched on with a micro SD card/SD card containing no user setting data, the drive will automatically save the existing user setting data onto the micro SD card/SD card. * Before starting up the drive with a micro SD card/SD card, check whether the micro SD card/SD card contains user setting data. Otherwise, the existing data on the drive may be overwritten. Note Plugging or unplugging the micro SD card/SD card will cause startup failure. Do not plug or unplug the micro SD card/SD card during startup; otherwise, the drive will fail to start up. Note In S control mode, if the motor shaft is blocked, the blocked torque is the current effective torque. Long time shaft blocking can cause damage to the motor. Engineering tool - SINAMICS V-ASSISTANT You can use the engineering tool SINAMICS V-ASSISTANT to perform the trial operation. SINAMICS V-ASSISTANT is a software tool that can be installed on a PC and runs on the Windows operating system. It communicates with the SINAMICS V90 PN servo drive with a USB cable (To ensure the stability of online commissioning, Siemens recommends you to use a shielded USB cable of no longer than 3 m with ferrite cores on both ends.). With SINAMICS V-ASSISTANT, you can change drive parameters and monitor drive working states in online mode. For more information, refer to SINAMICS V-ASSISTANT Online Help. You can search and download SINAMICS V-ASSISTANT from Technical support website (https://support.industry.siemens.com/cs/ww/en/). SINAMICS V90, SIMOTICS S-1FL6 74 Getting Started, 12/2018, A5E37208904-006 Commissioning 5.1 Introduction to the BOP 5.1 Introduction to the BOP Overview The SINAMICS V90 PN servo drive is designed with a Basic Operator Panel (BOP) on the front panel of the servo drive: You can use the BOP for the following operations: Standalone commissioning Diagnosis Parameter access Parameter settings Micro SD card/SD card operations Drive restart SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 75 Commissioning 5.1 Introduction to the BOP LED status indicators Two LED status indicators (RDY and COM) are available to indicate drive status. Both LEDs are tricolor (green/red/yellow). You can find detailed information about the status indications in the table below: Status indicator Color Status RDY - Off Green Continuously lit The drive is in "servo on" state Red Continuously lit The drive is in "servo off" state or in the startup state Flash at 1 Hz Green and yellow COM Green 24 V control board power supply is missing Alarms or faults occurs Flash alternatively at Drive identification 2 Hz Continuously lit PROFINET communication is working with IRT Flash at 0.5 Hz PROFINET communication is working with RT Flash at 2 Hz Red Description Continuously lit Micro SD card/SD card operating (read or write) Communication error (always put the PROFINET communication error as the first consideration) SINAMICS V90, SIMOTICS S-1FL6 76 Getting Started, 12/2018, A5E37208904-006 Commissioning 5.1 Introduction to the BOP Control buttons Button Description Functions M button OK button * Exits from the current menu * Switches between operating modes in the top level menu Short-pressing: * Confirms selection or input * Enters sub menu * Acknowledges faults Long-pressing: Activates auxiliary functions UP button DOWN button SHIFT button * JOG * Saves parameter set in drive (RAM to ROM) * Sets parameter set to default * Transfers data (drive to micro SD card/SD card) * Transfers data (micro SD card/SD card to drive) * Updates firmware * Navigates to the next item * Increases a value * JOG in CW (clockwise) * Navigates to the previous item * Decreases a value * JOG in CCW (counter-clockwise) Moves the cursor from digit to digit for single digit editing, including the digit of positive/negative sign Note: When the sign is edited, "_" indicates positive and "-" indicates negative. Press the key combination for four seconds to restart the drive Moves current display to the left page when example . Moves current display to the right page when example is displayed at the upper right corner, for is displayed at the lower right corner, for . SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 77 Commissioning 5.1 Introduction to the BOP Menu structure The overall parameter structure of SINAMICS V90 PN BOP is designed as follows: SINAMICS V90, SIMOTICS S-1FL6 78 Getting Started, 12/2018, A5E37208904-006 Commissioning 5.1 Introduction to the BOP BOP displays Display Example Description 8.8.8.8.8.8. Drive is in startup state ------ Drive is busy Fxxxxx Fault code, in the case of a single fault F.xxxxx. Fault code of the first fault, in the case of multiple faults Fxxxxx. Fault code, in the case of multiple faults Axxxxx Alarm code, in the case of a single alarm A.xxxxx. Alarm code of the first alarm, in the case of multiple alarms Axxxxx. Alarm code, in the case of multiple alarms Rxxxxx Parameter number, read-only parameter Pxxxxx Parameter number, editable parameter P.xxxxx Parameter number, editable parameter; the dot means that at least one parameter has been changed In xxx Indexed parameter Figure after "In" indicates the number of indices. For example, "In 001" means that this indexed parameter is 1. xxx.xxx Negative parameter value xxx.xx<> Current display can be moved to left or right xxxx.xx> Current display can be moved to right xxxx.xx< Current display can be moved to left S Off Operating display: servo off Para Editable parameter group SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 79 Commissioning 5.1 Introduction to the BOP Display P xxxx Example Description Parameter group Five groups are available: 1. P APP: application 2. P BASE: basic 3. P CON: communication 4. P EPOS: basic positioner 5. P ALL: all parameters Data Read-only parameter group Func Function group JOG JOG function Save Save data in drive defu Restore drive to default settings dr--sd Save data from drive to micro SD card/SD card sd--dr Upload data from micro SD card/SD card to drive Update Update firmware ABS The zero position has not been set A.B.S. The zero position has been set r xxx Actual speed (positive direction) r -xxx Actual speed (negative direction) T x.x Actual torque (positive direction) T -x.x Actual torque (negative direction) xxxxxx Actual position (positive direction) xxxxxx. Actual position (negative direction) DCxxx.x Actual DC link voltage SINAMICS V90, SIMOTICS S-1FL6 80 Getting Started, 12/2018, A5E37208904-006 Commissioning 5.2 Initial commissioning in JOG mode Display Example Description Exxxxx Position following error run The motor is running Con The communication between the commissioning tool SINAMICS V-ASSISTANT and the servo drive is established. In this case, the BOP is protected from any operations except clearing alarms and acknowledging faults. 5.2 Initial commissioning in JOG mode Prerequisites The servo drive is connected to the servo motor without load The servo drive is not in servo on status Operating sequence Note Set bit 0 of parameter p29108 to 1, and then save the parameter setting and restart the drive, to enable the JOG function; otherwise, you cannot access the function related parameter p1058. If you have assigned digital signal EMGS, keep it at a high level (1) to ensure normal operation. Step 1 Description Connect necessary units and check wiring. Remarks It is necessary to connect the following cables: * 2 Switch on the 24 VDC power supply. 3 Check the servo motor type. * If the servo motor has an incremental encoder, input motor ID (p29000). * If the servo motor has an absolute encoder, the servo drive can identify the servo motor automatically. Power cable * Encoder cable * Brake cable * Line supply cable * 24 VDC cable Fault F52984 occurs when the servo motor is not identified. You can find the motor ID from the motor rating plate. Go to "Motor components (Page 19)" for detailed descriptions about motor rating plate. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 81 Commissioning 5.2 Initial commissioning in JOG mode Step 4 Description Remarks Check the direction of motor rotation. p29001=0: CW The default direction of rotation is CW (clockwise). You can change it by setting the parameter p29001 if necessary. p29001=1: CCW Setting a parameter without index (example) Setting a parameter with index (example) 5 Check the JOG speed. The default JOG speed is 100 rpm. You can change it by setting the parameter p1058. 6 Set bit 0 of parameter p29108 to 1, and then save the parameter setting and restart the drive, to enable the JOG function; otherwise, you cannot access p1058. Save parameters with the BOP. SINAMICS V90, SIMOTICS S-1FL6 82 Getting Started, 12/2018, A5E37208904-006 Commissioning 5.3 Commissioning in basic positioner control mode (EPOS) Step Description Remarks 7 Switch on the main line supply. 8 Clear faults and alarms. Refer to "Diagnostics (Page 143)". 9 For the BOP, enter the JOG menu function and press the UP or DOWN button to run the servo motor. For more information about JOG with SINAMICS VASSISTANT, see SINAMICS V-ASSISTANT Online Help. For the engineering tool, use the JOG function to run the servo motor. JOG in speed (example) JOG in torque (example) 5.3 Commissioning in basic positioner control mode (EPOS) The following takes the EJOG function for example to describe the commissioning in EPOS mode. Step Description 1 Switch off the main line supply. 2 Power off the servo drive and connect it to the controller (for example, SIMATIC S7-1500) with the PROFINET cable and signal cable. Remarks If any one of digital signals EMGS, CWL, and CCWL is not assigned to a DI, it will be set to a high level (1) automatically. If you have assigned any one of digital signals EMGS, CWL, and CCWL to a DI, keep it at a high level (1). 3 Switch on the 24 VDC power supply. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 83 Commissioning 5.4 Commissioning in speed control mode (S) Step 4 5 Description Check the servo motor type. * If the servo motor has an incremental encoder, input the motor ID (p29000). * If the servo motor has an absolute encoder, the servo drive can identify the servo motor automatically. Switch to the basic positioner control mode by setting parameter p29003 = 1. p29003 = 1: basic positioner control (EPOS) * p29003 = 2: speed control (S) * p29247: LU per load revolution * p29248: load revolutions * p29249: motor revolutions Select the axis type by setting parameter p29245. If you use the modular axis, you need to define the modular range by setting parameter p29246. * p29245 = 0: linear axis * p29245 = 1: modular axis Setting jogging setpoints with the appropriate parameters. Refer to "EJOG (Page 88)". Save the parameter and restart the servo drive to apply the setting of the basic positioner control mode. 7 Set the mechanical gear ratio with parameters p29247, p29248 and p29249. 9 You can find the motor ID from the motor rating plate. For the detailed information of the motor rating plate, see Section "Motor components (Page 19)". * 6 8 Remarks Fault F52984 occurs when the servo motor is not identified. * Velocity (p2585, p2586) * Incremental (p2587, p2588) 10 Switch on the main line supply. 11 Set up the PROFINET configuration with TIA Portal. 12 Select the telegram for PROFINET communication with parameter p0922. 5.4 Commissioning in speed control mode (S) Step Description 1 Switch off the main line supply. 2 Power off the servo drive and connect it to the controller (for example, SIMATIC S7-1500) with the PROFINET cable and signal cable. Remarks If any one of digital signals EMGS, CWL, and CCWL is not assigned to a DI, it will be set to a high level (1) automatically. If you have assigned any one of digital signals EMGS, CWL, and CCWL to a DI, keep it at a high level (1). 3 Switch on the 24 VDC power supply. 4 Check the servo motor type. * If the servo motor has an incremental encoder, input motor ID (p29000). * If the servo motor has an absolute encoder, the servo drive can identify the servo motor automatically. 5 Set up the PROFINET configuration with TIA Portal. 6 Select the telegram for PROFINET communication with parameter p0922. Fault F52984 occurs when the servo motor is not identified. You can find the motor ID from the motor rating plate. Go to "Motor components (Page 19)" for detailed descriptions about motor rating plate. SINAMICS V90, SIMOTICS S-1FL6 84 Getting Started, 12/2018, A5E37208904-006 Commissioning 5.5 Commissioning control functions Step Description Remarks 7 Set the IP address for the station with parameters p8921, p8923. 8 Set the device name for the station with parameter p8920. 9 Active the IP configuration and device name with parameter p8925. 10 Set the torque limitation and speed limitation. Refer to "Torque limit (Page 86)" and "Speed limit (Page 85)". 11 Configure necessary digital input signals by setting the following parameters: The factory settings are: * p29301: DI1 * p29302: DI2 * p29303: DI3 * p29304: DI4 12 Save parameters with the BOP and restart the drive. 13 Switch on the main line supply. The device name must be unique within the PROFINET network. * p29301: 2 (RESET) * p29302: 11 (TLIM) * p29303: 0 * p29304: 0 14 Clear faults and alarms. Refer to "Diagnostics (Page 143)". 15 Send and receive the process data (PZD) with TIA Portal. The actual speed of the servo motor can be viewed from the BOP operating display. The default display is the actual speed. 5.5 Commissioning control functions 5.5.1 Speed limit Two sources in total are available for the speed limit. You can select one of them via the digital input signal SLIM: Digital signal (SLIM) Speed limit 0 Internal speed limit 1 1 Internal speed limit 2 Note The bit 0 of parameter p29108 must be set to 1 to enable the speed limit function. Note You can switch between the two sources and modify their values when the servo drive is running. Note Fault F7901 occurs when the actual speed exceeds the positive speed limit + hysteresis speed (p2162) or the negative speed limit - hysteresis speed (p2162). SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 85 Commissioning 5.5 Commissioning control functions Overall speed limit Besides the above two channels, an overall speed limit is also available. You can configure the overall speed limit by setting the following parameters: Parameter Value range Default Unit p1083 0 to 210000 210000 rpm Overall speed limit (positive) Description p1086 -210000 to 0 -210000 rpm Overall speed limit (negative) Internal speed limit Select an internal speed limit by setting the following parameters: Parameter Value range Default Unit Description Digital input (SLIM) p29070[0] 0 to 210000 210000 rpm Internal speed limit 1 (positive) 0 p29070[1] 0 to 210000 210000 rpm Internal speed limit 2 (positive) 1 p29071[0] -210000 to 0 -210000 rpm Internal speed limit 1 (negative) 0 p29071[1] -210000 to 0 -210000 rpm Internal speed limit 2 (negative) 1 Note After the motor is commissioned, p1082, p1083, p1086, p29070 and p29071 are set to the maximum speed of the motor automatically. 5.5.2 Torque limit Two sources in total are available for the torque limit. You can select one of them via the digital input signal TLIM: Digital input (TLIM) Torque limit 0 Internal torque limit 1 1 Internal torque limit 2 When the torque setpoint reaches torque limit, the torque is limited to the value selected by TLIM. Note You can switch between the two sources and modify their values when the servo drive is running. SINAMICS V90, SIMOTICS S-1FL6 86 Getting Started, 12/2018, A5E37208904-006 Commissioning 5.5 Commissioning control functions Overall torque limit Besides the above two sources, an overall torque limit is also available. The overall torque limit takes effect when an quick stop (OFF3) happens. In this case, the servo drive brakes with a maximum torque. You can configure the overall torque limit by setting the following parameters: Parameter Value range Default Unit p1520 -1000000.00 to 20000000.00 0 Nm Overall torque limit (positive) Description p1521 -20000000.00 to 1000000.00 0 Nm Overall torque limit (negative) Internal torque limit Select an internal torque limit by setting the following parameters: Parameter Value range Default Unit Description Digital input (TLIM) p29050[0] -150 to 300 300 % Internal torque limit 1 (positive) 0 p29050[1] -150 to 300 300 % Internal torque limit 2 (positive) 1 p29051[0] -300 to 150 -300 % Internal torque limit 1 (negative) 0 p29051[1] -300 to 150 -300 % Internal torque limit 2 (negative) 1 The following diagram shows how the internal torque limit functions: Torque limit reached (TLR) When the generated torque has nearly (internal hysteresis) reached the value of the positive torque limit or negative torque limit, the signal TLR is output. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 87 Commissioning 5.5 Commissioning control functions 5.5.3 EJOG When telegrams 7, 9, 110, and 111 are used, select a jogging channel with the PROFINET control words STW1.8 and STW1.9: Control word Setting STW1.8 0 No jogging channel activated. Description STW1.9 1 Jog 1 signal source rising edge activated. 2 Jog 2 signal source rising edge activated. 3 Reserved. Features Selecting a jogging mode When telegram 110 is used, select a jogging mode with the PROFINET control word POS_STW.5: Control word Setting POS_STW.5 1 Jogging, incremental active. Description 0 Jogging, velocity active. When telegram 111 is used, select a jogging mode with the PROFINET control word POS_STW2.5: Control word Setting POS_STW2.5 1 Jogging, incremental active. Description 0 Jogging, velocity active. Note When telegrams 7 and 9 are used, endless jogging is fixed. Setting jogging setpoints When telegrams 7 and 9 are used, set the following jogging setpoint with the appropriate parameters: Velocity (p2585, p2586) When telegrams 110, and 111 are used, set the following jogging setpoints with the appropriate parameters: Velocity (p2585, p2586) Incremental (p2587, p2588) SINAMICS V90, SIMOTICS S-1FL6 88 Getting Started, 12/2018, A5E37208904-006 Commissioning 5.5 Commissioning control functions Overview of important parameters * p2585 EPOS jog 1 setpoint velocity * p2586 EPOS jog 2 setpoint velocity * p2587 EPOS jog 1 travel distance * p2588 EPOS jog 2 travel distance For more information about the parameters above, see Section "Parameter list (Page 110)". SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 89 6 PROFINET communication PROFINET IO is a real time protocol based on Ethernet. It is used as high level network for industrial automation applications. PROFINET IO focuses on the data exchange for a programmable controller. A PROFINET IO network consists of the following devices: IO controller: typically, it is the PLC, which controls the whole application IO device: a decentralized IO device (for example, encoder, sensor), which is controlled by the IO controller IO supervisor: HMI (human machine interface) or PC for diagnostic purposes or commissioning PROFINET supplies two kinds of real time communication, that is, PROFINET IO RT (Real Time) and PROFINET IO IRT (Isochronous Real Time). The real time channel is used for IO data and alarm mechanism. In PROFINET IO RT, the RT data is transferred via a prioritized Ethernet frame. No special hardware is required. Due to this prioritization a cycle time of 4 ms can be achieved. PROFINET IO IRT is used for more precise timing requirements. Cycle time of 2 ms is possible, but also special hardware for IO devices and switches are required. All diagnostic and configuration data is transferred via the non-real time channel (NRT). For this purpose the common TCP/IP protocol is used. Anyhow, no timing can be guaranteed and typically the cycle times can be more than 100 ms. 6.1 Supported telegrams SINAMICS V90 PN supports standard telegrams and Siemens telegrams for speed control mode and basic positioner control mode. From the perspective of the drive unit, the received process data represents the receive words and the process data to be sent represents the send words. Telegram Maximum number of PZD Description Receive word Send word Standard telegram 1 2 2 p0922 = 1 Standard telegram 2 4 4 p0922 = 2 Standard telegram 3 5 9 p0922 = 3 Standard telegram 5 9 9 p0922 = 5 Standard telegram 7 2 2 p0922 = 7 Standard telegram 9 10 5 p0922 = 9 Siemens telegram 102 6 10 p0922 = 102 Siemens telegram 105 10 10 p0922 = 105 Siemens telegram 110 12 7 p0922 = 110 SINAMICS V90, SIMOTICS S-1FL6 90 Getting Started, 12/2018, A5E37208904-006 PROFINET communication 6.1 Supported telegrams Telegram Maximum number of PZD Description Receive word Send word Siemens telegram 111 12 12 p0922 = 111 Siemens telegram 750 (supplementary telegram) 3 1 p8864 = 750 One PZD = one word Standard telegram 5 and Siemens telegram 105 can only be used when the V90 PN connects to the SIMATICS S7-1500 and the TIA Portal version is V14 or higher. The supplementary telegram can only be used together with a main telegram. It cannot be used separately. Telegrams used for speed control mode Telegrams used for basic positioner control mode Note When you use the telegram 110 and 111 in EPOS functions JOG, MDI, traversing block, and referencing, the value of the PZD5 OVERRIDE affects the speed. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 91 PROFINET communication 6.2 I/O data signals Supplementary telegram Note Before setting the supplementary telegram via p8864, you must select a main telegram via p0922 firstly. If you change the main telegram, the supplementary telegram will be disabled automatically, so after changing p0922, you must set p8864 again. Note When you use the telegram 750 in the application of rewinding and unwinding, the built-in braking resistor of the drives is not sufficient to absorb the excess regenerative energy. Note When you use the telegram 750, if either of the following settings is done, the motor will be accelerated in an uncontrollable manner: * Setting a negative value for the positive torque limit via the PZD M_LIMIT_POS * Setting a positive value for the negative torque limit via the PZD M_LIMIT_NEG 6.2 I/O data signals Parameters p200x apply as reference variables (telegram contents = 4000 hex or 40000000 hex in the case of double words if the input variable has the value p200x). SINAMICS V90, SIMOTICS S-1FL6 92 Getting Started, 12/2018, A5E37208904-006 PROFINET communication 6.2 I/O data signals The following table provides an overview of the I/O data used in the telegram. Signal Description Receive word/send word Data type Scaling STW1 Control word 1 Receive word U16 - STW2 Control word 2 Receive word U16 - ZSW1 Status word 1 Send word U16 - ZSW2 Status word 2 Send word U16 - NSOLL_A Speed setpoint A (16 bit) Receive word I16 4000 hex p2000 NSOLL_B Speed setpoint B (32 bit) Receive word I32 40000000 hex p2000 NIST_A Speed actual value A (16 bit) Send word I16 4000 hex p2000 NIST_B Speed actual value B (32 bit) Send word I32 40000000 hex p2000 G1_STW Encoder 1 control word Receive word U16 - G1_ZSW Encoder 1 status word Send word U16 - G1_XIST1 Encoder 1 actual position 1 Send word U32 - G1_XIST2 Encoder 1 actual position 2 Send word U32 - MOMRED Torque reduction Receive word I16 4000 hex p2003 MELDW Message word Send word U16 - KPC Position controller gain factor Receive word I32 - XERR Position deviation Receive word I32 - SATZANW Position block selection Receive word U16 - AKTSATZ Selected position block Send word U16 - MDI_TAR POS MDI position Receive word I32 1 hex 1 LU MDI_VELOCITY MDI velocity Receive word I32 1 hex 1000 LU/min MDI_ACC MDI acceleration override Receive word I16 4000 hex 100% MDI_DEC MDI deceleration override Receive word I16 4000 hex 100% XIST_A Position actual value A Send word I32 1 hex 1 LU OVERRIDE 1) Position velocity override Receive word I16 4000 hex 100% MDI_MODE Position MDI mode Receive word U16 - FAULT_CODE Fault code Send word U16 - WARN_CODE Alarm code Send word U16 - POS_ZSW Position status word Send word U16 - M_ADD1 Additional torque Receive word U32 4000 hex p2003 M_LIMIT_POS Positive torque limit Receive word U32 4000 hex p2003 M_LIMIT_NEG Negative torque limit Receive word U32 4000 hex p2003 M_ACT Actual torque Send word Float 4000 hex p2003 user User-defined receive word (depends on the value of p29150): Receive word I16 * Torque feedforward (4000 hex p2003) * Speed feedforward (4000 hex p2003) 2) * p29150 = 0: No function * p29150 = 1: Torque feedforward * p29150 = 2: Speed feedforward SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 93 PROFINET communication 6.3 Control word definition Signal Description Receive word/send word Data type Scaling user User-defined send word (depends on the value of p29151): Send word I16 * Actual torque (4000 hex p2003) * Actual absolute current (4000 hex p2003) * p29151 = 0: No function * p29151 = 1: Actual torque * p29151 = 2: Actual absolute current * p29151 = 3: DI status 1) Make sure that signal OVERRIDE is set to a value from 0 to 32767. 2) When you use the auto-tuning function, values of the torque feedforward and speed feedforward can be overwrote after the tuning function is enabled. If you want to use functions of the torque feedforward and speed feedforward, you need to set their values to the required values again. 6.3 Control word definition 6.3.1 STW1 control word (for telegrams 1, 2, 3, 5) Note When p29108.0 = 0, STW1.11 is disabled. Note When telegram 5 is used, STW1.4, STW1.5, and STW1.6 are disabled. Note STW1.10 must be set to 1 to allow the PLC to control the drive. Signal STW1.0 Description = ON (pulses can be enabled) 0 = OFF1 (braking with ramp-function generator, then pulse suppression and ready for switching on) STW1.1 1 = No OFF2 (enable is possible) STW1.2 1 = No OFF3 (enable is possible) 0 = OFF2 (immediate pulse suppression and switching on inhibited) 0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited) STW1.3 1 = Enable operation (pulses can be enabled) 0 = Inhibit operation (suppress pulses) STW1.4 1 = Operating condition (the ramp-function generator can be enabled) 0 = Inhibit ramp-function generator (set the ramp-function generator output to zero) SINAMICS V90, SIMOTICS S-1FL6 94 Getting Started, 12/2018, A5E37208904-006 PROFINET communication 6.3 Control word definition Signal Description STW1.5 1 = Continue ramp-function generator STW1.6 1 = Enable setpoint 0 = Freeze ramp-function generator (freeze the ramp-function generator output) 0 = Inhibit setpoint (set the ramp-function generator input to zero) STW1.7 6.3.2 = 1. Acknowledge faults STW1.8 Reserved STW1.9 Reserved STW1.10 1 = Control via PLC STW1.11 1 = Setpoint inversion STW1.12 Reserved STW1.13 Reserved STW1.14 Reserved STW1.15 Reserved STW2 control word (for telegrams 2, 3, 5) Signal Description STW2.0 Reserved STW2.1 Reserved STW2.2 Reserved STW2.3 Reserved STW2.4 Reserved STW2.5 Reserved STW2.6 Reserved STW2.7 Reserved STW2.8 1 = Traverse to fixed endstop STW2.9 Reserved STW2.10 Reserved STW2.11 Reserved STW2.12 Master sign-of-life, bit 0 STW2.13 Master sign-of-life, bit 1 STW2.14 Master sign-of-life, bit 2 STW2.15 Master sign-of-life, bit 3 SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 95 PROFINET communication 6.3 Control word definition 6.3.3 STW1 control word (for telegrams 102, 105) Note When telegram 105 is used, STW1.4, STW1.5, and STW1.6 are disabled. Note STW1.10 must be set to 1 to allow PLC to control the drive. Signal STW1.0 Description = ON (pulses can be enabled) 0 = OFF1 (braking with ramp-function generator, then pulse suppression and ready for switching on) STW1.1 1 = No OFF2 (enable is possible) 0 = OFF2 (immediate pulse suppression and switching on inhibited) STW1.2 1 = No OFF3 (enable is possible) 0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited) STW1.3 1 = Enable operation (pulses can be enabled) 0 = Inhibit operation (suppress pulses) STW1.4 1 = Operating condition (the ramp-function generator can be enabled) 0 = Inhibit ramp-function generator (set the ramp-function generator output to zero) STW1.5 1 = Continue ramp-function generator 0 = Freeze ramp-function generator (freeze the ramp-function generator output) STW1.6 1 = Enable setpoint 0 = Inhibit setpoint (set the ramp-function generator input to zero) STW1.7 = 1. Acknowledge faults STW1.8 Reserved STW1.9 Reserved STW1.10 1 = Control via PLC STW1.11 1 = Ramp-function generator active STW1.12 1 = Unconditionally open the holding brake STW1.13 Reserved STW1.14 1 = Closed-loop torque control active 0 = Closed-loop speed control active STW1.15 Reserved SINAMICS V90, SIMOTICS S-1FL6 96 Getting Started, 12/2018, A5E37208904-006 PROFINET communication 6.3 Control word definition 6.3.4 STW2 control word (for telegrams 102, 105) Note When p29108.0 = 0, STW2.4 is disabled. 6.3.5 Signal Description STW2.0 Reserved STW2.1 Reserved STW2.2 Reserved STW2.3 Reserved STW2.4 1 = Bypass ramp-function generator STW2.5 Reserved STW2.6 1 = Integrator inhibit, speed controller STW2.7 Reserved STW2.8 1 = Traverse to fixed endstop STW2.9 Reserved STW2.10 Reserved STW2.11 Reserved STW2.12 Master sign-of-life, bit 0 STW2.13 Master sign-of-life, bit 1 STW2.14 Master sign-of-life, bit 2 STW2.15 Master sign-of-life, bit 3 STW1 control word (for telegrams 7, 9, 110, 111) Note STW1.10 must be set to 1 to allow the PLC to control the drive. Signal STW1.0 Description = ON (pulses can be enabled) 0 = OFF1 (braking with ramp-function generator, then pulse suppression and ready for switching on) STW1.1 1 = No OFF2 (enable is possible) 0 = OFF2 (immediate pulse suppression and switching on inhibited) STW1.2 1 = No OFF3 (enable is possible) 0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited) STW1.3 1 = Enable operation (pulses can be enabled) 0 = Inhibit operation (suppress pulses) SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 97 PROFINET communication 6.3 Control word definition Signal Description STW1.4 1 = Do not reject traversing task STW1.5 1 = No intermediate stop 0 = Reject traversing task (ramp-down with the maximum deceleration) 0 = Intermediate stop STW1.6 STW1.7 = Activate traversing task = Acknowledge faults STW1.8 1 = Jog 1 signal source STW1.9 1 = Jog 2 signal source STW1.10 1 = Control via PLC STW1.11 1 = Start referencing 0 = Stop referencing STW1.12 STW1.13 6.3.6 Reserved = External block change STW1.14 Reserved STW1.15 Reserved STW2 control word (for telegrams 9, 110, 111) Signal Description STW2.0 Reserved STW2.1 Reserved STW2.2 Reserved STW2.3 Reserved STW2.4 Reserved STW2.5 Reserved STW2.6 Reserved STW2.7 Reserved STW2.8 1 = Traverse to fixed endstop STW2.9 Reserved STW2.10 Reserved STW2.11 Reserved STW2.12 Master sign-of-life, bit 0 STW2.13 Master sign-of-life, bit 1 STW2.14 Master sign-of-life, bit 2 STW2.15 Master sign-of-life, bit 3 SINAMICS V90, SIMOTICS S-1FL6 98 Getting Started, 12/2018, A5E37208904-006 PROFINET communication 6.3 Control word definition 6.3.7 G1_STW encoder 1 control word Signal Description G1_STW.0 Selects the function to be activate (with bit value = 1) G1_STW.1 G1_STW.2 G1_STW.3 G1_STW.4 Start/stop/read selected function G1_STW.5 G1_STW.6 G1_STW.7 Mode of the function to be activated 1 = Flying measurement 0 = Search for reference mark G1_STW.8 Reserved G1_STW.9 Reserved G1_STW.10 Reserved G1_STW.11 Reserved G1_STW.12 Reserved G1_STW.13 1 = Request value cyclic transfer of the absolute position value in Gn_XIST2 G1_STW.14 1 = Request parking encoder G1_STW.15 6.3.8 = Acknowledge encoder fault SATZANW control word Signal Description SATZANW.0 1 = Traversing block selection, bit 0 SATZANW.1 1 = Traversing block selection, bit 1 SATZANW.2 1 = Traversing block selection, bit 2 SATZANW.3 1 = Traversing block selection, bit 3 SATZANW.4 1 = Traversing block selection, bit 4 SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 99 PROFINET communication 6.3 Control word definition Signal Description SATZANW.5 1 = Traversing block selection, bit 5 SATZANW.6 Reserved SATZANW.7 Reserved SATZANW.8 Reserved SATZANW.9 Reserved SATZANW.10 Reserved SATZANW.11 Reserved SATZANW.12 Reserved SATZANW.13 Reserved SATZANW.14 Reserved SATZANW.15 1 = Activate MDI 0 = Deactivate MDI 6.3.9 MDI_MOD control word Signal Description MDI_MOD.0 1 = Absolute positioning is selected 0 = Relative positioning is selected MDI_MOD.1 0 = Absolute positioning through the shortest distance MDI_MOD.2 1 = Absolute positioning in the positive direction 2 = Absolute positioning in the negative direction 3 = Absolute positioning through the shortest distance MDI_MOD.3 Reserved MDI_MOD.4 Reserved MDI_MOD.5 Reserved MDI_MOD.6 Reserved MDI_MOD.7 Reserved MDI_MOD.8 Reserved MDI_MOD.9 Reserved MDI_MOD.10 Reserved MDI_MOD.11 Reserved MDI_MOD.12 Reserved MDI_MOD.13 Reserved MDI_MOD.14 Reserved MDI_MOD.15 Reserved SINAMICS V90, SIMOTICS S-1FL6 100 Getting Started, 12/2018, A5E37208904-006 PROFINET communication 6.3 Control word definition 6.3.10 POS_STW control word Signal Description POS_STW.0 1 = Tracking mode active 0 = No tracking mode active POS_STW.1 1 = Set reference point 0 = Do not set reference point POS_STW.2 1 = Reference cam active POS_STW.3 Reserved POS_STW.4 Reserved POS_STW.5 1 = Jogging, incremental active 0 = Jogging, velocity active POS_STW.6 Reserved POS_STW.7 Reserved POS_STW.8 Reserved POS_STW.9 Reserved POS_STW.10 Reserved POS_STW.11 Reserved POS_STW.12 Reserved POS_STW.13 Reserved POS_STW.14 Reserved POS_STW.15 Reserved Note If the tracking mode is activated, the position setpoint follows the actual position value, i.e. position setpoint = actual position value. 6.3.11 POS_STW1 positioning control word Signal Description POS_STW1.0 Traversing block selection, bit 0 POS_STW1.1 Traversing block selection, bit 1 POS_STW1.2 Traversing block selection, bit 2 POS_STW1.3 Traversing block selection, bit 3 POS_STW1.4 Traversing block selection, bit 4 POS_STW1.5 Traversing block selection, bit 5 POS_STW1.6 Reserved POS_STW1.7 Reserved POS_STW1.8 1 = Absolute positioning is selected 0 = Relative positioning is selected SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 101 PROFINET communication 6.3 Control word definition Signal Description POS_STW1.9 0 = Absolute positioning through the shortest distance POS_STW1.10 1 = Absolute positioning/MDI direction selection, positive 2 = Absolute positioning/MDI direction selection, negative 3 = Absolute positioning through the shortest distance POS_STW1.11 Reserved POS_STW1.12 1 = Continuous transfer 0 = Activate MDI block change with POS_STW1.13 Reserved POS_STW1.14 1 = Signal setting-up selected of a traversing task (STW1.6) 0 = Signal positioning selected POS_STW1.15 6.3.12 1 = MDI selection POS_STW2 positioning control word Signal Description POS_STW2.0 1 = Tracking mode active POS_STW2.1 1 = Set reference point POS_STW2.2 1 = Reference cam active POS_STW2.3 Reserved POS_STW2.4 Reserved POS_STW2.5 1 = Jogging, incremental active 0 = Jogging, velocity active POS_STW2.6 Reserved POS_STW2.7 Reserved POS_STW2.8 Reserved POS_STW2.9 1 = Start the search for reference in the negative direction 0 = Start the search for reference in the positive direction POS_STW2.10 Reserved POS_STW2.11 Reserved POS_STW2.12 Reserved POS_STW2.13 Reserved POS_STW2.14 1 = Software limit switch activation POS_STW2.15 1 = STOP cam active Note If the tracking mode is activated, the position setpoint follows the actual position value, i.e. position setpoint = actual position value. SINAMICS V90, SIMOTICS S-1FL6 102 Getting Started, 12/2018, A5E37208904-006 PROFINET communication 6.4 Status word definition 6.4 Status word definition 6.4.1 ZSW1 status word (for telegrams 1, 2, 3, 5) Signal Description ZSW1.0 1 = Ready for servo on ZSW1.1 1 = Ready for operation ZSW1.2 1 = Operation enabled ZSW1.3 1 = Fault present ZSW1.4 1 = No coast down active (OFF2 inactive) ZSW1.5 1 = No fast stop active (OFF3 inactive) ZSW1.6 1 = Switching on inhibited active ZSW1.7 1 = Alarm present ZSW1.8 1 = Speed setpoint - actual value deviation within tolerance t_off ZSW1.9 1 = Control requested ZSW1.10 1 = f or n comparison value reached/exceeded ZSW1.11 0 = I, M, or P limit reached ZSW1.12 1 = Open the holding brake ZSW1.13 1 = No motor overtemperature alarm ZSW1.14 1 = Motor rotates forwards (n_act 0) 0 = Motor rotates backwards (n_act < 0) ZSW1.15 6.4.2 1 = No alarm, thermal overload, power unit ZSW2 status word (for telegrams 2, 3, 5) Signal Description ZSW2.0 Reserved ZSW2.1 Reserved ZSW2.2 Reserved ZSW2.3 Reserved ZSW2.4 Reserved ZSW2.5 1 = Alarm class bit 0 ZSW2.6 1 = Alarm class bit 1 ZSW2.7 Reserved ZSW2.8 1 = Traverse to fixed endstop ZSW2.9 Reserved ZSW2.10 1 = Pulses enabled ZSW2.11 Reserved ZSW2.12 Slave sign-of-life, bit 0 ZSW2.13 Slave sign-of-life, bit 1 SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 103 PROFINET communication 6.4 Status word definition 6.4.3 Signal Description ZSW2.14 Slave sign-of-life, bit 2 ZSW2.15 Slave sign-of-life, bit 3 ZSW1 status word (for telegrams 102, 105) Signal 6.4.4 Description ZSW1.0 1 = Ready for servo on ZSW1.1 1 = Ready for operation ZSW1.2 1 = Operation enabled ZSW1.3 1 = Fault present ZSW1.4 1 = No coast down active (OFF2 inactive) ZSW1.5 1 = No fast stop active (OFF3 inactive) ZSW1.6 1 = Switching on inhibited active ZSW1.7 1 = Alarm present ZSW1.8 1 = Speed setpoint - actual value deviation within tolerance t_off ZSW1.9 1 = Control requested ZSW1.10 1 = f or n comparison value reached/exceeded ZSW1.11 1 = Alarm class bit 0 ZSW1.12 1 = Alarm class bit 1 ZSW1.13 Reserved ZSW1.14 1 = Closed-loop torque control active ZSW1.15 Reserved ZSW2 status word (for telegrams 102, 105) Signal Description ZSW2.0 Reserved ZSW2.1 Reserved ZSW2.2 Reserved ZSW2.3 Reserved ZSW2.4 1 = Ramp-function generator inactive ZSW2.5 1 = Open the holding brake ZSW2.6 1 = Integrator inhibit, speed controller ZSW2.7 Reserved ZSW2.8 1 = Traverse to fixed endstop ZSW2.9 Reserved ZSW2.10 Reserved ZSW2.11 Reserved SINAMICS V90, SIMOTICS S-1FL6 104 Getting Started, 12/2018, A5E37208904-006 PROFINET communication 6.4 Status word definition 6.4.5 Signal Description ZSW2.12 Slave sign-of-life, bit 0 ZSW2.13 Slave sign-of-life, bit 1 ZSW2.14 Slave sign-of-life, bit 2 ZSW2.15 Slave sign-of-life, bit 3 ZSW1 status word (for telegrams 7, 9, 110, 111) Signal Description ZSW1.0 1 = Ready for switching on ZSW1.1 1 = Ready for operation (DC link loaded, pulses blocked) ZSW1.2 1 = Operation enabled (drive follows n_set) ZSW1.3 1 = Fault present ZSW1.4 1 = No coast down active (OFF2 inactive) ZSW1.5 1 = No fast stop active (OFF3 inactive) ZSW1.6 1 = Switching on inhibited active ZSW1.7 1 = Alarm present ZSW1.8 1 = Following error within tolerance ZSW1.9 1 = Control requested ZSW1.10 1 = Target position reached ZSW1.11 1 = Reference point set ZSW1.12 6.4.6 = Acknowledgement traversing block activated ZSW1.13 1 = Setpoint fixed ZSW1.14 1 = Axis accelerated ZSW1.15 1 = Axis decelerated ZSW2 status word (for telegrams 9, 110, 111) Signal Description ZSW2.0 Reserved ZSW2.1 Reserved ZSW2.2 Reserved ZSW2.3 Reserved ZSW2.4 Reserved ZSW2.5 1 = Alarm class bit 0 ZSW2.6 1 = Alarm class bit 1 ZSW2.7 Reserved ZSW2.8 1 = Traverse to fixed endstop ZSW2.9 Reserved SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 105 PROFINET communication 6.4 Status word definition 6.4.7 Signal Description ZSW2.10 1 = Pulses enabled ZSW2.11 Reserved ZSW2.12 Slave sign-of-life, bit 0 ZSW2.13 Slave sign-of-life, bit 1 ZSW2.14 Slave sign-of-life, bit 2 ZSW2.15 Slave sign-of-life, bit 3 G1_ZSW encoder 1 status word Signal Description G1_ZSW.0 Feedback signal of the active function (1 = function active) G1_ZSW.1 G1_ZSW.2 G1_ZSW.3 G1_ZSW.4 1 = Position actual value from function 1 G1_ZSW.5 1 = Position actual value from function 2 G1_ZSW.6 1 = Position actual value from function 3 G1_ZSW.7 1 = Position actual value from function 4 G1_ZSW.8 Reserved G1_ZSW.9 Reserved G1_ZSW.10 Reserved G1_ZSW.11 1 = Acknowledge encoder fault active G1_ZSW.12 Reserved (for reference point offset) G1_ZSW.13 Absolute value is cyclically transferred G1_ZSW.14 Parking encoder active G1_ZSW.15 Encoder fault, the fault is in Gn_XIST2 Generated value in Gn_XIST2 (and can be read) SINAMICS V90, SIMOTICS S-1FL6 106 Getting Started, 12/2018, A5E37208904-006 PROFINET communication 6.4 Status word definition 6.4.8 MELDW status word Signal Description MELDW.0 1 = Ramp-up/ramp-down complete MELDW.1 1 = Torque utilization [%] < torque threshold value 2 MELDW.2 1 = |n_act| < speed threshold value 3 (p2161) MELDW.3 1 = |n_act| speed threshold value 2 MELDW.4 1 = Vdc_min controller active MELDW.5 Reserved MELDW.6 1 = No motor overtemperature alarm MELDW.7 1 = No alarm, thermal overload, power unit MELDW.8 1 = Speed setpoint - actual value deviation within tolerance t_on MELDW.9 Reserved MELDW.10 Reserved MELDW.11 1 = Controller enable MELDW.12 1 = Drive ready MELDW.13 1 = Pulses enabled MELDW.14 Reserved MELDW.15 Reserved 0 = Ramp-function generator active 6.4.9 POS_ZSW1 positioning status word Signal Description POS_ZSW1.0 Active Traversing Block Bit 0 (20) POS_ZSW1.1 Active Traversing Block Bit 0 (21) POS_ZSW1.2 Active Traversing Block Bit 0 (22) POS_ZSW1.3 Active Traversing Block Bit 0 (23) POS_ZSW1.4 Active Traversing Block Bit 0 (24) POS_ZSW1.5 Active Traversing Block Bit 0 (25) POS_ZSW1.6 Reserved POS_ZSW1.7 Reserved POS_ZSW1.8 1 = STOP cam minus active POS_ZSW1.9 1 = STOP cam plus active POS_ZSW1.10 1 = Jogging active POS_ZSW1.11 1 = Reference point approach active POS_ZSW1.12 Reserved POS_ZSW1.13 1 = Traversing Block active POS_ZSW1.14 1 = Set-up active POS_ZSW1.15 1 = MDI active 0 = MDI inactive SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 107 PROFINET communication 6.5 PROFINET communication 6.4.10 6.5 POS_ZSW2 positioning status word Signal Description POS_ZSW2.0 1 = Tracking mode active POS_ZSW2.1 1 = Velocity limiting active POS_ZSW2.2 1 = Setpoint available POS_ZSW2.3 Reserved POS_ZSW2.4 1 = Axis moves forward POS_ZSW2.5 1 = Axis moves backwards POS_ZSW2.6 1 = Software limit switch minus reached POS_ZSW2.7 1 = Software limit switch plus reached POS_ZSW2.8 1 = Position actual value cam switching position 1 POS_ZSW2.9 1 = Position actual value cam switching position 2 POS_ZSW2.10 1 = Direct output 1 via traversing block POS_ZSW2.11 1 = Direct output 2 via traversing block POS_ZSW2.12 1 = Fixed stop reached POS_ZSW2.13 1 = Fixed stop clamping torque reached POS_ZSW2.14 1 = Travel to fixed stop active POS_ZSW2.15 1 = Traversing command active PROFINET communication For more information about the PROFINET communication, refer to SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. SINAMICS V90, SIMOTICS S-1FL6 108 Getting Started, 12/2018, A5E37208904-006 7 Parameters 7.1 Overview The section below lists all the parameters of the SINAMICS V90 PN servo drive. Parameter number Numbers prefixed with an "r" indicate that parameter is a read-only parameter. Numbers prefixed with a "p" indicate that the parameter is an editable parameter. Effective Indicates the conditions for making parameterization effective. Two conditions are possible: IM (Immediately): Parameter value becomes effective immediately after changing. RE (Reset): Parameter value becomes effective after repower-on. Can be changed This indicates when the parameter can be changed. Two states are possible: U (Run): Can be changed in the "Running" state when the drive is in "servo on" state. The "RDY" LED lights up green. T (Ready to run): Can be changed in the "Ready" state when the drive is in "servo off" state. The "RDY" LED lights up red. Note When judging the state of the drive according to the "RDY" LED, ensure that no faults or alarms exist. Data type Date type Abbreviation Description Integer16 I16 16-bit integer Integer32 I32 32-bit integer Unsigned8 U8 8-bit unsigned integer Unsigned16 U16 16-bit unsigned integer Unsigned32 U32 32-bit unsigned integer FloatingPoint32 Float 32-bit floating point number SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 109 Parameters 7.2 Parameter list Parameter groups The SINAMICS V90 PN parameters are divided into the following groups: 7.2 Parameter group Available parameters Parameter group display on the BOP Basic parameters p07xx, p10xx to p16xx, p21xx Application parameters p29xxx Communication parameters p09xx, p89xx Basic positioner parameters p25xx, p26xx Status monitoring parameters All read-only parameters Parameter list Editable parameters The values of the parameters marked with an asterisk (*) may be changed after commissioning. Make sure you back up the parameters first as required if you desire to replace the motor. The default values of the parameters marked with two asterisks (**) are motor dependent. They may have different default values when the drive connects to different motors. Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed p0748 CU invert digital outputs - - 0 - U32 IM T, U 105 - U16 IM T Description: Inverts the signals at the digital outputs. Bit 0: inverts signal DO 1 Bit 0 = 0: not inverted Bit 0 = 1: inverted Bit 1: inverts signal DO 2 Bit 1 = 0: not inverted Bit 1 = 1: inverted p0922 PROFIdrive: PZD telegram selection 1 111 Description: Sets the send and receive telegram. For speed control mode: 1: Standard telegram 1, PZD-2/2 2: Standard telegram 2, PZD-4/4 3: Standard telegram 3, PZD-5/9 5: Standard telegram 5, PZD-9/9 SINAMICS V90, SIMOTICS S-1FL6 110 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed 65535 1 - U16 IM 102: SIEMENS telegram 102, PZD-6/10 105: SIEMENS telegram 105, PZD-10/10 For basic positioner control mode: 7: Standard telegram 7, PZD-2/2 9: Standard telegram 9, PZD-10/5 110: SIEMENS telegram 110, PZD-12/7 111: SIEMENS telegram 111, PZD-12/12 p0925 PROFIdrive: Synchronous sign- 0 of-life tolerance T, U Description: Sets the number of tolerated consecutive sign-of-life errors of the clock-cycle synchronous master. The sign-of-life signal is normally received in PZD4 (control word 2) from the master. p0927 Parameter authority 0000 bin 0011 bin 0011 bin - U16 IM T Description: Sets the interface via which parameters can be changed. Bit definition: Bit 0: PROFINET or V-ASSISTANT Bit 1: BOP Value definition for a bit: 0: Read only 1: Read and write Note: If p927.0 = 0, the V-ASSISTANT can only be used to read parameters, all other functions won't work. p0972 Drive unit reset 0 2 0 - U16 IM T, U Description: Sets the required procedure to execute a hardware reset for the drive unit. 0: Inactive 1: Hardware reset immediate 2: Hardware reset preparation Danger: It must be absolutely ensured that the system is in a safe condition. The memory card/device memory of the Control Unit must not be accessed. Note: If value = 1: Reset is immediately executed and communications interrupted. If value = 2: Help to check the reset operation. Firstly, set p0972 = 2 and then read back. Secondly, set p0972 = 1 (it is possible that this request is possibly no longer acknowledged). The communication is then interrupted. After the drive unit has been restarted and communications have been established, read p0972 and check the following: p0972 = 0? The reset was successfully executed. p0972 > 0? The reset was not executed. p0977 Save all parameters 0 1 0 - U16 IM T, U Description: Saves all parameters of the drive system to the non-volatile memory. When saving, only the adjustable parameters intended to be saved are taken into account. Value = 0: Inactive Value = 1: Save in non-volatile memory - downloaded at POWER ON SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 111 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed Notice: The Control Unit power supply may only be powered down after data has been saved (i.e. after data save has been started, wait until the parameter again has the value 0). Writing to parameters is inhibited while saving. p1058 JOG 1 speed setpoint 0.00 210000.000 100.00 rpm Float IM T Description: Sets the speed/velocity for JOG 1. Jogging is level-triggered and allows the motor to be incrementally moved. Note: The parameter values displayed on the BOP are integers. p1082 * Maximum speed 0.000 210000.000 1500.000 rpm Float IM T Description: Sets the highest possible speed. Notice: After the value has been modified, no further parameter modifications can be made. Note: The parameter values displayed on the BOP are integers. The parameter applies for both motor directions. The parameter has a limiting effect and is the reference quantity for all ramp-up and ramp-down times (e.g. down ramps, ramp-function generator and motor potentiometer). The range of the parameter is different when connect with different motors. p1083 * Speed limit in positive direction 0.000 of rotation 210000.000 210000.000 rpm Float IM T, U -210000.000 rpm Float IM T, U I16 IM T Description: Sets the maximum speed for the positive direction. Note: The parameter values displayed on the BOP are integers. p1086 * Speed limit in negative direction -210000.000 0.000 of rotation Description: Sets the speed limit for the negative direction. Note: The parameter values displayed on the BOP are integers. p1115 Ramp-function generator selec- 0 tion 1 0 - Description: Sets the ramp-function generator type. Note: Another ramp-function generator type can only be selected when the motor is at a standstill. p1120 Ramp-function generator ramp- 0.000 up time 999999.000 1 s Float IM T, U Description: The ramp-function generator ramps-up the speed setpoint from standstill (setpoint = 0) up to the maximum speed (p1082) in this time. Dependency: Refer to p1082 p1121 Ramp-function generator ramp- 0.000 down time 999999.000 1 s Float IM T, U Description: Sets the ramp-down time for the ramp-function generator. The ramp-function generator ramps-down the speed setpoint from the maximum speed (p1082) down to standstill (setpoint = 0) in this time. Further, the ramp-down time is always effective for OFF1. Dependency: Refer to p1082 p1130 Ramp-function generator initial 0.000 rounding-off time 30.000 0.000 s Float IM T, U Description: Sets the initial rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down. Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system. SINAMICS V90, SIMOTICS S-1FL6 112 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed p1131 Ramp-function generator final rounding-off time 0.000 30.000 0.000 s Float IM T, U Description: Sets the final rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down. Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system. p1135 OFF3 ramp-down time 0 600 0 s Float IM T, U Description: Sets the ramp-down time from the maximum speed down to zero speed for the OFF3 command. Note: This time can be exceeded if the DC link voltage reaches its maximum value. p1215 * Motor holding brake configuration 0 2 0 - I16 IM T Description: Sets the holding brake configuration. Dependency: Refer to p1216, p1217, p1226, p1227, p1228 Caution: For the setting p1215 = 0, if a brake is used, it remains closed. If the motor moves, this will destroy the brake. Notice: If p1215 was set to 1, then when the pulses are suppressed, the brake is closed even if the motor is still rotating. Note: The parameter can only be set to zero when the pulses are inhibited. p1216 * Motor holding brake opening time 0 10000 100 ms Float IM T, U Description: Sets the time to open the motor holding brake. After controlling the holding brake (opens), the speed/velocity setpoint remains at zero for this time. After this, the speed/velocity setpoint is enabled. Dependency: Refer to p1215, p1217 Note: For a motor with integrated brake, this time is pre-assigned the value saved in the motor. For p1216 = 0 ms, the monitoring and the message A7931 "Brake does not open" are deactivated. p1217 * Motor holding brake closing time 0 10000 100 ms Float IM T, U Description: Sets the time to apply the motor holding brake. After OFF1 or OFF3 and the holding brake is controlled (the brake closes), then the drive remains closed-loop controlled for this time stationary with a speed setpoint/velocity setpoint of zero. The pulses are suppressed when the time expires. Dependency: Refer to p1215, p1216 Note: For a motor with integrated brake, this time is pre-assigned the value saved in the motor. For p1217 = 0 ms, the monitoring and the message A07932 "Brake does not close" are deactivated. p1226 Threshold for zero speed detection 0.00 210000.00 20.00 rpm Float IM T, U Description: Sets the speed threshold for the standstill identification. Acts on the actual value and setpoint monitoring. When braking with OFF1 or OFF3, when the threshold is undershot, standstill is identified. The following applies when the brake control is activated: When the threshold is undershot, the brake control is started and the system waits for the brake closing time in p1217. The pulses are then suppressed. If the brake control is not activated, the following applies: When the threshold is undershot, the pulses are suppressed and the drive coasts down. Dependency: Refer to p1215, p1216, p1217, p1227 SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 113 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed Notice: For reasons relating to the compatibility to earlier firmware versions, a parameter value of zero in indices 1 to 31 is overwritten with the parameter value in index 0 when the drive boots. Note: Standstill is identified in the following cases: - The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has expired. - The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired. The actual value sensing is subject to measuring noise. For this reason, standstill cannot be detected if the speed threshold is too low. p1227 Zero speed detection monitoring time 0.000 300.000 300.000 s Float IM T, U Description: Sets the monitoring time for the standstill identification. When braking with OFF1 or OFF3, standstill is identified after this time has expired, after the setpoint speed has fallen below p1226. After this, the brake control is started, the system waits for the closing time in p1217 and then the pulses are suppressed. Dependency: Refer to p1215, p1216, p1217, p1226 Notice: The setpoint is not equal to zero dependent on the selected value. This can therefore cause the monitoring time in p1227 to be exceeded. In this case, for a driven motor, the pulses are not suppressed.. Note: Standstill is identified in the following cases: - The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has expired. - The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired. For p1227 = 300.000 s, the following applies: Monitoring is de-activated. For p1227 = 0.000 s, the following applies: With OFF1 or OFF3 and a ramp-down time = 0, the pulses are immediately suppressed and the motor "coasts" down. p1228 Pulse suppression delay time 0.000 299.000 0.000 s Float IM T, U Description: Sets the delay time for pulse suppression. After OFF1 or OFF3, the pulses are canceled, if at least one of the following conditions is fulfilled: - The speed actual value falls below the threshold in p1226 and the time started after this in p1228 has expired. - The speed setpoint falls below the threshold in p1226 and the time started after this in p1227 has expired. Dependency: Refer to p1226, p1227 Notice: When the motor holding brake is activated, pulse cancellation is additionally delayed by the brake closing time (p1217). p1414 Speed setpoint filter activation - - 0000 bin - U16 IM T, U Description: Setting for activating/de-activating the speed setpoint filter. Bit 0: Activate filter 1 Bit 0 = 0: Deactivated Bit 0 = 1: Activated Bit 1: Activate filter 2 Bit 1 = 0: Deactivated Bit 1 = 1: Activated SINAMICS V90, SIMOTICS S-1FL6 114 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed Dependency: The individual speed setpoint filters are parameterized as of p1415. Note: The drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin). p1415 Speed setpoint filter 1 type 0 2 0 - I16 IM T, U 0.00 ms Float IM T, U Hz Float IM T, U Description: Sets the type for speed setpoint filter 1. Dependency: PT1 low pass: p1416 PT2 low pass: p1417, p1418 General filter: p1417 ... p1420 p1416 Speed setpoint filter 1 time constant 0.00 5000.00 Description: Sets the time constant for the speed setpoint filter 1 (PT1). Dependency: Refer to p1414, p1415 Note: This parameter is only effective if the filter is set as a PT1 low pass. p1417 Speed setpoint filter 1 denominator natural frequency 0.5 16000.0 1999.0 Description: Sets the denominator natural frequency for speed setpoint filter 1(PT2, general filter). Dependency: Refer to p1414, p1415 Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter. The filter is only effective if the natural frequency is less than half of the sampling frequency. p1418 Speed setpoint filter 1 denominator damping 0.001 10.000 0.700 - Float IM T, U Description: Sets the denominator damping for speed setpoint filter 1 (PT2, general filter). Dependency: Refer to p1414, p1415 Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter. p1419 Speed setpoint filter 1 numera- 0.5 tor natural frequency 16000.0 1999.0 Hz Float IM T, U Description: Sets the numerator natural frequency for speed setpoint filter 1 (general filter). Dependency: Refer to p1414, p1415 Note: This parameter is only effective if the speed filter is set as a general filter. The filter is only effective if the natural frequency is less than half of the sampling frequency. p1420 Speed setpoint filter 1 numera- 0.001 tor damping 10.000 0.700 - Float IM T, U I16 IM T, U Description: Sets the numerator damping for speed setpoint filter 1 (general filter). Dependency: Refer to p1414, p1415 Note: This parameter is only effective if the speed filter is set as a general filter. p1421 Speed setpoint filter 2 type 0 2 0 - Description: Sets the type for speed setpoint filter 2. Dependency: PT1 low pass: p1422 PT2 low pass: p1423, p1424 General filter: p1423 ... p1426 SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 115 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed p1422 Speed setpoint filter 2 time constant 0.00 5000.00 0.00 ms Float IM T, U Float IM T, U Description: Sets the time constant for the speed setpoint filter 2 (PT1). Dependency: Refer to p1414, p1421 Note: This parameter is only effective if the speed filter is set as a PT1 low pass. p1423 Speed setpoint filter 2 denominator natural frequency 0.5 16000.0 1999.0 Hz Description: Sets the denominator natural frequency for speed setpoint filter 2 (PT2, general filter). Dependency: Refer to p1414, p1421 Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter. The filter is only effective if the natural frequency is less than half of the sampling frequency. p1424 Speed setpoint filter 2 denominator damping 0.001 10.000 0.700 - Float IM T, U Description: Sets the denominator damping for speed setpoint filter 2 (PT2, general filter). Dependency: Refer to p1414, p1421 Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter. p1425 Speed setpoint filter 2 numera- 0.5 tor natural frequency 16000.0 1999.0 Hz Float IM T, U Float IM T, U Float IM T, U Description: Sets the numerator natural frequency for speed setpoint filter 2 (general filter). Dependency: Refer to p1414, p1421 Note: This parameter is only effective if the speed filter is set as a general filter. The filter is only effective if the natural frequency is less than half of the sampling frequency. p1426 Speed setpoint filter 2 numera- 0.000 tor damping 10.000 0.700 - Description: Sets the numerator damping for speed setpoint filter 2 (general filter). Dependency: Refer to p1414, p1421 Note: This parameter is only effective if the speed filter is set as a general filter. p1441 Actual speed smoothing time 0.00 50.00 0.00 ms Description: Sets the smoothing time constant (PT1) for the speed actual value. Note: The speed actual value should be smoothed for increment encoders with a low pulse number. After this parameter has been changed, we recommend that the speed controller is adapted and/or the speed controller settings checked Kp (p29120) and Tn (p29121). p1520 * Torque limit upper -1000000.00 20000000.00 0.00 Nm Float IM T, U Description: Sets the fixed upper torque limit. Danger: Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating in an uncontrollable fashion. Notice: The maximum value depends on the maximum torque of the connected motor. p1521 * Torque limit lower -20000000.00 1000000.00 0.00 Nm Float IM T, U Description: Sets the fixed lower torque limit. Danger: Positive values when setting the lower torque limit (p1521 > 0) can result in the motor accelerating in an uncontrollable fashion. Notice: The maximum value depends on the maximum torque of the connected motor. SINAMICS V90, SIMOTICS S-1FL6 116 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed p1656 * Activates current setpoint filter - - 0001 bin - U16 IM T, U Description: Setting for activating/de-activating the current setpoint filter. Bit 0: Activate filter 1 Bit 0 = 0: Deactivated Bit 0 = 1: Activated Bit 1: Activate filter 2 Bit 1 = 0: Deactivated Bit 1 = 1: Activated Bit 2: Activate filter 3 Bit 2 = 0: Deactivated Bit 2 = 1: Activated Bit 3: Activate filter 4 Bit 3 = 0: Deactivated Bit 3 = 1: Activated Dependency: The individual current setpoint filters are parameterized as of p1658. p1658 * p1659 * p1663 p1664 p1665 p1666 p1668 Note: If not all of the filters are required, then the filters should be used consecutively starting from filter 1. The drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin). Current setpoint filter 1 denom- 0.5 16000.0 1999.0 Hz Float IM T, U inator natural frequency Description: Sets the denominator natural frequency for current setpoint filter 1 (PT2, general filter). Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659. Current setpoint filter 1 denom- 0.001 10.000 0.700 Float IM T, U inator damping Description: Sets the denominator damping for current setpoint filter 1. Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659. Current setpoint filter 2 denom- 0.5 16000.0 1000.0 Hz Float IM T, U inator natural frequency Description: Sets the denominator natural frequency for current setpoint filter 2 (PT2, general filter). Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666. Current setpoint filter 2 denom- 0.001 10.000 0.300 Float IM T, U inator damping Description: Sets the denominator damping for current setpoint filter 2. Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666. Current setpoint filter 2 numera- 0.5 16000.0 1000.0 Hz Float IM T, U tor natural frequency Description: Sets the numerator natural frequency for current setpoint filter 2 (general filter). Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1662 ... p1666. Current setpoint filter 2 numera- 0.000 10.000 0.010 Float IM T, U tor damping Description: Sets the numerator damping for current setpoint filter 2. Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666. Current setpoint filter 3 denom- 0.5 16000.0 1000.0 Hz Float IM T, U inator natural frequency Description: Sets the denominator natural frequency for current setpoint filter 3 (PT2, general filter). Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 117 Parameters 7.2 Parameter list Par. No. Name Min p1669 Current setpoint filter 3 denom- 0.001 inator damping Max Factory Setting Unit Data type Effec- Can be tive changed 10.000 0.300 - Float IM T, U Description: Sets the denominator damping for current setpoint filter 3. Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671. p1670 Current setpoint filter 3 numera- 0.5 tor natural frequency 16000.0 1000.0 Hz Float IM T, U Description: Sets the numerator natural frequency for current setpoint filter 3 (general filter). Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671. p1671 Current setpoint filter 3 numera- 0.000 tor damping 10.000 0.010 - Float IM T, U Description: Sets the numerator damping for current setpoint filter 3. Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671. p1673 Current setpoint filter 4 denom- 0.5 inator natural frequency 16000.0 1000.0 Hz Float IM T, U Description: Sets the denominator natural frequency for current setpoint filter 4 (PT2, general filter). Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675. p1674 Current setpoint filter 4 denom- 0.001 inator damping 10.000 0.300 - Float IM T, U Description: Sets the denominator damping for current setpoint filter 4. Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675. p1675 Current setpoint filter 4 numera- 0.5 tor natural frequency 16000.0 1000.0 Hz Float IM T, U Description: Sets the numerator natural frequency for current setpoint filter 4 (general filter). Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675. p1676 Current setpoint filter 4 numera- 0.000 tor damping 10.000 0.010 - Float IM T, U Description: Sets the numerator damping for current setpoint filter 4. Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675. p2000 Reference speed 6.00 210000.00 3000.00 rpm Float IM T Description: Sets the reference quantity for speed and frequency. All speeds or frequencies specified as relative value are referred to this reference quantity. The reference quantity corresponds to 100% or 4000 hex (word) or 40000000 hex (double word). Dependency: Refer to: p2003 p2002 Reference current 0.10 100000.00 100.00 Arms Float IM T Description: Sets the reference quantity for currents. All currents specified as relative value are referred to this reference quantity. The reference quantity corresponds to 100% or 4000 hex (word) or 4000 0000 hex (double word). Notice: If various DDS are used with different motor data, then the reference quantities remain the same as these are not changed over with the DDS. The resulting conversion factor should be taken into account (e.g. for trace records). Example: p2002 = 100 A Reference quantity 100 A corresponds to 100 % SINAMICS V90, SIMOTICS S-1FL6 118 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Unit Data Effec- Can be Setting type tive changed p2003 Reference torque 0.01 20000000.00 1.00 Nm Float IM T Description: Sets the referene quantity for torque. All torques specified as relative value are referred to this reference quantity. The reference quantity corresponds to 100% or 4000 hex (word) or 40000000 hex (double word). p2118[0...1 Message number selection of a 0 65535 [0] 6310 U16 IM T, U 9] type-to-be-changed message [1] 7594 [2] 7566 [3] 32905 [4...19] 0 Description: Selects faults or alarms of whose message type should be changed. Dependency: Selects the fault or alarm and sets the required type of message relized under the same index. Refer to: p2119 Note: Re-parameterization is also possible if a message is present. The change only becomes effective after the message has gone. p2119[0...1 Change the type for a message 1 3 [0] 2 I16 IM T, U 9] [1...3] 3 [4...19] 1 Description: Sets the message type for the selected fault or alarm. Value = 1: Fault (F) Value = 2: Alarm (A) Value = 3: No message (N) p2153 p2161 * p2162 * Dependency: Selects the fault or alarm and sets the required type of message relized under the same index. Refer to: p2118 Note: Re-parameterization is also possible if a message is present. The change only becomes effective after the message has gone. The message type can only be changed for messages with the appropriate identification (exception, value = 0). Example: F12345(A): Fault F12345 can be changed to alarm A12345. Speed actual value filter time 0 1000000 0 ms Float IM T, U constant Description: Sets the time constant of the PT1 element to smooth the speed/velocity actual value. The smoothed actual speed/velocity is compared with the threshold values and is only used for messages and signals. Speed threshold 3 0.00 210000.00 10.00 rpm Float IM T, U Description: Sets the speed threshold value for the signal that indicates the axis is stationary. Hysteresis speed n_act > 0.00 60000.00 0.00 rpm Float IM T, U n_max Description: Sets the hysteresis speed (bandwidth) for the signal "n_act > n_max". Note: For a negative speed limit, the hysteresis is effective below the limit value and for a positive speed limit above the limit value. If significant overshoot occurs in the maximum speed range (for example, due to load shedding), you are advised to increase the dynamic response of the speed controller (if possible). If this is insufficient, the hysteresis p2162 can be increased, but its value must not be greater than the value calculated by the formula below when the motor maximum speed is sufficiently greater than the maximum speed p1082. p2162 1.05 x motor maximum speed - maximum speed (p1082) The range of the parameter is different when connect with different motors. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 119 Parameters 7.2 Parameter list Par. No. Name Min p2175 * Motor blocked speed threshold 0.00 Max Factory Setting Unit Data type Effec- Can be tive changed 210000.00 210000.00 rpm Float IM T, U s Float IM T, U LU U32 IM T Description: Sets the speed threshold for the message "Motor blocked". Dependency: Refer to p2177. p2177 * Motor blocked delay time 0.000 65.000 0.500 Description: Sets the delay time for the message "Motor blocked". Dependency: Refer to p2175. p2525 LR encoder adjustment offset 0 4294967295 0 Description: Position offset when adjusting the absolute encoder. Note: The position offset is only relevant for absolute encoders. The drive determines the value when adjusting the absolute encoder and the user should not change it. p2533 LR position setpoint filter time constant 0.00 1000.00 0.00 ms Float IM T, U Description: Sets the time constant for the position setpoint filter (PT1). Note: The effective Kv factor (position loop gain) is reduced with the filter. This allows a softer control behavior with improved tolerance with respect to noise/disturbances. Applications: - Reduces the pre-control dynamic response. - Jerk limiting. p2542 * LR standstill window 0 2147483647 1000 LU U32 IM T, U Description: Sets the standstill window for the standstill monitoring function. After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint and actual position is located within the standstill window and, if required, an appropriate fault is output. Value = 0: The standstill monitoring is deactivated. Dependency: Refer to: p2543, p2544, and F07450 Note: The following applies for the setting of the standstill and positioning window: Standstill window (p2542) positioning window (p2544) p2543 * LR standstill monitoring time 0.00 100000.00 200.00 ms Float IM T, U Description: Sets the standstill monitoring time for the standstill monitoring function. After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint and actual position is located within the standstill window and, if required, an appropriate fault is output. Dependency: Refer to: p2542, p2545, and F07450 Note: The following applies for the setting of the standstill and positioning monitoring time: Standstill monitoring time (p2543) positioning monitoring time (p2545) p2544 * LR positioning window 0 2147483647 40 LU U32 IM T, U Description: Sets the positioning window for the positioning monitoring function. After the positioning monitoring time expires, it is checked once as to whether the difference between the setpoint and actual position lies within the positioning window and if required an appropriate fault is output. Value = 0: The positioning monitoring function is de-activated. Dependency: Refer to: p2542, p2545, and F07451 Note: The following applies for the setting of the standstill and positioning window: Standstill window (p2542) positioning window (p2544) SINAMICS V90, SIMOTICS S-1FL6 120 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. p2545 * Name Min Max Factory Unit Data Effec- Can be Setting type tive changed LR positioning monitoring time 0.00 100000.00 1000.00 ms Float IM T, U Description: Sets the positioning monitoring time for the positioning monitoring. After the positioning monitoring time expires, it is checked once as to whether the difference between the setpoint and actual position lies within the positioning window and if required an appropriate fault is output. Dependency: The range of p2545 depends on p2543. Refer to: p2543, p2544, and F07451 Note: The following applies for the setting of the standstill and positioning monitoring time: p2546 * Standstill monitoring time (p2543) positioning monitoring time (p2545) LR dynamic following error 0 2147483647 3000 monitoring tolerance LU U32 IM T, U Description: Sets the tolerance for the dynamic following error monitoring. If the dynamic following error (r2563) exceeds the selected tolerance, then an appropriate fault is output. Value = 0: The dynamic following error monitoring is deactivated. Dependency: Refer to: r2563, F07452 p2571 Note: The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly responding due to operational control sequences (e.g. during load surges). IPos maximum velocity 1 40000000 30000 1000 U32 IM T, U LU/min Description: Sets the maximum velocity for the "basic positioner" function (EPOS). Note: The maximum velocity is active in all of the operating modes of the basic positioner. The maximum velocity for the basic positioner should be aligned with the maximum speed/velocity of the speed/velocity controller: p2571[1000 LU/min] = max_speed[rpm] x p29248/p29249 x p29247/1000 p2572 ** EPOS maximum acceleration 1 2000000 100 1000 LU/s U32 IM T IM T Description: Sets the maximum acceleration for the "basic positioner" function (EPOS). Dependency: Refer to: p2619 Note: The maximum acceleration appears to exhibit jumps (without jerk). "Traversing blocks" operating mode: The programmed acceleration override (p2619) acts on the maximum acceleration. "Direct setpoint input/MDI" mode: The acceleration override is effective (p2644, 4000 hex = 100%). "Jog" and "search for reference" modes: p2573 ** No acceleration override is active. The axis starts with the maximum acceleration. EPOS maximum deceleration 1 2000000 100 1000 U32 LU/s Description: Sets the maximum deceleration for the "basic positioner" function (EPOS). Dependency: Refer to: p2620 Note: The maximum deceleration appears to exhibit jumps (without jerk). "Traversing blocks" operating mode: The programmed deceleration override (p2620) acts on the maximum deceleration. "Direct setpoint input/MDI" mode: The deceleration override is effective (p2645, 4000 hex = 100%). "Jog" and "search for reference" modes: No deceleration override is effective. The axis brakes with the maximum deceleration. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 121 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed p2574 ** EPOS jerk limiting 1 100000000 2000000 1000 LU/s3 U32 IM T, U - U32 IM T I32 IM T, U I32 IM T, U U32/ Binary IM T Description: Sets the jerk limiting. Dependency: Refer to p2572, p2573, and p2575 Note: The jerk limiting is internally converted into a jerk time as follows: Jerk time Tr = max(p2572, p2573)/p2574 p2575 EPOS jerk limiting activation 0 1 0 Description: Activates the jerk limiting. 0: The jerk limiting is deactivated. 1: The jerk limiting is activated. Dependency: Refer to p2574 p2580 EPOS software limit switch minus -2147482648 2147482647 -2147482648 LU Description: Sets the software limit switch in the negative direction of travel. Dependency: Refer to p2581, p2582 p2581 EPOS software limit switch plus -2147482648 2147482647 2147482647 LU Description: Sets the software limit switch in the positive direction of travel. Dependency: Refer to p2580, p2582 p2582 EPOS software limit switch activation - - 0 - Description: Sets the signal source to activate the "software limit switch". Dependency: Refer to p2580, p2581 Caution: Software limit switch effective: - Axis is referenced. Software limit switch ineffective: - Modulo correction active. - Search for reference is executed. Notice: Target position for relative positioning outside software limit switch: The traversing block is started and the axis comes to a standstill at the software limit switch. An appropriate alarm is output and the traversing block is interrupted. Traversing blocks with valid position can be activated. Target position for absolute positioning outside software limit switch: In the "traversing blocks" mode, the traversing block is not started and an appropriate fault is output. Axis outside the valid traversing range: If the axis is already outside the valid traversing range, then an appropriate fault is output. The fault can be acknowledged at standstill. Traversing blocks with valid position can be activated. Note: The traversing range can also be limited using STOP cams. p2583 EPOS backlash compensation -200000 200000 0 LU I32 IM T, U Description: Sets the amount of play (backlash) for positive or negative play. = 0: The backlash compensation is deactivated. > 0: Positive backlash (normal case) When the direction is reversed, the encoder actual value leads the actual value. < 0: Negative backlash When the direction is reversed, the actual value leads the encoder actual value. SINAMICS V90, SIMOTICS S-1FL6 122 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed Dependency: If a stationary axis is referenced by setting the reference point, or an adjusted with absolute encoder is powered up, then the setting of p2604 is relevant for entering the compensation value. p2604 = 1: Traveling in the positive direction -> A compensation value is immediately entered. Traveling in the negative direction -> A compensation value is not entered p2604 = 0: Traveling in the positive direction -> A compensation value is not entered Traveling in the negative direction -> A compensation value is immediately entered. When again setting the reference point (a referenced axis) or for "flying referencing", p2604 is not relevant but instead the history of the axis. Refer to: p2604 p2585 EPOS jog 1 setpoint velocity -40000000 40000000 -300 1000 LU I32 /min IM T, U 40000000 300 1000 LU I32 /min IM T, U LU U32 IM T, U LU U32 IM T, U LU I32 IM T, U Description: Sets the setpoint speed for jog 1. Dependency: Refer to: p2587 p2586 EPOS jog 2 setpoint velocity -40000000 Description: Sets the setpoint speed for jog 2. Dependency: Refer to: p2588 p2587 EPOS jog 1 traversing distance 0 2147482647 1000 Description: Sets the traversing distance for incremental jog 1. Dependency: Refer to: p2585 p2588 EPOS jog 2 traversing distance 0 2147482647 1000 Description: Sets the traversing distance for incremental jog 2. Dependency: Refer to: p2586 p2599 EPOS reference point coordinate value -2147482648 2147482647 0 Description: Sets the position value for the reference point coordinate. This value is set as the actual axis position after referencing or adjustment. Dependency: Refer to: p2525 p2600 EPOS search for reference point offset -2147482648 2147482647 0 LU I32 IM T, U - U32/ Binary IM T IM T, U Description: Sets the reference point offset for search for reference. p2604 EPOS search for reference start direction - - 0 Description: Sets the signal sources for the start direction of the search for reference. 1 signal: Start in the negative direction. 0 signal: Start in the positive direction. Dependency: Refer to p2583 p2605 EPOS search for reference approach velocity reference cam 1 40000000 5000 1000 LU U32 /min Description: Sets the approach velocity to the reference cam for the search for reference. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 123 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed Dependency: The search for reference only starts with the approach velocity to the reference cam when there is a reference cam. Refer to: p2604, p2606 Note: When traversing to the reference cam, the velocity override is effective. If, at the start of the search for reference, the axis is already at the reference cam, then the axis immediately starts to traverse to the zero mark. p2606 EPOS search for reference reference cam maximum distance 0 2147482647 2147482647 LU U32 IM T, U Description: Sets the maximum distance after the start of the search for reference when traversing to the reference cam. Dependency: Refer to: p2604, p2605, and F07458 Note: When using a reversing cam, the maximum distance must be set appropriately long. p2608 EPOS search for reference approach velocity zero mark 1 40000000 300 1000 LU U32 /min IM T, U Description: Sets the approach velocity after detecting the reference cam to search for the zero mark for the search for reference. Dependency: If there is no reference cam, the search for reference immediately starts with the axis traversing to the zero mark. Refer to: p2604, p2609 Caution: If the reference cam is not adjusted so that at each search for reference the same zero mark for synchronization is detected, then an "incorrect" axis reference point is obtained. After the reference cam has been left, the search for the zero mark is activated with a time delay due to internal factors. This is the reason that the reference cam should be adjusted in this center between two zero marks and the approach velocity should be adapted to the distance between two zero marks. p2609 Note: The velocity override is not effective when traversing to the zero mark. EPOS search for reference 0 2147482647 20000 LU max. distance ref. cam and zero mark U32 IM T, U Description: Sets the maximum distance after leaving the reference cam when traversing to the zero mark. Dependency: Refer to: p2604, p2608, and F07459 p2611 EPOS search for reference approach velocity reference point 1 40000000 300 1000 LU U32 /min IM T, U Description: Sets the approach velocity after detecting the zero mark to approach the reference point. Dependency: Refer to: p2604, p2609 Note: When traversing to the reference point, the velocity override is not effective. p2617[0...1 EPOS traversing block position -2147482648 2147482647 0 LU 5] Description: Sets the target position for the traversing block. I32 IM T, U Note: The target position is approached in either relative or absolute terms depending on p2623. p2618[0...1 EPOS traversing block velocity 1 40000000 600 1000 LU I32 IM 5] /min T, U Dependency: Refer to: p2618, p2619, p2620, p2621, p2622, p2623 Description: Sets the velocity for the traversing block. Dependency: Refer to: p2617, p2619, p2620, p2621, p2622, p2623 Note: The velocity can be influenced using the velocity override. SINAMICS V90, SIMOTICS S-1FL6 124 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting 100.0 Unit p2619[0...1 EPOS traversing block acceler- 1.0 100.0 % 5] ation override Description: Sets the acceleration override for the traversing block. The override refers to the maximum acceleration (p2572). Dependency: Refer to: p2572, p2617, p2618, p2620, p2621, p2622, p2623 p2620[0...1 EPOS traversing deceleration 1.0 100.0 100.0 % 5] override Description: Sets the deceleration override for the traversing block. The override refers to the maximum deceleration (p2573). Dependency: Refer to: p2573, p2617, p2618, p2619, p2621, p2622, p2623 p2621[0...1 EPOS traversing block task 1 9 1 % 5] Description: Sets the required task for the traversing block. Data type Float Effec- Can be tive changed IM T, U Float IM T, U - IM T, U I32 IM T, U 1: POSITIONING 2: FIXED STOP 3: ENDLESS_POS 4: ENDLESS_NEG 5: WAIT 6: GOTO 7: SET_O 8: RESET_O 9: JERK Dependency: Refer to: p2617, p2618, p2619, p2620, p2622, p2623 p2622[0...1 EPOS traversing block task -2147483648 2147483647 0 5] parameter - Description: Sets additional information/data of the appropriate task for the traversing block. Dependency: Refer to: p2617, p2618, p2619, p2620, p2621, p2623 Note: The following should be set depending on the task: FIXED STOP: Clamping torque and clamping force (rotary 0...65536 [0.01 Nm], linear 0...65536 [N]) WAIT: Delay time [ms] GOTO: Block number SET_O: 1, 2 or 3 - set direct output 1, 2 or 3 (both) RESET_O: 1, 2 or 3 - reset direct output 1, 2 or 3 (both) JERK: 0 - deactivate, 1 - activate p2623[0...1 EPOS traversing block task 0 65535 0 U16 IM 5] mode Description: Sets the influence of the task for the traversing block. Value = 0000 cccc bbbb aaaa cccc: Positioning mode cccc = 0000: ABSOLUTE cccc = 0001: RELATIVE cccc = 0010: ABS_POS (only for a rotary axis with modulo correction) cccc = 0011: ABS_NEG (only for a rotary axis with modulo correction) bbbb: Progression condition bbbb = 0000: END bbbb = 0001: CONTINUE WITH STOP bbbb = 0010: CONTINUE FLYING T, U SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 125 Parameters 7.2 Parameter list Par. No. Name Min Max bbbb = 0011: CONTINUE EXTERNAL bbbb = 0100: CONTINUE EXTERNAL WAIT bbbb = 0101: CONTINUE EXTERNAL ALARM aaaa: IDs aaaa = 000x: show/hide block (x = 0: show; x = 1: hide) Factory Setting Unit Data type Effec- Can be tive changed LU U32 IM Dependency: Refer to: p2617, p2618, p2619, p2620, p2621, p2622 p2634 EPOS fixed stop maximum following error 0 2147482647 1000 T, U Description: Sets the following error to detect the "fixed stop reached" state. Dependency: Refer to: p2621 Note: The state "fixed stop reached" is detected if the following error exceeds the theoretically calculated following error value by p2634. p2635 EPOS fixed stop monitoring window 0 2147482647 100 LU U32 IM T, U Description: Sets the monitoring window of the actual position after the fixed stop is reached. Dependency: Refer to: F07484 Note: If, after the fixed stop is reached, the end stop shifts in either the positive or negative direction by more than the value set here, an appropriate message is output. p2690 MDI position fixed setpoint p2691 Description: Sets a fixed setpoint for the position. MDI velocity fixed setpoint 1 40000000 p2692 -2147482648 2147482647 0 Description: Sets a fixed setpoint for the speed. MDI acceleration override, fixed 0.100 100.000 setpoint - I32 IM T, U 600 1000 LU U32 /min IM T, U 100.000 % Float IM T, U % Float IM T, U - U16 IM T IM T, U Description: Sets a fixed setpoint for the acceleration override. Dependency: Refer to: p2572 Note: The percentage value refers to the maximum acceleration (p2572). p2693 MDI deceleration override, fixed 0.100 setpoint 100.000 100.000 Description: Sets a fixed setpoint for the deceleration override. Dependency: Refer to: p2572 Note: The percentage value refers to the maximum deceleration (p2573). p8864 PROFIdrive supplementary telegram selection 750 999 999 Description: Sets the supplementary telegram. p8864 = 750: Supplementary telegram 750, PZD-3/1 p8864 = 999: No telegram Note: After changing p0922, you must set p8864 again. p8920[0...2 PROFIdrive: Name of station U8 39] Description: Sets the station name for the onboard PROFINET interface on the Control Unit. The active station name is displayed in r8930. Note: The interface configuration (p8920 and following) is activated with p8925. The parameter is not influenced by setting the factory setting. SINAMICS V90, SIMOTICS S-1FL6 126 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting 0 Unit Data type U8 Effec- Can be tive changed IM T, U p8921[0...3] PROFIdrive: IP address of 0 255 station Description: Sets the IP address for the onboard PROFINET interface on the Control Unit. The active IP address is displyed in r8931. Note: The interface configuration (p8920 and following) is activated with p8925. The parameter is not influenced by setting the factory setting. p8922[0...3] PROFIdrive: Default gateway of 0 255 0 U8 IM station Description: Sets the default gateway for the onboard PROFINET interface on the Control Unit. The active default gateway is displayed in r8932. Note: The interface configuration (p8920 and following) is activated with p8925. The parameter is not influenced by setting the factory setting. p8923[0...3] PROFIdrive: Subnet mask of 0 255 0 U8 IM station p8925 T, U T, U Description: Sets the subnet mask for the onboard PROFINET interface on the Control Unit. The active subnet mask is displayed in r8933. Note: The interface configuration (p8920 and following) is activated with p8925. The parameter is not influenced by setting the factory setting. PROFIdrive: Interface configu- 0 3 0 U8 IM T, U ration Description: Setting to activate the interface configuration for the onboard PROFINET interface on the Control Unit. p8925 is automatically set to 0 at the end of the operation. p8925 = 0: No function p8925 = 2: Save and activate configuration p29000 * p29001 The interface configuration (p8920 and following) is saved and activated after the next POWER ON. Motor ID 0 65535 0 U16 IM T Description: Motor type number is printed on the motor rating plate as motor ID. For a motor with an incremental encoder, users need to manually input the parameter value. For a motor with an absolute encoder, the drive automatically reads the parameter value. Reversal of motor direction 0 1 0 I16 IM T Description: Reversal of motor running direction. By default, CW is the positive direction while CCW the negative direction. After changing of p29001, reference point will lost, A7461 will remind user to referencing again. 0: No reversal p29002 p29003 1: Reverse BOP display selection 0 4 Description: Selection of BOP operating display. 0: Actual speed (default) 1: DC voltage 2: Actual torque 3: Actual position 4: Position following error Control mode 1 Description: Selection of control mode. 2 0 - I16 IM T, U 2 - I16 IM T 1: Basic positioner control mode (EPOS) 2: Speed control mode (S) SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 127 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed p29005 Braking resistor capacity percentage alarm threshold 1 100 100 % Float IM T U16 IM T Description: Alarm triggering threshold for the capacity of the internal braking resistor. Alarm number: A52901 p29006 Line supply voltage 200 480 400/230 V Description: Nominal Line supply voltage, effective value of line to line voltage. Drive can operate within -15% to +10% error. For 400 V variant servo drive, the value range is 380 V to 480 V, default value is 400 V. For 200 V variant servo drive, the value range is 200 V to 240 V, default value is 230 V. p29020[0... Tuning: Dynamic factor 1 35 18 U16 1] Description: The dynamic factor of auto tuning. 35 dynamic factors in total are available. Index: IM T, U [0]: Dynamic factor for one-button auto tuning [1]: Dynamic factor for real-time auto tuning p29021 Tuning: Mode selection 0 Description: Selection of a tuning mode. 5 0 - I16 IM T 10000.00 1.00 - Float IM T, U - U16 IM T 0: Disabled 1: One-button auto tuning 3: Real-time auto tuning 5: Disable with default controller parameters p29022 Tuning: Ratio of total inertia moment to motor inertia moment 1.00 Description: Ratio of total inertia moment to servo motor inertia moment. p29023 Tuning: One-button auto tuning configuration - 0x0007 Description: One-button auto tuning configuration. Bit 0: The speed controller gain is determined and set using a noise signal. Bit 1: Possible required current setpoint filters are determined and set using a noise signal. As a consequence, a higher dynamic performance can be achieved in the speed control loop. Bit 2: The inertia moment ratio (p29022) can be measured after this function is running. If not set, the inertia moment ratio must be set manually with p29022. Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is necessary for interpolating axes. The time in p29028 should be set according to the axis with the lowest dynamic response. p29024 Tuning: Real-time auto tuning configuration - - 0x004c - U16 IM T Description: Real-time auto tuning configuration. Bit 2: The inertia moment ratio (p29022) is estimated while the motor is running, if not set, the inertia moment ratio must be set manually with p29022. Bit 3: If not set, the inertia moment ratio (p29022) is estimated only once and the inertia estimator is deactivated automatically after the estimation is completed. If the bit is set to 1, the inertia moment ratio is estimated in real time and the controller adapts the parameters continuously. You are recommended to save the parameters when the estimation result is satisfied. After that, when you power on the drive next time, the controller will be started with the optimized parameters. SINAMICS V90, SIMOTICS S-1FL6 128 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed Bit 6: The adaption of current setpoint filter. This adaption may be necessary if a mechanical resonance frequency changes in operation. It can also be used to dampen a fixed resonance frequency. Once the control loop has stabilized, this bit should be deactivated and to save parameters in a non-volatile memory. Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is necessary for interpolating axes. The time in p29028 should be set according to the axis with the lowest dynamic response. p29025 Tuning: Configuration overall - - 0x0004 - U16 IM T Description: Overall configuration of auto tuning, apply for both one-button and real-time auto tuning. Bit 0: For significant differences between the motor and load moment of inertia, or for low dynamic performance of the controller, then the P controller becomes a PD controller in the position control loop. As a consequence, the dynamic performance of the position controller is increased. This function should only be set when the speed pre-control (bit 3 = 1) or the torque pre-control (bit 4 = 1) is active. Bit 1: At low speeds, the controller gain factors are automatically reduced in order to avoid noise and oscillation at standstill. This setting is recommended for incremental encoders. Bit 2: The estimated load moment of inertia is taken into account for the speed controller gain. Bit 3: Activates the speed pre-control for the position controller. Bit 4: Activates the torque pre-control for the position controller. Bit 5: Adapts acceleration limit. Note: Speed pre-control The bit 3 of the p29025 will be set to 1 automatically after the factory default. You can set the bit 3 of p29025 manually in all control modes. Torque pre-control The bit 4 of p29025 will be set to 1 automatically if the following conditions are fulfilled simultaneously: Working with the 200 V drives Working in S control mode (p29003 = 2). The bit 4 of p29025 will not be set to 1 automatically if either of the following conditions is fulfilled: Working with the 400 V drives Working in all control modes except for the S controm mode (p29003 2). You can set the bit 4 of p29025 manually in all control modes. p29026 Tuning: Test signal duration 0 5000 2000 ms U32 IM T U32 IM T Description: The duration time of the one-button auto tuning test signal. p29027 Tuning: Limit rotation of motor 0 30000 0 Description: The limit position with motor rotations during one-button auto tuning. The traversing range is limited within +/- p29027 degrees (motor run one revolution is 360 degree). p29028 Tuning: Pre-control time constant 0.0 60.0 7.5 ms Float IM T, U Description: Sets the time constant for the pre-control symmetrization for auto tuning. As a consequence, the drive is allocated a defined, dynamic response via its pre-control. For drives, which must interpolate with one another, the same value must be entered. The higher this time constant is, the smoother the drive will follow the position set point. Note: This time constant is only effective when multi-axis interpolation is selected (bit 7 of p29023 and p29024). SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 129 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed p29035 VIBSUP activation 0 1 0 - I16 IM T % Float IM T, U Description: Select the VIBSUP ON/OFF. Position setpoint filter can be activated (p29035) for EPOS control mode. 0: Disable Filter is not activated. 1: Enable Filter is activated. p29050[0... Torque limit upper -150 1] Description: Positive torque limit. 300 300 Two internal torque limits in total are available. You can select the internal parameters as the source of the torque limit with the digital input signals TLIM. p29051[0... Torque limit lower -300 1] Description: Negative torque limit. 150 -300 % Float IM T, U Two internal torque limits in total are available. You can select the internal parameters as the source of the torque limit with the digital input signals TLIM. p29070[0... Speed limit positive 0 1] * Description: Positive speed limit. 210000 210000 rpm Float IM T, U Two internal speed limits in total are available. You can select the internal parameters as the source of the speed limit with the digital input signals SLIM. p29071[0... Speed limit negative -210000 1] * Description: Negative speed limit. 0 -210000 rpm Float IM T, U Two internal speed limits in total are available. You can select the internal parameters as the source of the speed limit with the digital input signals SLIM. p29080 Overload threshold for output signal triggering p29108 Function module activate 10 300 100 % Float IM T 0 - U32 RE T Description: Overload threshold for the output power. 0 0xffffffff Description: Bit 0: activate extended setpoint channel including ramp-function generator (RFG), speed limit (SLIM), and JOG. Bit 0 = 0: Deactivate Bit 0 = 1: Activate Note: Changes only become effective after save and repower-on. Currently, you can set bit 0 only. p29110 ** Position loop gain 0.000 300.000 1.800 1000/mi Float n IM T, U Description: Position loop gain. Two position loop gains in total are available. You can switch between these two gains by configuring the digital input signal G-CHANGE or setting relevant condition parameters. The first position loop gain is the default setting. Dependency: The parameter value will be set to default after configuring a new motor ID (p29000). p29111 Speed pre-control factor (feed 0.00 200.00 0.00 forward) Description: Setting to activate and weight the speed pre-control value. Value = 0%: The pre-control is deactivated. % Float IM T, U SINAMICS V90, SIMOTICS S-1FL6 130 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type p29120** Speed loop gain 0.00 999999.00 Motor dependent Nms/rad Float Effec- Can be tive changed IM T, U Description: Speed loop gain. Dependency: The parameter value will be set to default after configuring a new motor ID (p29000). p29121* Speed loop integral time 0.00 100000.00 15 ms Float IM T, U Description: Speed loop integral time. Dependency: The parameter value will be set to default after configuring a new motor ID (p29000). p29150 User defined PZD receive 0 2 0 Description: Select the function of control PZD12 when using telegram 111. I16 IM T - I16 IM T - I16 IM T 0: No function 1: Additional torque setpoint 2: Additional speed setpoint p29151 User defined PZD send 0 3 0 Description: Select the function of status PZD12 when using telegram 111. 0: No function 1: Actual torque 2: Actual absolute current 3: DI status p29230 MDI direction selection 0 Description: MDI direction selection: 2 0 0: Absolute positioning through the shortest distance 1: Absolute positioning in the positive direction 2: Absolute positioning in the negative direction Dependency: This parameter is only valid for modulo axis (p29245 = 1). p29231 MDI positioning type 0 1 0 - I16 IM T 2 1 - I16 IM T Description: MDI positioning type: 0: Relative positioning 1: Absolute positioning p29240 Select referencing mode 0 Description: Selects referencing mode. 0: Referencing with external signal REF 1: Referencing with external reference cam (signal REF) and encoder zero mark 2: Referencing with zero mark only p29243 Positioning tracking activate 0 Description: Activation of position tracking. 1 0 - I16 IM T 4096 0 - U32 IM T 0: Deactivated 1: Activated p29244 Absolute encoder virtual rotary revolutions 0 Description: Sets the number of rotations that can be resolved for an encoder with activated position tracking function (p29243 = 1). SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 131 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed p29245 Axis mode state 0 1 0 - U32 IM T - U32 IM T 2147483647 10000 - U32 IM T 1048576 1 - U32 IM T 1048576 1 - U32 IM T 29 2 - I16 IM T 11 - I16 IM T 0 - I16 IM T 0 - I16 IM T 2 - I16 IM T Description: Linear/modulo mode: 0: Linear axis 1: Modulo axis p29246 * Modulo correction range 1 2147482647 360000 Description: Modulo number, effective on modulo mode (P29245=1) p29247 * Mechanical gear: LU per revolution 1 Description: LU per load revolution. p29248 * Mechanical gear: Numerator 1 Description: (Load/Motor) Load revolutions. p29249 * Mechanical gear: Denominator 1 Description: (Load/Motor) Motor revolutions. p29301 Digital input 1 assignment 0 Description: Defines the function of digital input signal DI1 0: NA 2: RESET 3: CWL 4: CCWL 11: TLIM 20: SLIM 24: REF 29: EMGS p29302 Digital input 2 assignment 0 29 Description: Defines the function of digital input signal DI2 p29303 Digital input 3 assignment 0 29 Description: Defines the function of digital input signal DI3 p29304 Digital input 4 assignment 0 29 Description: Defines the function of digital input signal DI4 p29330 Digital output 1 assignment 1 15 Description: Defines the function of digital output signal DO1 1: RDY 2: FAULT 3: INP 4: ZSP 6: TLR 8: MBR 9: OLL 12: REFOK 14: RDY_ON 15: STO_EP SINAMICS V90, SIMOTICS S-1FL6 132 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Min Max Factory Setting Unit Data type Effec- Can be tive changed p29331 Digital output 2 assignment 1 15 9 - I16 IM T 1 - I16 IM T, U - U8 IM T Description: Defines the function of digital output signal DO2 p29360 Brake resistor alarm active 0 1 Description: Configure the deactivation of the brake resistor alarm. 0: A52901 monitor is activated. 1: A52901 monitor is deactivated. p29418 Fine resolution G1_XIST1 (in bits) 2 18 11 Description: Sets the fine resolution in bits of the incremental position actual values G1_XIST1. Note: The fine resolution specifies the fraction between two encoder pluses. The number of pulses for one encoder revolution is 2048, so the effective resolution is 2048 x 2p29418. The deafult value is automatically adjusted with the encoder type. p29419 Fine resolution G1_XIST2 (in bits) 2 18 9 - U8 IM T Description: Sets the fine resolution in bits of the absolute position actual values G1_XIST2. Note: The fine resolution specifies the fraction between two encoder pluses. The number of pulses for one encoder revolution is 2048, so the effective resolution is 2048 x 2p29419. The deafult value is automatically adjusted with the encoder type. p31581 VIBSUP filter type 0 1 0 - I16 IM T Description: Sets the filter type for VIBSUP. Depending on the selected filter type, the VIBSUP filter results in motion sequences that take somewhat longer. 0: The rugged VIBSUP filter has a lower sensitivity to frequency offsets compared with the sensitive filter type, but results in a higher delay of the motion sequence. The total motion sequence is extended by the time period Td (Td = 1/fd). 1: The sensitive VIBSUP filter has a higher sensitivity to frequency offsets compared with the rugged filter type, but results in a lower delay of the motion sequence. The total motion sequence is extended by half the time period Td/2 (Td = 1/fd). p31585 VIBSUP filter frequency 0.5 62.5 1 Hz Float IM T Description: Sets the frequency of the damped natural vibration of the mechanical system. This frequency can be determined by making the appropriate measurements. Note: The maximum frequency that can be set depends on the filter sampling time. p31586 VIBSUP filter damping 0 0.99 0.03 - Float IM T Description: Sets the value for the damping of the natural mechanical vibration to be filtered. Typically, the damping value is about 0.03, and can be optimized by performing the appropriate positioning tests. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 133 Parameters 7.2 Parameter list Read-only parameters Par. No. Name Unit Data type r0020 Speed setpoint smoothed rpm Float Description: Displays the currently smoothed speed setpoint at the input of the speed controller or U/f characteristic (after the interpolator). Note: Smoothing time constant = 100 ms The signal is not suitable as a process quantity and may only be used as a display quantity. The speed setpoint is available smoothed (r0020) and unsmoothed. r0021 Actual speed smoothed rpm Float Description: Displays the smoothed actual value of the motor speed. Note: Smoothing time constant = 100 ms The signal is not suitable as a process quantity and may only be used as a display quantity. The speed actual value is available smoothed (r0021) and unsmoothed. r0026 DC link voltage smoothed V Float Description: Displays the smoothed actual value of the DC link voltage. Note: Smoothing time constant = 100 ms The signal is not suitable as a process quantity and may only be used as a display quantity. The DC link voltage is available smoothed. r0027 Absolute actual current smoothed Arms Float Description: Displays the smoothed absolute actual current value. Notice: This smoothed signal is not suitable for diagnostics or evaluation of dynamic operations. In this case, the unsmoothed value should be used. Note: Smoothing time constant = 100 ms The signal is not suitable as a process quantity and may only be used as a display quantity. The absolute current actual value is available smoothed (r0027) and unsmoothed. r0029 Current actual value field-generating smoothed Arms Float Description: Displays the smoothed field-generating actual current. Note: Smoothing time constant = 100 ms The signal is not suitable as a process quantity and may only be used as a display quantity. The field-generating current actual value is available smoothed (r0029) and unsmoothed. r0030 Current actual value torque-generating smoothed Arms Float Description: Displays the smoothed torque-generating actual current. Note: Smoothing time constant = 100 ms The signal is not suitable as a process quantity and may only be used as a display quantity. The torque-generating current actual value is available smoothed. r0031 Actual torque smoothed Nm Float Description: Displays the smoothed torque actual value. Note: Smoothing time constant = 100 ms The signal is not suitable as a process quantity and may only be used as a display quantity. The torque actual value is available smoothed (r0031) and unsmoothed. r0034 Motor utilization thermal % Description: Displays the motor utilization from motor temperature model 1 (I2t) Float or 3. SINAMICS V90, SIMOTICS S-1FL6 134 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name r0037[0...1 Power unit temperatures 9] Description: Displays the temperatures in the power unit. Index: * Unit C Data type Float [0]: Inverter maximum value * [1]: Depletion layer maximum value * [2]: Rectifier maximum value * [3]: Air intake * [4]: Interior of power unit * [5]: Inverter 1 * [6]: Inverter 2 * [7]: Inverter 3 * [8]: Inverter 4 * [9]: Inverter 5 * [10]: Inverter 6 * [11]: Rectifier 1 * [12]: Rectifier 2 * [13]: Depletion layer 1 * [14]: Depletion layer 2 * [15]: Depletion layer 3 * [16]: Depletion layer 4 * [17]: Depletion layer 5 * [18]: Depletion layer 6 * [19]: Cooling unit liquid intake Dependency: Refer to A01009 Notice: Only for internal Siemens troubleshooting. Note: The value of -200 indicates that there is no measuring signal. * r0037[0]: Maximum value of the inverter temperatures (r0037[5...10]). * r0037[1]: Maximum value of the depletion layer temperatures (r0037[13...18]). * r0037[2]: Maximum value of the rectifier temperatures (r0037[11...12]). The maximum value is the temperature of the hottest inverter, depletion layer, or rectifier. r0079[0...1 Torque setpoint total Nm Float ] Description: Displays and connector output for the torque setpoint at the output of the speed controller (before clock cycle interpolation). Index: r0296 r0297 * [0]: Unsmoothed * [1]: Smoothed DC link voltage undervoltage threshold V U16 Description: Threshold to detect a DC link undervoltage. If the DC link voltage falls below this threshold, the drive unit is tripped due to a DC link undervoltage condition. Note: The value depends on the device type and the selected device rated voltage. DC link voltage overvoltage threshold V U16 Description: If the DC link voltage exceeds the threshold specified here, the drive unit is tripped due to DC link overvoltage. Dependency: Refer to F30002. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 135 Parameters 7.2 Parameter list Par. No. Name Unit Data type r0311 Rated motor speed rpm Float Nm Float - U32 Description: Displays the rated motor speed (rating plate). r0333 Rated motor torque Description: Displays the rated motor torque. IEC drive: unit Nm NEMA drive: unit lbf ft r0482[0...2 Encoder actual position value Gn_XIST1 ] Description: Displays the encoder actual position value Gn_XIST1. Index: * [0]: Encoder 1 * [1]: Encoder 2 * [2]: Reserved Note: r0632 * In this value, the measuring gear is only taken into account when the position tracking is activated. * The update time for the position control (EPOS) corresponds to the position controller clock cycle. * The update time in isochronous operation corresponds to the bus cycle time. * The update time in isochronous operation and with position control (EPOS) corresponds to the position controller clock cycle. * The update time in non-isochronous operation or without position control (EPOS) comprises the following: - Update time = 4 * least common multiple (LCM) of all current controller clock cycles in the drive group (infeed + drives). The minimum update time is 1 ms. - Example 1: infeed, servo Update time = 4 * LCM(250 s, 125 s) = 4 * 250 s = 1 ms - Example 2: infeed, servo, vector Update time = 4 * LCM(250 s, 125 s, 500 s) = 4 * 500 s = 2 ms Motor temperature model, stator winding temperature C Float Description: Displays the stator winding temperature of the motor temperature model. r0722 CU digital inputs status - U32 Description: Displays the status of the digital inputs. Note: DI: Digital Input DI/DO: Bidirectional Digital Input/Output The drive unit displays the value in hex format. You can convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin). r0747 CU digital outputs status U32 Description: Displays the status of digital outputs. Note: DI/DO: Bidirectional Digital Input/Output The drive unit displays the value in hex format. You can convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin). r0930 PROFIdrive operating mode - U16 Description: Displays the operating mode. * 1: Closed-loop speed controlled operation with ramp-function generator * 2: Closed-loop position controlled operation * 3: Closed-loop speed controlled operation without ramp-function generator SINAMICS V90, SIMOTICS S-1FL6 136 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Unit Data type r0945[0...6 Fault code U16 3] Description: Displays the number of faults that have occurred. Dependency: Refer to r0949 Note: The buffer parameters are cyclically updated in the background. Fault buffer structure (general principle): r0945[0], r0949[0] actual fault case, fault 1 ... r0945[7], r0949[7] actual fault case, fault 8 r0945[8], r0949[8] 1st acknowledged fault case, fault 1 ... r0945[15], r0949[15] 1st acknowledged fault case, fault 8 ... r0945[56], r0949[56] 7th acknowledged fault case, fault 1 ... r0945[63], r0949[63] 7th acknowledged fault case, fault 8 r0949[0...6 Fault value I32 3] Description: Displays additional information about the fault that occurred (as integer number). Dependency: Refer to r0945 Note: The buffer parameters are cyclically updated in the background. The structure of the fault buffer and the assignment of the indices is shown in r0945. r0964[0...6 Device identification U16 ] Description: Displays the device identification. Index: r0965 * [0]: Company (Siemens = 42) * [1]: Device type * [2]: Firmware version * [3]: Firmware data (year) * [4]: Firmware data (day/month) * [5]: Number of drive objects * [6]: Firmware patch/hot fix Note: Example: r0964[0] = 42 SIEMENS r0964[1] = Device type r0964[2] = 403 First part of the firmware version V04.03 (for second part, refer to index 6) r0964[3] = 2010 Year 2010 r0964[4] = 1705 17th of May r0964[5] = 2 2 drive objects r0964[6] = 200 Secnod part, firmware version (complete version: V04.03.02.00) PROFIdrive profile number U16 Description: Displays the PROFIdrive profile and profile version. Constant value = 0329 hex Byte 1: Profile number = 03 hex = PROFIdrive profile Byte 2: Profile version = 29 hex = Version 4.1 Note: When the parameter is read via PROFIdrive, the Octet String 2 data type applies. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 137 Parameters 7.2 Parameter list Par. No. Name r0975[0...1 Drive object identification 0] Description: Displays the identification of the drive object. Unit Data type - U16 Index: * [0]: Company (Siemens = 42) * [1]: Drive object type * [2]: Firmware version * [3]: Firmware data (year) * [4]: Firmware data (day/month) * [5]: PROFIdrive drive object type class * [6]: PROFIdrive drive object sub-type class 1 * [7]: Drive object number * [8]: Reserved * [9]: Reserved * [10]: Firmware patch/hot fix Note: Example: r0975[0] = 42 SIEMENS r0975[1] = SERVO drive object type r0975[2] = 102 First part of the firmware version V01.02 (for second part, refer to index 10) r0975[3] = 2003 Year 2003 r0975[4] = 1401 14th of January r0975[5] = 1 PROFIdrive drive object, type clase r0975[6] = 9 PROFIdrive drive object sub-type class 1 r0975[7] = 2 Drive object number = 2 r0975[8] = 0 (Reserved) r0975[9] = 0 (Reserved) r0975[10] = 600 Sencod part, firmware version (complete version: V01.02.06.00) r0979[0...3 PROFIdrive encoder format 0] Description: Displays the actual position encoder used according to PROFIdrive. U32 Index: * [0]: Header * [1]: Type encoder 1 * [2]: Resolution encoder 1 * [3]: Shift factor G1_XIST1 * [4]: Shift factor G1_XIST2 * [5]: Distinguishable revolutions encoder 1 * [6]...[30]: Reserved Note: Information about the individual indices can be taken from the following literature: PROFIdrive Profile Drive Technology SINAMICS V90, SIMOTICS S-1FL6 138 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name r2043.0...2 PROFIdrive: PZD state Unit Data type - U8 Description: Displays the PROFIdrive PZD state. Bit 0: Setpoint failure * Value = 1: Yes * Vaule = 0: No Bit 1: Clock cycle synchronous operation active * Vaule = 1: Yes * Vaule = 0: No Bit 2: Fieldbus operation * Value = 1: Yes * Vaule = 0: No Note: When using the "setpoint failure" signal, the bus can be monitored and an application-specific response triggered when the setpoint fails. r2050[0...1 PROFIdrive: PZD receive word I16 9] Description: Displays the PZD (setpoints) with word format received from the fieldbus controller. Dependency: Refer to r2060. Index: Index 0 to index 19 stand for PZD1 to PZD20 correspondingly. r2053[0...2 PROFIdrive: Diagnostics PZD send word U16 7] Description: Displays the PZD (actual values) with word format send to the fieldbus controller. Index: Index 0 to index 27 stand for PZD1 to PZD28 correspondingly. Bit field: For each PZD, it has 16 bits from bit 0 to bit 15. For the control words, if the bit value equals to 0, the function of the bit is OFF; if the bit vaule equals to 1, the function of the bit is ON. r2060[0...1 PROFIdrive: PZD receive double word I32 8] Description: Displays the PZD (setpoints) with double word format received from the fieldbus controller. Dependency: Refer to r2050. Index: Index [n] = PZD[n +1] + n + 2 In the formula, n = 0...18. Notice: A maximum of 4 indices of the "trace" function can be used. r2063[0...2 PROFIdrive: Diagnostics PZD send double word U32 6] Description: Displays the PZD (actual values) with double word format send to the fieldbus controller. Index: Index [n] = PZD[n +1] + n + 2 In the formula, n = 0...26. Bit field: For each PZD, it has 32 bits from bit 0 to bit 31. For the control words, if the bit value equals to 0, the function of the bit is OFF; if the bit vaule equals to 1, the function of the bit is ON. Notice: A maximum of 4 indices of the "trace" function can be used. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 139 Parameters 7.2 Parameter list Par. No. Name Unit Data type r2090.0...1 PROFIdrive: PZD1 receive bit-serial U16 5 Description: Bit-serial description of PZD1 (normally control word 1) received from the PROFIdrive controller. If the value of the bit equals to 0, it means the function of this bit is deactivated. If the value of the bit equals to 1, it means the function of this bit is activated. r2091 PROFIdrive: PZD2 receive bit-serial - U16 Description: Binector output for bit-serial interconnection of PZD2 received from the PROFIdrive controller. r2092 PROFIdrive: PZD3 receive bit-serial - U16 Description: Binector output for bit-serial interconnection of PZD3 received from the PROFIdrive controller. r2093.0...1 PROFIdrive: PZD4 receive bit-serial U16 5 Description: Bit-serial description of PZD4 (normally control word 2) received from the PROFIdrive controller. If the value of the bit equals to 0, it means the function of this bit is deactivated. If the value of the bit equals to 1, it means the function of this bit is activated. r2094 PROFIdrive: MDI_MOD receive bit-serial for telegram 9 - U16 Description: Binector output for bit-serial onward interconnection of a PZD word received from the PROFIdrive controller. r2122[0...6 Alarm code 3] Description: Displays the number of faults that have occurred. - U16 Dependency: Refer to r2124 Note: The buffer parameters are cyclically updated in the background. Alarm buffer structure (general principle): r2122[0], r2124[0] alarm 1 (the oldest) ... r2122[7], r2124[7] alarm 8 (the latest) When the alarm buffer is full, the alarms that have gone are entered into the alarm history: r2122[8], r2124[8] alarm 1 (the latest) ... r2122[63], r2124[63] alarm 1 (the oldest) r2124[0...6 Alarm value 3] Description: Displays additional information about the active alarm (as integer number). I32 Dependency: Refer to r2122 Note: The buffer parameters are cyclically updated in the background. The structure of the alarm buffer and the assignment of the indices is shown in r2122. r2521[0...3 LR position actual value LU I32 ] Description: Display and connector output for the actual position actual value determined by the position actual value preprocessing. Index: * [0]: Cl-loop position control * [1]: Encoder 1 * [2]: Encoder 2 * [3]: Reserved SINAMICS V90, SIMOTICS S-1FL6 140 Getting Started, 12/2018, A5E37208904-006 Parameters 7.2 Parameter list Par. No. Name Unit Data type r2556 LR position setpoint after setpoint smoothing LU I32 Description: Display and connector output for the position setpoint after setpoint smoothing. r2563 LR following error dynamic model LU I32 Description: Display and connector output for the dynamic following error. This value is the deviation, corrected by the velocity-dependent component, between the position setpoint and the position actual value. r2665 EPOS position setpoint LU I32 - U16 Description: Displays the actual absolute position setpoint. r8909 PROFIdrive: Device ID Description: Displays the PROFINET device ID. Every SINAMICS device type has its own PROFINET device ID and its own PROFINET GSD. r8930[0...2 PROFIdrive: Active name of station U8 39] Description: Displays the active station name for the onboard PROFINET interface on the Control Unit. r8931[0...3 PROFIdrive: Active IP address of station U8 ] Description: Displays the active IP address for the onboard PROFINET interface on the Control Unit. r8932[0...3 PROFIdrive: Active default gateway of station U8 ] Description: Displays the active default gateway for the onboard PROFINET interface on the Control Unit. r8933[0...3 PROFIdrive: Active subnet mask of station U8 ] Description: Displays the active subnet mask for the onboard PROFINET interface on the Control Unit. r8935 PROFIdrive: MAC address of station - U8 Description: Displays the MAC address for the onboard PROFINET interface on the Control Unit. r8939 PROFIdrive: Device access point (DAP) ID - U32 Description: Displays the PROFINET device access point ID for the onboard PROFINET interface. The combination of device ID (r8909) and DAP ID uniquely identifies a PROFINET access point. r29018[0... OA version 1] Description: Displays the OA version. - Float - U32 Index: r29400 * [0]: Firmware version * [1]: Build increment number Internal control signal status indicating Description: Control signal status identifiers The bits of the parameter are reseved except the following ones: * Bit 1: RESET * Bit 2: CWL * Bit 3: CCWL * Bit 10: TLIM * Bit 19: SLIM * Bit 23: REF * Bit 28: EMGS SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 141 Parameters 7.2 Parameter list Par. No. Name Unit Data type r29942 DO signals status indicating - U32 Description: Indicates the status of DO signals. * Bit 0: RDY * Bit 1: FAULT * Bit 2: Reserved * Bit 3: ZSP * Bit 4: Reserved * Bit 5: TLR * Bit 6: Reserved * Bit 7: MBR * Bit 8: OLL * Bit 9: Reserved * Bit 10: Reserved * Bit 11: Reserved * Bit 12: Reserved * Bit 13: RDY_ON * Bit 14: STO_EP SINAMICS V90, SIMOTICS S-1FL6 142 Getting Started, 12/2018, A5E37208904-006 8 Diagnostics 8.1 Overview General information about faults and alarms The errors and states detected by the individual components of the drive system are indicated by messages. The messages are categorized into faults and alarms. Properties of faults and alarms Faults - Are identified by Fxxxxx. - Can lead to a fault reaction. - Must be acknowledged once the cause has been remedied. - Status via control unit and LED RDY. - Status via PROFINET status word ZSW1.3. - Entry in the fault buffer. Alarms - Are identified by Axxxxx. - Have no further effect on the drive. - The alarms are automatically reset once the cause has been remedied. No acknowledgement is required. - Status via Control Unit and LED RDY. - Status via PROFINET status word ZSW1.7. - Entry in the alarm buffer. General properties of faults and alarms - Triggering on selected messages possible. - Contain the component number for identifying the affected SINAMICS component. - Contain diagnostic information on the relevant message. SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 143 Diagnostics 8.1 Overview Differences between faults and alarms Type Fault BOP display (example) Single fault The first fault in the case of multiple faults Status indicator RDY COM Slow flashing in red - Non-first fault in the case of multiple faults Alarm Single alarm The first alarm in the case of multiple alarms Slow flashing in red - Reaction Acknowledgement * NONE: no reaction * OFF1: servo motor ramps down * OFF2: servo motor coasts down * OFF3: servo motor stops quickly * ENOCDER: Encoder fault causes OFF2. NONE: no reaction * POWER ON: re-power on the servo drive to clear a fault after eliminating its cause. * IMMEDIATELY: the fault disappears immediately after eliminating its cause. * PULSE INHIBIT: The fault can only be acknowledged with a pulse inhibit. The same options are available for acknowledging as described under acknowledgment with IMMEDIATELY. Self-acknowledgement Non-first alarm in the case of multiple alarms NOTICE Faults are displayed in prior to alarms If both faults and alarms occur, faults are displayed in prior to alarms. Alarms are displayed only after all faults have been acknowledged. SINAMICS V90, SIMOTICS S-1FL6 144 Getting Started, 12/2018, A5E37208904-006 Diagnostics 8.1 Overview BOP operations for faults and alarms To view faults or alarms, proceed as follows: Faults Alarms To exit from fault or alarm display, proceed as follows: Faults Alarms SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 145 Diagnostics 8.2 List of faults and alarms To acknowledge faults, proceed as follows: Note * If you do not eliminate the cause(s) of the fault, it can appear again after no button operation for five seconds. Make sure that you have eliminated the cause(s) of the fault. * You can acknowledge faults using RESET signal. For details of the signal, refer to SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. 8.2 List of faults and alarms This section lists only common faults and alarms. To view the detailed information of all faults and alarms, call the online help for an active fault/alarm in the SINAMICS VASSISTANT engineering tool. Fault list Fault Description Fault Description F1000 Internal software error F7491 STOP cam minus reached F1001 Floating Point exception F7492 STOP cam plus reached F1002 Internal software error F7493 LR: Overflow of the value range for position actual value F1003 Acknowledgment delay when accessing the F7575 memory Drive: Motor encoder not ready F1015 Internal software error F7599 Encoder 1: Adjustment not possible F1018 Booting has been interrupted several times F7800 Drive: No power unit present F1030 Sign-of-life failure for master control F7801 Motor overcurrent F1611 SI CU: Defect detected F7802 Infeed or power unit not ready F1910 Fieldbus: Setpoint timeout F7815 Power unit has been changed F1911 PROFIdrive: Clock cycle synchronous operation clock cycle failure F7900 Motor blocked/speed controller at its limit F1912 PROFIdrive: Clock cycle synchronous operation sign-of-life failture F7901 Motor overspeed F7011 Motor overtemperature F7995 Motor identification failure SINAMICS V90, SIMOTICS S-1FL6 146 Getting Started, 12/2018, A5E37208904-006 Diagnostics 8.2 List of faults and alarms Fault Description Fault Description F7085 Open-loop/closed-loop control parameters changed F8501 PROFIdrive: Setpoint timeout F7090 Drive: Upper torque limit less than the lower torque limit F30001 Power unit: Overcurrent F7093 Test signal error F30002 DC link voltage, overvoltage F7220 Drive: Master control by the PLC missing F30003 DC link voltage, undervoltage F7403 Lower DC link voltage threshold reached F30004 Drive heat sink overtemperature F7404 Upper DC link voltage threshold reached F30005 Power unit: Overload I2t F7410 Current controller output limited F30011 Line phase failure in main circuit F7412 Commutation angle incorrect (motor model) F30015 Phase failure motor cable F7442 LR: Multiturn does not match the modulo range F30021 Ground fault F7443 Reference point coordinate not in the permission range F30027 Precharging DC link time monitoring F7447 Load gear: Position tracking, maximum actual value exceeded F30036 Internal overtemperature F7449 Load gear: Position tracking actual position outside the tolerance window F30050 24 V supply overvoltage F7450 Standstill monitoring has responded F31100 Zero mark distance error F7451 Position monitoring has responded F31101 Zero mark failed F7452 Following error too high F31110 Serial communications error F7453 Position actual value preprocessing error F31111 Encoder 1: Absolute encoder internal error F7458 EPOS: Reference cam not found F31112 Error bit set in the serial protocol F7459 Zero mark not detected F31117 Inversion error signals A/B/R F7460 EPOS: End of reference cam not found F31130 Zero mark and position error from the coarse synchronization F7464 EPOS: Traversing block is inconsistent F31131 Encoder 1: Deviation position incremental/absolute too large F7475 EPOS: Target position < start of traversing range F31150 Initialization error F7476 EPOS: Target position > end of the travers- F52904 ing range Control mode change F7481 EPOS: Axis position < software limit switch minus F52980 Absolute encoder motor changed F7482 EPOS: Axis position > software limit switch plus F52981 Absolute encoder motor mismatched F7484 EPOS: Fixed stop outside the monitoring window F52983 No encoder detected F7485 EPOS: Fixed stop not reached F52984 Incremental encoder motor not configured F7488 EPOS: Relative positioning not possible F52985 Absolute encoder motor wrong F7490 Enable signal withdrawn while traversing F52987 Absolute encoder replaced SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 147 Diagnostics 8.2 List of faults and alarms Alarm list Alarm Description Alarm Description A1009 Control module overtemperature A7472 EPOS: Traversing block ABS_POS/ABS_NEG not possible A1019 Writing to the removable data medium unsuccessful A7473 EPOS: Beginning of traversing range reached A1032 All parameters must be saved A7474 EPOS: End of traversing range reached A1045 Configuring data invalid A7477 EPOS: Target position < software limit switch minus A1774 Test stop for fail-safe digital outputs required A7478 EPOS: Target position > software limit switch plus A1902 PROFIdrive: Clock cycle synchronous operation parameterization not permissible A7479 EPOS: Software limit switch minus reached A1920 Drive Bus: Receive setpoints after To A7480 EPOS: Software limit switch plus reached A1932 Drive Bus clock cycle synchronization miss- A7483 ing for DSC EPOS: Travel to fixed stop clamping torque not reached A1940 PROFIdrive: Clock cycle synchronism not reached A7486 EPOS: Intermediate stop missing A1944 PROFIdrive: Sign-of-life synchronism not reached A7487 EPOS: Reject traversing task missing A5000 Drive heat sink overtemperature A7496 EPOS: Enable not possible A6310 Supply voltage (p29006) incorrectly parameterized A7530 Drive: Drive Data Set DDS not present A7012 Motor temperature model 1/3 overtemperature A7565 Drive: Encoder error in PROFIdrive encoder interface 1 A7092 Drive: Moment of inertia estimator still not ready A7576 Encoderless operation due to a fault active A7440 EPOS: Jerk time is limited A7582 Position actual value preprocessing error A7441 LR: Save the position offset of the absolute encoder adjustment A7805 Power unit overload I2t A7454 LR: Position value preprocessing does not have a valid encoder A7965 Save required A7455 EPOS: Maximum velocity limited A7971 Angular commutation offset determination activated A7456 EPOS: Setpoint velocity limited A7991 Motor data identification activated A7457 EPOS: Combination of input signals illegal A8511 PROFIdrive: Receive configuration data invalid A7461 EPOS: Reference point not set A8565 PROFIdrive: Consistency error affecting adjustable parameters A7462 EPOS: Selected traversing block number does not exist A30016 Load supply switched off A7463 EPOS: External block change not requested in the traversing block A30031 Hardware current limiting in phase U A7467 EPOS: Traversing block has illegal task parameters A31411 Absolute encoder signals internal alarms A7468 EPOS: Traversing block jump destination does not exist A31412 Error bit set in the serial protocol SINAMICS V90, SIMOTICS S-1FL6 148 Getting Started, 12/2018, A5E37208904-006 Diagnostics 8.2 List of faults and alarms Alarm Description Alarm Description A7469 EPOS: Traversing block < target position < software limit switch minus A52900 Failure during data copying A7470 EPOS: Traversing block> target position > software limit switch plus A52901 Braking resistor reaches alarm threshold A7471 EPOS: Traversing block target position outside the modulo range A52902 Quick stop (EMGS) missing SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 149 Index A S Accessories Fuse/type E combination motor controller, 26 Speed limit, 85 Overall speed limit, 86 B T BOP operations Button functions, 77 BOP operations for faults and alarms, 145 Acknowledging faults, 146 Exiting from alarm display, 145 Exiting from fault display, 145 Viewing alarms, 145 Viewing faults, 145 BOP overview, 75 Torque control mode Internal speed limit, 86 Torque limit, 86 Internal torque limit, 87 Overall torque limit, 87 Torque limit reached (TLR), 87 U Usage of shielding plate, 55 C Connecting 24 V power supply/STO, 65 Connecting an external braking resistor, 70 W Wiring and connecting Adjusting cable orientations, 56 D Differences between faults and alarms, 144 F Function list, 28 G General information about faults and alarms, 143 L LED status indicators, 76 M Motor rating plate, 21 SINAMICS V90, SIMOTICS S-1FL6 150 Getting Started, 12/2018, A5E37208904-006 Index SINAMICS V90, SIMOTICS S-1FL6 Getting Started, 12/2018, A5E37208904-006 151