Siemens EH.85M.21E Technical data

SINAMICS S110
Function Manual · 06/2012
SINAMICS
s
Function Manual
___________________
Preface
General information for
1
___________________
commissioning
SINAMICS
S110
Function Manual
Commissioning preparations
___________________
2
for PROFIBUS
Commissioning with
3
___________________
PROFIBUS
Commissioning with
___________________
4
CANopen
___________________
5
Diagnostics
Function Manual
Parameterization using the
___________________
6
Basic Operator Panel 20
___________________
7
Drive functions
___________________
8
Safety Integrated Functions
___________________
9
Communication
Basic information about
___________________
10
the drive system
___________________
11
Appendix
Valid for:
Firmware Version 4.4 SP1
06/2012
6SL3097-4AB10-0BP4
Legal information
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
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the relevant information is not taken into account.
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 ® 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
Industry Sector
Postfach 48 48
90026 NÜRNBERG
GERMANY
Order number 6SL3097-4AB10-0BP4
Ⓟ 10/2012 Technical data subject to change
Copyright © Siemens AG 2012.
All rights reserved
Preface
SINAMICS Documentation
The SINAMICS documentation is organized in the following categories:
● General documentation / catalogs
● User documentation
● Manufacturer/Service documentation
More information
Using the following link, you can find information on the topics:
● Ordering documentation/overview of documentation
● Additional links to download documents
● Using documentation online (find and search in manuals/information)
http://www.siemens.com/motioncontrol/docu
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address:
docu.motioncontrol@siemens.com
My Documentation Manager
Using the following link, you can find information on how to create your own individual
documentation based on Siemens' content, and adapt it for your own machine
documentation:
http://www.siemens.com/mdm
Training
Using the following link, you can find information on SITRAIN - training from Siemens for
products, systems and automation engineering solutions:
http://www.siemens.com/sitrain
FAQs
You can find Frequently Asked Questions in the Service&Support pages under Product
Support:
http://support.automation.siemens.com
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Preface
SINAMICS
You can find information on SINAMICS at:
http://www.siemens.com/sinamics.
Usage phases and the available tools/documents
Table 1
Usage phase and the available tools / documents
Usage phase
Tools/documents
Orientation
SINAMICS S Sales Documentation
Planning/configuration
SIZER configuration tool
Configuration Manuals, Motors
Decision making /
ordering
SINAMICS S Catalogs
Installation / assembly
•
SINAMICS S110 Equipment Manual
Commissioning
•
STARTER commissioning tool
•
SINAMICS S110 Getting Started
•
SINAMICS S110 Function Manual Drive Functions
•
SINAMICS S110 List Manual
•
SINAMICS S110 Function Manual Drive Functions
•
SINAMICS S110 List Manual
•
SINAMICS S110 Function Manual Drive Functions
•
SINAMICS S110 List Manual
•
SINAMICS S110 Equipment Manual
Usage / operation
Maintenance / service
Target group
This documentation is aimed at machine manufacturers, commissioning engineers, and
service personnel who use SINAMICS.
Benefits
This manual describes all the information, procedures and operational instructions required
for commissioning and servicing SINAMICS S110.
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Preface
Standard scope
The scope of the functionality described in this document can differ from the scope of the
functionality of the drive system that is actually supplied.
● Other functions not described in this documentation might be able to be executed in the
drive system. This does not, however, represent an obligation to supply such functions
with a new control or when servicing.
● Functions can be described in the documentation that are not available in a particular
product version of the drive system. The functionality of the supplied drive system should
only be taken from the ordering documentation.
● Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on
all of the product types. This documentation cannot take into consideration every
conceivable type of installation, operation and service/maintenance.
Technical Support
Country-specific telephone numbers for technical support are provided in the Internet under
Contact:
http://www.siemens.com/automation/service&support
EC Declaration of Conformity
The EC Declaration of Conformity for the EMC Directive can be found on the Internet at:
http://support.automation.siemens.com
There – as a search term – enter the number 15257461 or contact your local Siemens office.
The EC Declaration of Conformity for the Low Voltage Directive can be found on the Internet
at:
http://support.automation.siemens.com
There – as a search term – enter the number 22383669 .
Note
When operated in dry areas, SINAMICS S devices conform to the Low Voltage Directive
73/23/EEC or 2006/95/EEC.
Note
SINAMICS S devices fulfill EMC Directive 89/336/EEC or 2004/108/EEC in the configuration
specified in the associated EC Declaration of Conformity for EMC and when the EMC
installation guideline is implemented, Order No. 6FC5297-0AD30-0⃞P⃞.
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Preface
Note
The Equipment Manual describes a desired state which, if maintained, ensures the required
level of operational reliability and compliance with EMC limit values.
Should there be any deviation from the requirements in the Equipment Manual, appropriate
actions (e.g. measurements) must be taken to check/prove that the required level of
operational reliability and compliance with EMC limit values are ensured.
Spare parts
You can find spare parts on the Internet at:
http://support.automation.siemens.com/WW/view/de/16612315
Test certificates
The Safety Integrated functions of SINAMICS components are generally certified by
independent institutes. An up-to-date list of certified components is available on request from
your local Siemens office. If you have any questions relating to certifications that have not
been completed, please ask your Siemens contact.
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Preface
ESD information
CAUTION
Electrostatic sensitive devices (ESD) are single components, integrated circuits or devices
that can be damaged by electrostatic fields or electrostatic discharges.
Regulations for handling ESD components:
When handling components, make sure that personnel, workplaces, and packaging are
well grounded.
Personnel may only come into contact with electronic components, if
• They are grounded with an ESD wrist band, or
• They are in ESD areas with conductive flooring, ESD shoes or ESD grounding straps.
Electronic boards should only be touched if absolutely necessary. They must only be
handled on the front panel or, in the case of printed circuit boards, at the edge.
Electronic boards must not come into contact with plastics or items of clothing containing
synthetic fibers.
Boards must only be placed on conductive surfaces (work surfaces with ESD surface,
conductive ESD foam, ESD packing bag, ESD transport container).
Electronic boards may not be placed near display units, monitors, or televisions (minimum
distance from the screen > 10 cm).
Measurements must only be taken on boards when the measuring instrument is grounded
(via protective conductors, for example) or the measuring probe is briefly discharged before
measurements are taken with an isolated measuring device (for example, touching a bare
metal housing).
DANGER
Electrical, magnetic and electromagnetic fields (EMF) that occur during operation can pose
a danger to persons who are present in the direct vicinity of the product - especially
persons with pacemakers, implants, or similar devices.
The relevant directives and standards must be observed by the machine/plant operators
and people present in the vicinity of the product. These are, for example, EMF Directive
2004/40/EEC and standards EN 12198-1 to -3 in the European Economic Area (EEA) and,
in Germany, the accident prevention regulation BGV 11 and the associated rule BGR 11
"Electromagnetic fields" from the German Employer's Liability Insurance Association.
These state that a hazard analysis must drawn up for every workplace, from which
measures for reducing dangers and their impact on persons are derived and applied, and
exposure and danger zones are defined and observed.
The relevant safety notes in each chapter must be observed.
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Preface
General safety guidelines
DANGER
Commissioning is absolutely prohibited until it has been completely ensured that the
machine in which the components described here are to be installed is in full compliance
with the provisions of the EC Machinery Directive.
Only appropriately qualified personnel may install, commission, and maintain SINAMICS S
devices.
The personnel must take into account the information provided in the technical customer
documentation for the product, and be familiar with and observe the specified danger and
warning notices.
Operational electrical equipment and motors have parts and components which are at
hazardous voltage levels, that if touched, can result in severe bodily injury or death.
All work on the electrical system must be carried out when the system has been
disconnected from the power supply.
In combination with the drive system, the motors are generally approved for operation on
TN and TT systems with grounded neutral and on IT systems.
In operation on IT systems, the occurrence of a first fault between an active part and
ground must be signaled by a monitoring device. In accordance with IEC 60364-4-41 it is
recommended that the first fault should be eliminated as quickly as practically possible.
In networks with a grounded external conductor, an isolating transformer with grounded
neutral (secondary side) must be connected between the supply and the drive system to
protect the motor insulation from excessive stress. The majority of TT systems have a
grounded external conductor, so in this case an isolating transformer must be used.
DANGER
Correct and safe operation of SINAMICS S drive units assumes correct transportation in
the transportation packaging, correct long-term storage in the transport packaging, setup
and installation, as well as careful operation and maintenance.
The details in the Catalogs and proposals also apply to the design of special equipment
versions.
In addition to the danger and warning information provided in the technical customer
documentation, the applicable national, local, and system-specific regulations and
requirements must be taken into account.
According to EN 61800-5-1 and UL 508, only safely isolated protective extra low voltages
may be connected to any of the connections or terminals on the electronics modules.
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Preface
DANGER
Using protection against direct contact via DVC A (PELV) is only permissible in areas with
equipotential bonding and in dry rooms indoors. If these conditions are not met, other
protective measures with regard to electric shock must be taken, e.g. touch protection.
DANGER
As part of routine tests, SINAMICS S components will undergo a voltage test in accordance
with EN 61800-5-1. Before the voltage test is performed on the electrical equipment of
machines acc. to EN 60204-1, Section 18.4, all connectors of SINAMICS S equipment must
be disconnected/unplugged to prevent the equipment from being damaged.
Motors should be connected up in accordance with the circuit diagram supplied with the
motor (refer to the connection examples for Power Modules). They must not be connected
directly to the three-phase supply because this will damage them.
WARNING
Operating the equipment in the immediate vicinity (< 1.8 m) of cell phones with a
transmitter power of > 1 W may cause the equipment to malfunction.
Explanation of symbols
The symbols are in accordance with IEC 617-2.
Table 2
Symbols
Symbol
Meaning
Protective earth (PE)
Ground (e.g. M 24 V)
Functional ground
Equipotential bonding
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Preface
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Table of contents
Preface ...................................................................................................................................................... 3
1
2
3
4
General information for commissioning.................................................................................................... 21
1.1
Explanations regarding the STARTER user interface .................................................................21
1.2
BICO interconnection procedure in STARTER............................................................................22
1.3
DRIVE-CLiQ interface for CU305 ................................................................................................31
1.4
Notes on the commissioning of a 2-pole resolver as absolute encoder ......................................32
1.5
Temperature sensors for SINAMICS components ......................................................................33
Commissioning preparations for PROFIBUS ........................................................................................... 37
2.1
Requirements for commissioning.................................................................................................37
2.2
PROFIBUS components ..............................................................................................................39
2.3
Connection via serial interface.....................................................................................................40
2.4
Powering-up/powering-down the drive system ............................................................................42
Commissioning with PROFIBUS.............................................................................................................. 45
3.1
3.1.1
Sequence of operations during commissioning ...........................................................................45
Safety guidelines..........................................................................................................................46
3.2
3.2.1
3.2.2
STARTER commissioning tool.....................................................................................................46
Important STARTER functions.....................................................................................................47
Activating online operation: STARTER via PROFIBUS...............................................................49
3.3
3.3.1
Basic Operator Panel 20 (BOP20)...............................................................................................51
Important functions via BOP20 ....................................................................................................52
3.4
3.4.1
3.4.2
3.4.3
Creating a project in STARTER ...................................................................................................53
Creating a project offline ..............................................................................................................53
Searching for a drive unit online ..................................................................................................55
Searching for nodes that can be accessed..................................................................................57
3.5
3.5.1
3.5.2
Example of first commissioning with STARTER ..........................................................................57
Task .............................................................................................................................................58
Commissioning with STARTER (example) ..................................................................................58
3.6
3.6.1
3.6.2
3.6.3
Initial commissioning using servo AC DRIVE with BOP20 as an example..................................60
Task .............................................................................................................................................60
Component wiring (example) .......................................................................................................61
Quick commissioning using the BOP (example)..........................................................................62
Commissioning with CANopen ................................................................................................................ 65
4.1
4.1.1
4.1.2
4.1.3
Requirements for commissioning.................................................................................................65
Previous knowledge.....................................................................................................................65
Prerequisites for commissioning CU305 with CANopen .............................................................66
CAN bus on the CU305 ...............................................................................................................67
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Table of contents
5
6
7
4.1.4
4.1.5
4.1.6
CAN bus interface X126.............................................................................................................. 68
CANopen functionality CU305 CAN............................................................................................ 69
Diagnostics LED "COM".............................................................................................................. 70
4.2
4.2.1
4.2.2
4.2.3
4.2.4
4.2.5
4.2.6
4.2.7
4.2.8
Commissioning............................................................................................................................ 70
Procedure when commissioning the drive for the first time ........................................................ 70
CANopen object directory ........................................................................................................... 71
Commissioning options ............................................................................................................... 72
Configuring the drive unit with STARTER (overview) ................................................................. 73
Searching for the drive unit ONLINE........................................................................................... 74
Configuring a drive unit ............................................................................................................... 75
Monitoring.................................................................................................................................... 80
Loading the project to the drive unit............................................................................................ 81
4.3
4.3.1
Configuring COB-IDs and process data objects ......................................................................... 83
Configuring COB-IDs and process data...................................................................................... 83
4.4
4.4.1
Interconnecting process data ...................................................................................................... 83
Interconnecting process data ...................................................................................................... 83
4.5
4.5.1
Loading and managing projects ONLINE ................................................................................... 84
In ONLINE mode, load the projects from the drive unit to the PC/PG and save. ....................... 84
Diagnostics .............................................................................................................................................. 85
5.1
5.1.1
5.1.2
5.1.3
5.1.4
Diagnostics via LEDs .................................................................................................................. 85
LEDs when the Control Unit boots.............................................................................................. 85
LEDs after the Control Unit has booted ...................................................................................... 87
LEDs on the Sensor Module Cabinet SMC10 / SMC20 ............................................................. 89
LEDs on the Sensor Module Cabinet-Mounted SMC30 ............................................................. 90
5.2
5.2.1
5.2.2
5.2.3
5.2.4
Diagnostics via STARTER .......................................................................................................... 91
Function generator ...................................................................................................................... 91
Trace function ............................................................................................................................. 95
Measuring function...................................................................................................................... 97
Measuring sockets ...................................................................................................................... 99
5.3
5.3.1
5.3.2
5.3.3
5.3.4
5.3.5
Fault and alarm messages........................................................................................................ 103
General information about faults and alarms ............................................................................ 103
Buffer for faults and alarms ....................................................................................................... 106
Configuring messages .............................................................................................................. 109
Parameters and function diagrams for faults and alarms ......................................................... 111
Forwarding of faults and alarms................................................................................................ 112
Parameterization using the Basic Operator Panel 20 ............................................................................ 115
6.1
General information about the BOP20...................................................................................... 115
6.2
Displays and using the BOP20 ................................................................................................. 117
6.3
Fault and alarm displays ........................................................................................................... 121
6.4
Controlling the drive using the BOP20...................................................................................... 122
Drive functions ....................................................................................................................................... 123
7.1
7.1.1
7.1.2
7.1.3
Servo control ............................................................................................................................. 123
Speed controller ........................................................................................................................ 123
Speed setpoint filter .................................................................................................................. 124
Speed controller adaptation ...................................................................................................... 125
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Table of contents
7.1.4
7.1.5
7.1.6
7.1.7
7.1.7.1
7.1.8
7.1.9
7.1.10
7.1.11
7.1.12
7.1.12.1
7.1.12.2
7.1.13
7.1.14
7.1.15
7.1.16
7.1.17
7.1.18
7.1.19
7.1.19.1
Torque-controlled operation.......................................................................................................127
Torque setpoint limitation...........................................................................................................129
Current controller .......................................................................................................................134
Current setpoint filter..................................................................................................................136
Function diagrams and parameters ...........................................................................................142
Note about the electronic motor model......................................................................................142
V/f control for diagnostics...........................................................................................................143
Optimizing the current and speed controller ..............................................................................146
Operation without an encoder....................................................................................................148
Motor data identification.............................................................................................................152
Motor data identification - induction motor.................................................................................156
Motor data identification - synchronous motor...........................................................................158
Pole position identification .........................................................................................................161
Vdc control .................................................................................................................................165
Travel to fixed stop.....................................................................................................................168
Vertical axes...............................................................................................................................172
Variable signaling function .........................................................................................................173
Central probe evaluation............................................................................................................175
Pulse/direction interface.............................................................................................................178
Commissioning the pulse/direction interface .............................................................................179
7.2
7.2.1
7.2.2
7.2.3
7.2.4
7.2.5
7.2.6
7.2.7
7.2.8
7.2.9
Basic functions ...........................................................................................................................184
Changing over units ...................................................................................................................184
Reference parameters/normalizations.......................................................................................186
Automatic restart........................................................................................................................188
Armature short-circuit brake, DC brake .....................................................................................191
OFF3 torque limits .....................................................................................................................194
Simple brake control ..................................................................................................................195
Parking axis and parking encoder .............................................................................................197
Runtime (operating hours counter) ............................................................................................201
Changing the direction of rotation without changing the setpoint ..............................................202
7.3
7.3.1
7.3.2
7.3.2.1
7.3.2.2
7.3.2.3
7.3.2.4
7.3.3
7.3.3.1
7.3.4
7.3.4.1
7.3.4.2
7.3.4.3
7.3.4.4
7.3.4.5
7.3.5
7.3.5.1
7.3.5.2
7.3.5.3
7.3.5.4
7.3.5.5
Function modules.......................................................................................................................203
Function modules - Definition and commissioning ....................................................................203
Technology controller.................................................................................................................204
Features .....................................................................................................................................204
Description .................................................................................................................................204
Function diagrams and parameters ...........................................................................................207
Commissioning with STARTER .................................................................................................208
Extended monitoring functions...................................................................................................209
Commissioning...........................................................................................................................210
Extended brake control ..............................................................................................................211
Features .....................................................................................................................................211
Function diagrams and parameters ...........................................................................................211
Description .................................................................................................................................213
Examples ...................................................................................................................................214
Commissioning...........................................................................................................................215
Closed-loop position control.......................................................................................................216
General features ........................................................................................................................216
Position actual value conditioning..............................................................................................216
Position controller ......................................................................................................................227
Monitoring functions...................................................................................................................228
Measuring probe evaluation and reference mark search ..........................................................230
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Table of contents
7.3.5.6
7.3.6
7.3.6.1
7.3.6.2
7.3.6.3
7.3.6.4
7.3.6.5
7.3.6.6
7.3.6.7
7.3.6.8
7.3.6.9
7.3.7
7.3.7.1
7.3.7.2
7.3.7.3
7.3.7.4
7.3.7.5
7.3.7.6
7.3.7.7
7.3.7.8
7.3.7.9
7.3.8
7.3.8.1
7.3.8.2
7.3.8.3
7.3.8.4
7.3.8.5
7.3.8.6
7.3.8.7
7.3.8.8
7.3.8.9
7.3.8.10
7.3.8.11
7.3.8.12
7.3.8.13
7.3.8.14
7.3.8.15
7.3.8.16
7.3.8.17
7.3.8.18
7.3.8.19
7.3.8.20
7.3.8.21
7.3.8.22
7.3.8.23
7.3.8.24
7.3.8.25
8
Function diagrams and parameters .......................................................................................... 231
Basic Positioner ........................................................................................................................ 232
Mechanical system.................................................................................................................... 234
Limits ......................................................................................................................................... 236
Referencing............................................................................................................................... 241
Referencing with more than one zero mark per revolution ....................................................... 249
Traversing blocks ...................................................................................................................... 252
Travel to fixed stop.................................................................................................................... 259
Direct setpoint input (MDI) ........................................................................................................ 262
Jog............................................................................................................................................. 265
Status signals............................................................................................................................ 267
Extended setpoint channel........................................................................................................ 269
Activation of the "extended setpoint channel" function module ................................................ 269
Description ................................................................................................................................ 270
Jog............................................................................................................................................. 271
Fixed speed setpoints ............................................................................................................... 275
Motorized potentiometer ........................................................................................................... 276
Main/supplementary setpoint and setpoint modification ........................................................... 278
Direction limitation and setpoint inversion................................................................................. 279
Suppression bandwidths and setpoint limits ............................................................................. 281
Ramp-function generator .......................................................................................................... 282
Free function blocks .................................................................................................................. 287
Overview ................................................................................................................................... 287
Commissioning.......................................................................................................................... 298
AND........................................................................................................................................... 302
OR ............................................................................................................................................. 303
XOR (exclusive OR).................................................................................................................. 303
NOT (inverter) ........................................................................................................................... 303
ADD (adder) .............................................................................................................................. 304
SUB (subtracter) ....................................................................................................................... 304
MUL (multiplier)......................................................................................................................... 304
DIV (divider) .............................................................................................................................. 305
AVA (absolute value generator with sign evaluation) ............................................................... 305
MFP (pulse generator) .............................................................................................................. 306
PCL (pulse shortener) ............................................................................................................... 306
PDE (ON delay) ........................................................................................................................ 307
PDF (OFF delay)....................................................................................................................... 308
PST (pulse stretcher) ................................................................................................................ 309
RSR (RS flip-flop, reset dominant)............................................................................................ 310
DFR (D flip-flop, reset dominant) .............................................................................................. 310
BSW (binary change-over switch)............................................................................................. 311
NSW (numeric change-over switch) ......................................................................................... 311
LIM (limiter) ............................................................................................................................... 312
PT1 (smoothing element).......................................................................................................... 313
INT (integrator).......................................................................................................................... 314
DIF (derivative action element) ................................................................................................. 315
LVM (double-sided limit monitor with hysteresis)...................................................................... 316
Safety Integrated Functions ................................................................................................................... 317
8.1
8.1.1
8.1.1.1
Standards and regulations ........................................................................................................ 317
General information................................................................................................................... 317
Aims .......................................................................................................................................... 317
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Table of contents
8.1.1.2
8.1.2
8.1.2.1
8.1.2.2
8.1.2.3
8.1.2.4
8.1.2.5
8.1.2.6
8.1.2.7
8.1.2.8
8.1.2.9
8.1.3
8.1.3.1
8.1.3.2
8.1.3.3
8.1.3.4
8.1.4
8.1.5
8.1.6
8.1.6.1
8.1.6.2
Functional safety ........................................................................................................................318
Safety of machinery in Europe...................................................................................................318
Machinery Directive ...................................................................................................................319
Harmonized European Standards .............................................................................................319
Standards for implementing safety-related controllers ..............................................................321
EN ISO 13849-1 (previously EN 954-1).....................................................................................323
EN 62061 ...................................................................................................................................324
Series of standards EN 61508 (VDE 0803) ...............................................................................326
Risk analysis/assessment..........................................................................................................327
Risk reduction ............................................................................................................................329
Residual risk...............................................................................................................................329
Machine safety in the USA.........................................................................................................329
Minimum requirements of the OSHA .........................................................................................330
NRTL listing................................................................................................................................330
NFPA 79.....................................................................................................................................331
ANSI B11 ...................................................................................................................................332
Machine safety in Japan ............................................................................................................332
Equipment regulations ...............................................................................................................332
Other safety-related issues ........................................................................................................333
Information sheets issued by the Employer's Liability Insurance Association...........................333
Additional references .................................................................................................................333
8.2
8.2.1
8.2.2
8.2.3
8.2.4
General information about SINAMICS Safety Integrated ..........................................................334
Supported functions ...................................................................................................................334
Control of Safety Integrated functions .......................................................................................336
Drive monitoring with or without encoder...................................................................................337
Parameter, Checksum, Version, Password ...............................................................................339
8.3
8.3.1
8.3.2
8.3.3
8.3.4
8.3.5
8.3.6
System features .........................................................................................................................342
Latest information ......................................................................................................................342
Certification ................................................................................................................................343
Safety instructions......................................................................................................................344
Probability of failure for safety functions ....................................................................................347
Response times .........................................................................................................................347
Residual risk...............................................................................................................................352
8.4
8.4.1
8.4.2
8.4.3
8.4.4
8.4.5
Safety Integrated Basic Functions .............................................................................................354
Safe Torque Off (STO)...............................................................................................................354
Safe Stop 1 (SS1, time controlled) ............................................................................................357
Safe Brake Control (SBC)..........................................................................................................359
Safety faults ...............................................................................................................................361
Forced checking procedure .......................................................................................................363
8.5
8.5.1
8.5.2
8.5.3
8.5.3.1
8.5.3.2
8.5.3.3
8.5.4
8.5.4.1
8.5.5
8.5.6
Safety Integrated Extended Functions.......................................................................................365
Extended Functions "with encoder" / "without encoder" ............................................................365
Safe Torque Off .........................................................................................................................367
Safe Stop 1 (SS1) ......................................................................................................................367
Safe Stop 1 (SS1, time and acceleration controlled) .................................................................367
Safe Stop 1 without encoder (speed controlled)........................................................................370
Safe Stop 1 - Parameter ............................................................................................................372
Safe Stop 2 (SS2) ......................................................................................................................373
EPOS and Safe Stop 2 ..............................................................................................................375
Safe Operating Stop (SOS) .......................................................................................................375
Safely Limited Speed (SLS).......................................................................................................377
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Table of contents
8.5.6.1
8.5.6.2
8.5.6.3
8.5.6.4
8.5.7
8.5.7.1
8.5.7.2
8.5.7.3
8.5.7.4
8.5.8
8.5.9
8.5.10
8.5.10.1
8.5.10.2
8.5.10.3
8.5.10.4
8.5.11
8.5.11.1
8.5.11.2
8.5.11.3
8.5.12
8.5.13
8.5.13.1
8.5.13.2
8.5.14
8.5.15
Safely Limited Speed (SLS) ...................................................................................................... 378
Safely Limited Speed without encoder...................................................................................... 380
Safely Limited Speed - Parameter ............................................................................................ 383
EPOS and Safely-Limited Speed.............................................................................................. 384
Safe Speed Monitor (SSM) ....................................................................................................... 385
Safe Speed Monitor with encoder............................................................................................. 386
Safe Speed Monitor without encoder........................................................................................ 387
Safe Speed Monitor restart ....................................................................................................... 389
Overview of important parameters............................................................................................ 390
Safe Acceleration Monitor (SAM).............................................................................................. 391
Safe Brake Ramp (SBR) ........................................................................................................... 393
Safe Direction (SDI) .................................................................................................................. 395
Safe Direction with encoder ...................................................................................................... 395
Safe Direction without encoder ................................................................................................. 397
SDI restart ................................................................................................................................. 398
Overview of parameters and function diagrams ....................................................................... 399
Safety faults .............................................................................................................................. 400
Stop responses ......................................................................................................................... 400
Stop response priorities ............................................................................................................ 401
Acknowledging the safety faults................................................................................................ 403
Message buffer ......................................................................................................................... 404
Safe actual value acquisition .................................................................................................... 406
Reliable actual value acquisition with the encoder system....................................................... 406
Safe current actual value acquisition without encoder.............................................................. 409
Forced dormant error detection ................................................................................................ 410
Safety Info Channel................................................................................................................... 412
8.6
8.6.1
8.6.2
8.6.3
8.6.4
8.6.5
8.6.5.1
8.6.5.2
Controlling the safety functions................................................................................................. 414
Control of the Basic Functions via a safe input terminal pair.................................................... 415
Control of the Extended Functions using safe input terminals.................................................. 416
Note on F-DIs............................................................................................................................ 420
Overview of the F-DOs.............................................................................................................. 421
Control by way of PROFIsafe.................................................................................................... 423
Enabling of the control via PROFIsafe...................................................................................... 423
Structure of telegram 30............................................................................................................ 424
8.7
8.7.1
8.7.2
8.7.2.1
8.7.2.2
8.7.2.3
8.7.2.4
8.7.2.5
8.7.3
8.7.3.1
8.7.3.2
8.7.3.3
8.7.3.4
8.7.3.5
8.7.3.6
8.7.4
8.7.5
Commissioning.......................................................................................................................... 428
Safety Integrated firmware versions ......................................................................................... 428
Commissioning of Safety Integrated functions.......................................................................... 429
General information................................................................................................................... 429
Prerequisites for commissioning the Safety Integrated functions ............................................. 431
Default settings for commissioning Safety Integrated functions without encoder..................... 432
Information pertaining to series commissioning........................................................................ 434
Setting the sampling times ........................................................................................................ 435
Commissioning the safety terminals by means of STARTER/SCOUT..................................... 436
Basic sequence of commissioning............................................................................................ 436
Configuration start screen ......................................................................................................... 437
Configuration of the Safety terminals (Extended Functions) .................................................... 439
Test stop.................................................................................................................................... 440
F-DI/F-DO configuration............................................................................................................ 445
Control interface........................................................................................................................ 447
PROFIsafe configuration with STARTER ................................................................................. 448
Procedure for configuring PROFIsafe communication ............................................................. 449
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9
8.7.6
Information pertaining to component replacements...................................................................454
8.8
8.8.1
Application examples .................................................................................................................455
Input/output interconnections for a safety switching device with CU305...................................455
8.9
8.9.1
8.9.2
8.9.2.1
8.9.2.2
8.9.2.3
8.9.3
8.9.4
8.9.4.1
8.9.4.2
8.9.5
8.9.5.1
8.9.5.2
8.9.5.3
8.9.5.4
8.9.6
Acceptance test and acceptance report ....................................................................................458
General information ...................................................................................................................458
Acceptance test structure ..........................................................................................................459
Content of the complete acceptance test ..................................................................................461
Content of the partial acceptance test .......................................................................................464
Test scope for specific measures ..............................................................................................467
Safety logbook ...........................................................................................................................468
Acceptance reports ....................................................................................................................469
Plant description - Documentation part 1...................................................................................469
Description of safety functions - Documentation Part 2.............................................................470
Acceptance tests........................................................................................................................475
Notes about the acceptance tests..............................................................................................475
Acceptance tests – Basic Functions ..........................................................................................476
Acceptance tests for Extended Functions (with encoder) .........................................................482
Acceptance tests for Extended Functions (without encoder) ....................................................528
Completion of certificate ............................................................................................................549
Communication...................................................................................................................................... 551
9.1
Fieldbus configuration................................................................................................................551
9.2
9.2.1
9.2.2
9.2.3
9.2.3.1
9.2.3.2
9.2.3.3
9.2.3.4
9.2.3.5
9.2.3.6
9.2.4
9.2.4.1
9.2.4.2
9.2.4.3
9.2.4.4
9.2.4.5
Communication according to PROFIdrive .................................................................................552
General information about PROFIdrive for SINAMICS..............................................................552
Application classes ....................................................................................................................554
Cyclic communication ................................................................................................................559
Telegrams and process data .....................................................................................................559
Description of control words and setpoints ................................................................................563
Description of status words and actual values...........................................................................575
Control and status words for encoder........................................................................................589
Central control and status words ...............................................................................................600
Motion Control with PROFIdrive ................................................................................................607
Acyclic communication...............................................................................................................611
General information about acyclic communication ....................................................................611
Structure of orders and responses.............................................................................................612
Determining the drive object numbers .......................................................................................618
Example 1: read parameters......................................................................................................618
Example 2: write parameters (multi-parameter request) ...........................................................620
9.3
9.3.1
9.3.2
9.3.2.1
9.3.2.2
9.3.2.3
9.3.2.4
9.3.2.5
9.3.3
9.3.4
9.3.4.1
9.3.4.2
Communication via PROFIBUS DP ...........................................................................................624
General information about PROFIBUS......................................................................................624
Commissioning PROFIBUS .......................................................................................................626
General information about commissioning ................................................................................626
Commissioning procedure .........................................................................................................630
Diagnostics options....................................................................................................................631
SIMATIC HMI addressing ..........................................................................................................631
Monitoring: telegram failure .......................................................................................................633
Motion Control with PROFIBUS.................................................................................................635
Slave-to-slave communication ...................................................................................................638
General information ...................................................................................................................638
Setpoint assignment in the subscriber.......................................................................................641
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Table of contents
10
9.3.4.3
9.3.4.4
9.3.4.5
Activating/parameterizing slave-to-slave communication ......................................................... 641
Commissioning of the PROFIBUS slave-to-slave communication ........................................... 642
Diagnosing the PROFIBUS slave-to-slave communication in STARTER ................................ 653
9.4
9.4.1
9.4.1.1
9.4.1.2
9.4.1.3
9.4.1.4
9.4.1.5
9.4.2
9.4.2.1
9.4.3
9.4.4
9.4.5
9.4.6
9.4.7
9.4.7.1
9.4.7.2
9.4.7.3
Communication via PROFINET IO ........................................................................................... 654
General information about PROFINET IO ................................................................................ 654
Real-time (RT) and isochronous real-time (IRT) communication ............................................. 654
Data transfer ............................................................................................................................. 655
General information about PROFINET IO for SINAMICS......................................................... 656
Addresses ................................................................................................................................. 657
PROFINET: Address parameters ............................................................................................. 659
Hardware setup......................................................................................................................... 660
Structuring CU305 with PROFINET.......................................................................................... 660
RT classes for PROFINET IO ................................................................................................... 662
Selection of the PROFINET variant .......................................................................................... 667
PROFINET GSD ....................................................................................................................... 667
Motion Control with PROFINET ................................................................................................ 669
PROFINET with 2 controllers .................................................................................................... 672
Settings for SINAMICS S .......................................................................................................... 672
Configuring the controls ............................................................................................................ 674
Overview of important parameters............................................................................................ 676
9.5
9.5.1
9.5.2
9.5.3
9.5.4
9.5.5
9.5.6
9.5.7
9.5.8
Communication using USS ....................................................................................................... 676
Configuring the USS interface .................................................................................................. 676
Transferring PZD....................................................................................................................... 678
General information about communication with USS over RS485 ........................................... 679
Structure of a USS telegram ..................................................................................................... 679
User data range of the USS telegram....................................................................................... 681
Data structure of the USS parameter channel .......................................................................... 682
Time-out and other errors ......................................................................................................... 688
USS process data channel (PZD)............................................................................................. 690
Basic information about the drive system .............................................................................................. 691
10.1
Parameter.................................................................................................................................. 691
10.2
10.2.1
10.2.2
10.2.3
10.2.4
10.2.5
10.2.6
Data sets ................................................................................................................................... 694
CDS: Command Data Set ......................................................................................................... 694
DDS: Drive Data Set ................................................................................................................. 695
EDS: Encoder Data Set ............................................................................................................ 696
MDS: Motor Data Set ................................................................................................................ 697
Function diagrams and parameters .......................................................................................... 698
Using data sets ......................................................................................................................... 699
10.3
10.3.1
10.3.2
10.3.3
10.3.4
10.3.5
Working with the memory card.................................................................................................. 701
Using parameter data sets ........................................................................................................ 702
Working with firmware versions ................................................................................................ 705
Replacing the device................................................................................................................. 707
Removing the memory card safely ........................................................................................... 708
Function diagrams and parameters .......................................................................................... 708
10.4
10.4.1
10.4.2
10.4.3
10.4.4
BICO technology: Interconnecting signals ................................................................................ 709
Description ................................................................................................................................ 709
Binectors, connectors................................................................................................................ 709
Interconnecting signals using BICO technology ....................................................................... 711
Internal encoding of the binector/connector output parameters ............................................... 712
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Table of contents
11
10.4.5
10.4.6
10.4.7
Sample interconnections............................................................................................................712
BICO technology:.......................................................................................................................713
Scaling .......................................................................................................................................714
10.5
10.5.1
10.5.2
10.5.2.1
10.5.2.2
10.5.2.3
10.5.3
Inputs/outputs.............................................................................................................................715
Overview of inputs/outputs.........................................................................................................715
Digital inputs/outputs..................................................................................................................716
Digital inputs...............................................................................................................................716
Digital outputs ............................................................................................................................717
Bidirectional digital inputs/outputs .............................................................................................717
Analog Input ...............................................................................................................................718
10.6
Replacing SMI or DQI components ...........................................................................................718
10.7
System sampling times ..............................................................................................................719
10.8
Licensing ....................................................................................................................................720
Appendix................................................................................................................................................ 725
11.1
Availability of SW functions........................................................................................................725
11.2
Availability of hardware components .........................................................................................727
11.3
List of abbreviations ...................................................................................................................728
Index...................................................................................................................................................... 739
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Table of contents
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General information for commissioning
1.1
1
Explanations regarding the STARTER user interface
Use STARTER to create your sample project. The different areas of the user interface are
used for different configuration tasks (refer to diagram below):
● Project navigator (area ①): this area displays the elements and objects that can be
added to your project.
● Working area (area ②): you create the project in this area:
– When you are configuring the drive, this area contains the Wizards that help you
configure the drive objects.
– When you configure, for example, the parameters for the speed setpoint filter
– When you call up the expert list, the system displays a list of all the parameters that
you can view or change.
● Detail view (area ③): This area provides detailed information on faults and warnings, for
example.
Figure 1-1 The different areas of the STARTER user interface
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General information for commissioning
1.2 BICO interconnection procedure in STARTER
1.2
BICO interconnection procedure in STARTER
Introduction
Parameterization can be carried out via the following means:
● Expert list
● Graphical screen interface
The steps described below explain the general BICO interconnection procedure in
STARTER.
Expert list
When carrying out BICO interconnection via the expert list, proceed as follows:
If you want, for example, to interconnect parameter p0840 of the control word with r
parameter r2090[0], proceed as follows:
1. In the project navigator, call up the expert list by selecting, for example, Drive_1 → rightclick → Expert → Expert list.
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General information for commissioning
1.2 BICO interconnection procedure in STARTER
2. Search for parameter p0840.
Figure 1-2
Interconnect 1
3. Click the button to interconnect with an r parameter (see ①).
4. A selection list from which you can select the available r parameters is now displayed.
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General information for commissioning
1.2 BICO interconnection procedure in STARTER
5. Search for parameter r2090.
Figure 1-3
Interconnect 2
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1.2 BICO interconnection procedure in STARTER
6. Click the "+" sign to open the 16 bits of r parameter r2090.
Figure 1-4
Interconnect 3
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General information for commissioning
1.2 BICO interconnection procedure in STARTER
7. Double-click r2090: Bit0.
8. In the expert list, you can now see that p0840 has been interconnected with r parameter
r2090[0].
Figure 1-5
Interconnect 4
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1.2 BICO interconnection procedure in STARTER
Graphical screen interface
When carrying out BICO interconnection via the graphical screen interface, proceed as
follows:
If for the setpoint speed, for example, you want to interconnect p parameter p1155[0] for
"speed setpoint 1" with r parameter r2060[1], proceed as follows:
Figure 1-6
Interconnection via graphical screen interface 1
1. In the project navigator under Drive_1 → Open loop/closed loop control, double-click the
selection Setpoint addition.
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General information for commissioning
1.2 BICO interconnection procedure in STARTER
Figure 1-7
Interconnection via graphical screen interface 2
2. Click the blue field to the left of the field for Speed setpoint 1 and then click the selection
Further interconnections, which is now displayed.
3. A selection list from which you can select the available r parameters is now displayed.
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1.2 BICO interconnection procedure in STARTER
4. Search for parameter r2060.
Figure 1-8
Interconnection via graphical screen interface 3
5. Click the "+" sign to open the 15 indices of r parameter r2060.
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General information for commissioning
1.2 BICO interconnection procedure in STARTER
6. Double-click r2060[1].
Figure 1-9
Interconnection via graphical screen interface 5
7. In the graphical screen interface, you can now see that p1155 has been interconnected
with r parameter r2060[1].
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General information for commissioning
1.3 DRIVE-CLiQ interface for CU305
1.3
DRIVE-CLiQ interface for CU305
The CU305 has a DRIVE-CLiQ interface. You may connect exactly one of the following
components to this interface:
● SMI motor
● 1 encoder of type SMC10, SMC20, SMC30, SME20 or SME25
Further components or connections to the DRIVE-CLiQ interface are not permitted and lead
to errors in the drive system.
Note
If you want to use an SSI encoder with incremental signals, you will need to connect it to the
CU305 via an SMC30.
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General information for commissioning
1.4 Notes on the commissioning of a 2-pole resolver as absolute encoder
1.4
Notes on the commissioning of a 2-pole resolver as absolute
encoder
Description
You can use 2-pole (1 pole pair) resolvers as singleturn absolute encoders. The absolute
encoder position actual value is provided in Gn_XIST2 (r0483[x]).
Actual position value format
The factory setting for the fine resolution of Gn_XIST1 differs from the fine resolution in
Gn_XIST2 (p0418 = 11, p0419 = 9). This may cause a slight displacement of the encoder
position after switching the drive unit off/on.
Therefore, when using a 2-pole resolver as an absolute encoder, we recommend that the
fine resolution for Gn_XIST1 (p0418) is set the same as the fine resolution for Gn_XIST2
(p0419), e.g. p0418 = p0419 =11.
2-pole resolvers are automatically entered in the PROFIdrive profile (r0979) as singleturn
absolute encoders.
Position tracking
You can also activate position tracking for a 2-pole resolver. Please note, however, that the
resolver may not be moved more than half an encoder revolution (pole width) when switched
off. The activation and configuration of the position tracking is described in the chapter
"Position tracking".
EPOS - absolute encoder adjustment
If the 2-pole resolver is used as an absolute encoder for basic positioning (EPOS), the
absolute encoder adjustment must be performed:
● via STARTER (Basic positioner → Referencing) or
● via the expert list.
To do this, set reference point coordinate p2599 to the value corresponding to the
mechanical system and request the adjustment with p2507 = 2.
You will then need to back up the data from RAM to ROM.
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1.5 Temperature sensors for SINAMICS components
1.5
Temperature sensors for SINAMICS components
The following table provides an overview of the components which are available in
SINAMICS S110 with temperature sensor connections.
DANGER
Safe electrical isolation of temperature sensors
Only temperature sensors that meet the safety isolation specifications contained in EN
61800-5-1 may be connected to terminals "+Temp" and "-Temp". If these instructions are
not complied with, there is a risk of electric shock!
Table 1- 1
Temperature sensor connections for SINAMICS S110
Module
Interface
Pin
Signal name
Technical specifications
SMC10/SMC20
X520 (SUB-D)
13
25
+Temp
- Temp
Temperature sensor
KTY84/130 / PTC
SMC30
X531 (terminal)
Temperature
channel 1
3
4
- Temp
+Temp
Temperature sensor
KTY84/130 / PTC / bimetallicelement switch with NC contact
CU305
X133 (terminal)
Temperature
channel 1
7
+ Temp
Motor temperature measurement
KTY84/130 (KTY+)
Temperature sensor connection
KTY84/130 / PTC
8
M (- Temp)
Ground for KTY or PTC
CU305
X23 (SUB-D)
Temperature
channel 1
1
8
+Temp
- Temp
Temperature sensor
KTY84/130 / PTC / bimetallicelement switch with NC contact
Commissioning information
The index [0...n] used in the following identifies either the motor data set or the encoder data
set.
SMC10/SMC20
Use the STARTER screen (\Signals and monitoring\Motor temperature) to parameterize
motor temperature evaluation via SUB-D socket X520.
SMC30
In addition to temperature evaluation via terminal X531 (temperature channel 1), this module
also has temperature evaluation at SUB-D socket X520 (temperature channel 2).
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General information for commissioning
1.5 Temperature sensors for SINAMICS components
With the default setting (p0600 = 1 "Temperature via encoder 1" and p0601 = 2 "KTY") the
temperature is evaluated via the first temperature channel. The temperature sensor is
connected to terminal X531 on the SMC30. The temperature is shown via r0035.
Note
If you use an SMC30 with the default settings, then the temperature channel is evaluated at
terminal X531 (pins 3 and 4). In this case, an evaluation via the SUB-D socket is not
possible.
CU305
One temperature sensor can also be connected to this module via terminal X133 or via SUBD socket X23.
It is not possible to use both temperature channels (X23 and X133) at the same time. Both
channels are connected with each other. The sensors would be connected in parallel and the
temperature display would show the wrong value. As such, only one temperature sensor
may be connected to the CU305.
Use the Motor temperature STARTER screen (\Signals and monitoring\Motor temperature)
to determine whether motor temperature evaluation is performed via the CU305 connections.
Faults and alarms
F07011 drive: Motor overtemperature
KTY sensor:
The motor temperature has exceeded the fault threshold (p0605) or the timer stage (p0606)
after the alarm threshold was exceeded (p0604) has expired.
This results in the reaction parameterized in p0610.
PTC sensor:
The tripping threshold of 1650 Ω was exceeded and the timer stage (p0606) has expired.
This results in the reaction parameterized in p0610.
A07015 drive: Motor temperature sensor alarm
An error was detected when evaluating the temperature sensor set in p0600 and p0601.
When the fault occurs, the time is started in p0607. If the fault is still present after this time
has expired, fault F07016 is output (not until at least 0.2 s after alarm A07015, however).
F07016 drive: Motor temperature sensor fault
An error was detected when evaluating the temperature sensor set in p0600 and p0601.
If alarm A07015 is present, the time in p0607 is started. If the fault is still present after this
time has expired, then fault F07016 is output; however, at the earliest, 1 s after alarm
A07015.
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General information for commissioning
1.5 Temperature sensors for SINAMICS components
Function diagrams (see SINAMICS S110 List Manual)
● 8016 Signals and monitoring - Thermal monitoring of motor
Overview of important parameters (see SINAMICS S110 List Manual)
● r0035 Motor temperature
● p0600[0..n] Motor temperature sensor for monitoring
● p0601[0..n] Motor temperature sensor type
● p0604[0...n] Motor overtemperature alarm threshold
● p0605[0...n] Motor overtemperature fault threshold
● p0606[0...n] Motor overtemperature timer stage
● p0607[0...n] Temperature sensor fault timer stage
● p0610[0...n] Motor overtemperature reaction
● p460x[0...n] Motor temperature sensor (x+1) sensor type, x = 0..3
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General information for commissioning
1.5 Temperature sensors for SINAMICS components
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Commissioning preparations for PROFIBUS
2
Before you start commissioning, you will need to carry out the preparations described in this
chapter:
● Requirements for commissioning
● PROFIBUS components
2.1
Requirements for commissioning
The basic requirements for commissioning a SINAMICS S110 drive system are as follows:
● STARTER commissioning tool
● PROFIBUS interface
● Wired drive line-up (see Equipment Manual)
The following diagram shows an overview of an example configuration with blocksize
components.
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Commissioning preparations for PROFIBUS
2.1 Requirements for commissioning
Check list for commissioning blocksize power units
The following checklist must be carefully observed. The safety information in the Manuals
must be read and understood before starting work.
Table 2- 1
Check list for commissioning blocksize
Check
O. K.
Are the ambient conditions in the permitted range (see Equipment Manual)?
Is the component firmly attached to the fixing points provided?
Can the cooling air flow unobstructed?
Have the ventilation clearances for the components been observed?
Are all necessary components of the configured drive line-up installed and available?
Have the DRIVE-CLiQ limitations for CU305 been observed?
Have the line-side and motor-side power cables been dimensioned and routed in
accordance with the ambient and routing conditions?
Have the maximum permissible cable lengths between the frequency converter and
the motor (depending on the type of cables used) been observed?
Have the cables been properly connected with the correct torque to the component
terminals?
Have the cables for the motor and low-voltage switchgear been connected with the
required torques?
Has all wiring work been successfully completed?
Are all connectors correctly plugged in and screwed in place?
Have all the screws been tightened to the specified torque?
Are the shield connections installed correctly?
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Commissioning preparations for PROFIBUS
2.2 PROFIBUS components
2.2
PROFIBUS components
For communication via PROFIBUS, components with a PROFIBUS interface are required.
● A communication module for programming device/PC connection via the PROFIBUS
interface:
● PROFIBUS connection to a programming device/PC via USB port (USB V2.0), e.g. with
the PROFIBUS adapter CP5711.
Structure: USB port (USB V2.0) + adapter with 9-pin SUB-D socket connector to connect
to PROFIBUS.
Used with driver SIMATIC Net PC Software Edition 2008 + SP2
Order No.: 6GK1571-1AA00
Connecting cable
Connecting cable between PROFIBUS adapter and programming device/PC, such as
● Between CP 5xxx and PROFIBUS, Order No.: 6ES7901-4BD00-0XA0
● MPI cable (SIMATIC S7), Order No.: 6ES7901-0BF00-0AA0
Cable lengths
Table 2- 2
Permissible PROFIBUS cable lengths
Baud rate [bit/s]
Max. cable length [m]
9.6 k to 187.5 k
1000
500 k
400
1.5 M
200
3 to 12 M
100
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Commissioning preparations for PROFIBUS
2.3 Connection via serial interface
2.3
Connection via serial interface
Prerequisite
There must be a serial interface (COM) on the PC from which the connection is to be made.
Settings
1. In STARTER, go to Project > Set PG/PC interface and select the Serial cable (PPI)
interface.
If this interface is not in the selection list, you will have to add it via Select before
proceeding any further.
Note
If you are unable to add the interface to the selection menu, you will have to install the
driver for the serial interface.
This is located under the following path on the STARTER CD:
\installation\starter\starter\Disk1\SerialCable_PPI\
The STARTER must not be active while the driver is being installed.
2. Enter the following settings. The "0" address and the transmission rate (e.g. 19.2 kbit/s)
are important here.
Figure 2-2
Setting the interface
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Commissioning preparations for PROFIBUS
2.3 Connection via serial interface
3. The Control Unit's PPI address is pre-set to "3" in the factory.
4. You should also set the bus address to "3" during setup, or under "Properties" in the drive
unit's shortcut menu.
Figure 2-3
Setting the bus address
5. You must use a null modem cable to connect the PC (COM interface) to the Control Unit.
This interface must not be switched.
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Commissioning preparations for PROFIBUS
2.4 Powering-up/powering-down the drive system
2.4
Powering-up/powering-down the drive system
Powering-up the drive
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Commissioning preparations for PROFIBUS
2.4 Powering-up/powering-down the drive system
Off responses
● OFF1
– n_set = 0 is input immediately to brake the drive along the deceleration ramp (p1121).
– When zero speed is detected, the motor holding brake (if parameterized) is closed
(p1215). The pulses are suppressed when the brake application time (p1217) expires.
Zero speed is detected when the actual speed drops below the speed threshold
(p1226) or once the monitoring time (p1227) started when speed setpoint ≤ speed
threshold (p1226) has expired.
● OFF2
– Immediate pulse suppression, the drive coasts to a standstill.
– The motor holding brake (if parameterized) is closed immediately.
– Switching on inhibited is activated.
● OFF3
– n_set = 0 is input immediately to brake the drive along the OFF3 deceleration ramp
(p1135).
– When zero speed is detected, the motor holding brake (if parameterized) is closed.
The pulses are suppressed when the brake application time (p1217) expires. Zero
speed is detected when the actual speed drops below the speed threshold (p1226) or
once the monitoring time (p1227) started when speed setpoint ≤ speed threshold
(p1226) has expired.
– Switching on inhibited is activated.
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Commissioning preparations for PROFIBUS
2.4 Powering-up/powering-down the drive system
Control and status messages
Table 2- 3
Power-on/power-off control
Signal name
Internal control word
Binector input
PROFdrive/Siemens
telegram 1 ... 111
0 = OFF1
STWA.00
STWAE.00
p0840 ON/OFF1
STW1.0
0 = OFF2
STWA.01
STWAE.01
p0844 1. OFF2
p0845 2. OFF2
STW1.1
0 = OFF3
STWA.02
p0848 1. OFF3
p0849 2. OFF3
STW1.2
Enable operation
STWA.03
STWAE.03
p0852 Enable operation
STW1.3
Table 2- 4
Switch-in/switch-out status signal
Signal name
Internal status word
Parameter
PROFdrive/Siemens
telegram 1 ... 111
Ready to start
ZSWA.00
ZSWAE.00
r0899.0
ZSW1.0
Ready for operation
ZSWA.01
ZSWAE.01
r0899.1
ZSW1.1
Operation enabled
ZSWA.02
ZSWAE.02
r0899.2
ZSW1.2
Switching on inhibited
ZSWA.06
ZSWAE.06
r0899.6
ZSW1.6
Pulses enabled
ZSWA.11
r0899.11
ZSW1.11 1)
1)
Only Siemens telegrams 102 and 103
Function diagrams (see SINAMICS S110 List Manual)
● 2610 Sequence control - sequencer
● 2634 Missing enable signals, line contactor control
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Commissioning with PROFIBUS
3.1
Sequence of operations during commissioning
Once the basic requirements have been met, you may proceed as follows to commission the
drive:
Table 3- 1
Commissioning
Step
Activity
1
Create project with STARTER.
2
Configure the drive unit in STARTER.
3
Save the project in STARTER.
4
Go online with the target device in STARTER.
5
Load the project to the target device.
6
The motor starts to run.
Note
If motors with a DRIVE-CLiQ interface are used, all motor and encoder data should be saved
in a non-volatile manner for spare part usage of the Sensor Module on the motor via p4692 =
1.
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Commissioning with PROFIBUS
3.2 STARTER commissioning tool
3.1.1
Safety guidelines
DANGER
A hazardous voltage will be present in all components for a further five minutes after the
system has been shutdown.
Note the information on the component!
CAUTION
A project with Safety Integrated must only be created online.
Note
Please observe the installation guidelines and safety instructions in the SINAMICS S110
Equipment Manual.
CAUTION
In STARTER, after the changeover of the axis type via p9302/p9502 and subsequent
POWER ON, the units that depend on the axis type are only updated after a project upload.
3.2
STARTER commissioning tool
Short description
The STARTER commissioning tool is used to commission drive units from the SINAMICS
product family.
STARTER can be used for the following:
● Commissioning
● Testing (via the control panel)
● Drive optimization
● Diagnostics
System prerequisites
You can find the system requirements for STARTER in the "readme" file in the STARTER
installation directory.
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3.2 STARTER commissioning tool
3.2.1
Important STARTER functions
Description
STARTER supports the following tools for managing the project:
● Copy RAM to ROM
● Download to target device
● Load to PG/PC
● Restoring the factory settings
● Commissioning wizard
● Displaying toolbars
Copy RAM to ROM
You can use this function to save volatile Control Unit data to the non-volatile memory. This
ensures that the data is still available after the 24 V Control Unit supply has been switched
off.
This function can be activated as follows:
● Tools → Setting → Download → Activate "Copy RAM to ROM"
This means that every time data is loaded to the target system by choosing "Load project
to target system", the data is stored in the non-volatile memory.
● Right-click Drive unit → Target device → Copy RAM to ROM
● Drive unit grayed out → "Copy RAM to ROM" button
NOTICE
You may only switch off the power supply to the Control Unit after saving has finished;
i.e. after saving has started, wait until it has finished and parameter p0977 has the value
0 once more.
Download to target device
You can use this function to load the current STARTER project to the Control Unit. First of
all, a consistency check is performed on the project, with messages triggered if any
inconsistencies are detected. You will need to rectify any inconsistencies before performing
a download. If no inconsistencies are detected, the data is loaded to the work memory of the
Control Unit. A reset is then triggered.
This function can be activated as follows:
● Right-click Drive unit → Target device → Download to target device
● Drive unit grayed out → Download to target device button
● Online/offline comparison screen → Download to target device button
● Project to all drive units simultaneously:
Load project to target system button, Project → Download to target device menu
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Commissioning with PROFIBUS
3.2 STARTER commissioning tool
Load to PG/PC
You can use this function to load the current Control Unit project to STARTER.
This function can be activated as follows:
● Right-click Drive unit → Target device → Load to PG/PC
● Drive unit grayed out → Load project to PG/PC button
● Online/offline comparison screen → Load project to PG/PC button
Restoring the factory settings
You can use this function (p0970 = 1) to set all the parameters in the work memory of the
Control Unit to the factory settings. The CU305 will then perform an automatic start. All
relevant parameters found are written to the work memory (RAM). As part of this process,
various factory-set parameters are automatically updated to actual (more recent) values.
Once this automatic configuration is complete, a project with all available drive parameters
for the actual arrangement will be available in the target system.
This function, which is called "Restore factory settings", can be activated as follows:
● Right-click Drive unit → Target device → Restore factory settings
● Drive unit grayed out → Restore factory settings button
Displaying toolbars
The toolbars can be activated by choosing View → Toolbars (check mark).
Creating and copying data sets (offline)
Drive and command data sets (DDS and CDS) can be added in the drive's configuration
screen. The corresponding buttons must be clicked.
For more information about data sets, see the Drive system principles chapter.
Upgrading firmware and the project in STARTER
Preconditions are a functional project, a memory card containing the new firmware and a
current version of STARTER.
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3.2 STARTER commissioning tool
Upgrade the project
1. Is the project in STARTER? Yes: continue with 3.
2. Use STARTER to download project to PG:
– Connect with target system (go online)
– Downloading the project into the PG
3. Install the latest firmware version for the project.
– In the project navigator, right-click Drive unit → Target device → Device version.
– For example, select version "SINAMICS S110 V4.3x" -> Change version.
Update the firmware and load the new project to the target device.
1. Insert the memory card containing the new firmware version into the Control Unit:
– Disconnect the Control Unit from the power supply →
– Insert the memory card containing the new firmware version →
– Power up the Control Unit again.
2. Go online and download the project to the target device → Copy RAM to ROM.
3. Upgrading the firmware for the DRIVE-CLiQ components takes place automatically.
4. Reset the drive unit using a POWER ON (Control Unit and all DRIVE-CLiQ components).
The new firmware version is only effective in the DRIVE-CLiQ components from this point
onwards; it also appears in the version overview.
3.2.2
Activating online operation: STARTER via PROFIBUS
Description
The following options are available for online operation via PROFIBUS:
● Online operation via PROFIBUS
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Commissioning with PROFIBUS
3.2 STARTER commissioning tool
STARTER via PROFIBUS (example with 2 CU305 and a CU310 DP)
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STARTER via PROFIBUS (example with 2 CU305 and a CU310 DP)
Settings in STARTER for direct online connection via PROFIBUS
The following settings are required in STARTER for communication via PROFIBUS:
● Tools → Set PG/PC interface...
Add/remove interfaces
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3.3 Basic Operator Panel 20 (BOP20)
● Tools → Set PG/PC interface... → Properties
Activate/deactivate "PG/PC is the only master on the bus".
Note
• Baud rate
Switching STARTER to a working PROFIBUS:
STARTER automatically detects the baud rate used by SINAMICS for the PROFIBUS.
Switching the STARTER for commissioning:
The Control Unit automatically detects the baud rate set in STARTER.
• PROFIBUS addresses
The PROFIBUS addresses for the individual drive units must be specified in the
project and must match the address settings on the devices.
3.3
Basic Operator Panel 20 (BOP20)
Brief description
The Basic Operator Panel 20 (BOP20) is a basic operator panel with six keys and a display
unit with background lighting. The BOP20 can be plugged onto the SINAMICS Control Unit
and operated.
The following functions are possible using BOP20
● Entering parameters
● Display of operating modes, parameters, alarms and faults
● Powering-up/powering-down while commissioning
Further information: See 'Parameterizing using the BOP20 (Basic Operator Panel 20)'
chapter
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Commissioning with PROFIBUS
3.3 Basic Operator Panel 20 (BOP20)
3.3.1
Important functions via BOP20
Description
Using the BOP20, the following functions can be executed via parameters that support you
when handling projects:
● Restoring the factory settings
● Copy RAM to ROM
● Acknowledge error
Restoring the factory settings
The factory setting of the complete device can be established in the drive object CU.
● p0009 = 30
● p0976 = 1
Copy RAM to ROM
You can initiate the saving of all parameters to the non-volatile memory in the drive object
CU:
● Press the P key for 3 seconds,
or
● p0009 = 0
● p0977 = 1
NOTICE
This parameter is not accepted if an identification run (e.g. motor identification) has
been selected on a drive.
Acknowledge error
To acknowledge all the faults that have been rectified, press the Fn key.
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3.4 Creating a project in STARTER
3.4
Creating a project in STARTER
3.4.1
Creating a project offline
To create a project offline, you need the PROFIBUS address, the device type (e.g.
SINAMICS S110), and the device version (e.g. FW 4.1).
Table 3- 2
Sequence for creating a project in STARTER (example)
What to do?
1.
Create a new project
How to do it?
•
Operator action:
–
•
Menu "Project" → New ...
User projects:
–
Remark
The project is created offline and
loaded to the target system when
configuration is complete.
Projects already in the target directory
• Name: Project_1 (can be freely selected)
Type: Project
Storage location (path): Default (can be set as
required)
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Commissioning with PROFIBUS
3.4 Creating a project in STARTER
What to do?
2.
Add individual drive
How to do it?
Remark
Information about the bus
address:
Operator action:
→ Double-click "Add individual drive unit".
Device type: SINAMICS S110 CU305 DP (can be
selected)
Device version: 4.1x (can be selected)
Address type: PROFIBUS/USS/PPI (can be selected)
Bus address: 37 (can be selected)
3.
Configure the drive unit.
When commissioning the system
for the first time the PROFIBUS
address of the Control Unit must
be set here.
The address is set via the
address switch on the Control
Unit (or via p0918 if the address
switch = "all ON" or "all OFF"
(factory setting = 126)).
Once you have created the project, you have to configure the drive unit. The "Example of
first commissioning using STARTER" chapter contains an example scenario.
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3.4 Creating a project in STARTER
3.4.2
Searching for a drive unit online
To search for a drive unit online, the drive unit and the PG/PC must be connected via
PROFIBUS.
Table 3- 3
Sequence for searching for a drive unit in STARTER (example)
What to do?
1.
Create a new
project
How to do it?
Operator action:
Menu: "Project" → New with Wizard
Click "Find drive unit online".
1.1
Enter the project
data.
Project name: Project_1 (can be freely selected)
Author: Any
Remark: Any
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Commissioning with PROFIBUS
3.4 Creating a project in STARTER
What to do?
How to do it?
2.
Set up the PG/PC
interface
Here, you can set up the PG/PC interface by clicking "Change and test".
3.
Insert drives
Here, you can search for nodes that have been accessed.
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3.5 Example of first commissioning with STARTER
What to do?
4.
Summary
How to do it?
You have now created the project.
→ Click "Complete".
5.
Configure the drive Once you have created the project, you have to configure the drive unit. The "Example of first
unit.
commissioning using STARTER" chapter contains an example scenario.
3.4.3
Searching for nodes that can be accessed
To search for a drive unit online, the drive unit and the PG/PC must be connected via
PROFIBUS. The interface must be set correctly in STARTER.
3.5
Example of first commissioning with STARTER
The example provided in this section explains all the configuration and parameter settings
that are required for first commissioning. Commissioning is carried out using the STARTER
commissioning tool.
Requirements for commissioning
1. The checklist for commissioning (Table 1-1 or 1-2 in Section 1.1) has been filled out and
the points ticked off.
2. STARTER is installed and activated.
→ See the "Readme" file on the STARTER installation CD.
3. The power supply (24 VDC) is switched on.
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Commissioning with PROFIBUS
3.5 Example of first commissioning with STARTER
3.5.1
Task
1. Commission a drive system with the following components:
Table 3- 4
Component overview
Designation
Component
Order number
Closed-loop control and infeed
Control Unit
Control Unit 305
Drive 1
Sensor Module
SMC20
6SL3055-0AA00-5BAx
Motor
Synchronous motor
1FK7061-7AF7x-xxxx
Motor encoder
Incremental encoder sin/cos C/D
1 Vpp 2048 p/r
1FK7xxx-xxxxx-xAxx
2. The drive is to be enabled via PROFIBUS.
● Telegram for drive 1
● Standard telegram 4: Speed control, 1 position encoder
Note
For more information about telegram types, see the section titled "Communication via
PROFIBUS" or see the SINAMICS S110 List Manual.
3.5.2
Commissioning with STARTER (example)
The table below describes the steps for commissioning with STARTER.
Table 3- 5
Sequence for commissioning with STARTER (example)
What to do?
1.
Automatic
configuration
How to do it?
Remark
-
Operator action:
→ "Project" → "Connect to target system"
→ Double-click "Automatic configuration".
→ Follow the instructions provided in the wizard.
2.
Configuring a drive
The drive needs to be configured as follows.
-
→ "Drive_1" → Double-click "Configuration" → Click "Configure
DDS".
3.1
Control structure
You can activate the function modules.
-
3.2
Power unit
The wizard displays the data determined automatically from
the electronic type plate.
You can select the control type.
-
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3.5 Example of first commissioning with STARTER
What to do?
3.3
Motor
How to do it?
The name of the motor (e.g. tooling labeling) can be entered.
Select standard motor from list: Yes
Select the motor type (see type plate).
Remark
You can select a standard
motor from the motor list or
you can enter the motor data
manually. You can then
select the motor type.
3.4
Motor brakes
Here, you can configure the brake and activate the "Extended
brake control" function module.
Additional information: See
"Extended brake control"
chapter.
3.5
Encoder
Motor encoder:
Select a standard encoder from the list: Yes
Select "2048, 1 Vpp, A/B C/D R"
If you are using an encoder
that does not appear in the
list, you can also enter the
data manually.
3.6
Process data
exchange
PROFIBUS telegram type 4 (drive 1) and 3 (drive 2) must be
selected.
-
3.7
Summary
The drive data can be copied to the clipboard for plant
documentation purposes and then added to a text program,
for example.
-
Note
The reference parameters and limit values can be protected against being automatically overwritten in STARTER by
setting p0340 = 1: Drive → Configuration → Reference parameters/Blocked list tab.
4.
5.
Save the parameters
on the device
The motor starts to
run.
•
Connect with target system (go online)
•
Target system → Download to target device
•
Target system → Copy RAM to ROM
(saving data to non-volatile memory)
The drive can be set in motion using the control panel in
STARTER.
•
Following the pulse enable, the drive will switch to
operating status.
Point the mouse at the drive
unit (SINAMICS S110) and
right-click.
For more information about
the control panel, see the
STARTER online help.
The control panel supplies
the control word 1 (STW1)
and speed setpoint 1
(NSOLL).
STARTER diagnosis options
Under "Component" → Diagnosis → Control/status words
● Control/status words
● Status parameters
● Alarm history
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Commissioning with PROFIBUS
3.6 Initial commissioning using servo AC DRIVE with BOP20 as an example
3.6
Initial commissioning using servo AC DRIVE with BOP20 as an
example
The example provided in this section explains all the configuration and parameter settings
that are required for first commissioning. Commissioning is performed using the BOP20.
Commissioning requirement
● The check list for commissioning (Table 1-1 or 1-2 from Section 1.1) has been filled out
and the points complied with.
3.6.1
Task
1. Commission a drive unit (operating mode servo, closed-loop speed control) with the
following components:
Table 3- 6
Component overview
Designation
Component
Order number
Control Unit
Control Unit 305 DP
6SL3040-0JA00-0AA0
Operator Panel
Basic Operator Panel 20
(BOP20)
6SL3055-0AA00-4BAx
Power Module
Power Module 340
6SL3210-xxxx-xxxx
Motor
Synchronous motor with DRIVE- 1FK7061-7AF7x-xAxx
CLiQ interface
Motor encoder via DRIVE-CLiQ
Incremental encoder sin/cos
C/D
1 Vpp 2048 p/r
Closed-loop control
Drive
1FK7xxx-xxxxx-xAxx
2. Commissioning is performed using the BOP20.
3. The function keys of the Basic Operator Panel (BOP) should be parameterized so that the
ON/OFF signal and the speed setpoints are entered using these keys.
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Commissioning with PROFIBUS
3.6 Initial commissioning using servo AC DRIVE with BOP20 as an example
3.6.2
Component wiring (example)
The following diagram shows a possible component configuration and wiring option.
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Component wiring with integrated Sensor Module (example)
For more information on wiring and connecting the encoder system, see the Equipment
Manual.
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Commissioning with PROFIBUS
3.6 Initial commissioning using servo AC DRIVE with BOP20 as an example
3.6.3
Quick commissioning using the BOP (example)
Table 3- 7
Quick commissioning for a motor with a DRIVE-CLiQ interface
Procedure
Description
Factory
setting
Note:
The drive must be set to the factory settings before first commissioning is carried out.
1.
p0009 = 1
Device commissioning parameter filter *
1
0 Ready
1 Device configuration
30 Parameter reset
2.
p0009 = 2
Device commissioning parameter filter *
1
0 Ready
1 Device configuration
2 Defining the drive type / function module
30 Parameter reset
Note:
When a configured DRIVE-CLiQ component is booted for the first time, the firmware is automatically updated to the status
in the non-volatile memory. This may take a few minutes and is indicated by the READY-LED on the corresponding
components flashing green/red and the Control Unit flashing orange (0.5 Hz). Once all updates have been completed, the
READY-LED on the Control Unit flashes orange at 2 Hz and the corresponding READY-LED on the components flashes
green/red at 2 Hz. For the firmware to be activated, a POWER ON must be carried out for the components.
3.
p0108[1] =
H0004
Drive object, function module *
Bit 8 Extended setpoint channel
4.
p0009 = 0
Device commissioning parameter filter *
0000
1
0 Ready
1 Device configuration
30 Parameter reset
5.
DO = 2
Select drive object (DO) 2 ( = SERVO)
1
1 CU
2 SERVO
To select a drive object (DO), simultaneously press the Fn key and an arrow key.
The selected project is displayed at the top left.
6.
p0840[0] =
r0019.0(DO 1)
0
BI: ON/OFF1 [CDS]
Sets the signal source for STW1.0 (ON/OFF1)
Interconnection with r0019.0 of the drive object Control Unit (DO 1)
Effect: Signal ON/OFF1 from the BOP
7.
p1070[0] =
r1024
0
CI: Main setpoint [CDS]
Sets the signal source for speed setpoint 1 of the speed controller.
Interconnecting to r1024 on its own drive object
8.
Save all
parameters
Press the P key for 3 s.
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Commissioning with PROFIBUS
3.6 Initial commissioning using servo AC DRIVE with BOP20 as an example
Procedure
9.
Description
Factory
setting
Switching the drive on with the ON pushbutton
Binector output r0019.0 is set using this pushbutton.
* These parameters offer more setting options than the ones described here. For more possible settings, see the
SINAMICS S110 List Manual.
[CDS] Parameter depends on command data sets (CDS). Data set 0 is preset.
[DDS] Parameter depends on drive data sets (DDS). Data set 0 is preset.
BI binector input
BO binector output
CI connector input
CO connector output
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Commissioning with PROFIBUS
3.6 Initial commissioning using servo AC DRIVE with BOP20 as an example
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Commissioning with CANopen
4.1
4
Requirements for commissioning
Section content
This section describes the commissioning prerequisites:
● CU305 CAN with connection to PG/PC
● STARTER commissioning tool on PG/PC
You can find a detailed description of the CANopen interface on the CU305 CAN in the
SINAMICS S110 Equipment Manual.
The "STARTER commissioning tool" chapter of this manual contains an introduction to the
STARTER commissioning tool.
4.1.1
Previous knowledge
To fully understand this Commissioning Chapter on the CANopen interface, you must be
familiar with CANopen terminology.
This Chapter includes, among other things,
● An overview of the most important terms and abbreviations
● A breakdown of the communication objects in the CANopen object directory in the
CANopen slave software
You must be familiar with the following standards:
Note
SINAMICS with CANopen complies with the following standards:
- CiA DS-301 V4.02 (Application Layer and Communication Profile)
- CiA DS-402 V2.0 (Device Profile for Drives and Motion Control)
- CiA DR-303-3 V1.2 (Indicator Specification)
- CiA DS-306 V1.3: (Electronic data sheet specification for CANopen)
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Commissioning with CANopen
4.1 Requirements for commissioning
4.1.2
Prerequisites for commissioning CU305 with CANopen
To commission a CAN bus in a SINAMICS drive line-up, the following hardware and
software components are required:
● CU305 CAN with firmware in the non-volatile memory.
● Link between the CANopen Control Unit and a PG/PC with an RS232 connection.
● STARTER commissioning tool on the PG/PC.
Note
Please see the SINAMICS S110 Manual for a description of the components in a
SINAMICS drive line-up and for information about wiring the interface to a PC/PG. The
STARTER documentation contains information on how to install the STARTER
commissioning tool.
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4.1 Requirements for commissioning
4.1.3
CAN bus on the CU305
The integrated CAN interface is used to connect drives in the SINAMICS S110 drive system
to higher-level automation systems with a CAN bus.
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Commissioning with CANopen
4.1 Requirements for commissioning
The CU305 CAN uses 9-pin Sub D X126 connectors for the connection to the CAN bus
system.
WARNING
Do NOT connect a PROFIBUS cable
Connecting a PROFIBUS cable to CAN connector X126 is highly likely to damage the
CANopen interface of the CU305 beyond repair.
You can use the connectors as inputs or outputs. Unused pins are plated through.
The following baud rates (among others) are supported: 10, 20, 50, 125, 250, 500,
800 kBaud, and 1 Mbaud.
The PC with STARTER is connected to serial interface X22 (RS232).
4.1.4
CAN bus interface X126
Connector assignment of the CANopen interface X126 on S110
Table 4- 1
CAN bus interface X126
Pin
Designation
Technical specifications
1
Reserved
2
CAN_L
CAN signal (dominant low)
3
CAN_GND
CAN ground
4
Reserved
5
CAN_SHLD
Optional shield
6
CAN_GND
CAN ground
7
CAN_H
CAN signal
8
Reserved
9
Reserved
Type: 9-pin SUB-D male
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4.1 Requirements for commissioning
4.1.5
CANopen functionality CU305 CAN
Introduction
The CU305 CAN supports the CANopen transfer types with SDOs (service data objects) and
PDOs (process data objects).
The CU305 CAN also supports free PDO mapping.
The CU305 CAN supports CANopen communication profile DS 301 version 4.0, device
profile DSP 402 (drives and motion control) version 2.0, and indicator profile DR303-3
version 1.0.
For communication monitoring purposes, the CU305 CAN supports node guarding and the
heartbeat protocol (heartbeat producer).
The CU305 CAN features an SDO → parameter channel that can be used to read or write all
the SINAMICS parameters.
The CU305 CAN firmware supports Profile Velocity Mode.
Node guarding
SINAMICS waits a certain time (node lifetime) for message frames from the master
application and permits a specific number (lifetime factor) of failures within a specified time
interval (node guard time).
The node lifetime is calculated by multiplying the node guard time by the lifetime factor.
Heartbeat protocol
SINAMICS (producer) cyclically transmits (heartbeat time) its communication status (sign of
life) on the CAN bus to the master application.
Profile velocity mode
Velocity setpoint defaults and settings can be made in this mode.
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Commissioning with CANopen
4.2 Commissioning
4.1.6
Diagnostics LED "COM"
COM diagnostics LED → red
Table 4- 2
COM diagnostics LED → red (CANopen error LED)
ERROR LED
flashing frequency
Status
Meaning
Off
No error
Ready
Single flash
Warning limit
reached
At least one of the CAN controller error counters has
reached the "Error Passive" warning threshold. (too many
telegrams with errors).
Double flash
Error control event
A guard event has occurred.
On
Bus off
The CAN controller is in "Bus off".
COM diagnostics LED → green
Table 4- 3
COM diagnostics LED → green (CANopen RUN LED)
ERROR LED
flashing frequency
Status
Meaning
Single flash
Stopped
The node is in the STOPPED state.
Flashing
PREOPERATIONAL
The node is in the PRE-OPERATIONAL state.
On
OPERATIONAL
The node is in the OPERATIONAL state.
4.2
Commissioning
4.2.1
Procedure when commissioning the drive for the first time
Section content
This section shows you how to carry out initial commissioning for the CANopen interface in
the SINAMICS drive line-up using the STARTER commissioning tool. This section first looks
at the main steps in the initial commissioning procedure. The initial commissioning procedure
is performed by the STARTER commissioning tool in ONLINE mode. Where necessary,
notes are provided at the end of each step to explain how the procedure differs in OFFLINE
mode.
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4.2 Commissioning
Prerequisite
Before following the commissioning steps described in this chapter, please ensure the points
referred to in the "Requirements for commissioning" chapter have been addressed.
4.2.2
CANopen object directory
CANopen object directory
When the drive objects are initialized, the CANopen objects are initialized in the object
directory for the SINAMICS drive line-up (CANopen slave software).
Objects
The following SINAMICS objects are involved in communication:
1. Control Unit communication objects independent of the drive
– include: Number and number of errors, communication addresses etc.
2. Drive-dependent communication objects
– Up to eight PDOs for sending and eight PDOs for receiving can be parameterized for
the drive. Each PDO contains:
- Communication and
- Mapping parameters (max. 8 bytes/4 words/64 bits)
3. Manufacturer-specific objects
– Objects for accessing SINAMICS parameters
– Free objects for sending/receiving process data, there are freely interconnectable
objects available for each drive object (max. 16) in the object directory (see CANopen
manual for table).
– The manufacturer-specific range starts in the object directory from address 2000 hex
and ends at 5FFF hex.
4. Drive objects in drive profile DSP 402
– Profile velocity mode
– Setpoint and actual values and comparisons
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Commissioning with CANopen
4.2 Commissioning
4.2.3
Commissioning options
Prerequisites
You can find explanations of the CANopen terminology and other important technical
principles in the Introduction chapter in the CANopen Manual.
Commissioning
This section describes the commissioning prerequisites:
● SINAMICS S110: CU305 CAN
● STARTER commissioning tool
Note
All CANopen parameters, errors and warnings are described in the List Manual.
SINAMICS S110 on a CANopen interface
There are two ways of putting SINAMICS S110 into operation with the STARTER tool on a
CANopen interface.
● Via predefined message frames ("predefined connection set").
● Via free PDO mapping (user-defined message frames)
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4.2 Commissioning
4.2.4
Configuring the drive unit with STARTER (overview)
Initial commissioning: procedure
In the table below, the current commissioning step is highlighted in bold:
Table 4- 4
CANopen initial commissioning
Step
Procedure
1
Hardware settings on the CU305
2
Configure the drive unit using the STARTER commissioning tool in ONLINE mode.
3
Configure the COB IDs and process data objects for the receive and transmit message
frames.
4
Interconnect the receive and transmit buffers.
5
In ONLINE mode, download the project from the drive unit to the PG/PC and save.
Carrying out the commissioning step
Configure the drive unit in STARTER by carrying out the following steps:
● Search for the drive unit ONLINE.
● Enter the drive configuration data.
● Configure the motor.
● Configure the CANopen interface on the CU305 Control Unit
– CAN interface
– Monitoring
● Load the project to the drive unit.
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Commissioning with CANopen
4.2 Commissioning
4.2.5
Searching for the drive unit ONLINE
Introduction
The SINAMICS firmware is able to detect the connected drives automatically, as well as set
and save the corresponding parameters.
Steps
To ensure that the drive unit configuration is identified automatically, open a new project in
STARTER: Proceed as follows:
1. To call up the STARTER commissioning tool, click the STARTER icon or select menu
command Start > Programs > STARTER > STARTER in the Windows Start menu. The
STARTER Project Wizard is launched.
2. Select the Find drive units online.... button.
Figure 4-2
Find drive units online...
3. The Wizard guides you through the procedure for creating a new project. In the next
dialog box, enter a name for the project, e.g. Project_CANopen_0 and click Continue >.
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4.2 Commissioning
4. The Project Wizard searches for the drive unit ONLINE and inserts it in the project. Click
Continue >. The Wizard displays a summary of the project.
5. Choose Complete. The new project and drive unit are displayed in STARTER.
Note
STARTER searches for drive units (in this case, Control Units). This means more than
one drive unit will be found if there is more than one Control Unit in the system. The
peripherals associated with a drive unit (Control Unit, etc.) are not yet displayed at this
point. They do not appear until automatic configuration is carried out.
4.2.6
Configuring a drive unit
Prerequisite
You have proceeded as described above and integrated the drive unit into the STARTER
project automatically.
Note
This step is not required for connection via an SMI: The motor is configured automatically.
Steps
Proceed as follows to configure the CANopen interface, the motor, and the encoder for the
drive.
Note
You only have to change the motor and encoder configuration;
1. Select Disconnect from target system.... The modified data is loaded from RAM to ROM
and to the PG.
The motors are configured in OFFLINE mode and are then loaded to the target system in
ONLINE mode.
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Commissioning with CANopen
4.2 Commissioning
2. During first commissioning, double-click Configure drive unit in the project navigator (see
the example screen below). Once first commissioning is complete, you will find the
CANopen interface configuration under Control Unit → Configuration → Wizard button.
Figure 4-3
Configuring a drive
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4.2 Commissioning
3. Enter the transmission rate and the CAN bus address (node ID) in the Configuration <Project name> - CAN interface dialog box.
Figure 4-4
CAN interface
4. You can select a transmission rate of 1 MBit/s for commissioning, for example.
The factory setting is 20 kBit/s.
Note
If, during commissioning, you power down/power up the control or carry out a RESET,
the factory settings will be restored.
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Commissioning with CANopen
4.2 Commissioning
5. There are two possible ways of setting the bus address/node ID:
– In this dialog box, you can set a value between 1 and 126 if the address switch on the
Control Unit (labeled "DP address") is set to 0 or 127.
Note
If the address switch is set to between 1 and 126, values that were entered here in
OFFLINE mode will not be downloaded.
– Directly using the address switch on the Control Unit.
The following diagram shows an example for address 5.
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Figure 4-5
Example: Bus address via the address switch on the Control Unit
Compliance with the following instructions is mandatory!
Note
Permissible CAN bus address: 1...126.
The address set on the switch is displayed in p8620.0.
If the switch setting changes, the new setting will not be applied until the next POWER
ON.
The factory setting is "ON" or "OFF" for all switches.
During SINAMICS power up the address switch is polled first in order that the bus
address can be set. If the switch setting is 0 or 127, the address can be set via parameter
p8620.0.
If the address is set to a valid node address (1...126), this is copied to parameter
p8620.0, where it is displayed. Click Next >.
6. During first commissioning, you will need to enter a name for the drive in the Drive
properties dialog box. Click Next >. Once first commissioning is complete, you will find the
drive configuration under Drive_1 → Configuration → Configure DDS button.
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4.2 Commissioning
7. On the dialog screen which appears when you select this command path
("SINAMICS_S110_CU305_CAN configuration - Control structure"), you can define
whether the drive object (function module) is to operate with/without an extended setpoint
channel. The commissioning procedure described here is carried out without an extended
setpoint channel (ramp-function generator). The field for the extended setpoint channel
must be clicked-out.
Note
When the ramp-function generator is activated (with setpoint channel), the
interconnection from CI: p2151 = r1119 can be changed, so that to evaluate bit 10 in
status word (r8784) the setpoint can be retrieved (taken) from in front of the rampfunction generator.
When the ramp-function generator is active, objects 6086 hex and 6083 hex of the drive
provide are included.
8. You only configure the motor and the encoder! Work through the Wizard by choosing
Continue > until you reach the point at which you configure the motor (see the following
diagram).
Figure 4-6
Configure the motor
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Commissioning with CANopen
4.2 Commissioning
9. Choose the motor type and the motor according to the type (order no.) (see the rating
plate).
10.Click Continue > until you reach the point at which you configure the encoder.
11.Select the motor encoder and click Next > to run the wizard through to the dialog
containing the summary.
12.Click Complete.
This completes the OFFLINE configuration of the drive unit.
4.2.7
Monitoring
Introduction
SINAMICS supports the following two optional monitoring services to ensure the functionality
of CANopen network nodes:
● Heartbeat:
SINAMICS (producer) cyclically transmits (heartbeat time) its communication status on
the CAN bus to the master application.
● Node guarding:
SINAMICS waits a certain time (node lifetime) for master frames from the master
application and permits a specific number (lifetime factor) of failures within a specified
time interval (node guard time).
The node lifetime is calculated by multiplying the node guard time by the lifetime factor.
Note
Only one node monitoring service can be activated at any one time (either heartbeat or
node guarding).
If both monitoring services are activated, node guarding is effective.
Steps
On the Monitoring tab, enter the required monitoring service (heartbeat or node guarding).
1. Select the Monitoring tab.
2. The default commissioning value for the Heartbeat monitoring mechanism could be, for
example, 100 ms. Enter this value (unless it has already been entered).
3. The default commissioning values for the node guarding monitoring service could be:
– Time interval (guard time): 100 ms
– Number of failures (lifetime factor): 3
Enter these values (unless they have already been entered).
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4.2 Commissioning
The CANopen interface is now parameterized. To load the project to the target system in
ONLINE mode, carry out the following steps.
Note
Parameter p8609 determines how the drive or CAN node will respond in the event of a CAN
communication or device error.
Factory setting:
p8609 = 1, => no change
Parameter p8609
Sets the behavior of the CAN node referred to the communications error or equipment fault.
● Values:
– 0: Pre-operational
– 1: No change
– 2: Stopped
● Index (corresponds to the CANopen object 1029 hex):
– [0] = Behavior for communication errors
– [1] = Behavior for device faults
4.2.8
Loading the project to the drive unit
Introduction
To load the project to the drive unit, proceed as follows:
Steps
1. Click Connect to target system. An ONLINE connection is established and an
ONLINE/OFFLINE comparison takes place. If any discrepancies are identified, they are
displayed (see screenshot below).
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Commissioning with CANopen
4.2 Commissioning
Figure 4-7
ONLINE/OFFLINE comparison (example)
2. You changed the data OFFLINE and now have to load it to the target system. Carry out
the following:
– <== Download to target device in the "ONLINE/OFFLINE comparison" dialog box
– When the system asks "Are you sure?", click Yes. The system now starts loading the
data.
– When the system informs you that the data was successfully loaded to the target
system, click OK.
– Click OK for "Load from RAM to ROM".
3. Discrepancies were identified again during the ONLINE/OFFLINE comparison. Now click
Load to programming device ==>.
4. Load the new data from the drive unit to the PG. Carry out the following:
– When the system asks "Are you sure?", click Yes. The system now starts loading the
data.
– When the system informs you that the data was successfully loaded to the PG, click
OK.
5. There are no more discrepancies in the ONLINE/OFFLINE comparison dialog box. Click
Close.
This completes the procedure for configuring the drive unit hardware with the CANopen
interface.
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4.3 Configuring COB-IDs and process data objects
4.3
Configuring COB-IDs and process data objects
4.3.1
Configuring COB-IDs and process data
Configuring COB-IDs and process data
For more information about this subject please see the CANopen Commissioning Manual
(COB-IDS and process data objects associated with receive and transmit telegrams).
4.4
Interconnecting process data
4.4.1
Interconnecting process data
Interconnecting process data
For more information about this subject please see the chapter titled Interconnecting process
data in the receive and send buffers in the CANopen Commissioning Manual.
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Commissioning with CANopen
4.5 Loading and managing projects ONLINE
4.5
Loading and managing projects ONLINE
4.5.1
In ONLINE mode, load the projects from the drive unit to the PC/PG and save.
Prerequisite
You are in ONLINE mode in STARTER and have completed the initial commissioning
procedure.
Steps
To save the data configured ONLINE in STARTER on the PG/PC, proceed as follows:
1. Select the drive unit in the project navigator. Select Target device → Load to programming
device from the shortcut menu (right-click to open).
2. Carry out the following:
– When the system asks "Are you sure?", click Yes. The system now starts loading the
data.
– When the system informs you that the data was successfully loaded, click OK.
3. Click the Disconnect from target system function key.
4. If prompts are displayed, then click on the following one after the other:
– Changes in the drive unit...
– Save data, for SERVO_1
– When the system informs you that the data was successfully copied from RAM to
ROM, click OK.
– When the system prompts you to confirm that you want the data to be loaded to the
PG, click Yes.
– When the system informs you that the data was successfully loaded to the PG, click
OK.
5. STARTER is now in OFFLINE mode.
6. Click Project → Save as....
This completes initial commissioning for the CANopen interface.
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5
Diagnostics
This chapter describes the following diagnostic features of the SINAMICS S drive system:
● Diagnostics via LEDs
● Diagnostics via STARTER
● Diagnostic buffer
● Fault and alarm messages
5.1
Diagnostics via LEDs
5.1.1
LEDs when the Control Unit boots
The individual statuses during the booting procedure are indicated by means of the LEDs on
the Control Unit.
● The duration of the individual statuses varies.
● If an error occurs, booting is aborted and the cause of the error is indicated via the LEDs.
Remedy:
– If booting is cancelled due to incorrect data, fault F01018 is output. After this fault has
been output, the module is booted based on factory settings.
– In all other cases: Exchange the Control Unit.
● Once the unit has been successfully booted, all the LEDs are switched off briefly.
● Once the unit has been booted, the LEDs are driven via the loaded software.
The description of the LEDs after booting applies.
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Diagnostics
5.1 Diagnostics via LEDs
Control Unit 305 - behavior of the LEDs during booting
Table 5- 1
LEDs during power up
LED
Status
Remark
RDY
COM
OUT>5
MOD
Orange
Orange
Off
Red
Reset
–
Red
Red
Off
Off
BIOS loaded
–
Red 2 Hz
Red
Off
Off
BIOS error
–
Red
Off
Off
Off
Firmware
loaded
–
Red 2 Hz
Red 2 Hz
Off
Off
File error
problem with file system
Off
Red
Off
Off
Firmware
checked
no CRC errors
Red 0.5
Hz
Red 0.5 Hz
Off
Off
Firmware
checked
CRC error
Orange
Off
Off
Off
drive
initialization
–
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Diagnostics
5.1 Diagnostics via LEDs
5.1.2
LEDs after the Control Unit has booted
Table 5- 2
Control Unit CU305 – description of the LEDs after booting
LED
RDY
(READY)
COM
PROFIdrive
cyclic operation/
CU305 DP
Color
Status
Description, cause
Remedy
-
off
Electronics power supply is missing or outside
permissible tolerance range.
-
Green
Continuous
The component is ready and cyclic DRIVE-CLiQ
communication takes place or the Control Unit waits
for initial commissioning.
-
Flashing
2 Hz
Writing to the memory card1)
-
Flashing
0.5 Hz
Commissioning/Reset or
Safety commissioning/Reset
-
Red
Flashing
2 Hz
At least one fault is present in this component.
Remedy and
acknowledge fault
Green/
Red
Flashing
0.5 Hz
Control Unit CU305 is ready for operation.
However there are no software licenses.
Obtain licenses.
Flashing
Green/
orange or 1 Hz
red/
orange
Component detection via LED is activated
(p0124[0]).
-
-
Cyclic communication has not (yet) taken place.
off
Note:
Both options depend on the LED status when
component recognition is activated via p0124[0] = 1.
-
Note:
The PROFIdrive is ready to communicate when the
Control Unit is ready to operate (see LED RDY).
Green
Continuous
Cyclic communication is taking place.
-
Flashing
0.5 Hz
Cyclic communication is not yet running fully.
Possible reasons:
-
•
The controller is not transferring any setpoints.
•
During isochronous operation, no global control
(GC) or a faulty global control (GC) is transferred
by the controller.
Red
Continuous
Cyclic communication has been interrupted.
Remedy fault
Orange
Flashing
2 Hz
Firmware CRC error.
Make sure that the
memory card has
been inserted
properly. 1)
Replace the memory
card. 1)
Replace Control Unit.
Carry-out a POWER
ON.
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Diagnostics
5.1 Diagnostics via LEDs
LED
COM/
CU305 CAN
Color
-
Status
off
Description, cause
Cyclic communication has not (yet) taken place.
Remedy
-
Note:
The CAN is ready to communicate when the Control
Unit is ready to operate (see LED RDY).
Green
Continuous
Cyclic communication is taking place.
-
Flashing
0.5 Hz
Cyclic communication is not yet running fully.
Possible reasons:
-
•
The controller is not transferring any setpoints.
•
During isochronous operation, no global control
(GC) or a faulty global control (GC) is transferred
by the controller.
Red
Continuous
Cyclic communication has been interrupted.
Remedy fault
Orange
Flashing
2 Hz
Firmware CRC error.
Make sure that the
memory card has
been inserted
properly. 1)
Replace the memory
card. 1)
Replace Control Unit.
Carry-out a POWER
ON.
OUT>5 V
-
off
The voltage of the electronics power supply for the
measuring system is 5 V.
-
Orange
Continuous
The voltage of the electronics power supply for the
measuring system is 24 V.
-
Important:
Make sure that the connected encoder can be
operated with a 24 V power supply. If an encoder
that is designed for a 5 V supply is operated with a
24 V supply, this can destroy the encoder
electronics.
MOD
1) This
-
off
Reserved
-
option is only valid if an optional memory card is inserted.
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Diagnostics
5.1 Diagnostics via LEDs
5.1.3
LEDs on the Sensor Module Cabinet SMC10 / SMC20
Table 5- 3
Sensor Module Cabinet 10 / 20 (SMC10 / SMC20) – description of the LEDs
LED
RDY
READY
Color
Status
Description, cause
Remedy
-
off
Electronics power supply is missing or outside permissible
tolerance range.
–
Green
Continuous
light
The component is ready for operation and cyclic DRIVECLiQ communication is taking place.
–
Orange
Continuous
light
DRIVE-CLiQ communication is being established.
–
Red
Continuous
light
At least one fault is present in this component.
Remedy and
acknowledge fault
0.5 Hz
flashing
light
Firmware is being downloaded.
–
2 Hz
flashing
light
Firmware download is complete. Wait for POWER ON
Carry out a POWER
ON
Flashing
light
Component recognition via LED is activated (p0144).
–
Green/re
d
Green/or
ange
or
Red/oran
ge
Note:
The LED is activated regardless of whether the
corresponding messages have been reconfigured.
Note:
Both options depend on the LED status when component
recognition is activated via p0144 = 1.
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Diagnostics
5.1 Diagnostics via LEDs
5.1.4
Table 5- 4
LEDs on the Sensor Module Cabinet-Mounted SMC30
Meaning of LEDs on the Sensor Module Cabinet SMC30
LED
RDY
READY
Color
Status
Remedy
-
Off
Electronics power supply is missing or outside permissible –
tolerance range.
Green
Continuous
light
The component is ready for operation and cyclic DRIVECLiQ communication is taking place.
–
Orange
Continuous
light
DRIVE-CLiQ communication is being established.
–
Red
Continuous
light
At least one fault is present in this component.
Remedy and
acknowledge fault
Green/re
d
0.5 Hz
flashing
light
Firmware is being downloaded.
–
Green/re
d
2 Hz
flashing
light
Firmware download is complete. Wait for POWER ON.
Carry out a POWER
ON
Green/or
ange
Flashing
light
Component recognition via LED is activated (p0144).
–
or
Red/oran
ge
OUT > 5 V
Description, cause
Note:
The LED is activated regardless of whether the
corresponding messages have been reconfigured.
Note:
Both options depend on the LED status when component
recognition is activated via p0144 = 1.
-
Off
Electronics power supply is missing or outside permissible –
tolerance range.
Power supply ≤ 5 V.
Orange
Continuous
light
Electronics power supply for encoder system available.
Power supply > 5 V.
–
Important:
Make sure that the connected encoder can be operated
with a 24 V power supply. If an encoder that is designed
for a 5 V supply is operated with a 24 V supply, this can
destroy the encoder electronics.
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Diagnostics
5.2 Diagnostics via STARTER
5.2
Diagnostics via STARTER
The diagnostic functions support commissioning and service personnel during
commissioning, troubleshooting, diagnostics and service activities.
Prerequisite
● Online operation of STARTER.
Diagnostic functions
The following diagnostic functions are available in STARTER:
● Specifying signals with the ramp-function generator
● Signal recording with the trace function
● Analyzing the control response with the measuring function
● Outputting voltage signals for external measuring devices via test sockets
5.2.1
Function generator
Description
The function generator is used, for example, for the following tasks:
● To measure and optimize control loops.
● To compare the dynamic response of coupled drives.
● To specify a simple traversing profile without a traversing program.
Use the function generator to generate different signal shapes.
In the connector output operating mode (r4818), the output signal can be injected into the
control loop via the BICO interconnection.
Depending on the mode set, this setpoint can also be applied to the control structure as, for
example, a current setpoint, disturbing torque, or speed setpoint. The impact of
superimposed control loops is automatically suppressed.
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Diagnostics
5.2 Diagnostics via STARTER
Parameterizing and operating the ramp-function generator
Use the STARTER commissioning tool to parameterize and operate the function generator.
Figure 5-1
"Ramp-function generator" initial screen
Note
Please see the online help for more information on parameterization and operation.
Properties
● Concurrent injection to several drives possible.
● The following parameterizable signal shapes can be set:
– Square-wave
– Staircase
– Triangular
– PRBS (pseudo random binary signal, white noise)
– Sinusoidal
● An offset is possible for each signal. The ramp-up to the offset is parameterizable. Signal
generation begins after the ramp-up to the offset.
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Diagnostics
5.2 Diagnostics via STARTER
● Restriction of the output signal to the minimum and maximum value settable.
● Operating modes of the function generator
– Connector output
– Current setpoint downstream of filter (current setpoint filter)
– Disturbing torque (downstream of current setpoint filter)
– Speed setpoint downstream of filter (speed setpoint filter)
– Current setpoint upstream of filter (current setpoint filter)
– Speed setpoint upstream of filter (speed setpoint filter)
Injection points of the ramp-function generator
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Figure 5-2
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ILOWHU
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Injection points of the ramp-function generator
Further signal shapes
Further signal shapes can be parameterized.
Example:
The "triangular" signal form can be parameterized with "upper limitation" to produce a
triangle with no peak.
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Figure 5-3
"Triangular" signal without peak
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Diagnostics
5.2 Diagnostics via STARTER
Starting/stopping the ramp-function generator
Note
If you parameterize the function generator in a certain way (e.g. offset), the motor will be
able to "drift" and travel to the end stop.
The movement of the drive is not monitored while the ramp-function generator is active.
To start the ramp-function generator:
1. Set the requirements for starting the function generator:
– Activate the control panel:
Drive_1 → Commissioning → Control panel
– Switch on the drive:
Control board → Issue enable signals → Switch on
2. Select the operating mode:
e.g. speed setpoint downstream of filter
3. Set the signal shape:
e.g. square-wave
4. Download the settings to the target device ("Download parameterization" button).
5. Start the function generator ("Start FctGen" button).
To stop the measuring function:
● "Stop FctGen" button
Parameterization
Select the "function generator" parameter screen via the following icon in the toolbar of the
STARTER commissioning tool:
Figure 5-4
STARTER icon for "trace function/ramp-function generator"
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Diagnostics
5.2 Diagnostics via STARTER
5.2.2
Trace function
Description
You can use the trace function to record measured values over a defined period, depending
on trigger conditions.
Call to the trace function
The "Trace" parameter screen is selected via the following icon in the toolbar of the
STARTER commissioning tool.
Figure 5-5
STARTER icon for "trace/function generator"
Parameterizing and using the trace function
Use the STARTER commissioning tool to parameterize and operate the trace function.
Figure 5-6
Trace function
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Diagnostics
5.2 Diagnostics via STARTER
The unit cycle time display flashes 3 times at around 1 Hz when the time slice is changed
from < 4 ms to ≥ 4 ms (see description under "Properties").
Note
Please see the online help for more information about parameterizing and operation.
Properties
● Up to 4 recording channels per trace.
● Device cycle for individual trace: 0.25 ms
● Two independent trace recorders per Control Unit
– Endless trace:
Activate Ring buffer to define the recording length more precisely. If the ring buffer is
deactivated, the trace records until the available memory space is filled.
– Device cycle for endless trace: 2 ms
● Trigger:
– Without triggering (recording immediately after start)
– Triggering on signal with edge or on level
– Trigger delay and pretrigger possible
● STARTER parameterization and commissioning tool
– Automatic or adjustable scaling of display axes
– Signal measurement via cursor
● Settable trace cycle: Integer multiples of the basic sampling time
– Averaging of trace values:
If a float value is recorded with a cycle which is slower than the device cycle, the
values recorded will not be averaged.
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Diagnostics
5.2 Diagnostics via STARTER
5.2.3
Measuring function
Description
The measuring function is used for optimizing the drive controller. By parameterizing the
measuring function, the impact of superimposed control loops can be suppressed selectively
and the dynamic response of the individual drives analyzed. The ramp-function generator
and trace function are linked for this purpose. The control loop is supplied with the rampfunction generator signal at a given point (e.g. speed setpoint) and recorded by the trace
function at another (e.g. speed actual value). The trace function is parameterized
automatically when the measuring function is parameterized. Specific predefined operating
modes for the trace function are used for this purpose.
Parameterizing and using the measuring function
The measuring function is parameterized and operated via the STARTER commissioning
tool.
Figure 5-7
"Measuring function" initial screen
Note
Please see the online help for more information about parameterizing and operation.
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Diagnostics
5.2 Diagnostics via STARTER
Properties
● Measuring functions
– Current controller setpoint change (downstream of the current setpoint filter)
– Current controller reference frequency response (downstream of the current setpoint
filter)
– Speed controller setpoint change (downstream of the speed setpoint filter)
– Speed controller disturbance step change (fault downstream of the current setpoint
filter)
– Speed controller reference frequency response (downstream of the speed setpoint
filter)
– Speed controller reference frequency response (upstream of the speed setpoint filter)
– Speed controller interference frequency response (fault downstream of the current
setpoint filter)
– Speed controller path (excitation downstream of current setpoint filter)
Starting/stopping the measuring function
CAUTION
With the corresponding measuring function parameter settings (e.g. offset), the motor can
"drift" and travel to its end stop.
The movement of the drive is not monitored while the measuring function is active.
To start the measuring function:
1. Ensure that the prerequisites for starting the measuring function are fulfilled.
– Activate the control panel.
Drive_1 → Commissioning → Control panel
– Switch on the drive.
Control board → Issue enable signals → Switch on
2. Select the drive (as control panel).
3. Set the measuring function.
e.g. current controller setpoint change
4. Load the settings to the target system ("Download parameterization" button).
5. Start the ramp-function generator ("Start measuring function" button)
To stop the measuring function:
● "Stop measuring function" button
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Diagnostics
5.2 Diagnostics via STARTER
Parameterization
The "Measurement function" parameter screen is selected via the following icon in the
toolbar of the STARTER commissioning tool.
Figure 5-8
5.2.4
STARTER icon for "Measuring function"
Measuring sockets
Description
The measuring sockets are used to output analog signals. Any interconnectable signal can
be output to any measuring socket on the Control Unit.
CAUTION
The measuring sockets should be used for commissioning and servicing purposes only.
The measurements may only be carried out by properly trained specialist personnel.
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Figure 5-9
Arrangement of the measuring sockets on the Control Unit CU305
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Diagnostics
5.2 Diagnostics via STARTER
Parameterizing and using the measuring sockets
The measuring sockets are parameterized and operated via the STARTER commissioning
tool.
Figure 5-10
"Measuring sockets" initial screen
In the STARTER commissioning tool, select the parameter screen "Measuring sockets" in
the project tree under the CU in the entry inputs/outputs in the tab Measuring sockets.
Note
Please see the online help for more information about parameterizing and operation.
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Diagnostics
5.2 Diagnostics via STARTER
Properties
• Resolution
8-bit
• Voltage range
0 V to +4.98 V
• Measuring cycle
Depends on the measuring signal
(e.g. actual speed value in speed controller cycle 250 μs)
Short-circuit-proof
Parameterizable scaling
Adjustable offset
Adjustable limitation
Signal chart for measuring sockets
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Figure 5-11
Signal chart for measuring sockets
Which signal can be output via measuring sockets?
The signal to be output via a measuring socket is specified by parameterizing the connector
input p0771[0...1].
Important measuring signals (examples):
r0060
CO: Speed setpoint before speed setpoint filter
r0063
CO: Actual speed value
r0069[0...2]
CO: Phase currents actual value
r0075
CO: Field-generating current setpoint
r0076
CO: Field-generating actual current
r0077
CO: Torque-generating current setpoint
r0078
CO: Torque-generating actual current
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Diagnostics
5.2 Diagnostics via STARTER
Scaling
Scaling specifies how the measuring signal is processed. A straight line with 2 points must
be defined for this purpose.
Example:
x1 / y1 = 0.0% / 2.49 V x2 / y2 = 100.0% / 4.98 V (default setting)
– 0.0% is mapped onto 2.49 V
– 100.0% is mapped onto 0.00 V
Offset
The offset is applied additively to the signal to be output. The signal to be output can thus be
displayed within the measuring range.
Limitation
● Limitation On
If signals are output outside the permissible measuring range, the signal is limited to 4.98
V or to 0V.
● Limitation off
The output of signals outside the permissible measuring range causes a signal overflow.
In the event of an overflow, the signal jumps from 0 V to 4.98 V or from 4.98 to 0 V.
Example of a measurement
Assumption:
The actual speed (r0063) is to be output for a drive via measuring socket T1.
How do you do it?
1. Connect and set the measuring device.
2. Interconnect the signal (e.g. STARTER).
Interconnect the connector input (CI) belonging to the measuring socket with the desired
connector output (CO).
CI: p0771[1] = CO: r0063
3. Parameterize the signal characteristic (scaling, offset, limitation).
Function diagrams (see SINAMICS S110 List Manual)
● 8134 measuring sockets
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Diagnostics
5.3 Fault and alarm messages
Overview of important parameters (see SINAMICS S110 List Manual)
Adjustable parameters
● p0771[0...1] CI: Measuring sockets signal source
● p0777[0...1] Measuring sockets characteristic value x1
● P0778[0...1] Measuring sockets characteristic value y1
● p0779[0...1] Measuring sockets characteristic value x2
● p0780[0...1] Measuring sockets characteristic value y2
● p0783[0...1] Measuring sockets offset
● p0784[0...1] Measuring sockets limit on/off
Display parameters
● r0772[0...1] Measuring sockets output signal
● r0774[0...1] Measuring sockets output voltage
● r0786[0...1] Measuring sockets normalization per volt
5.3
Fault and alarm messages
5.3.1
General information about faults and alarms
Description
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.
Note
The individual faults and alarms are described in the SINAMICS S110 List Manual in the
section titled "Faults and Alarms". Here you can also find a chapter titled "Function
diagrams" → "Faults and alarms", which contains function diagrams for the fault buffer, alarm
buffer, fault trigger, and fault configuration.
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Diagnostics
5.3 Fault and alarm messages
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 PROFIBUS status signal ZSW1.3 (fault active).
– 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
acknowledgment is required.
– Status via PROFIBUS status signal ZSW1.7 (alarm active).
– Entry in the alarm buffer.
● General properties of faults and alarms
– Can be configured (e.g. change fault to alarm, fault reaction).
– Triggering on selected messages possible.
– Initiation of messages possible via an external signal.
– Contain the component number for identifying the affected SINAMICS component
– Contain diagnostic information on the relevant message
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Diagnostics
5.3 Fault and alarm messages
Acknowledgment of faults
The list of faults and alarms specifies how each fault is acknowledged after the cause has
been remedied.
1. Acknowledgment of faults by "POWER ON"
– Switch the drive on/off (POWER ON)
2. Acknowledgment of faults by "IMMEDIATE"
– Via PROFIBUS control signal
STW1.7 (reset fault memory): 0/1 edge
Set STW1.0 (ON/OFF1) = "0" and "1"
– Via external input signal
Binector input and interconnection with digital input
p2103 = "Requested signal source"
Across all of the drive objects (DO) of a Control Unit
p2102 = "Requested signal source"
3. Acknowledge faults with "PULSE INHIBIT"
– The fault can only be acknowledged with a pulse inhibit (r0899.11 = 0).
– The same possibilities are available for acknowledging as described under
acknowledge IMMEDIATELY.
Note
The drive cannot resume operation until all active faults have been acknowledged.
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Diagnostics
5.3 Fault and alarm messages
5.3.2
Buffer for faults and alarms
Note
The contents of the fault buffer are saved to non-volatile memory when the Control Unit is
powered down, i.e. the fault buffer history is still available when the unit is powered up again.
NOTICE
The entry in the fault/alarm buffer is made after a delay. For this reason, the fault/alarm
buffer should not be read until a change in the buffer is also recognized (r0944, r2121) after
"Fault active"/"Alarm active" is output.
Fault buffer
Faults which occur are entered in the fault buffer as follows:
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r0945[0]
r0949[0] [I32]
r2133[0] [Float]
r0948[0] [ms]
r2130[0] [ d]
r2109[0] [ ms]
r2136[0] [d]
r3115[0]
r3120[0]
r3122[0]
)DXOW
r0945[1]
r0949[1] [I32]
r2133[1] [Float]
r0948[1] [ms]
r2130[1] [ d]
r2109[1] [ ms]
r2136[1] [d]
r3115[7]
r3120[7]
r3122[7]
)DXOW
r0945[7]
r0949[7] [I32]
r2133[7] [Float]
r0948[7] [ms]
r2130[7] [ d]
r2109[7] [ ms]
r2136[7] [d]
r3115[7] <1>
r3120[7]<1>
r3122[7]<1>
)DXOW
r0945[8]
r0949[8] [I32]
r2133[8] [Float]
r0948[8] [ms]
r2130[8] [ d]
r2109[8] [ ms]
r2136[8] [d]
r3115[8]
r3120[8]
r3122[8]
)DXOW
r0945[9]
r0949[9] [I32]
r2133[9] [Float]
r0948[9] [ms]
r2130[9] [ d]
r2109[9] [ ms]
r2136[9] [d]
r3115[9]
r3120[9]
r3122[9]
)DXOW
r0945[15]
r0949[15] [I32] r0948[15] [ms]
r2133[15] [ Float] r2130[15] [d]
r2109[15] [ms]
r2136[15] [d]
r3115[15]
r3120[15]
r3122[15]
)DXOW
r0945[56]
r0949[56] [I32] r0948[56] [ms]
r2133[56] [ Float] r2130[56] [d]
r2109[56] [ms]
r2136[56] [d]
r3115[56]
r3120[56]
r3122[56]
)DXOW
r0945[57]
r0949[57] [I32] r0948[57] [ms]
r2133[57] [ Float] r2130[57] [d]
r2109[57] [ms]
r2136[57] [d]
r3115[57]
r3120[57]
r3122[57]
)DXOW
r0945[63]
r0949[63] [I32] r0948[63] [ms]
r2133[63] [ Float] r2130[63] [d]
r2109[63] [ms]
r2136[63] [d]
r3115[63]
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r3120[63]
r3122[63]
! 7KLVIDXOWLVRYHUZULWWHQE\PRUHUHFHQWIDXOWVH[FHSW6DIHW\IDXOWV
Figure 5-12
Structure of the fault buffer
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Diagnostics
5.3 Fault and alarm messages
Properties of the fault buffer:
● A new fault incident encompasses one or more faults and is entered in "Current fault
incident".
● The entries appear in the buffer according to the time at which they occurred.
● If a new fault incident occurs, the fault buffer is reorganized. The history is recorded in
"Acknowledged fault incident" 1 to 7.
● If the cause of at least one fault in "Current fault incident" is remedied and acknowledged,
the fault buffer is reorganized. Faults that have not been remedied remain in "Current
fault incident".
● If "Current fault incident" contains eight faults and a new fault occurs, the fault in the
parameters in index 7 is overwritten by the new fault.
● r0944 is incremented each time the fault buffer changes.
● A fault value (r0949) can be output for a fault. The fault value is used to diagnose the fault
more accurately; please refer to the fault description for details of the meaning.
Clearing the fault buffer
● The fault buffer is reset as follows: p0952 = 0
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Diagnostics
5.3 Fault and alarm messages
Alarm buffer, alarm history
The alarm buffer comprises the alarm code, the alarm value and the alarm time (received,
resolved). The alarm history occupies the last indices ([8...63]) of the parameter.
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Alarms that occur are entered in the alarm buffer as follows:
A maximum of 64 alarms are displayed in the alarm buffer:
● Index 0 ... 6: The first 7 alarms are displayed.
● Index 7: The most recent alarm is displayed.
A maximum of 56 alarms are displayed in the alarm history:
● Index 8: The most recent alarm is displayed.
● Index 9 ... 63: The first 55 alarms are displayed.
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Diagnostics
5.3 Fault and alarm messages
Properties of the alarm buffer/alarm history:
● The arrangement in the alarm buffer is made after the time that they occurred from 7 to 0.
In the alarm history, this is from 8 to 63.
● If 8 alarms have been entered into the alarm buffer, and a new alarm is received, then the
alarms that have been resolved are transferred into the alarm history.
● r2121 is incremented each time the alarm buffer changes.
● An alarm value (r2124) can be output for an alarm. The alarm value is used to diagnose
the alarm more accurately; please refer to the alarm description for details of the
meaning.
Deleting the alarm buffer, index [0...7]:
● The alarm buffer index [0...7] is reset as follows: p2111 = 0
5.3.3
Configuring messages
The properties of the faults and alarms in the drive system are permanently defined.
The following can be configured for some of the messages within a permanently defined
framework for the drive system:
Change message type (example)
Select message
Set message type
p2118[5] = 1001
p2119[5]
= 1: Fault (F)
= 2: Alarm (A)
= 3: No message (N)
Change fault reaction (example)
Select message
Set fault response
p2100[3] = 1002
p2101[3]
= 0: None
= 1: OFF1
= 2: OFF2
= 3: OFF3
= 4: STOP1 (available soon)
= 5: STOP2
= 6: IASC/DC brake
Internal armature short-circuit braking or
DC brake
= 7: ENCODER (p0491)
Change acknowledgment (example)
Select message
Set acknowledgment
p2126[4] = 1003
p2127[4]
= 1: POWER ON
= 2: IMMEDIATELY
= 3: PULSE INHIBIT
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Diagnostics
5.3 Fault and alarm messages
Note
Only those messages which are listed in the indexed parameters can be changed as
desired. All other message settings retain their factory settings or are reset to the factory
settings.
Examples:
• In the case of messages listed via p2128[0...19], the message type can be changed. The
factory setting is set for all other messages.
• The fault response of fault F12345 has been changed via p2100[n]. The factory settings
are to be restored.
– p2100[n] = 0
Triggering on messages (example)
Select message
Trigger signal
p2128[0] = 1001
BO: r2129.0
or
p2128[1] = 1002
BO: r2129.1
Note
The value from CO: r2129 can be used as group trigger.
CO: r2129 = 0 No selected message has been output.
CO: r2129 > 0 Group trigger.
At least one selected message has been output.
The individual binector outputs BO: r2129 should be investigated.
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Diagnostics
5.3 Fault and alarm messages
Triggering messages externally
If the appropriate binector input is interconnected with an input signal, fault 1, 2 or 3 or alarm
1, 2 or 3 can be triggered via an external input signal.
Once an external fault (1 to 3) has been triggered on the Control Unit drive object, this fault
is also present on all associated drive objects. If one of these external faults is triggered on a
different drive object, it is only present on that particular drive object.
BI: p2106
→ External fault 1
→ F07860(A)
BI: p2107
→ External fault 2
→ F07861(A)
BI: p2108
→ External fault 3
→ F07862(A)
BI: p2112
→ External alarm 1
→ A07850(F)
BI: p2116
→ External alarm 2
→ A07851(F)
BI: p2117
→ External alarm 3
→ A07852(F)
Note
An external fault or alarm is triggered by a 1/0 signal.
An external fault and alarm do not usually mean that an internal drive message has been
generated. The cause of an external fault and warning should, therefore, be remedied
outside the drive.
5.3.4
Parameters and function diagrams for faults and alarms
Function diagrams (see SINAMICS S110 List Manual)
● 1710 Overview diagram – monitoring functions, faults, alarms
● 8060 Diagnostics - Fault buffer
● 8065 Diagnostics - Alarm buffer
● 8070 Diagnostics - Fault/alarm trigger word r2129
● 8075 Diagnostics - Fault/alarm configuration
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Diagnostics
5.3 Fault and alarm messages
Overview of important parameters (see SINAMICS S110 List Manual)
● r0944 Counter for fault buffer changes
...
● p0952 Fault counter
● p2100[0...19] Fault code for fault reaction selection
...
● r2139 Status word for faults
● r3120[0...63] Component number fault
● r3121[0...63] Component number alarm
● r3122[0...63] Diagnostics attribute fault
● r3123[0...63] Diagnostics attribute alarm
5.3.5
Forwarding of faults and alarms
Forwarding of faults and alarms of the CU
When faults or alarms are triggered on the drive object of the CU, it is always assumed that
central functions of the drive unit are affected. For this reason, these faults and alarms are
not only signaled on the drive object of the CU, but are also forwarded to all other drive
objects. The fault reaction affects the drive object of the CU and all other drive objects.
A fault that is set on the drive object of the CU must be acknowledged on all drive objects to
which this fault was forwarded. In this way, the fault is then automatically acknowledged on
the drive object of the CU. Alternatively all faults of all drive objects can also be
acknowledged on the CU.
If a set alarm is reset on the drive object of the CU, this alarm also disappears automatically
on the other drive objects to which this alarm was forwarded.
Forwarding of faults and alarms due to BICO interconnections
If two or more drive objects are connected via BICO interconnections, faults and alarms of
CU-type drive objects are forwarded to SERVO-type drive objects.
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Diagnostics
5.3 Fault and alarm messages
Fault and alarm classes
There are differentiated alarm messages in the cyclic telegrams between the former alarm
classes "Alarm" and "Fault". Therefore there are 3 additional levels of alarm between the
"pure" alarm and the fault.
The function permits a higher-level control (SIMATIC, SIMOTION, SINUMERIK, etc.) to have
different control reactions to alarm messages from the drive.
The new statuses act as alarms for the drive, therefore there is NO immediate reaction from
the drive (like for the former level "alarm").
Information on alarm classes are described in status word ZSW2 at bit positions bit 5 - 6 (for
SINAMICS) or bit 11-12 (SIMODRIVE 611) (see also "ZSW2" in the chapter "Cyclic
Communication").
ZSW2: Valid for SINAMICS Interface Mode p2038=0 (function diagram 2454)
Bit 5 - 6 Alarm classes alarms
= 0: Alarm (former alarm level)
= 1: Alarm class W_NCA alarms
= 2: Alarm class W_NCB alarms
= 3: Alarm class W_NCC alarms
ZSW2: Valid for SIMODRIVE 611 Interface Mode p2038=1 (function diagram 2453)
Bit 11 - 12 Alarm classes alarms
= 0: Alarm (former alarm level)
= 1: Alarm class W_NCA alarms
= 2: Alarm class W_NCB alarms
= 3: Alarm class W_NCC alarms
These attributes for differentiating the alarms are assigned implicitly to the appropriate alarm
numbers. The reaction to the existing alarm classes in the alarm is defined by the user
program in the higher-level control.
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Diagnostics
5.3 Fault and alarm messages
Explanations of the alarm classes
● W_NCA: Drive operation currently not limited
– e.g. alarm when measurement systems inactive
– no limitation on current movement
– Prevent possible switching to the defective measuring system
● W_NCB: Time-limited operation
– e.g. prewarning temperature: without further action the drive may need to be switched
off
– after a timer stage → additional fault
– after exceeding a trip threshold → additional fault
● W_NCC: Functionally limited operation
– e.g. reduced voltage/current/torque/speed limits (i2t)
– e.g. continue with reduced accuracy / resolution
– e.g. continue without encoder
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Parameterization using the Basic Operator Panel 20
6.1
6
General information about the BOP20
With the Basic Operator Panel 20 (BOP20), drives can be powered up and powered down
during the commissioning phase and parameters can be displayed and modified. Faults can
be diagnosed as well as acknowledged.
The BOP20 is snapped onto the Control Unit; to do this the dummy cover must be removed
(for additional information on mounting, please refer to the Equipment Manual).
Overview of displays and keys
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Parameterization using the Basic Operator Panel 20
6.1 General information about the BOP20
Information on the displays
Table 6- 1
LED
Display
Meaning
top left
2 positions
The active drive object of the BOP is displayed here.
RUN
Is lit (bright) if the drive is in the RUN state (operation).
The displays and key operations always refer to this drive object.
RUN is also displayed via bit r0899.2 of the drive.
top right
2 positions
The following is displayed in this field:
•
More than 6 digits: Characters that are still present but are invisible (e.g. "r2" ––> 2
characters to the right are invisible, "L1" ––> 1 character to the left is invisible)
•
Designation of BICO inputs (bi, ci)
•
Designation of BICO outputs (bo, co)
•
Source object of a BICO interconnection to a drive object different than the active one.
S
Is (bright) if at least one parameter was changed and the value was not transferred into the nonvolatile memory.
P
Is lit (bright) if, for a parameter, the value only becomes effective after pressing the P key.
C
Is light (bright) if at least one parameter was changed and the calculation for consistent data
management has still not been initiated.
Below, 6 digit
Displays, e.g. parameters, indices, faults and alarms.
Information on the keys
Table 6- 2
Key
Keys
Name
Meaning
ON
Power up the drive for which the command "ON/OFF1" should come from the BOP.
OFF
Powering down the drive for which the commands "ON/OFF1", "OFF2" or "OFF3" should come
from the BOP.
Binector output r0019.0 is set using this pushbutton.
The binector outputs r0019.0, .1 and .2 are simultaneously reset when this key is pressed. After
the key has been released, binector outputs r0019.1 and .2 are again set to a "1" signal.
Functions
The significance of this key depends on the current display.
Note:
The effectiveness of this key to acknowledge faults can be defined using the appropriate BiCo
parameterization.
Parameters The significance of this key depends on the current display.
If this key is pressed for 3 s, the "Copy RAM to ROM" function is executed. The "S" displayed on
the BOP disappears.
Raise
The keys depend on the current display and are used to either raise or lower values.
Lower
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Parameterization using the Basic Operator Panel 20
6.2 Displays and using the BOP20
BOP20 functions
Table 6- 3
Functions
Name
Description
Units
The units are not displayed on the BOP.
Access level
The access level for the BOP is defined using p0003.
The higher the access level, the more parameters can be selected using the BOP.
Unplug while voltage is
present
The BOP can be withdrawn and inserted under voltage.
•
The ON and OFF keys have a function.
When withdrawing, the drive is stopped.
Once the BOP has been inserted, the drive must be switched on again.
.
•
ON and OFF keys have no function
Withdrawing and inserting has no effect on the drive.
Actuating keys
The following applies to the "P" and "FN" keys:
•
When used in a combination with another key, "P" or "FN" must be pressed first and then
the other key.
Parameters for BOP
Drive object, Control Unit
● p0003 BOP access level
● p0009 Device commissioning, parameter filter
● r0019 CO/BO: Control word, BOP
● p0977 Save all parameters
SERVO drive object
● p0010 Commissioning parameter filter
6.2
Displays and using the BOP20
Features
● Operating display
● Changing the active drive object
● Displaying/changing parameters
● Displaying/acknowledging faults and alarms
● Controlling the drive using the BOP20
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Parameterization using the Basic Operator Panel 20
6.2 Displays and using the BOP20
Parameter display
The parameters are selected in the BOP20 using the number. The parameter display is
reached from the operating display by pressing the "P" key. Parameters can be searched for
using the arrow keys. The parameter value is displayed by pressing the "P" key again. You
can toggle between the drive objects by simultaneously pressing the keys "FN" and the
arrow keys. You can toggle between r0000 and the parameter that was last displayed by
pressing the "FN" key in the parameter display.
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Parameterization using the Basic Operator Panel 20
6.2 Displays and using the BOP20
Value display
To switch from the parameter display to the value display, press the "P" key. In the value
display, the values of the adjustable parameters can be increased and decreased using the
arrow. The cursor can be selected using the "FN" key.
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Parameterization using the Basic Operator Panel 20
6.2 Displays and using the BOP20
Example: Changing binector and connector input parameters
For the binector input p0840[0] (OFF1) of drive object 2 binector output r0019.0 of the
Control Unit (drive object 1) is interconnected.
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Example: Changing indexed binector parameters
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Parameterization using the Basic Operator Panel 20
6.3 Fault and alarm displays
6.3
Fault and alarm displays
Displaying faults
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Parameterization using the Basic Operator Panel 20
6.4 Controlling the drive using the BOP20
6.4
Controlling the drive using the BOP20
Description
When commissioning the drive, it can be controlled via the BOP20. A control word is
available on the Control Unit drive object (r0019) for this purpose, which can be
interconnected with the appropriate binector inputs of e.g. the drive.
The interconnections do not function if a standard PROFIdrive telegram was selected as its
interconnection cannot be disconnected.
Table 6- 4
Bit (r0019)
BOP20 control word
Name
Example, interconnection parameters
0
ON / OFF (OFF1)
p0840
1
No coast down/coast down (OFF2)
p0844
2
No quick stop/quick stop (OFF3)
p0848
Note:
For simple commissioning, only bit 0 should be interconnected. When interconnecting bits 0 ... 2,
then the system is powered-down according to the following priority: OFF2, OFF3, OFF1.
7
Acknowledge fault (0 → 1)
p2102
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7
Drive functions
7.1
Servo control
This type of closed-loop control enables operation with a high dynamic response and
precision for a motor with a motor encoder.
7.1.1
Speed controller
The speed controller controls the motor speed using the actual values from the encoder
(operation with encoder) or the calculated actual speed value from the electric motor model
(operation without encoder).
Properties
● Speed setpoint filter
● Speed controller adaptation
Note
Speed and torque cannot be controlled simultaneously. If speed control is activated, this has
priority over torque control.
Limits
The maximum speed p1082[D] is defined with default values for the selected motor and
becomes active during commissioning. The ramp-function generators refer to this value.
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Drive functions
7.1 Servo control
7.1.2
Speed setpoint filter
The speed setpoint filter can be used as follows:
● Bandstop
● Low-pass 1st order (PT1) or
● Low-pass 2nd order (PT2)
The filter is activated via parameter p1414. The filter elements are selected via parameter
p1415.
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Filter overview for speed setpoint filters
Function diagrams (see SINAMICS S110 List Manual)
● 5020 Speed setpoint filter and speed pre-control
Overview of important parameters (see SINAMICS S110 List Manual)
Adjustable parameters
● p1414[D] Speed setpoint filter activation
● p1415[D] Speed setpoint filter 1 type
● p1416[D] Speed setpoint filter 1 time constant
● p1417[D] Speed setpoint filter 1 denominator natural frequency
● p1418[D] Speed setpoint filter 1 denominator damping
● p1419[D] Speed setpoint filter 1 numerator natural frequency
● p1420[D] Speed setpoint filter 1 numerator damping
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Drive functions
7.1 Servo control
Parameterization
The "speed setpoint filter" parameter screen is selected via the following icon in the toolbar
of the STARTER commissioning tool:
Figure 7-3
7.1.3
STARTER icon for "speed setpoint filter"
Speed controller adaptation
Description
Two adaptation methods are available, namely free Kp_n adaptation and speed-dependent
Kp_n/Tn_n adaptation.
Free Kp_n adaptation is also active in "operation without encoder" mode and is used in
"operation with encoder" mode as an additional factor for speed-dependent Kp_n adaptation.
Speed-dependent Kp_n/Tn_n adaptation is only active in "operation with encoder" mode and
also affects the Tn_n value.
Function diagram 5050 (see SINAMICS S110 List Manual) illustrates how speed controller
adaptation operates.
Example of speed-dependent adaptation
Note
This type of adaptation is only active in "operation with encoder" mode.
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Drive functions
7.1 Servo control
Parameterization
The "speed controller" parameter screen is selected via the following icon in the toolbar of
the STARTER commissioning tool:
Figure 7-5
STARTER icon for "speed controller"
Function diagrams (see SINAMICS S110 List Manual)
● 5050 Kp_n and Tn_n adaptation
Overview of important parameters (see SINAMICS S110 List Manual)
Free Kp_n adaptation
● p1455[0...n] CI: Speed controller P gain adaptation signal
● p1456[0...n] Speed controller P gain adaptation lower starting point
● p1457[0...n] Speed controller P gain adaptation upper starting point
● p1458[0...n] Lower adaptation factor
● p1459[0...n] Upper adaptation factor
Speed-dependent Kp_n/Tn_n adaptation
● p1460[0...n] Speed controller P gain lower adaptation speed
● p1461[0...n] Speed controller Kp adaptation speed upper scaling
● p1462[0...n] Speed controller integral time lower adaptation speed
● p1463[0...n] Speed controller Tn adaptation speed upper scaling
● p1464[0...n] Speed controller lower adaptation speed
● p1465[0...n] Speed controller upper adaptation speed
● p1466[0...n] CI: Speed controller P gain scaling
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Drive functions
7.1 Servo control
7.1.4
Torque-controlled operation
Description
An operating mode switchover (p1300) or binector input (p1501) can be used to switch from
speed control to torque control mode. All torque setpoints from the speed control system are
rendered inactive. The setpoints for torque control mode are selected by parameterization.
Properties
● Switchover to torque control mode via:
– Operating mode selection
– Binector input
● Torque setpoint can be specified:
– The torque setpoint source can be selected
– The torque setpoint can be scaled
– An additional torque setpoint can be entered
● Display of the overall torque
Commissioning of torque control mode
1. Set torque control mode (p1300 = 23; p1501 = "1" signal)
2. Specify torque setpoint
– Select source (p1511)
– Scale setpoint (p1512)
– Select supplementary setpoint (1513)
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Drive functions
7.1 Servo control
OFF responses
● OFF1 and p1300 = 23
– Reaction as for OFF2
● OFF1, p1501 = "1" signal and p1300 ≠ 23
– No separate braking response; the braking response takes place by a drive that
specifies the torque.
– The pulses are suppressed when the brake application time (p1217) expires. Zero
speed is detected when the actual speed drops below the speed threshold (p1226) or
once the monitoring time (p1227) started when speed setpoint ≤ speed threshold
(p1226) has expired.
– Switching on inhibited is activated.
● OFF2
– Immediate pulse suppression, the drive coasts to standstill.
– The motor brake (if parameterized) is closed immediately.
– Switching on inhibited is activated.
● OFF3
– Switch to speed-controlled operation
– n_set = 0 is input immediately to brake the drive along the OFF3 deceleration ramp
(p1135).
– When zero speed is detected, the motor brake (if parameterized) is closed.
– The pulses are suppressed when the motor brake application time (p1217) has
elapsed. Zero speed is detected when the actual speed drops below the speed
threshold (p1226) or once the monitoring time (p1227) started when speed setpoint ≤
speed threshold (p1226) has expired.
– Switching on inhibited is activated.
Function diagrams (see SINAMICS S110 List Manual)
● 5060 Torque setpoint, control type changeover
● 5610 Torque limiting/reduction/interpolator
Signal overview (see SINAMICS S110 List Manual)
● r1406.12 Torque control active
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Parameterization
The "torque setpoints" parameter screen is selected via the following icon in the toolbar of
the STARTER commissioning tool:
Figure 7-7
STARTER icon for "torque setpoints"
Overview of important parameters (see SINAMICS S110 List Manual)
Adjustable parameters
● p1300 Open-loop/closed-loop control operating mode
● p1501[C] BI: Change over between closed-loop speed/torque control
● p1511[C] CI: Supplementary torque 1
● p1512[C] CI: Supplementary torque 1 scaling
● p1513[C] CI: Supplementary torque 2
Display parameters
● r1515 Supplementary torque total
7.1.5
Torque setpoint limitation
Description
The steps required for limiting the torque setpoint are as follows:
1. Define the torque setpoint and an additional torque setpoint
2. Generate torque limits
The torque setpoint can be limited to a maximum permissible value in all four quadrants.
Different limits can be parameterized for motor and regenerative modes.
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7.1 Servo control
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Current/torque setpoint limiting
Note
This function is effective immediately without any settings. The user can also define further
settings for limiting the torque.
Properties
The connector inputs of the function are initialized with fixed torque limits. If required, the
torque limits can also be defined dynamically (during operation).
● A control bit can be used to select the torque limitation mode. The following alternatives
are available:
– Upper and lower torque limit
– Motor and regenerative torque limit
● Additional power limitation configurable
– Motor mode power limit
– Regenerative mode power limit
● The following factors are monitored by the current controller and therefore always apply
in addition to torque limitation:
– Stall power
– Maximum torque-generating current
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● Offset of the setting values also possible (see "Example: Torque limits with or without
offset").
● The following torque limits are displayed via parameters:
– Lowest of all upper torque limits with and without offset
– Highest of all lower torque limits with and without offset
Fixed and variable torque limit settings
Table 7- 1
Fixed and variable torque limit settings
Selection
Torque limitation mode
Mode
Maximum upper or lower torque limits
p1400.4 = 0
Maximum motor or regenerative mode torque
limits p1400.4 = 1
Fixed torque limit
Upper torque limit
(as a positive value)
p1520
Motor mode torque limit
(as a positive value)
p1520
Lower torque limit
(as a negative value)
p1521
Regenerative mode torque limit
(as a negative value)
p1521
Upper torque limit
p1522
Motor mode torque limit
p1522
Lower torque limit
p1523
Regenerative mode torque limit
p1523
Source for variable scaling Upper torque limit
factor of torque limit
Lower torque limit
p1528
Motor mode torque limit
p1528
p1529
Regenerative mode torque limit
p1529
p1532
Shifts the motor and regenerative
mode torque limits together
p1532
Source for variable torque
limit
Torque offset for torque
limit
Shifts the upper and lower torque
limits together
Variants of torque limitation
The following variants are available:
1. No settings entered:
The application does not require any additional restrictions to the torque limits.
2. Fixed limits are required for the torque:
The fixed upper and lower limits or alternatively the fixed motor and regenerative limits
can be specified separately by different sources.
3. Dynamic limits are required for the torque:
– The dynamic upper and lower limit or, alternatively, the dynamic motor and
regenerative limit can be specified separately by different sources.
– Parameters are used to select the source of the current limit.
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4. A torque offset can be parameterized.
5. In addition, the power limits can be parameterized separately for motor and regenerative
mode.
NOTICE
Negative values at r1534 or positive values at r1535 represent a minimum torque for the
other torque directions and can cause the drive to rotate if no load torque is generated
to counteract this (see function diagram 5630 in the SINAMICS S110 List Manual).
Example: Torque limits with or without offset
The signals selected via p1522 and p1523 include the torque limits parameterized via p1520
and p1521.
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Example: Torque limits with or without offset
Activating the torque limits
1. Use parameters to select the torque limitation source.
2. Use a control word to specify the torque limitation mode.
3. The following can also be carried out if necessary:
– Select and activate additional limitations.
– Set the torque offset.
Examples
● Travel to fixed stop
● Tension control for continuous goods conveyors and winders
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Function diagrams (see SINAMICS S110 List Manual)
● 5610 Torque limiting/reduction/interpolator
● 5620 Motor/generator torque limit
● 5630 Upper/lower torque limit
● 5640 Mode changeover, power/current limiting
Parameterization
The "torque limiting" parameter screen is selected via the following icon in the toolbar of the
STARTER commissioning tool:
Figure 7-10
STARTER icon for "torque limiting"
Overview of important parameters (see SINAMICS S110 List Manual)
● p0640[0...n] Current limit
● p1400[0...n] Speed control configuration
● r1508 CO: Torque setpoint before supplementary torque
● r1509 CO: Torque setpoint before torque limiting
● r1515 Supplementary torque total
● p1520[0...n] CO: Torque limit, upper/motoring
● p1521[0...n] CO: Torque limit, lower/regenerative
● p1522[C] CI: Torque limit, upper/motoring
● p1523[C] CI: Torque limit, lower/regenerative
● r1526 Torque limit, upper/motoring without offset
● r1527 Torque limit, lower/regenerative without offset
● p1528[0...n] CI: Torque limit, upper/motoring, scaling
● p1529[0...n] CI: Torque limit, lower/regenerative scaling
● p1530[0...n] Motor mode power limit
● p1531[0...n] Regenerative mode power limit
● p1532[0...n] Torque limit offset
● r1533 Maximum torque-generating current of all current limits
● r1534 CO: Torque limit, upper total
● r1535 CO: Torque limit, lower total
● r1536 Maximum motor-mode torque-generating current limit
● r1537 Minimum regenerative-mode torque-generating current
● r1538 CO: Upper effective torque limit
● r1539 CO: Lower effective torque limit
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7.1.6
Current controller
Properties
● PI controller for current control
● Two identical current setpoint filters
● Current and torque limitation
● Current controller adaptation
● Flux control
Closed-loop current control
No settings are required for operating the current controller. Optimization measures can be
taken in certain circumstances.
Current and torque limitation
The current and torque limitations are initialized when the system is commissioned for the
first time and should be adjusted according to the application.
Current controller adaptation
The P gain of the current controller can be reduced (depending on the current) by means of
current controller adaptation. Current controller adaptation can be deactivated with the
setting p1402.2 = 0.
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Current controller adaptation
Flux controller (for induction motor)
The parameters for the flux controller are initialized when the system is commissioned for the
first time and do not usually need to be adjusted.
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Commissioning with STARTER
The "current controller" parameter screen is selected via the following icon in the toolbar of
the STARTER commissioning tool:
Figure 7-12
STARTER icon for "current controller"
Function diagrams (see SINAMICS S110 List Manual)
● 5710 Current setpoint filters
● 5714 Iq and Id controller
● 5722 Specified field current, flux reduction, flux controller
Overview of important parameters (see SINAMICS S110 List Manual)
Closed-loop current control
● p1701[0...n] Current controller reference model dead time
● p1715[0...n] Current controller P gain
● p1717[0...n] Current controller integral time
Current and torque limitation
● p0323[0...n] Maximum motor current
● p0326[0...n] Stall torque correction factor
● p0640[0...n] Current limit
● p1520[0...n] CO: Torque limit, upper/motoring
● p1521[0...n] CO: Torque limit, lower/regenerative
● p1522[0...n] CI: Torque limit, upper/motoring
● p1523[0...n] CI: Torque limit, lower/regenerative
● p1524[0...n] CO: Torque limit, upper/motoring, scaling
● p1525[0...n] CO: Torque limit, lower/regenerative scaling
● p1528[0...n] CI: Torque limit, upper/motoring, scaling
● p1529[0...n] CI: Lower or regenerative torque limit scaling
● p1530[0...n] Motor mode power limit
● p1531[0...n] Regenerative mode power limit
● p1532[0...n] Torque offset torque limit
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Display parameters
● r1526 Torque limit, upper/motoring without offset
● r1527 Torque limit, lower/regenerative without offset
● r1533 Maximum torque-generating current of all current limits
● r1534 CO: Torque limit, upper total
● r1535 CO: Torque limit, lower total
● r1536 Maximum torque-generating current limit
● r1537 Maximum torque-generating current limit
● r1538 CO: Upper effective torque limit
● r1539 CO: Upper effective torque limit
Current controller adaptation
● p0391[0...n] Current controller adaptation lower starting point
● p0392[0...n] Current controller adaptation upper starting point
● p0393[0...n] Current controller adaptation upper P gain
● p1590[0...n] Flux controller P gain
● p1592[0...n] Flux controller integral time
7.1.7
Current setpoint filter
Description
The two current setpoint filters connected in series can be parameterized as follows:
● Low-pass 2nd order (PT2: -40 dB/decade) (type 1)
● General filter 2nd order (type 2)
Bandstop and lowpass with reduction are converted to the parameters of the general filter
2nd order via STARTER.
– Bandstop
– Low-pass with reduction by a constant value
The phase frequency curve is shown alongside the amplitude log frequency curve. A phase
shift results in a control system delay and should be kept to a minimum.
Function diagram 5710 (see SINAMICS S110 List Manual) illustrates how the current
setpoint filter operates.
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Transfer function:
+V
V
˭ I1
'1
V ˭ I1
Denominator natural frequency fN
Denominator damping DN
Table 7- 2
Example of a PT2 filter
STARTER filter parameters
Amplitude log frequency curve
Characteristic frequency fN 500 Hz
Damping DN 0.7 dB
Phase frequency curve
I1 +]
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Band-stop with infinite notch depth
Table 7- 3
Example of band-stop with infinite notch depth
STARTER filter parameters
Amplitude log frequency curve
Blocking frequency fSp = 500 Hz
Bandwidth (-3 dB) fBB = 500 Hz
Notch depth K = -∞ dB
Reduction Abs = 0 dB
Phase frequency curve
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I +]
Simplified conversion to parameters for general order filters:
● Reduction or increase after the blocking frequency (Abs)
● Infinite notch depth at the blocking frequency
● Numerator natural frequency fZ = fSp
● Numerator damping DZ = 0
● Denominator natural frequency fN = fSp
● Denominator damping:
I
' 1 %%
ವI6S
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Band-stop with defined notch depth
Table 7- 4
Example of band-stop with defined notch depth
STARTER filter parameters
Amplitude log frequency curve
Blocking frequency fSp = 500 Hz
Bandwidth fBB = 500 Hz
Notch depth K = -20 dB
Reduction Abs = 0 dB
Phase frequency curve
. G%
Simplified conversion to parameters for general order filters:
● No reduction or increase after the blocking frequency
● Defined notch at the blocking frequency K[dB] (e.g. -20 dB)
● Numerator natural frequency fZ = fSp
● Numerator damping:
' =
I%%
.
I6S ● Denominator natural frequency fN = fSp
● Denominator damping:
'1
I%%
I6S
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Band-stop with defined reduction
Table 7- 5
Example of band-stop
STARTER filter parameters
Amplitude log frequency curve
Blocking frequency fSP = 500 Hz
Bandwidth fBB = 500 Hz
Notch depth K = -∞ dB
Reduction ABS = -10 dB
Phase frequency curve
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General conversion to parameters for general order filters:
● Numerator natural frequency:
I= =
ω=
= I6S
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● Numerator damping:
'=
.
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General low-pass with reduction
Table 7- 6
Example of general low-pass with reduction
STARTER filter parameters
Amplitude log frequency curve
Characteristic frequency fAbs = 500 Hz
Damping D = 0.7
Reduction Abs = -10 dB
Phase frequency curve
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Conversion to parameters for general order filters:
● Numerator natural frequency fZ = fAbs (start of reduction)
● Numerator damping:
I=
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● Denominator natural frequency fN
● Denominator damping DN
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Transfer function general 2nd order filter
+ V V
˭ I=
V
˭I1
' =
V ˭ I=
'1
V ˭I1
Numerator natural frequency fZ
Numerator damping DZ
Denominator natural frequency fN
Denominator damping DN
Table 7- 7
Example of general 2nd order filter
STARTER filter parameters
Numerator frequency fZ = 500 Hz
Numerator damping DZ = 0.02 dB
Denominator frequency fN = 900 Hz
Denominator damping DN = 0.15 dB
Amplitude log frequency curve
Phase frequency curve
I1 +]
I= +]
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7.1.7.1
Function diagrams and parameters
Parameterization
The "current setpoint filter" parameter screen is selected via the following icon in the toolbar
of the STARTER commissioning tool:
Figure 7-13
STARTER icon for "current setpoint filter"
Function diagrams (see SINAMICS S110 List Manual)
● 5710 Current setpoint filters
Overview of important parameters (see SINAMICS S110 List Manual)
● p1656 Activates current setpoint filter
● p1657 Current setpoint filter 1 type
● p1658 Current setpoint filter 1 denominator natural frequency
● p1659 Current setpoint filter 1 denominator damping
● p1660 Current setpoint filter 1 numerator natural frequency
● p1661Current setpoint filter 1 numerator damping
● ...
● p1666 Current setpoint filter 2 numerator damping
● p1699 Filter data transfer
7.1.8
Note about the electronic motor model
A model change takes place within the speed range p1752*(100%-p1756) and p1752. With
induction motors with encoder, the torque image is more accurate in higher speed ranges;
the effect of the rotor resistance and the saturation of the main field inductance are
corrected. With synchronous motors with encoder, the commutation angle is monitored.
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7.1.9
V/f control for diagnostics
Description
With V/f control, the motor is operated with an open control loop and does require speed
control or actual current sensing, for example. Operation is possible with a small amount of
motor data.
V/f control can be used to check the following:
● Power Module
● Power cable between Power Module and motor
● Motor
● DRIVE-CLiQ cable between the Power Module and motor
● Encoder and actual encoder value
The following motors can be operated with V/f control:
● Induction motors
● Synchronous motors
Note
In V/f mode, the calculated actual speed value is always displayed in r0063. The speed of
the encoder (if installed) is displayed in r0061. If an encoder is not installed, r0061
displays "0".
Structure of V/f control
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Structure of V/f control
Prerequisites for V/f control
1. First commissioning has been carried out:
The parameters for V/f control have been initialized with appropriate values.
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2. First commissioning has not been carried out:
The following relevant motor data must be checked and, where necessary, corrected:
– r0313 Motor pole pair number, actual (or calculated)
– p0314 Motor pole pair number
– p0341 Motor moment of inertia
– p0342 Ratio between the total moment of inertia and that of the motor
– p0640 Current limit
– p1498[0...n] Load moment of inertia
– p1520[0...n] CO: Torque limit, upper/motoring
– p1521[0...n] CO: Torque limit, lower/regenerative
– p1530[0...n] Motor mode power limit
– p1531[0...n] Regenerative mode power limit
3. V/f control can now be commissioned.
– p1318 V/f control ramp-up/ramp-down time
– p1319 V/f control voltage at zero frequency
– p1326 V/f control programmable characteristic frequency 4
– p1327 V/f control programmable characteristic voltage 4
– p1338[0...n] V/f control mode resonance damping gain
– p1339[0...n] V/f control mode resonance damping filter time constant
– p1349[0...n] V/f control mode resonance damping maximum frequency
Note
With synchronous motors, V/f control mode is normally only stable at low speeds.
Higher speeds can induce vibrations.
Oscillation damping is activated on the basis of suitable default parameter values and
does not require further parameterization in most applications. If you become aware of
interference caused by a transient response, you have the option of gradually
increasing the value of p1338 and evaluating how this affects your system.
Note
The drive can be ramped up to the current limit (p0640) relatively quickly without the
need for extensive parameterization (when operating the drive with a variable moment
of inertia, for example).
Note the following: Only the ramp-function generator stops when the current limit
(p0640) is reached. This does not prevent the current from increasing even further. In
view of this, the parameters you set must respect a safety margin relative to the
current limits for the monitoring functions to prevent the drive from switching off (in the
event of an overcurrent fault, for example).
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Commissioning V/f control
1. Verify the preconditions for V/f control mode.
2. Set p0311 → Rated motor speed
3. Set p1317 = 1 → activates the function
4. Activate the enable signals for operation
5. Specify the speed setpoint
V/f characteristic
The speed setpoint is converted to the frequency specification taking into account the
number of pole pairs. The synchronous frequency associated with the speed setpoint is
output (no slip compensation).
8>9@
9
S
S
S
Figure 7-15
I>V@
V/f characteristic
Function diagrams (see SINAMICS S110 List Manual)
● 5300 V/f control
● 5650 Vdc_max controller and Vdc_min controller
Overview of important parameters (see SINAMICS S110 List Manual)
● p0304 Motor rated voltage
● p0310 Motor rated frequency
● p0311 Motor rated speed
● r0313 Motor pole pair number, actual (or calculated)
● p0314 Motor pole pair number
● p0322 Maximum motor speed
● p0323 Maximum motor current
● p0341[0...n] Motor moment of inertia
● p0342[0...n] Ratio between the total moment of inertia and that of the motor
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● p0640 Current limit
● p1082 Maximum speed
● p1317 V/f control activation
● p1318 V/f control ramp-up/ramp-down time
● p1319 V/f control voltage at zero frequency
● p1326 V/f control programmable characteristic frequency 4
● p1327 V/f control programmable characteristic voltage 4
● p1338[0...n] V/f control mode resonance damping gain
● p1339[0...n] V/f control mode resonance damping filter time constant
● p1345[0...n] DC brake proportional gain
● p1346[0...n] DC brake integral time
● p1349[0...n] V/f control mode resonance damping maximum frequency
● p1498[0...n] Load moment of inertia
● p1520[0...n] CO: Torque limit, upper/motoring
● p1521[0...n] CO: Torque limit, lower/regenerative
● p1530[0...n] Motor mode power limit
● p1531[0...n] Regenerative mode power limit
7.1.10
Optimizing the current and speed controller
General information
CAUTION
Controller optimization may only be performed by skilled personnel with a knowledge of
control engineering.
The following tools are available for optimizing the controllers:
● "Function generator" in STARTER
● "Trace" in STARTER
● "Measuring function" in STARTER
● Measuring sockets on the Control Unit
Optimizing the current controller
The current controller is initialized when the system is commissioned for the first time and is
adequately optimized for most applications.
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Optimizing the speed controller
The speed controller is set in accordance with the motor moment of inertia when the motor is
configured for the first time. The calculated proportional gain is set to approximately 30% of
the maximum possible gain in order to minimize vibrations when the controller is mounted on
the mechanical system of the machine for the first time.
The integral time of the speed controller is always preset to 10 ms.
The following optimization measures are necessary in order to achieve the full dynamic
response:
● Increase the proportional gain Kp_n (p1460)
● Change the integral action time Tn_n (p1462)
Automatic controller setting of the speed controller (frequency response analysis) in STARTER
● The automatic speed controller setting has the following features:
– Section identification using FFT analysis
– Automatic setting of filters in the current setpoint arm, e.g. for damping resonances
– Automatic setting of the controller (gain factor Kp, integral time Tn)
● The automatic controller settings can be verified with the measuring functions.
The "automatic controller setting" parameterization screen form is selected using the
following symbol in the toolbar of the STARTER commissioning tool:
Figure 7-16
STARTER symbol for "automatic controller setting"
Example of measuring the speed controller frequency response
By measuring the speed controller frequency response and the control system, critical
resonance frequencies can, if necessary, be determined at the stability limit of the speed
control loop and dampened using one or more current setpoint filters. This normally enables
the proportional gain to be increased (e.g. Kp_n = 3* default value).
After the Kp_n value has been set, the ideal integral action time Tn_n (e.g. reduced from 10
ms to 5 ms) can be determined.
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Example of speed setpoint step change
A rectangular step change can be applied to the speed setpoint via the speed setpoint step
change measuring function. The measuring function has preselected the measurement for
the speed setpoint and the torque-generating current.
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Setting the proportional gain Kp
Parameter overview
See "Speed controller".
7.1.11
Operation without an encoder
NOTICE
The operation of synchronous motors without an encoder must be verified in a test
application. Stable operation in this mode cannot be guaranteed for every application.
Therefore, the user will be solely responsible for the use of this operating mode.
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Description
This allows operation without an encoder and mixed operation (with/without encoder).
Encoderless operation with the motor model allows a higher dynamic response and greater
stability than a standard drive with V/f control. Compared with a drive with an encoder,
however, speed accuracy is lower and the dynamic response and smooth running features
deteriorate.
Since the dynamic response in operation without an encoder is lower than in operation with
an encoder, accelerating torque pre-control is implemented to improve the control dynamic
performance. It controls, knowing the drive torque, and taking into account the existing
torque and current limits as well as the load moment of inertia (motor moment of inertia:
p0341*p0342 + load torque: p1498) the required torque for a demanded speed dynamic
performance optimized from a time perspective.
Note
If the motor is operated with and without an encoder (e.g. p0491 not 0 or p1404 < p1082),
the maximum current during operation without an encoder can be reduced via p0642
(reference value is p0640) in order to minimize interfering, saturation-related motor data
changes during operation without an encoder.
A torque smoothing time can be parameterized via p1517 for the torque pre-control. The
speed controller needs to be optimized for operation without an encoder due to the lower
dynamic response. This can be carried out via p1470 (P gain) and p1472 (integral time).
In the low-speed range, the actual speed value, the orientation, and the actual flux can no
longer be calculated during operation without an encoder due to the accuracy of the
measured values and the parameter sensitivity of the process. For this reason, an open-loop
current/frequency control is selected. The switchover threshold is parameterized via p1755
and the hysteresis via p1756.
To accept a high load torque even in the open-loop controlled range, the motor current can
be increased via p1612. To do so, the drive torque (e.g. friction torque) must be known or
estimated. An additional reserve of approx. 20% should also be added. In synchronous
motors, the torque is converted to the current via the motor torque constant (p0316). In the
lower speed range, the required current cannot be measured directly on the Power Module.
The default setting is 50% (synchronous motor) or 80% (induction motor) of the motor rated
current (p0305). When parameterizing the motor current (p1612), you must take into account
the thermal motor load.
Note
Operation without an encoder is not permitted for vertical axes or similar. Operation without
an encoder is not suitable for a higher-level closed-loop position control either.
The start behavior of synchronous motors from standstill can be improved further by
parameterizing the pole position identification (p1982 = 1).
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Behavior once pulses have been canceled
Once the pulses have been canceled in operation without an encoder, the current actual
speed value of the motor can no longer be calculated. Once the pulses are enabled again,
the system must search for the actual speed value.
p1400.11 can be used to parameterize whether the search is to begin with the speed
setpoint (p1400.11 = 1) or with speed = 0.0 (p1400.11 = 0). Under normal circumstances,
p1400.11 = 0 because the motor is usually started from standstill. If the motor is rotating
faster than the changeover speed p1755 when the pulses are enabled, p1400.11 = 1 must
be set.
If the motor is rotating and the start value for the search is that of the setpoint (p1400.11 =
1), the speed setpoint must be in the same direction as the actual speed before the pulses
can be enabled. A large discrepancy between the actual and setpoint speed can cause a
malfunction.
WARNING
Once the pulses have been canceled, no information about the motor speed is available.
The computed actual speed value is then set to zero, which means that all actual speed
value messages and output signals are irrelevant.
Switchover between closed-loop/open-loop operation and operation with/without encoder
Operation without an encoder is activated via parameter setting p1300 = 20. If p1300 = 20 or
p1404 = 0, operation without an encoder is active across the entire speed range. If the
speed value is less than the changeover speed p1755, the motor is operated in accordance
with the current/frequency.
During operation with an encoder, a switchover can be made to operation without an
encoder when the speed threshold p1404 is exceeded. If p1404 > 0 and p1404 < p1755, a
switchover to operation without an encoder is not made until the speed exceeds p1755.
Operation without an encoder is displayed in parameter r1407.1.
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Note
In closed-loop control operating mode "Speed controller without encoder", a rotor position
encoder is not required. Since a temperature monitor is not usually connected in this case
either, this must be parameterized via p0600 = 0 (no sensor).
Series reactor
When high-speed special motors are used, or other low leakage induction motors, a series
reactor may be required to ensure stable operation of the current controller.
The series reactor can be integrated via p0353.
Commissioning/optimization
1. Estimate the motor current p1612 on the basis of the mechanical conditions (I = M/kt).
2. Set Kn (p1470) and Tn (p1472) above I/f operation (> p1755). The load moment of inertia
should be set to zero here (p1498 = 0), since this deactivates part of the torque precontrol.
3. Determine the load moment of inertia in the speed range above I/f operation (> p1755) by
setting p1498 via a ramp response (e.g. ramp time 100 ms) and assessing the current
(r0077) and model speed (r0063).
Function diagrams (see SINAMICS S110 List Manual)
● 5050 Kp_n-/Tn_n adaptation
● 5060 Torque setpoint, control type switchover
● 5210 Speed controller
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Overview of important parameters (see SINAMICS S110 List Manual)
● p0341 Motor moment of inertia
● p0342 Ratio between the total moment of inertia and that of the motor
● p0353 Motor series inductance
● p0600 Motor temperature sensor for monitoring
● p0640 Current limit
● p0642 Encoderless current reduction
● p1300 Open-loop/closed-loop control operating mode
● p1400.11 Speed control configuration; encoderless operation actual speed value start
value
● p1404 Encoderless operation changeover speed
● r1407.1 CO/BO: Status word speed controller; encoderless operation active
● p1470 Speed controller encoderless operation P-gain
● p1472 Speed controller encoderless operation integral-action time
● p1498 Load moment of inertia
● p1517 Accelerating torque smoothing time constant
● p1612 Current setpoint, open-loop control, encoderless
● p1755 Motor model without encoder, changeover speed
● p1756 Motor model changeover speed hysteresis
7.1.12
Motor data identification
Description
Motor data identification (MotID) provides a means of determining motor data (of third-party
motors, for example). The drive system must have been commissioned for the first time as
basis for using MotID. To do this, either the electrical motor data (motor data sheet) or the
rating plate data must be entered and the calculation of the motor/control parameters
(p0340) must have been completed.
Commissioning involves the following steps:
● Enter the motor data or the rating plate data and the encoder data
● Complete calculation of the motor and control data as starting value for the MotID (p0340
= 3, if motor data, p0340 = 1, if rating plate data were entered)
● Carry out a static measurement (p1910)
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● For synchronous motors: Carry out an angular commutation calibration (p1990) and if
required, fine synchronization (refer to r1992)
● Carry out a rotating measurement (p1960)
Before starting the rotating measurement, the speed controller setting should be checked
and optimized (p1460, p1462 and p1470, p1472).
It is preferable if the rotating MotID is carried out with the motor de-coupled from the
mechanical system. This therefore means that only the motor moment of inertia is
determined. The total moment of inertia with mechanical system can be subsequently
identified with p1959 = 4 and p1960 = 1. The stress on the mechanical system can be
reduced by parameterizing the ramp-up time (p1958) and/or using a speed limit
(p1959.14/p1959.15) or using the current and speed limit. The higher the selected rampup time, the less accurate the moment of inertia determined.
Note
Completion of the individual identification runs can be read via parameters r3925 to
r3928.
The enable signals OFF1, OFF2, OFF3 and "enable operation" remain effective and can be
interrupt the motor identification routine.
If there is an extended setpoint channel (r0108.08 = 1), parameters p1959.14 = 0 and
p1959.15 = 0 and a direction of rotation limit (p1110 or p1111) is active there, then this is
observed at the instant of the start via p1960. For p1958 = -1, the ramp-up and ramp-down
time of the setpoint channel (p1120 and p1121) are also used for the MotID.
Note
If a ramp-up/ramp-down time or one direction of rotation limit is activated, parts of the motor
data identification routine cannot be carried out. For other parts of the motor data
identification routine, the accuracy of the results is diminished because a ramp-up/rampdown time is selected. If possible, p1958 should be 0 and no direction of rotation limit
selected (p1959.14 = 1 and p1959.15 = 1).
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DANGER
The stationary MotID can result in slight movement of up to 210 degrees electrical.
For the rotating motor data identification routine, motor motion is initiated capable of
reaching the maximum speed (p1082) and the motor torque corresponding to the maximum
current (p0640).
The rotating measurement should be carried out with a motor running at no load (decoupled from the mechanical system) in order to prevent damage/destruction to the load or
be influenced by the load. If the motor cannot be de-coupled from the mechanical system,
then the stress on the mechanical system can be reduced by parameterizing the ramp-up
time (p1958) and/or using a speed limit (p1959.14/p1959.15) or using the current and
speed limit.
If a mechanical distance limit has been set, you are advised not to carry out the rotating
measurement.
The emergency shutdown functions must be fully operational during commissioning.
To protect the machines and personnel, the relevant safety regulations must be observed.
Motor data
Motor data input requires the following parameters:
Table 7- 8
Motor data
Induction motor
Permanent-magnet synchronous motor
•
p0304 Motor rated voltage
•
p0305 Motor rated current
•
p0305 Motor rated current
•
p0311 Motor rated speed
•
p0307 Motor rated power
•
p0314 Motor pole pair number
•
p0308 Motor rated power factor
•
p0316 Motor torque constant
•
p0310 Motor rated frequency
•
p0322 Maximum motor speed
•
p0311 Motor rated speed
•
p0323 Maximum motor current
•
p0320 Motor rated magnetizing current
•
p0341 Motor moment of inertia
•
p0322 Maximum motor speed
•
p0350 Motor stator resistance, cold
•
p0350 Motor stator resistance, cold
•
p0353 Motor series inductance
•
p0353 Motor series inductance
•
p0356 Motor stator leakage inductance
•
p0354 Motor rotor resistance, cold
•
p0400ff Encoder data
•
p0356 Motor stator leakage inductance
•
p0358 Motor rotor leakage inductance
•
p0360 Motor magnetizing inductance
•
p0400ff Encoder data
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Rating plate data
Input of the rating plate data requires the following parameters:
Table 7- 9
Rating plate data
Induction motor
Permanent-magnet synchronous motor
•
p0304 Motor rated voltage
•
p0304 Motor rated voltage
•
p0305 Motor rated current
•
p0305 Motor rated current
•
p0307 Motor rated power
•
p0307 Motor rated power (alternative p0316)
•
p0308 Motor rated power factor
•
p0311 Motor rated speed
•
p0310 Motor rated frequency
•
•
p0311 Motor rated speed
p0314 Motor pole pair number
or p0315 Motor pole pair width
•
p0322 Maximum motor speed
•
p0322 Maximum motor speed
•
p0353 Motor series inductance
•
p0323 Maximum motor current
•
p0400ff Encoder data
•
p0353 Motor series inductance
•
p0400ff Encoder data
Since the rating plate data contains the initialization values for identification, you must
ensure that it is entered correctly and consistently to enable the above data to be
determined.
Parameters to control the MotID
The following parameters influence the MotID:
Table 7- 10
Parameters for control
Static measurement (motor data identification)
Rotating measurement
•
p0640 Current limit
•
p0640 Current limit
•
p1215 Motor holding brake configuration
•
p1082 Maximum speed
•
p1909 Motor data identification control word
•
p1958 motor data identification ramp-up/ramp-down time
•
p1910 Motor data identification, stationary
•
p1959 Rotating measurement configuration
•
p1959.14/.15 Positive/negative direction permitted*
•
p1960 Rotating measurement selection
Note:
If a brake is being used and is operational (p1215 = 1, 3), then the stationary measurement with closed brake is carried
out. If possible (e.g. no hanging/suspended axis), we recommend that the brake is opened before the MotID (p1215 = 2).
This also means that the encoder size can be adjusted and the angular commutation calibrated.
*The p1959 setting has the following effects on the rotational direction parameter p1821:
Positive direction permitted, with setting p1821=0 means: Clockwise direction of rotation
Negative direction permitted, with setting p1821=1 means: Counter-clockwise direction of rotation
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7.1.12.1
Motor data identification - induction motor
Induction motor
The data are identified in the gamma equivalent circuit diagram and displayed in r19xx. The
motor parameters p0350, p0354, p0356, p0358 and p0360 taken from the MotID refer to the
T equivalent circuit diagram of the induction machine and cannot be directly compared. This
is the reason that an r parameter is listed in the table, which displays the parameterized
motor parameters in the gamma equivalent circuit diagram.
Table 7- 11
Data determined using p1910 for induction motors (stationary measurement)
Determined data (gamma)
Data that are accepted (p1910 = 1)
r1912 Identified stator resistance
p0350 Motor stator resistance, cold
+ p0352 Cable resistance
r1913 Rotor time constant identified
r0384
Motor rotor time constant/damping time constant, d axis
r1915 Stator inductance identified
-
r1925 Threshold voltage identified
-
r1927 Rotor resistance identified
r0374 Motor resistance cold (gamma)
p0354
r1932 d Inductance
r0377 Motor leakage inductance, total (gamma)
p0353 Motor series inductance
p0356 Motor leakage inductance
p0358 Motor leakage inductance
p1715 Current controller P gain
p1717 Current controller integral action time
r1934 q Inductance identified
-
r1936 Magnetizing inductance identified
r0382 Motor main inductance, transformed (gamma)
p0360 Motor main inductance
p1590 Flux controller P gain
p1592 Flux controller integral action time
r1973 Encoder pulse number identified
-
Note:
The encoder pulse number is only determined very imprecisely and is only suitable for making rough checks (p0408). The
sign is negative if inversion is required (p0410.0).
-
p0410 Encoder inversion actual value
Note:
If the encoder inversion is changed using MotID, fault F07993 is output, which refers to a possible change in the direction
of rotation and can only be acknowledged by p1910 = -2.
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Table 7- 12
Data determined using p1960 for induction motors (rotating measurement)
Determined data (gamma)
r1934 q Inductance identified
Data that are accepted (p1960 = 1)
-
r1935 q Inductance identification current
Note:
The q inductance characteristic can be used as basis to manually determine the data for the current controller adaptation
(p0391, p0392 and p0393).
r1936 Magnetizing inductance identified
r0382 Motor main inductance, transformed (gamma)
p0360 Motor main inductance
p1590 Flux controller P gain
p1592 Flux controller integral action time
r1948 Magnetizing current identified
p0320 Motor rated magnetizing current
r1962 Saturation characteristic magnetizing current
identified
-
r1963 Saturation characteristic stator inductance
identified
-
Note:
The magnetic design of the motor can be identified from the saturation characteristic.
r1969 Moment of inertia identified
p0341 Motor moment of inertia
* p0342 Ratio between the total moment of inertia and that of the
motor
+ p1498 Load moment of inertia
r1973 Encoder pulse number identified
-
Note:
The encoder pulse number is only determined very imprecisely and is only suitable for making rough checks (p0408). The
sign is negative if inversion is required (p0410.0).
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7.1.12.2
Motor data identification - synchronous motor
Synchronous motor
Table 7- 13
Data determined using p1910 for synchronous motors (stationary measurement)
Determined data
Data that are accepted (p1910 = 1)
r1912 stator resistance identified
p0350 motor stator resistance, cold
+ p0352 cable resistance
r1925 threshold voltage identified
-
r1932 d inductance
p0356 motor stator leakage inductance
+ p0353 motor series inductance
p1715 current controller P gain
p1717 current controller integral-action time
r1934 q inductance identified
-
r1950 Voltage emulation error
voltage values
p1952 Voltage emulation error, final value
r1951 Voltage emulation error, current values
p1953 Voltage emulation error, current offset
Note regarding r1950 to p1953:
Active when the function module "extended torque control" is activated and activated compensation of the voltage
emulation error (p1780.8 = 1).
r1973 Encoder pulse number identified
-
Note:
The encoder pulse number is only determined very imprecisely and is only suitable for making rough checks (p0408). The
sign is negative if inversion is required (p0410.0).
r1984 Pole position identification angular difference
p0431 Angular commutation offset
Note:
r1984 indicates the difference of the angular commutation offset before being transferred into p0431.
-
p0410 Encoder inversion actual value
Note:
If the encoder inversion is changed using MotID, fault F07993 is output, which refers to a possible change in the direction
of rotation and can only be acknowledged by p1910 = -2.
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Table 7- 14
Data determined using p1960 for synchronous motors (rotating measurement)
Determined data
Data that are accepted (p1960 = 1)
r1934 q inductance identified
-
r1935 q inductance identification current
-
Note:
The q inductance characteristic can be used as basis to manually determine the data for the current controller adaptation
(p0391, p0392 and p0393).
r1937 torque constant identified
p0316 motor torque constant
r1938 voltage constant identified
p0317 motor voltage constant
r1939 reluctance torque constant identified
p0328 motor reluctance torque constant
r1947 optimum load angle identified
p0327 optimum motor load angle
r1969 moment of inertia identified
p0341 Motor moment of inertia
* p0342 ratio between the total moment of inertia and that of
the motor
+ p1498 load moment of inertia
r1973 Encoder pulse number identified
-
Note:
The encoder pulse number is only determined very imprecisely and is only suitable for making rough checks (p0408). The
sign is negative if inversion is required (p0410.0).
r1984 Pole position identification angular difference
p0431 Angular commutation offset
Note:
r1984 indicates the difference of the angular commutation offset before being transferred into p0431.
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Equivalent circuit diagram for synchronous motor and cable
Overview of important parameters (see SINAMICS S110 List Manual)
● r0047 Status identification
Standstill measurement
● p1909 Motor data identification control word
● p1910 Motor data identification, stationary
Rotating measurement
● p1958 Motor data identification ramp-up/ramp-down times
● p1959 Rotating measurement configuration
● p1960 Rotating measurement selection
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7.1.13
Pole position identification
Description
For synchronous motors, the pole position identification determines its electrical pole
position, that is required for the field-oriented control. Generally, the electrical pole position is
provided from a mechanically adjusted encoder with absolute information. In this case, pole
position identification is not required. For the following encoder properties, pole position
identification is not required:
● Absolute encoder (e.g. EnDat, DRIVE-CLiQ encoder)
● Encoder with C/D track and pole pair number ≤ 8
● Hall sensor
● Resolver with a multiple integer ratio between the motor pole pair number and the
encoder pole pair number
● Incremental encoder with a multiple integer ratio between the motor pole pair number and
the encoder pulse number
The pole position identification is used for:
● Determining the pole position (p1982 = 1)
● Determining the angular commutation offset during commissioning (p1990 = 1)
● Plausibility check for encoders with absolute information (p1982 = 2)
WARNING
When the motors are not braked, the motor rotates or moves as a result of the current
impressed during the measurement. The magnitude of the motion depends on the
magnitude of the current and the moment of inertia of the motor and load.
Notes regarding pole position identification
The relevant technique can be selected using parameter P1980. The following techniques
are available for pole position identification:
● Saturation-based 1st+ 2nd harmonics (p1980 = 0)
● Saturation-based 1st harmonics (p1980 = 1)
● Saturation-based, two-stage (p1980 = 4)
● Saturation-based (p1980 = 10)
The following supplementary conditions apply to the saturation-based motion technique:
● You can use the techniques for both braked and non-braked motors.
● It can only be used for a speed setpoint = 0 or from standstill.
● The currents specified (p0325, p0329) must be sufficiently large to provide a meaningful
measuring result.
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Drive functions
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● For motors without iron, the pole position cannot be identified using the saturation-based
technique.
● With 1FK7 motors, two-stage procedures must not be used (p1980 = 4). The value in
p0329, which is set automatically, must not be reduced.
For the motion-based technique, the following supplementary conditions apply:
● The motor must be free to move and it may not be subject to external forces (no
hanging/suspended axes)
● It can only be used for a speed setpoint = 0 or from standstill.
● If there is a motor brake, then this must be open (p1215 = 2).
● The specified current magnitude (p1993) must move the motor by a sufficient amount.
WARNING
Before using the pole position identification routine, the control sense of the speed
control loop must be corrected (p0410.0).
For rotating motors, in encoderless operation with a small positive speed setpoint (e.g.
10 RPM), the speed actual value (r0061) and the speed setpoint (r1438) must have the
same sign.
Pole position determination with zero marks
The pole position identification routine provides coarse synchronization. If zero marks exist,
the pole position can be automatically compared with the zero mark position once the zero
mark(s) have been passed (fine synchronization). The zero mark position must be either
mechanically or electrically (p0431) calibrated. If the encoder system permits this, then we
recommend fine synchronization (p0404.15 = 1). This is because it avoids measurement
spread and allows the determined pole position to be additionally checked.
Suitable zero marks are:
● One zero mark in the complete traversing range
● Equidistant zero marks whose relevant position to the commutation are identical
● Distance-coded zero marks
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Determining a suitable technique for the pole position identification routine
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Angular commutation offset commissioning support (p1990)
The function for determining the commutation angle offset is activated via p1990=1. The
commutation angle offset is entered in p0431. This function can be used in the following
cases:
● Single calibration of the pole position for encoders with absolute information
(exception: The Hall sensor must always be mechanically adjusted.)
● Calibrating the zero mark position for fine synchronization
Table 7- 15
Mode of operation of p0431
Incremental without
zero mark
Incremental with one
zero mark
Incremental with distancecoded zero marks
Absolute encoder
C/D track
p0431
shifts the commutation
with respect to the C/D
track
p0431
shifts the commutation
with respect to the C/D
track and zero mark
Currently not available
Not permitted
Hall sensor
p0431
does not influence the
Hall sensor. The Hall
sensor must be
mechanically adjusted.
p0431
does not influence the
Hall sensor.
p0431
shifts the commutation
with respect to the zero
mark
p0431
does not influence the Hall
sensor.
p0431
shifts the commutation with
respect to the absolute
position (after two zero marks
have been passed)
Not permitted
Pole position
identification
p0431
no effect
p0431
shifts the commutation
with respect to the zero
mark
p0431
shifts the commutation with
respect to the absolute
position (after two zero marks
have been passed)
p0431
shifts the commutation
with respect to
absolute position
Note
When fault F07414 occurs, p1990 is automatically started; if p1980 is not equal to 99 and
p0301 does not refer to a catalog motor with an encoder that is adjusted in the factory.
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Overview of important parameters (see SINAMICS S110 List Manual)
● p0325[0...n] Motor pole position identification current 1st phase
● p0329[0...n] Motor pole position identification current
● p0404.15 Commutation with zero mark
● p0431 Angular commutation offset
● p1980[0...n] Pole position identification procedure
● p1981[0...n] Pole position identification maximum movement
● p1982[0...n] Pole position identification selection
● p1983 Pole position identification test
● r1984 Pole position identification angular difference
● r1985 Pole position identification saturation curve
● r1987 Pole position identification trigger curve
● p1990 Pole position identification commutation angle offset commissioning
● r1992 Pole position identification diagnostics
● p1993 Pole position identification current, motion based
● p1994 Pole position identification rise time motion based
● p1995 Pole position identification motion based P gain
● p1996 Pole position identification motion based integral action time
● p1997 Pole position identification motion based smoothing time
7.1.14
Vdc control
Description
Vdc control can be activated if overvoltage or undervoltage is present in the supply voltage.
This prevents a fault from occurring due to the supply voltage and ensures that the drive is
always ready to use.
This function is activated by means of the configuration parameter (p1240). It can be
activated if an overvoltage or undervoltage is present. The torque limit of the motor at which
the Vdc controller is active can be affected if discrepancies in the supply voltage are
significant enough. The motor may no longer be able to maintain its setpoint speed or the
acceleration/braking phases could be prolonged.
The Vdc controller is an automatic P controller that influences the torque limits. It only
intervenes when the supply voltage approaches the "upper threshold" (p1244) or "lower
threshold" (p1248) and the corresponding controller is activated via the configuration
parameter (p1240).
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An application for the Vdc controller is, for example, as a safety measure in the event of a
power failure (Vdc_min and Vdc_max controller).
The voltage limit values for Vdc control also have an impact on V/f control, although the
dynamic response of Vdc control is slower in this case.
Description of Vdc_min control (p1240 = 2, 3)
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In the event of a power failure, the Power Module will no longer be able to maintain the
supply voltage, particularly if the motor is drawing active power. To maintain the supply
voltage in the event of a power failure (e.g. for a controlled emergency retraction), the
Vdc_min controller can be activated for the drive. If the voltage threshold set in p1248 is
undershot, this drive will be decelerated so that its kinetic energy can be used to maintain
the supply voltage. The threshold should be considerably higher than the trip threshold of the
motor (recommendation: 50 V below the supply voltage). When the power supply is restored,
the Vdc controller is automatically deactivated and the drive will ramp back up to the speed
setpoint. If the supply voltage cannot be restored, the power supply will fail once the kinetic
energy of the drive has been exhausted with an active Vdc_min controller.
Note
You must make sure that the converter is not disconnected from the power supply. It could
become disconnected, for example, if the line contactor drops out. The line contactor would
need to have an uninterruptible power supply (UPS), for example.
Description of Vdc_min control without braking (p1240 = 8, 9)
As with p1240 = 2, 3, however, active motor braking can be prevented by a reduction in the
supply voltage. The effective upper torque limit must not be less than the torque limit offset
(p1532). The motor does not switch to regenerative mode and no longer draws any active
power from the DC link.
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Description of Vdc_max control (p1240 = 1, 3)
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In the event of a power failure, the voltage can increase until it reaches the shutdown
threshold when the drive is decelerated. The Vdc_max controller can be activated to prevent
the system from shutting down due to overvoltage. The Vdc_max controller is normally
activated for drives that have to decelerate/accelerate high levels of kinetic energy
themselves. When the overvoltage threshold in p1244 is reached (recommended setting: 50
V higher than the supply voltage), the braking torque of the drive with an active Vdc_max
controller is reduced by shifting the torque limit. In this way, the drive feeds back the same
amount of energy that is assimilated as a result of losses or consumers, thereby minimizing
the braking time.
Description of Vdc_max control without acceleration (p1240 = 7, 9)
As with p1240 = 1, 3, if the drive must not be accelerated by means of an increase in the
supply voltage, acceleration can be prevented by setting p1240 = 7, 9. The effective lower
torque limit must not be greater than the torque limit offset (p1532).
Description of Vdc controller monitoring functions (p1240 = 4, 5, 6)
In the event of a power failure, the supply voltage can increase until it reaches the shutdown
threshold when the drive is decelerated. To ensure that uncritical drives do not attempt to
draw power from the supply voltage in the event of a power failure, such drives can be
switched off by a fault (F07404) with a parameterizable voltage threshold (p1244). This is
carried out by activating the Vdc_max monitoring function (p1240 = 4, 6).
Function diagrams (see SINAMICS S110 List Manual)
● 5650 Vdc_max controller and Vdc_min controller
● 5300 V/f control
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7.1 Servo control
Overview of important parameters (see SINAMICS S110 List Manual)
Adjustable parameters
● p1240 Vdc controller or Vdc monitoring configuration
● p1244 DC link voltage threshold, upper
● p1248 DC link voltage threshold, lower
● p1250 Vdc controller proportional gain
Display parameters
● r0056.14 Vdc_max controller active
● r0056.15 Vdc_min controller active
7.1.15
Travel to fixed stop
Description
This function can be used to move a motor to a fixed stop at a specified torque without a
fault being signaled. When the stop is reached, the specified torque is built up and remains
applied.
The desired torque derating is brought about by scaling the upper/motor-mode torque limit
and the lower/regenerative-mode torque limit.
Application examples
● Screwing parts together with a defined torque.
● Moving to a mechanical reference point.
Signals
When PROFIBUS telegrams 2 to 4 are used, the following are automatically interconnected:
● Control word 2, bit 8
● Status word 2, bit 8
Also with PROFIdrive telegrams 102 and 103:
● Message word, bit 1
● Process data M_red to the scaling of the torque limit
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Signals for "Travel to fixed stop"
When PROFIdrive telegrams 2 to 4 are used, no torque reduction is transmitted. When the
"Travel to fixed stop" function is activated, the motor ramps up to the torque limits specified
in p1520 and p1521. If the torque has to be reduced, telegrams 102 and 103, for example,
can be used for transmission. Another option would be to enter a fixed value in p2900 and
interconnect it to the torque limits p1528 and p1529.
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Signal chart
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Signal chart for "Travel to fixed stop"
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Commissioning for PROFIdrive telegrams 2 to 4
1. Activate travel to fixed stop.
Set p1545 = "1".
2. Set the required torque limit.
Example:
p1400.4 = "0" → upper or lower torque limit
p1520 = 100 Nm → effective in upper positive torque direction
p1521 = –1500 Nm –→ effective in lower negative torque direction
3. Run motor to fixed stop.
The motor runs at the set torque until it reaches the stop and continues to work against
the stop until the torque limit has been reached, this status being indicated in status bit
r1407.7 "Torque limit reached".
Control and status messages
Table 7- 16
Control: Travel to fixed stop
Signal name
Activate travel to fixed stop
Table 7- 17
Internal control word
STW n_ctrl
8
Binector input
p1545 Activate travel to fixed stop
PROFIdrive p0922 and/or
p2079
STW2.8
Status message: Travel to fixed stop
Signal name
Internal status word
Parameter
PROFIdrive p0922 and/or
p2079
Travel to fixed stop active
-
r1406.8
ZSW2.8
Torque limits reached
ZSW n_ctrl.7
r1407.7
ZSW1.11 (inverted)
Torque utilization < torque
threshold value 2
ZSW monitoring functions
3.11
r2199.11
MESSAGEW.1
Function diagrams (see SINAMICS S110 List Manual)
● 5610 Torque limiting/reduction/interpolator
● 5620 Motor/generator torque limit
● 5630 Upper/lower torque limit
● 8012 Torque messages, motor blocked/stalled
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Overview of important parameters (see SINAMICS S110 List Manual)
● p1400[0...n] Speed control configuration
● r1407.7 BO: Torque limit reached
● p1520[0...n] CO: Torque limit, upper/motoring
● p1521[0...n] CO: Torque limit, lower/regenerative
● p1522[0...n] CI: Torque limit, upper/motoring
● p1523[0...n] CI: Torque limit, lower/regenerative
● r1526 Torque limit, upper/motoring without offset
● r1527 Torque limit, lower/regenerative without offset
● p1532[0...n] Torque limit offset
● p1542[0...n] CI: Travel to fixed stop, torque reduction
● r1543 CO: Travel to fixed stop, torque scaling
● p1544 Travel to fixed stop, evaluate torque reduction
● p1545[0...n] BI: Activate travel to fixed stop
● p2194[0...n] Torque threshold 2
● p2199.11 BO: Torque utilization < torque threshold value 2
7.1.16
Vertical axes
Description
With a vertical axis without mechanical weight compensation, electronic weight
compensation can be set by offsetting the torque limits (p1532). The torque limits specified in
p1520 and p1521 are shifted by this offset value.
The offset value can be read in r0031 and transferred in p1532.
To reduce compensation once the brake has been released, the torque offset can be
interconnected as a supplementary torque setpoint (p1513). In this way, the holding torque is
set as soon as the brake has been released.
Function diagrams (see SINAMICS S110 List Manual)
● 5060 Torque setpoint, control type switchover
● 5620 Motor/generator torque limit
● 5630 Upper/lower torque limit
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Overview of important parameters (see SINAMICS S110 List Manual)
● r0031 Actual torque smoothed
● p1513 CI: Supplementary torque 2
● p1520 CO: Torque limit, upper/motoring
● p1521 CO: Torque limit, lower/regenerative
● p1532 CO: Torque limit, offset
7.1.17
Variable signaling function
The variable signaling function can be used to monitor BICO sources and parameters (with
the attribute traceable) for violation of an upper or lower threshold (p3295).
A hysteresis (p3296) can be specified for the threshold value and a pull-in or drop-out delay
(p3297/8) can be specified for the output signal (p3294).
The setting of a hysteresis results in a tolerance band around the threshold value. If the
upper threshold value is exceeded the output signal is set to 1, if it drops below the lower
threshold value the output signal is reset to 0.
After the configuration is completed, the variable signaling function must be activated with
p3290.0.
Note
The variable signaling function works with an accuracy of 8 ms (also to be taken into account
for pickup and dropout delay).
Example 1:
Heating should be switched on depending on the temperature. For this the analog signal of
an external sensor is connected with the variable signaling function. A temperature threshold
and a hysteresis is defined to prevent the heating from switching on and off constantly.
Example 2:
A process variable pressure is to be monitored, whereby a temporary overpressure is
tolerated. For this the output signal of an external sensor is connected with the variable
signaling function. The pressure thresholds and a pull-in delay are set as tolerance time.
When the output signal of the variable signaling function is set, bit 5 in message word
MELDW is set during cyclic communication. The message word MELDW is a component of
the telegrams 102, 103, 105, 106, 110, 111, 116, 118, 126.
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Function diagrams (see SINAMICS S120/S150 List Manual)
● 5301 Servo control - variable signaling function
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p3290 Variable signaling function start
● p3291 CI: Variable signaling function signal source
● p3292 Variable signaling function signal source address
● p3293 Variable signaling function signal source data type
● p3294 BO: Variable signaling function, output signal
● p3295 Variable signaling function, threshold value
● p3296 Variable signaling function, hysteresis
● p3297 Variable signaling function, pickup delay
● p3298 Variable signaling function, dropout delay
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7.1.18
Central probe evaluation
Description
Frequently, motion control systems have to detect and save the positions of drive axes at an
instant in time defined by an external event. For example, this external event may be the
signal edge of a probe. In this case, it may be necessary to evaluate several probes or save
the position actual values of several axes, triggered by a probe event.
For the central probe evaluation, the instant in time of the probe signal is detected and saved
by a central function. From the available sample values of the position signals of the various
axes, the position actual values at the probe instant are interpolated with respect to time in
the control. For SINAMICS S, two techniques have been implemented:
● For the probe evaluation with handshake, for each probe and positive and/or negative
probe edge, up to 1 measured value is evaluated each communication cycle / each four
DP cycles.
● With a parameterizable probe evaluation without handshake, the evaluation frequency of
the probe edges can be increased up to the communication frequency/application
frequency of the probe evaluation (= SERVO cycle of the higher-level control).
Precondition: T_DP = T_MACP (i.e. cycle ratio = 1:1, no cycle reduction ratio is possible).
Common features for central measuring with and without handshake
Both measuring techniques have the following points in common:
● PROFIBUS telegrams
● Synchronization between the control and drive as a precondition for measuring.
● System time: Resolution (0.25 µs), maximum value (16 ms)
● Time stamp: Format (drive increments, NC decrements)
● Monitoring functions (sign of life)
● Fault messages
● Incrementing
In the interface, the value "0" is not a valid time format and is used to express that a
measured value is not available.
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Central measuring with handshake
● Evaluation technique with handshake, as long as p0684 = 0.
● Transfer, control word probe (BICO p0682 to PZD3) at the instant To in the MAP cycle.
● A measurement is activated with a 0/1 transition of the control bit for falling or rising edge
in the probe control word.
● If a measurement is activated, a check is made in the DP cycle as to whether a measured
value is present.
● If the check indicates that there is a measured value, then the time stamp is entered into
either p0686 or p0687.
● The time stamp is transferred until the control bit for falling or rising edge is set to zero in
the control word. Then, the associated time stamp is set to zero.
Central measurement without handshake
When selecting the evaluation technique without handshake (p0684 = 1), the measurement
for falling and rising edge is activated.
If a measurement is activated, a check is made in the DP cycle as to whether a measured
value was detected:
● If the check indicates that a measured value is available, the time stamp is entered in
either p0686 or p0687 and a new measurement is automatically activated.
● If the check indicates that a measured value is not available, then a time stamp of zero is
entered into either p0686 or p0687.
● This means that a time stamp is only transferred once before it is overwritten with zero or
a new time stamp.
● Max. edge detection cycle < 1 / T_DP
Remarks
Applications other than the application actually using the function can monitor the probe
state and read the probe measured values.
Example:
EPOS axially controls "its" probe, a control can establish a connection to the probe to read
its signals and the information can be integrated into the drive telegram.
Parameter p0684 (central probe evaluation technique) offers the following setting options:
● p0684 = 0: Measuring with handshake (factory setting)
● p0684 = 1: Measuring without handshake
● It cannot be guaranteed that the standard PROFIdrive connection will not fail.
● The function "without handshake" has been released for "integrated" platforms (e.g.
SINAMICS integrated in SIMOTION D425).
● You must use the MIT handshake version to ensure absolute reliability when detecting
the probe.
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Function diagrams (see SINAMICS S110 List Manual)
● 4740 Encoder evaluation - measurement probe evaluation
Overview of important parameters (see SINAMICS S110 List Manual)
● p0680[0...5] Central measurement probe input terminal
● p0681 BI: Central measurement probe synchronization signal signal source
● p0682 CI: Central measurement probe control word signal source
● p0684 Central measurement probe evaluation response
● r0685 Central measurement probe control word display
● r0686[0...5] CO: Central measurement probe measuring time rising edge
● r0687[0...5] CO: Central measurement probe measuring time falling edge
● r0688 CO: Central measurement probe status word display
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7.1.19
Pulse/direction interface
Thanks to the pulse/direction interface, SINAMICS S110 can be used for simple positioning
tasks on a controller. The controller is connected to SINAMICS S110 via the encoder
interface (connector X23) of the CU305. The controller uses the following methods to give
setpoints to the drive via interface X23:
● Pulse/direction signals
or
● Incremental encoder emulation via A and B track
Application 1: Position-controlled drive
p
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B
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Figure 7-27
"Position-controlled drive" application
The controller specifies position setpoints via the pulse/direction interface. The position
control in the drive executes all the pulses received since the enable. If the discrepancy
between the setpoint and actual positions is too great, the drive generates a fault (F07452
"LR: Following error too great").
You must then acknowledge the following error and use the "position reset" signal (see
"Control signals" table) to reset the setpoint/actual value. You should also use the "position
reset" signal in the following cases:
● Endlessly rotating axes
With endlessly rotating axes, briefly set and then cancel the "position reset" signal after
any traversing task completed by the controller. This will ensure the maximum range (32
bits) is not exceeded.
● Absolute encoder
With absolute encoders, you need to set the "position reset" signal at the outset in order
to reset the actual value and thereby enable the axis to move.
Application 2: Speed-controlled drive
The drive is subject to speed control when operating on the controller. The clock frequency
determines the speed setpoint (for details on how this is calculated, refer to the
"Commissioning the pulse/direction interface" chapter).
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7.1.19.1
Commissioning the pulse/direction interface
Wiring input signals
The input signals for the pulse/direction interface are wired via connector X23:
Table 7- 18
Setpoint value specification with HTL level
Pin
Signal name
Technical specifications
1 ... 6
Not relevant
–
7
M
Ground
8 ... 12
Not relevant
–
13
BP
Pulse/direction interface: Direction
B track positive
14
Not relevant
–
15
AP_DAT
Pulse/direction interface: Pulse
A track positive
Table 7- 19
Setpoint value specification: Encoder signal with TTL level
Pin
Signal name
1 ... 6
Not relevant
–
7
M
Ground
8 ... 11
Not relevant
–
12
Setpoint value specification for encoder signal
B track negative
13
14
Technical specifications
B track positive
Setpoint value specification for encoder signal
15
A track negative
A track positive
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Wiring control signals
Control signals are created at terminals X132 and X133:
Table 7- 20
Wiring control signals
Pin
Signal name
Inputs
X133.1 (DI 0)
Off 1
X133.2 (DI 1)
Fault acknowledgment
X133.3 (DI 3)
Position reset (only applies to position control)
X133.5
Ground
Outputs
X132.1 (D0 8)
Ready
X132.2 (D0 9)
Fault active
X132.3 (D0 10)
Drive is stationary (only applies to position
control)
X132.5
Ground
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Settings in the configuration wizard
Make the settings for the pulse/direction interface via the Process data exchange dialog in
the STARTER configuration wizard:
Figure 7-28
Configuring the pulse/direction interface in STARTER
Make the following settings:
● Control type: Speed control or Position control
● Encoder channel
The pulse/direction interface is assigned an encoder channel. If you are using a motor
encoder, it is always assigned encoder channel 1. This means you need to select
encoder channel 2 for the pulse/direction interface.
● Encoder evaluation
Select the integrated HTL/TTL encoder evaluation of the CU305 as the input for the
pulse/direction interface.
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● The pulse number is calculated from the maximum clock frequency of the controller and
the preferred maximum motor speed. The following formula applies:
Pulse number = (max. clock frequency · 60)/max. speed
Example: If the controller has a maximum clock frequency of 100 kHz and the motor
being used is to run at its maximum rated speed of 3000 rpm, the resulting pulse number
will be 2000.
● Select one of the following two options for the Signal shape:
Table 7- 21
Signal shapes for the pulse/direction interface
Signal shape
p0405[E].5
Pulse/direction
positive logic
1
A and B track
positive logic
0
Graphic
● The CU305 automatically links the control signals to the specified inputs/outputs (see the
"Wiring control signals" section).
Setpoint value specification via pulse encoder emulation
● For relevant wiring information, refer to the table for "Setpoint value specification:
Encoder signal with TTL level".
● As well making the settings in the commissioning wizard (see above), you also need to
set the following values in the drive's expert list:
– p0405.0 = 1 (bipolar)
– p0405.1 = 1 (TTL)
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Overview of important parameters (see SINAMICS S110 List Manual)
● p0010 Drive commissioning parameter filter
● p0141 Encoder interface (Sensor Module) component number
● p0184 Encoder interface with WSG
● p0400[0...n] Encoder type selection
● p0404[0...n] Encoder configuration active
● p0405[0...n] Rectangular signal encoder track A/B
● p0408[0...n] Rotary encoder pulse number
● r0722 CO/BO: CU digital inputs, status
● p0738 BI: CU signal source for terminal DI/DO 8
● p0739 BI: CU signal source for terminal DI/DO 9
● p2530 CI: LR position setpoint
● p2550 BI: LR enable 2
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7.2 Basic functions
7.2
Basic functions
7.2.1
Changing over units
Description
By changing over the units, parameters and process quantities for input and output can be
changed over to an appropriate system of units (US units or as per unit quantities (%)).
The following supplementary conditions apply when changing over units:
● Parameters of the rating plate of the drive converter or the motor rating plate can be
changed over between SI/US units; however, a per unit representation is not possible.
● After changing over the units parameter, all parameters that are assigned to one of the
units group dependent on it, are all changed over to the new system of units.
● A parameter is available to select technological units (p0595) to represent technological
quantities in the technology controller.
● If the units are converted to per unit quantities and the reference quantity changed, the
percentage value entered in a parameter is not changed.
Example:
– A fixed speed of 80% corresponds, for a reference speed of 1500 RPM, to a value of
1200 RPM.
– If the reference speed is changed to 3000 RPM, then the value of 80% is kept and
now means 2400 RPM.
Restrictions
● When a unit changeover occurs, rounding to the decimal places is carried out. This can
mean that the original value might change by up to one decimal place.
● If a referenced form is selected and the reference parameters (e.g. p2000) are changed
retrospectively, the referenced values of some of the control parameters are also
adjusted to ensure that the control behavior is unaffected.
● If the reference variables (p2000 to p2007) are changed offline in STARTER, there is a
risk that the parameter value ranges will be violated. In this case, appropriate fault
messages will be displayed when the parameters are loaded to the drive units.
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7.2 Basic functions
Groups of units
Every parameter that can be changed over is assigned to a units group, that, depending on
the group, can be changed over within certain limits.
This assignment and the unit groups for each parameter are listed in the parameter list in the
SINAMICS S110 List Manual.
The units groups can be individually switched via the following parameters: p0100, p0505
and p0595
Function in STARTER
To call up the function for converting units in STARTER, choose Drive object → Configuration
→ Units. The reference parameters can be found under Drive object → Configuration →
Reference parameters.
Overview of important parameters (see SINAMICS S110 List Manual)
● p0010 Commissioning parameter filter
● p0100 Motor Standard IEC/NEMA
● p0505 Selecting the system of units
● p0595 Selecting technological units
● p0596 Reference quantity, technological units
● p2000 CO: Reference frequency/speed
● p2001 CO: Reference voltage
● p2002 CO: Reference current
● p2003 CO: Reference torque
● r2004 CO: Reference power
● p2005 CO: Reference angle
● p2007 CO: Reference acceleration
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7.2 Basic functions
7.2.2
Reference parameters/normalizations
Description
Reference values equivalent to 100% are required in order to express units in percentage
terms. These reference values are entered in parameters p2000 to p2007. They are
computed during the calculation via p0340 = 1 or in STARTER during drive configuration.
After calculation in the drive, these parameters are automatically protected via p0573 = 1
against overwriting through a new calculation (p0340). This eliminates the need to adjust the
references values in a PROFIdrive controller whenever a new calculation of the reference
parameters via p0340 takes place.
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5HIHUHQFHYDULDEOHV
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Figure 7-29
Illustration of conversion with reference values
Note
If a referenced form is selected and the reference parameters (e.g. p2000) are changed
retrospectively, the referenced values of some of the control parameters are also adjusted to
ensure that the control behavior is unaffected.
Using STARTER offline
Following offline drive configuration, the reference parameters are preset; they can be
changed and protected under Drive → Configuration → "Disabled list" tab.
Note
If the reference values (p2000 to p2007) are changed offline in STARTER, it can lead to
boundary violations of the parameter values, which cause fault messages during loading to
the drive.
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Normalization for servo object
Table 7- 22
Normalization for servo object
Size
Normalization parameter
Default at initial commissioning
Reference speed
100 % = p2000
Induction motor p2000 = Maximum motor speed
(p0322)
Synchronous motor p2000 = Rated motor speed
(p0311)
Reference voltage
100 % = p2001
p2001 = 1000 V
Reference current
100 % = p2002
p2002 = Motor limit current (p0338); when
p0338 = "0", 2 * rated motor current (p0305)
Reference torque
100 % = p2003
p2003 = p0338 * p0334; when "0", 2 * rated motor
torque (p0333)
Reference power
100 % = r2004
r2004 = p2003 * p2000 * π / 30
Reference angle
100% = p2005
90°
Reference acceleration
100% = p2007
0.01 1/s2
Reference frequency
100 % = p2000/60
-
Reference modulation depth
100 % = Maximum output voltage
without overload
-
Reference flux
100 % = Rated motor flux
-
Reference temperature
100% = 100 ℃
-
Reference electrical angle
100 % = 90°
-
Overview of important parameters (see SINAMICS S110 List Manual)
● p0340 Automatic calculation of motor/control parameters
● p0573 Disable automatic calculation of reference values
● p2000 Reference speed reference frequency
● p2001 Reference voltage
● p2002 Reference current
● p2003 Reference torque
● r2004 Reference power
● p2005 Reference angle
● p2007 Reference acceleration
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7.2 Basic functions
7.2.3
Automatic restart
Description
The "automatic restart" function is used to restart the drive automatically once the power has
been restored following a power failure. In this case, all of the faults present are
automatically acknowledged and the drive is powered-up again. This function is not only
restricted to line supply faults; it can also be used to automatically acknowledge faults and to
restart the motor after any fault trips.
WARNING
If p1210 is set to value > 1, the motor can start automatically once the power supply has
been restored. This is especially critical if the motor comes to a standstill (zero speed) after
longer power failures and it is incorrectly assumed that it has been powered down. For this
reason, death, serious injury, or considerable material damage can occur if personnel enter
the working area of a motor in this condition.
Automatic restart mode
Table 7- 23
p1210
Automatic restart mode
Mode
Meaning
0
Disables automatic restart
Automatic restart inactive
1
Acknowledges all faults without
restarting
When p1210 = 1, faults that are present are
acknowledged automatically when their cause is
rectified. If further faults occur after faults have been
acknowledged, then these are also again
automatically acknowledged. A minimum time of
p1212 + 1 s must expire between successful fault
acknowledgment and a fault re-occurring if the
signal ON/OFF1 (control word 1, bit 0) is at a HIGH
signal level. If the ON/OFF1 signal is at a LOW
signal level, the time between a successful fault
acknowledgment and a new fault must be at least
1s.
For p1210 = 1, fault F07320 is not generated if the
acknowledge attempt failed (e.g. because the faults
occurred too frequently).
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Mode
Meaning
4
p1210
Automatic restart after line
supply failure, no additional start
attempts
If p1210 = 4, an automatic restart will only be
performed if fault F30003 also occurs on the Power
Module or there is a HIGH signal at binector input
p1208[1]. If additional faults are present, then these
faults are also acknowledged and when successfully
acknowledged, the starting attempt is continued.
When the 24 V power supply of the CU fails, this is
interrupted as a line supply failure.
6
Restart after any fault with
additional start attempts
When p1210 = 6, an automatic restart is carried out
after any fault or when p1208[0] = 1. If the faults
occur one after the other, then the number of start
attempts is defined using p1211. Monitoring over
time can be set using p1213.
Starting attempts (p1211) and delay time (p1212)
p1211 is used to specify the number of starting attempts. The number is internally
decremented after each successful fault acknowledgment (line supply voltage must be reapplied). Fault F07320 is signaled if the number of parameterized startup attempts is
exceeded.
When p1211 = x, x + 1 starting attempts are made.
Note
A start attempt immediately starts when the fault occurs.
The faults are automatically acknowledged in intervals of half the delay time p1212.
After successful acknowledgment and voltage recovery, the system is automatically powered
up again.
The starting attempt is considered to have been successfully completed once motor
magnetization (induction motor) is complete (r0056.4 = 1) and one additional second has
expired. The starting counter is only reset back to the initial value p1211 after this time.
If additional faults occur between successful acknowledgment and the end of the startup
attempt, then the startup counter, when it is acknowledged, is also decremented.
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Monitoring time line supply return (p1213)
The monitoring time starts when the faults are detected. If the automatic acknowledgments
are not successful, the monitoring time runs again. If the drive has not successfully restarted
once the monitoring time has expired (motor magnetization must have been completed:
r0056.4 = 1), fault F07320 is output. The monitoring is deactivated with p1213 = 0.
If a fault is pending, fault F07320 will be generated on every restart attempt if the time
defined in p1213 has expired. If p1210 > 1 and the time in p1213 is set lower than p1212,
then fault F07320 will also be generated on every restart attempt. The monitoring time must
be extended if the faults that occur cannot be immediately and successfully acknowledged
(e.g. when faults are permanently present).
Commissioning
1. Activating the function
– Automatic restart: Set mode (p1210).
2. Set starting attempts (p1211).
3. Set delay times (p1212, p1213).
4. Check function.
Overview of important parameters (see SINAMICS S110 List Manual)
● r0863 CO/BO: Drive coupling status word/control word
● p1210 Automatic restart, mode
● p1211 Automatic restart, attempts to start
● p1212 Automatic restart, delay time start attempts
● p1213 Automatic restart, waiting time increment
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7.2.4
Armature short-circuit brake, DC brake
Features
● For permanent-magnet synchronous motors:
– Controlling an external armature short-circuit configuration
● For induction motors:
– Activation of DC brake
● Assignment as fault response
Description
Armature short-circuit braking is only supported for permanent-magnet synchronous motors.
It is mainly required when braking in a hazardous situation if controlled braking using the
frequency converter is no longer possible (e.g. in the event of a power failure, emergency
shutdown, etc.). The motor's stator windings are short-circuited by means of a contactor
circuit (possibly using external braking resistors). The resistance in the motor circuit
suppresses the motor's kinetic energy.
In order for the CU305 to be able to maintain this function in the event of a power failure, an
uninterruptible 24 V power supply (UPS) must be used. High-speed permanent-magnet
spindle drives for machine tools are a typical application for armature short-circuit braking.
With the external armature short-circuit brake, the slow contactor response causes a
response in the range of > 60 ms.
DC braking is only supported for induction motors. It can be used most effectively to bring
the rotor to a safe standstill in the event of the loss of the encoder signal. In order to achieve
this, a constant DC current is injected in the stator to decelerate the rotor to standstill and
hold it there.
The functions can be triggered by applying a "1" signal to binector input p1230 or in
response to a fault (see the description of p0491 or p2100/p2101).
External armature short-circuit braking
The external armature short-circuit is activated by setting p1231 = 1 (with contactor feedback
signal) or p1231 = 2 (without contactor feedback signal). It can be triggered via an input
signal p1230 (signal = 1) or a fault response. Triggering takes place once the pulses have
been suppressed or the circuit breaker has been inhibited.
This function uses output terminals to control an external contactor, which can short-circuit
the motor terminals via external resistors, for example. An armature short-circuit brake has
the advantage of a higher braking effect than a mechanical brake at the start of braking (at a
high speed). However, since the braking effect fades away as the speed drops, we
recommend a combination of armature and mechanical braking.
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For the function with contactor feedback signal, you will need to wire the feedback inputs of
both command data sets (CDS = 2) p1235[0..1].
The external armature short-circuit is only supported for rotary-type permanent-magnet
synchronous motors (p0300 = 2xx).
DC brake (induction motors)
The DC brake is activated by setting parameter p1231 = 4 (internal armature short-circuit/DC
brake). It can be triggered via an input signal p1230 (signal = 1) or a fault response:
Activation of DC brake with BI p1230
If the DC brake is activated with the digital input signal, the pulses will first be inhibited for
the motor demagnetization time p0347 in order to demagnetize the motor. Next, braking
current p1232 is injected into the DC brake for as long as the signal = 1 at the binector input,
in order to decelerate the motor or hold it at standstill.
When the DC brake is released, the drive will return to its initial operating mode (it is only at
this point that the motor is remagnetized).
In this mode, parameter p1234 (speed at the start of DC braking) is ignored.
DC brake as a fault response
If the DC brake is activated as a fault response, the motor will first be decelerated in fieldoriented mode along the OFF1 ramp (defined using p1082, p1121) until it reaches the speed
at the start of DC braking (p1234). If the fault in response to which braking has been
triggered is an encoder fault, braking will not be controlled (p1234 is ignored). Next, the
pulses will be inhibited for the motor demagnetization time p0347 in order to demagnetize
the motor. DC braking will then commence for the DC braking duration set in p1233. If an
encoder signal is available (neither encoder fault nor encoderless operation), the DC brake
will remain active for the set duration p1233 but will be deactivated at the latest when the
standstill threshold p1226 is undershot.
NOTICE
In encoderless operation or with strong field weakening in particular, when the rotor is
rotating, there is no guarantee of controlled operation being restored once the DC brake
function has been deactivated. In such cases, the drive will shut down with a fault message
with OFF2 response.
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Note
• During parameterization, a check is made to determine whether the following conditions
have been met (if not, fault message F7906 is generated):
– Suitable type of motor for function
– Function-specific: Sensible assignment of parameters p1232 ... p1237.
• The internal armature short-circuit (p1231 = 4 for synchronous motor) and internal voltage
protection (p1231 = 3) functions are not supported for the SINAMICS S110 system.
• The "IASC/DC brake" fault response has the second-highest priority (second only to
OFF2).
Function diagrams (see SINAMICS S110 List Manual)
● 7014 External armature short circuit (p0300 = 2xx or 4xx, synchronous motors)
● 7017 DC brake (p0300 = 1xx, induction motors)
Overview of important parameters (see SINAMICS S110 List Manual)
● p1226 Standstill detection, velocity threshold
● p1230[0...n] BI: Armature short-circuit/DC brake activation
● p1231[0...n] Armature short-circuit/DC brake configuration
● p1232[0...n] DC brake, braking current
● p1233[0...n] DC braking time
● p1234[0...n] DC brake starting speed
● p1235[0...n] BI: External armature short-circuit, contactor feedback signal
● p1236[0...n] External armature short-circuit, contactor feedback signal monitoring time
● p1237[0...n] External armature short-circuit, delay time when opening
● r1238 CO: Armature short-circuit, external state
● r1239.0..10 CO/BO: Armature short-circuit/DC brake status word
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7.2.5
OFF3 torque limits
Description
If the torque limits are externally specified (e.g. tension controller), then the drive can only be
stopped with a reduced torque.
In order to avoid this, there is a binector input (p1551), that for a LOW signal, activates the
torque limits p1520 and p1521. This means that the drive can brake with the maximum
torque by interconnecting the signal OFF 3 (r0899.5) to this binector.
S
S
S
S
S
S
U
S
S>'@
S
Figure 7-30
S
S>&@
Torque limits OFF3
Function diagrams (see SINAMICS S110 List Manual)
● 5620 Motor/generator torque limits
● 5630 Upper/lower torque limit
Overview of important parameters (see SINAMICS S110 List Manual)
● p1520 Torque limit, upper/motoring
● p1521 Torque limit, lower/regenerative
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7.2.6
Simple brake control
Features
● Automatic activation by means of sequence control
● Standstill (zero-speed) monitoring
● Forced brake release (p0855, p1215)
● Application of brake for a 1 signal "unconditionally close holding brake" (p0858)
● Application of brake after "Enable speed controller" signal has been canceled (p0856)
Description
The "Simple brake control" is used exclusively for the control of holding brakes. The holding
brake is used to secure drives against unwanted motion when deactivated.
The control command for opening and closing the holding brake is transferred directly to the
drive via by the Control Unit that logically links and monitors the signals with the systeminternal processes.
The Power Module then performs the action and activates the output for the holding brake.
The exact sequence control is illustrated in the SINAMICS S110 List Manual (FP 2701). The
operating principle of the holding brake can be configured via parameter p1215.
ON /OFF1 (p0840[0]=0)
1
t
Pulse enable
1
Magnetizing completed
t
Speed setpoint
[1/min]
p1226
nThreshold
[1/min]
p1226
Speed actual value p1227
t
nThreshold
p1228
Output signal
Holding brake
1
Opening time
p1216
Figure 7-31
t
Closing time
p1217
t
Function chart: simple brake control
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7.2 Basic functions
The start of the closing time for the brake depends on the expiration of the shorter of the two
times p1227 (Pulse suppression, delay time) and p1228 (Zero speed detection monitoring
time)
WARNING
The holding brake must not be used as a service brake.
When holding brakes are used, the special technological and machine-specific conditions
and standards for ensuring personnel and machine safety must be observed.
The risks involved with vertical axes, for example, must also be taken into account.
Commissioning
Simple brake control is activated automatically (p1215 = 1) when the Power Module has an
internal brake control and a connected brake has been found.
If no internal brake control is available, the control can be activated using a parameter
(p1215 = 3).
CAUTION
If p1215 = 0 (no brake available) is set when a brake is present, the drive runs with applied
brake. This can damage the brake beyond repair.
CAUTION
Brake control monitoring may only be activated for Blocksize power units with Safe Brake
Relay (p1278 = 0).
Function diagrams (see SINAMICS S110 List Manual)
● 2701 Simple brake control (r0108.14 = 0)
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Overview of important parameters (see SINAMICS S110 List Manual)
● r0056.4 Magnetizing complete
● r0060 CO: Speed setpoint before the setpoint filter
● r0063 CO: Actual speed smoothed (servo)
● r0108.14 Extended brake control
● p0855[C] BI: Unconditionally release holding brake
● p0856 BI: Speed controller enabled
● p0858 BI: Unconditionally close holding brake
● r0899.12 BO: Holding brake open
● r0899.13 BO: Command, close holding brake
● p1215 Motor holding brake configuration
● p1216 Holding brake release time
● p1217 Holding brake application time
● p1226 Threshold for zero speed detection
● p1227 Zero speed detection monitoring time
● p1228 Zero speed detection, delay time
● p1278 Deactivate monitoring of brake control
7.2.7
Parking axis and parking encoder
The parking function is used in two ways:
● "Parking axis"
– Monitoring of all encoders assigned to the "motor control" application of a drive is
suppressed.
– All encoders assigned to the "Motor control" application of a drive are prepared for the
"removed" state.
● "Parking encoder"
– Monitoring of a certain encoder is suppressed.
– The encoder is prepared for the "removed" state.
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Parking an axis
When the axis is parked, the power unit and all the encoders assigned to "motor control" are
switched to inactive (r0146[n] = 0).
● Control is carried out via the control/status words of the cyclic telegram (STW2.7 and
ZSW2.7) or using parameters p0897 and r0896.0.
● The drive must be brought to a standstill by the higher-level controller (disable pulses e.g.
via STW1.0/OFF1).
● A measuring system that is not assigned to the "motor control" (e.g. direct measuring
system) remains active (r0146[n] = 1).
● The drive object remains active.
Note
Once the "Parking axis" / "Parking encoder" status has been canceled, you may have to
carry out the following actions:
If the motor encoder has been replaced: determine the commutation angle offset (p1990).
A new encoder must be referenced again (e.g. to determine the machine zero point).
Parking an encoder
When an encoder is parked, the encoder being addressed is switched to inactive (r0146 =
0).
● Control is carried out via the encoder control/status words of the cyclic telegram
(Gn_STW.14 and Gn_ZSW.14).
● With a parked motor measuring system, the associated drive must be brought to a
standstill by the higher-level control system (disable pulses e.g. via CTW1.0/OFF1).
● The monitoring functions for the power unit remain active (r0126 = 1).
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Example: parking axis
In the following example, an axis is parked. To ensure that the axis parking is effective, the
drive must be brought to a standstill (e.g. via STW1.0 (OFF1). All components assigned to
the motor control (e.g. power unit and motor encoder) are shut down.
67:
67:
S
=6:
U
*QB=6:
U
U
U
Q
Figure 7-32
Function chart: parking axis
Example: parking encoder
In the following example, a motor encoder is parked. To activate motor encoder parking, the
drive must be stopped (e.g. via STW1.0 (OFF1).
67:
*QB67:
*QB=6:
U
Q
Figure 7-33
Function chart: parking encoder
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Overview of important parameters (see SINAMICS S110 List Manual)
● p0145 Activate/deactivate encoder interface
● r0146 Encoder interface active/inactive
● p0895 BI: Activate/deactivate power unit component
● r0896.0 BO: Parking axis status word
● p0897 BI: Parking axis selection
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7.2.8
Runtime (operating hours counter)
Total system runtime
The total system runtime is displayed in p2114 (Control Unit). Index 0 indicates the system
runtime in milliseconds after reaching 86.400.000 ms (24 hours), the value is reset. Index 1
indicates the system runtime in days.
At power-off the counter value is saved.
After the drive unit is powered-up, the counter continues to run with the value that was saved
the last time that the drive unit was powered-down.
Relative system runtime
The relative system runtime after the last POWER ON is displayed in p0969 (Control Unit).
The value is in milliseconds and the counter overflows after 49 days.
Actual motor operating hours
The motor operating hours counter p0650 (drive) is started when the pulses are enabled.
When the pulse enable is withdrawn, the counter is stopped and the value saved.
If p0651 is at 0, the counter is de-activated.
If the maintenance interval set in p0651 is reached, fault F01590 is triggered. Once the
motor has been maintained, the maintenance interval must be reset.
CAUTION
If the motor data set is switched during the star/delta switchover without the motor being
changed, the two values in p0650 must be added to determine the correct number of motor
operating hours.
Operating hours counter for the fan
The operating hours of the fan in the power unit are displayed in p0251 (drive).
The number of hours operated can only be reset to 0 in this parameter (e.g. after a fan has
been replaced). The service life of the fan is entered in p0252 (drive). Alarm A30042 is
output 500 hours before this figure is reached. Monitoring is deactivated when p0252 = 0.
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7.2.9
Changing the direction of rotation without changing the setpoint
Features
● Not change to the speed setpoint and actual value, the torque setpoint and actual value
and the relative position change.
● Only possible when the pulses are inhibited
CAUTION
If a change of rotational direction is configured in the data set configurations (e.g.
p1821[0] = 0 and p1821[1] = 1), then when the function module basic positioner or
position control is activated, the absolute adjustment must be reset each time the
system boots or when the rotational direction changes (p2507), as the position
reference is lost when the rotational direction changes.
Note
If one of the p1959.14/15 options (positive/negative direction of rotation permitted) is
selected in parameter p1959, this will affect the direction of rotation when p1821 (sense of
rotation) is set as follows:
If p1821 = 0 or 1, positive direction of rotation (p1959.14 =1) means: clockwise or counterclockwise direction respectively.
If p1821 = 1 or 0, negative direction of rotation (p1959.15 =1) means: counter-clockwise or
clockwise direction respectively.
Description
The direction of rotation of the motor can be reversed using the rotational direction change
via p1821 without having to change the motor rotating field by interchanging two phases at
the motor and having to invert the encoder signals using p0410.
The rotational direction change via p1821 can be detected as a result of the direction of
rotation of the motor. The speed setpoint and actual value, torque setpoint and actual value
and also the relative position change remain unchanged.
The rotational direction change can be identified as a result of the phase voltage. Similarly,
when the rotational direction changes, the absolute position reference is also lost.
Overview of important parameters (see SINAMICS S110 List Manual)
● r0069 Phase current, actual value
● p1821 Rotational direction
● p1959[0...n] Rotating measurement configuration
● p2507 LR absolute encoder adjustment status
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7.3 Function modules
7.3
Function modules
7.3.1
Function modules - Definition and commissioning
A function module is a functional expansion of a drive project that can be activated during
commissioning.
Examples of function modules:
● Technology controller
● Setpoint channel
● Extended brake control
A function module generally has separate parameters and, in some cases, separate faults
and alarms too. These parameters and messages are only displayed when the function
module is active. An active function module also generally requires additional processing
time, which must be taken into account during configuration.
Commissioning with STARTER
In the STARTER commissioning screens, you can activate the function modules directly
(e.g. technology controller) or indirectly (activating the basic positioner automatically
activates position control, for example).
Commissioning via parameter (only with BOP20)
Function modules can be activated/deactivated using parameter p0108 of the Control Unit
(CU). The READY LED on the main component of the drive object can be made to flash by
means of parameter p0124 (CU).
Overview of important parameters (see SINAMICS S110 List Manual)
● p0108 Drive objects, function module
● p0124 Identifying the main components using LEDs
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7.3 Function modules
7.3.2
Technology controller
7.3.2.1
Features
Simple control functions can be implemented with the technology controller, e.g.:
● Level control
● Dancer position/tension control
● Pressure control
● Flow control
● Simple closed-loop control without higher-level controller
The technology controller features:
● Separate fixed values
● Integrated motorized potentiometer
● Technology controller with:
– Two scalable setpoints
– Ramp-function generator in setpoint channel
– Filter for actual value and setpoint channel
– Two modes for derivative component injection
– Pre-control
– Output ramp with limits
– Scalable output signal
7.3.2.2
Description
Motorized potentiometer
This function is used to simulate an electromechanical potentiometer for setpoint input.
Separate binector inputs for higher (p2235) and lower (p2236) are used to adjust the input
setpoint: The potentiometer limits are defined within maximum (p2237) and minimum
(p2238) values. The setpoint input is routed to an internal ramp-function generator, for which
both a ramp-up (p2247) and a ramp-down (p2248) time, as well as an initial value (p2240)
can be defined. Initial rounding can be activated to fine-tune the setpoint, whereby the
acceleration of the setpoint is calculated as follows:
a = 0.0001· MAX[p2237; |p2238|] · 0.132
The connector output of the motorized potentiometer (r2250) can, for example, be used as a
setpoint for the technology controller. The motorized potentiometer requires the OFF1
enable for operation.
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Technology controller
Two scalable setpoints (p2255/ p2256) can be specified via two connector inputs (p2253/
p2254). A ramp-function generator in the setpoint channel can be used to define a ramp by
means of the ramp-up and ramp-down times (p2257/p2258). Both the setpoint and actual
value channels have access to a filter element with configurable time constants (p2261 and
p2265).
The proportional gain (p2280), integral time (p2285) and derivative-action time (p2274) can
be set in the following technology controller. The controller itself has access to two controller
type modes dependent upon p2263:
● PI controller with derivative component in actual value channel (p2263 = 0; factory
setting)
With this type of controller, changes to actual values caused by a change in the
disturbance variable will generate a stronger reaction from the final controlling element
(on account of the derivative component) . The effect of abrupt changes to setpoints (no
ramp) on the control process is tempered by the reaction of the final controlling element
(thereby reducing the load on the final controlling element). The derivative component
can also be used to compensate the delay generated by the upstream smoothing of a
noisy actual value signal.
Figure 7-34
Controller structure of the PI controller with derivative component in the actual value
channel
● Technology controller (p2263 = 1)
Here, the derivative component is generated from the system deviation; as such, a
setpoint change will generate an abrupt change in the final controlling element. Changes
to disturbance variables are also compensated more quickly due to the action of the
derivative component.
Figure 7-35
Controller structure of the PID technology controller when p2263 = 1
Please note that the controller structure of the technology controller differs from the standard
technology controller structure described below, which is standard in some sources. To
enable comparison, the corresponding conversions have been specified:
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7.3 Function modules
Figure 7-36
Technology controller structure with parallel components
where
Other controller variants are also possible:
● PI controller by switching out the derivative component (rate time TV: p2274 = 0)
● PD controller by switching out the integral component (integral time TN: p2285 = 0)
● Proportional controller by switching-out the integral and derivative components (p2274 =
0; p2285 = 0)
Note:
In the factory setting (p2252.1 = 1), the integral component is not dependent upon the
proportional gain (p2280). In this case p2285 is the integration time constant TI. If p2252.1 =
0, p2285 will become the integral time TN, with the result that the following applies for the
integral component:
A further connector input (p2289) is available at the controller output for pre-control or
switching in fault values. The signal is then routed via a limit (p2291/2).
The technology controller has a dedicated enable binector input (p2200). To avoid abrupt
changes in the output signal, an output ram can be defined by means of a ramp-up/rampdown time (p2293).
Note:
In the factory setting p2252.2 = 1, the output will be set to 0 as soon as the enable is lost
(p2200 = 0). In order for the output signal to be fed back via the output ramp, p2252.2 = 0
must be set.
The output signal (r2294) can then be scaled via the connector input p2295 before being
made available as a connector output for downstream connection.
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7.3.2.3
Function diagrams and parameters
The technology controller function is integrated in the system as follows.
Function diagrams (see SINAMICS S110 List Manual)
● 7950 Fixed values (r0108.16 = 1)
● 7954 Motorized potentiometer (r0108.16 = 1)
● 7958 Closed-loop control (r0108.16 = 1)
Overview of important parameters (see SINAMICS S110 List Manual)
Fixed setpoints
● p2201[0...n] CO: Technology controller, fixed value 1
● ...
● p2215[0...n] CO: Technology controller, fixed value 15
● p2220[0...n] BI: Technology controller fixed value selection bit 0
● p2221[0...n] BI: Technology controller fixed value selection bit 1
● p2222[0...n] BI: Technology controller fixed value selection bit 2
● p2223[0...n] BI: Technology controller fixed value selection bit 3
Motorized potentiometer
● p2230[0...n] Technology controller motorized potentiometer configuration
● p2235[0...n] BI: Technology controller motorized potentiometer, raise setpoint
● p2236[0...n] BI: Technology controller motorized potentiometer, lower setpoint
● p2237[0...n] Technology controller motorized potentiometer, maximum value
● p2238[0...n] Technology controller motorized potentiometer, minimum value
● p2240[0...n] Technology controller motorized potentiometer, start value
● r2245 CO: Technology controller motorized potentiometer, setpoint before RFG
● p2247[0...n] Technology controller motorized potentiometer, ramp-up time
● p2248[0...n] Technology controller motorized potentiometer, ramp-down time
● r2250 CO: Technology controller motorized potentiometer, setpoint after RFG
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Closed-loop control
● p2200 BI: Technology controller enable
● p2253[0...n] CI: Technology controller setpoint 1
● p2254 [0...n] CI: Technology controller setpoint 2
● p2255 Technology controller setpoint 1 scaling
● p2256 Technology controller setpoint 2 scaling
● p2257 Technology controller ramp-up time
● p2258 Technology controller ramp-down time
● p2261 Technology controller setpoint filter time constant
● p2263 Technology controller type
● p2264[0...n] CI: Technology controller actual value
● p2265 Technology controller actual value filter time constant
● p2280 Technology controller proportional gain
● p2285 Technology controller integral action time
● p2289[0...n] CI: Technology controller pre-control signal
● p2295 Technology controller output scaling
7.3.2.4
Commissioning with STARTER
The "technology controller" function module can be activated via the commissioning Wizard.
You can check the actual configuration in parameter r0108.16.
Dedicated screens are available for parameterization.
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7.3 Function modules
7.3.3
Extended monitoring functions
When the extension is activated, the monitoring functions are extended as follows:
● Speed setpoint monitoring: |n_setp| ≤ p2161
● Speed setpoint monitoring: n_set > 0
● Load monitoring
Description of load monitoring
This function monitors power transmission between the motor and the working machine.
Typical applications include V-belts, flat belts, or chains that loop around the belt pulleys or
cog wheels for drive and outgoing shafts and transfer the peripheral speeds and forces.
Load monitoring can be used here to identify blockages in the working machine and
interruptions to the power transmission.
During load monitoring, the current speed/torque curve is compared with the programmed
speed/torque curve (p2182 to p2190). If the actual value is outside the programmed
tolerance bandwidth, a fault or alarm is triggered depending on parameter p2181. Faults or
alarms can be delayed using parameter p2192 to prevent false messages caused by brief
transitional states.
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7.3 Function modules
Commissioning
The extended monitoring functions are activated while the commissioning wizard is running.
Parameter r0108.17 indicates whether it has been activated.
Function diagrams (see SINAMICS S120/S150 List Manual)
● 8010 Speed messages 1
● 8011 Speed messages 2
● 8013 Load monitoring
Overview of important parameters (see SINAMICS S120/S150 List Manual)
Load monitoring
● p2181[D] Load monitoring response
● p2182[D] Load monitoring speed threshold 1
● p2183[D] Load monitoring speed threshold 2
● p2184[D] Load monitoring speed threshold 3
● p2185[D] Load torque monitoring torque threshold 1 upper
● ...
● p2190[D] Load torque monitoring torque threshold 3 lower
● p2192[D] Load monitoring delay time
Speed setpoint monitoring
● p2150[D] Hysteresis speed 3
● p2151[C] CI: Speed setpoint
● p2161[D] Speed threshold value 3
● r2198.4 BO: ZSW monitoring 2, |n_setp| ≤ p2161
● r2198.5 BO: ZSW monitoring 2, n_setp < 0
7.3.3.1
Commissioning
The extended monitoring functions are activated while the commissioning Wizard is running.
Parameter r0108.17 indicates whether it has been activated.
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7.3.4
Extended brake control
7.3.4.1
Features
The "extended brake control function" has the following features:
● Forced brake release (p0855, p1215)
● Application of brake for a 1 signal "unconditionally close holding brake" (p0858)
● Binector inputs for releasing/applying the brake (p1218, p1219)
● Connector input for threshold value for releasing/applying the brake (p1220)
● OR/AND block, each with two inputs (p1279, r1229.10, r1229.11)
● Holding and operational brakes can be activated.
● Function for monitoring brake feedback signals (r1229.4, r1229.5)
● Configurable responses (A7931, A7932)
● Application of brake after "Enable speed controller" signal has been canceled (p0856)
7.3.4.2
Function diagrams and parameters
The "extended brake control" function module is integrated in the system as follows.
Function diagrams (see SINAMICS S110 List Manual)
● 2704 Zero speed detection (r0108.14 = 1)
● 2707 Release and apply brake (r0108.14 = 1)
● 2711 Signal outputs (r0108.14 = 1)
Overview of important parameters (see SINAMICS S110 List Manual)
● r0108.14 Extended brake control
● r0899 CO/BO: Status word sequence control
Standstill (zero-speed) monitoring
● r0060 CO: Speed setpoint before the setpoint filter
● r0063 CO: Actual speed value after actual value smoothing
● p1225 CI: Standstill detection, threshold value
● p1226 Threshold for zero speed detection
● p1227 Zero speed detection monitoring time
● p1228 Zero speed detection, delay time
● p1224[0...3] BI: Close motor holding brake at standstill
● p1276 Motor holding brake standstill detection bypass
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7.3 Function modules
Release and apply the brake
● p0855 BI: Unconditionally release holding brake
● p0858 BI: Unconditionally close holding brake
● p1216 Holding brake release time
● p1217 Holding brake application time
● p1218[0...1] BI: Open motor holding brake
● p1219[0...3 ] BI: Immediately close motor holding brake
● p1220 CI: Open motor holding brake, signal source, threshold
● p1221 Open motor holding brake threshold
● p1277 Motor holding brake delay braking threshold exceeded
Free blocks
● p1279 BI: Motor holding brake, OR/AND logic operation
Brake monitoring functions
● p1222 BI: Motor holding brake, feedback signal, brake closed
● p1223 BI: Motor holding brake, feedback signal, brake open
Configuration, control/status words
● p1215 Motor holding brake configuration
● r1229 CO/BO: Motor holding brake status word
● p1278 Motor holding brake type
Control and status messages for extended brake control
Table 7- 24
Control: Extended brake control
Signal name
Binector input
Control word sequence control /
interconnection parameters
Enable speed setpoint
p1142 BI: Enable speed setpoint
STWA.6
Enable setpoint 2
p1152 BI: Setpoint 2 enable
p1152 = r0899.15
Unconditionally release holding brake
p0855 BI: Unconditionally release
holding brake
STWA.7
Enable speed controller
p0856 BI: Enable speed controller
STWA.12
Unconditionally close holding brake
p0858 BI: Unconditionally close holding STWA.14
brake
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Table 7- 25
Status message: Extended brake control
Signal name
Parameter
Brake status word
Command, open brake (continuous
signal)
r1229.1
B_ZSW.1
Pulse enable, extended brake control
r1229.3
B_ZSW.3
Brake does not open
r1229.4
B_ZSW.4
Brake does not close
r1229.5
B_ZSW.5
Brake threshold exceeded
r1229.6
B_ZSW.6
Value below brake threshold
r1229.7
B_ZSW.7
Brake monitoring time expired
r1229.8
B_ZSW.8
Request, pulse enable missing/n_ctrl
inhibited
r1229.9
B_ZSW.9
Brake OR logic operation result
r1229.10
B_ZSW.10
Brake AND logic operation result
r1229.11
B_ZSW.11
7.3.4.3
Description
The "Extended brake control" function allows complex braking control for e.g. motor holding
brakes and operational brakes.
The brake is controlled as follows (the sequence reflects the priority):
● Via parameter p1215
● Via binectors p1219[0...3] and p0855
● Via zero speed detection
● Via a connector interconnection threshold value
For an AC drive with "Safe Brake Relay," the "Safe Brake Control" safety function requires
that the type of the brake control be set in parameter p1278, to "Brake control with diagnostic
evaluation" (p1278 = 0).
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7.3 Function modules
7.3.4.4
Examples
Starting against applied brake
When the device is switched on, the setpoint is enabled immediately (if other enable signals
are issued), even if the brake has not yet been released (p1152 = 1). The factory setting
p1152 = r0899.15 must be disconnected here. The drive first generates torque against the
applied brake. The brake is not released until the motor torque or motor current (p1220) has
exceeded braking threshold 1 (p1221).
This configuration is used, for example, when the drive is connected to a belt that is under
tension (loop accumulator in the steel industry).
Emergency brake
If emergency braking is required, electrical and mechanical braking is to take place
simultaneously. This can be achieved if OFF3 is used as a tripping signal for emergency
braking:
p1219[0] = r0898.2 (OFF3 to "apply brake immediately").
The OFF3 ramp (p1135) should be set to 0 seconds so that the converter does not work
against the brakes. Regenerative energy may accumulate, and this must be either fed back
into the supply system or converted into heat using a braking resistor.
This is often used, for example, in calendar stacks, cutting tools, running gears, and presses.
Operating brake for crane drives
For cranes with a manual control, it is important that the drive immediately response when
the control lever is moved (master switch). The drive is powered-up using the on command
(p0840) (the pulses are enabled). Speed setpoint (p1142) and speed controller (p0856) are
inhibited. The motor is magnetized. The magnetization time generally applicable for threephase motors (1-2 seconds) is therefore eliminated.
Now, there is only the brake opening time that is applicable as delay between moving the
master switch and the motor rotating. If the master switch is moved (deflected), then there is
a "setpoint enable from the control" (bit interconnected with p1142, r1229.3, p1224.0). The
speed controller is immediately enabled - the speed setpoint is enabled after the brake
opening time (p1216). When the master switch is in the zero position, the speed setpoint is
inhibited - the drive is ramp-down using the ramp function generator. The brake closes once
the standstill limit (p1226) has been fallen below. After the brake closing time (p1217), the
speed controller is inhibited (the motor is no longer generating any force). The extended
brake control is used with the modifications described below.
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7.3.4.5
Commissioning
The extended brake control function can be activated while the commissioning Wizard is
running. Parameter r0108.14 indicates whether the function module has been activated.
Unless you change the default settings, the extended brake control function behaves in
exactly the same way as the simple brake control function.
Brake control can be activated via a parameter (p1215 = 3).
When braking with a feedback signal (p1222), the inverted signal must be connected to the
BICO input for the second (p1223) feedback signal. The response times of the brakes can
be set in p1216 and p1217.
Note
If p1215 = 0 (no brake available) is set when a brake is present, the drive runs with applied
brake. This can damage the brake beyond repair.
CAUTION
Brake control monitoring may only be activated for Blocksize power units with Safe Brake
Relay (p1278 = 0).
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7.3 Function modules
7.3.5
Closed-loop position control
7.3.5.1
General features
The position controller essentially comprises the following parts:
● Position actual value conditioning (including the lower-level measuring probe evaluation
and reference mark search)
● Position controller (including limits, adaptation and the pre-control calculation)
● Monitoring functions (including standstill, positioning, dynamic following error monitoring
and cam signals)
● Position tracking of the load gear (motor encoder), using absolute encoders for rotary
axes (modulo) as for linear axes.
7.3.5.2
Position actual value conditioning
Features
● Correction value (p2512, p2513)
● Setting value (p2514, p2515)
● Position offset (p2516)
● Position actual value (r2521)
● Velocity actual value (r2522)
● Motor revolutions (p2504)
● Load revolutions (p2505)
● Spindle pitch (p2506)
● Position tracking (p2720ff)
Description
The position actual value conditioning implements the conditioning of the position actual
value in a neutral position unit LU (LENGTH UNIT). To do this, the function block uses the
encoder evaluation/motor control with the available encoder interfaces Gn_XIST1,
Gn_XIST2, Gn_STW and Gn_ZSW. These just provide position information in encoder
pulses and fine resolution (increments).
The position actual value is conditioned immediately after the system has booted, regardless
of whether the position controller is enabled, as soon as valid values are received via the
encoder interface.
Parameter p2502 (encoder assignment) is used to define from which encoder (1 or 2), the
position actual value is sensed.
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7.3 Function modules
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Position actual value sensing with rotary encoders
The link between the physical variables and the neutral length unit LU is established via
parameter p2506 (LU per load revolution) for rotary encoders. Parameter p2506 mirrors,
together with p2504, p2505, the interrelationship between encoder increments and the
neutral position unit LU.
Example:
Rotary encoder, ball screw with a pitch of 10 mm/revolution. 10 mm should have a resolution
of 1 µm (i.e. 1 LU = 1 µm).
→ One load revolution corresponds to 10000 LU
→ p2506 = 10000
Note
The effective actual value resolution is obtained from the product of the encoder pulses
(p0408) and the fine resolution (p0418).
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Position actual value sensing with linear encoders
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7.3 Function modules
For linear encoders, the interrelationship between the physical quantity and the neutral
length unit LU is configured using parameter p2503 (LU/10 mm).
Example:
Linear encoder, 10 mm should have a resolution of 1 µm (i.e. 1 LU = 1 µm).
→ p2503 = 10000
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Position actual value conditioning
A correction can be made using connector input p2513 (correction value, position actual
value conditioning) and a positive edge at binector input p2512 (activates the correction
value). When the "basic positioning" function module is activated, p2513 is automatically
interconnected with r2685 (EPOS correction value) and p2512 with r2684.7 (activate
correction). This interconnection enables modulo offset by EPOS, for example.
p2516 can be used to switch in position offset. Using EPOS, p2516 is automatically
interconnected to r2667. Backlash compensation is implemented using this interconnection.
Using the connector input p2515 (position setting value) and a "1" signal at binector input
p2514 (set position actual value), a position setting value can be entered.
WARNING
When the actual position value is set (p2514 = "1" signal), the actual position value of the
position controller is kept at the value of connector p2515 as standard.
Incoming encoder increments are not evaluated. A difference in position cannot be
compensated for in this situation.
An inversion of the actual position value resulting from the encoder is undertaken using
parameter p0410. An inversion of the axis motion can be entered using a negative value in
p2505.
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7.3 Function modules
Load gear position tracking
Terminology
● Encoder range
The encoder range is the position area that can itself represent the absolute encoder.
● Singleturn encoder
A singleturn encoder is a rotating absolute encoder, which provides an absolute image of
the position inside an encoder rotation.
● Multiturn encoder
A multiturn encoder is an absolute encoder that provides an absolute image of several
encoder revolutions (e.g. 4096 revolutions).
Description
Position tracking enables reproduction of the position of the load when gears are used. It can
also be used to extend the position area.
With position tracking, a load gear can also be monitored if the "position control" function
module is active (p0108.3 = 1).
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Overview of gears and encoders
The encoder position actual value in r0483 (must be requested via GnSTW.13) is limited to
232 places. When position tracking is switched off (p2720.0 = 0), the encoder position actual
value r0483 comprises the following position information:
● Encoder pulses per revolution (p0408)
● Fine resolution per revolution (p0419)
● Number of resolvable revolutions of the rotary absolute encoder (p0421), this value is
fixed at "1" for singleturn encoders.
When position tracking is activated (p2720.0 = 1), the encoder position actual value r0483
comprises the following:
● Encoder pulses per revolution (p0408)
● Fine resolution per revolution (p0419)
● The gear ratio (p0433/p0432)
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7.3 Function modules
Features
● Configuration via p2720
● Virtual multiturn via p2721
● Tolerance window for monitoring the position at switching on p2722
● Input of the load gear via p2504 and p2505
● Display via r2723
Prerequisite
● Absolute encoder
Description
Position tracking enables reproduction of the position of the load when gears are used. It can
also be used to extend the position area.
Position tracking is activated via parameter p2720.0 = 1. The position tracking of the load
gear, however, is only relevant for the motor encoder (encoder 1). The load gear ratio is
entered via parameters p2504 and p2505. Position tracking can be activated with rotary axes
(modulo).
Position tracking for the load gear can only be activated once for each motor data set MDS.
The load position actual value in r2723 (must be requested via GnSTW.13, see section
"Control and status words for encoders") comprises the following information:
● Encoder pulses per revolution (p0408)
● Fine resolution per revolution (p0419)
● Virtual number of stored revolutions of a rotary absolute encoder (p2721)
● Load gear ratio (p2504/p2505)
Note
The sum of p0408, p0419 and p2721 is limited to 32 bits.
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7.3 Function modules
Example of position area extension
With absolute encoders without position tracking, it must be ensured that the traversing
range is 0 smaller than half the encoder range, because beyond this range, no unique
reference remains after switching on and off (see description on parameter p2507). This
traversing range can be extended using the virtual multiturn (p2721).
The following diagram illustrates an absolute encoder that can represent 8 encoder
revolutions (p0421 = 8).
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U Position tracking (p2721 = 24), setting p2504 = p2505 =1 (gear factor = 1)
In this example, this means:
Without position tracking, the position for +/- 4 encoder revolutions about r2521 = 0 LU can
be reproduced.
With position tracking, the position for +/- 12 encoder revolutions (+/- 12 load revolutions with
load gear) can be reproduced (p2721 = 24).
Practical example:
For a linear axis, the value for p2721 is set to 262144 for an encoder with p0421 = 4096.
That means, +/- 131072 encoder revolutions or load revolutions can be reproduced in this
way.
For a rotary axis, a value for p2721 = p0421 is set for an encoder.
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Configuration of the load gear (p2720).
The following points can be set by configuring this parameter:
● p2720.0: Activation of position tracking
● p2720.1: Setting the axis type (linear or rotary axis)
Here, a rotary axis refers to a modulo axis (modulo offset can be activated through
higher-level control or EPOS). With a linear axis, position tracking is mainly used to
extend the position area (see section: Virtual multiturn encoder (p2721)).
● p2720.2: Reset position
The position values stored in non-volatile memory are reset in response to the following
events:
– When encoder replacement is detected.
– When the configuration of the encoder data set (EDS) is modified.
– When the absolute encoder is adjusted again.
Note
If position tracking of the load gear is activated with parameter p2720[0]=1 (position gear
load tracking) after the encoder is adjusted (p2507=3), the adjustment will be reset.
If the encoder is adjusted again when load position tracking is active, the load gear position
will be reset (overflows).
The permissible position tracking range is mapped onto the reproducible encoder range of
EPOS.
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Virtual multiturn encoder (p2721)
The virtual multiturn resolution is used to set the number of resolvable motor rotations for a
rotary absolute encoder with activated position tracking. It can be edited only for rotary axes.
With a rotary absolute encoder (p0404.1 = 1) with activated position tracking (p2720.0 = 1),
p2721 can be used to enter a virtual multiturn resolution.
Note
If the gear factor is not equal to 1, then p2721 always refers to the load side. The virtual
resolution, which is required for the load, is then set here.
For rotary axes, the virtual multiturn resolution (p2721) is preset to the value of the multiturn
resolution of the encoder (p0421) but may be changed.
Example: Singleturn encoder
Parameter p0421 is preset to p0421 = 1. However, parameter p2721 can be altered
subsequently, e.g. the user can program p2721 = 5. As a result, the encoder evaluation
initiates 5 load rotations before the same absolute value is achieved again.
For linear axes, the virtual multiturn resolution (p2721) is preset to the multiturn resolution of
the encoder (p0421) extended by 6 bits (max. overflows 32 positive/negative)
The value for p2721 cannot be edited again afterwards.
Example: Multiturn encoder
For a linear axis, the value for p2721 is set to 262144 for an encoder with p0421 = 4096.
That means, +/- 131072 encoder revolutions or load revolutions can be reproduced in this
way.
If, as a result of extension of the multiturn information, the displayable area of r2723 (32 bits)
is exceeded, the fine resolution (p0419) must be reduced accordingly.
Tolerance window (p2722)
After switching on, the difference between the stored position and the actual position is
ascertained and, depending on the result, the following is triggered:
Difference within the tolerance window → the position is reproduced based on the current
actual encoder value.
Difference outside the tolerance window → an appropriate message (F07449) is output.
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The tolerance window is preset to quarter of the encoder range and can be changed.
CAUTION
The position can only be reproduced if, in the powered-down state, the encoder was moved
through less than half of the range that it can represent. For the standard EQN1325
encoder, this is 2048 revolutions or half a revolution for singleturn encoders.
Note
The ratio stamped on the gear rating plate is often just a rounded-off value (e.g.1:7.34). If, for
a rotary axis, it is not permissible to have any long-term drift, then the actual ratio of the
gearbox teeth must be requested from the gearbox manufacturer.
Multiple drive data sets
Position tracking of the load gear can be activated in multiple drive data sets.
● The load gear is DDS-dependent.
● Load gear position tracking is computed only for the active drive data set and is EDSdependent.
● The position tracking memory is only available once for each EDS.
● For position tracking to be continued in different drive data sets under the same
mechanical conditions and with the same encoder data sets, it must be activated
explicitly in all the relevant drive data sets. Possible applications of drive data set
switchover with continuation of position tracking:
– Star/delta switchover
– Different ramp-up times / controller settings
● When the switchover between drive data sets involves a change in gear unit, the position
tracking function starts from the beginning again, i.e. it behaves on switchover as if a
POWER ON had occurred.
● For identical mechanical relationships and the same encoder data set, DDS changeover
has no effect on the calibration status and reference point status.
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Restrictions
● Position tracking cannot be activated for an encoder data set which is used in different
drive data sets as encoder1 for different gears. If an attempt is still made to activate
position tracking, fault "F07555 (Drive encoder: Configuration position tracking" will be
displayed with fault value 03 hex.
A check is generally performed to determine whether the load gear is the same in all DDS
in which the relevant encoder data set is used.
In this case, the settings in each of the load gear parameters p2504[D], p2505[D],
p2720[D], p2721[D] and p2722[D] must be identical.
● If an encoder data set is used in one DDS as a motor encoder with position tracking and
in another DDS as an external encoder, the position tracking starts from the beginning
again, i.e. it behaves in the same way as it would do after a POWER ON.
● If position tracking is reset in one drive data set, it is also reset in all other drive data sets
which contain the relevant encoder data set.
● An axis in an inactive drive data set may move by a maximum of half an encoder range
(see p2722: tolerance window).
Commissioning position tracking load gear using STARTER
The position tracking function can be configured in the "Mechanical system" screen for
"Position control" in STARTER.
The "Mechanical system" screen for "Position control" is not made accessible unless the
function module "Basic positioner" is activated (r0108.4 = 1) which means that the function
module "Position control" (r0108.3 = 1) is automatically activated as well.
The "Basic positioner" function module can be activated via the commissioning wizard or the
drive configuration (configure DDS) (configuration "Closed-loop control structure" - checkbox
"Basic positioner").
Configuring the position tracking load gear function
The "Position tracking load gear" function can be configured in the following STARTER
screens:
1. In the "Mechanical system configuration" screen in the commissioning wizard.
2. In the project navigator under Drive → "Technology" → "Position control" in the
"Mechanical system" screen.
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Function diagrams and parameters
Function diagrams (see SINAMICS S110 List Manual)
● 4010 Position actual value conditioning
● 4704 Position and temperature sensing, encoders 1...2
● 4710 Actual speed value and rotor pos. meas., motor enc. (encoder 1)
Overview of important parameters (see SINAMICS S110 List Manual)
● p2502[0...n] LR encoder assignment
● p2503[0...n] LR length unit LU per 10 mm
● p2504[0...n] LR motor/load motor revolutions
● p2505[0...n] LR motor/load load revolutions
● p2506[0...n] LR length unit LU per load revolution
● r2520[0...n] CO: LR position actual value conditioning encoder control word
● r2521[0...n] CO: LR actual position value
● r2522[0...n] CO: LR actual velocity value
● r2523[0...n] CO: LR measured value
● r2524[0...n] CO: LR LU/revolutions
● r2525[0...n] CO: LR encoder adjustment offset
● r2526[0...n] CO/BO: LR status word
● p2720[0...n] Load gear configuration
● p2721[0...n] Load gear absolute encoder rotary revolutions virtual
● p2722[0...n] Load gear position tracking tolerance window
● r2723[0...n] CO: Load gea absolute value
● r2724[0...n] CO: Load gear position difference
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7.3.5.3
Position controller
Features
● Symmetrization (p2535, p2536)
● Limiting (p2540, p2541)
● Pre-control (p2534)
● Adaptation (p2537, p2538)
Note
We only recommend that experts use the position controller functions without using the
basic positioner.
Description
The position controller is a PI controller. The P gain can be adapted using the product of
connector input p2537 (position controller adaptation) and parameter p2538 (Kp).
Using connector input p2541 (limit), the speed setpoint of the position controller can be
limited without pre-control. This connector input is pre-interconnected with connector output
p2540.
The position controller is enabled by an AND link of the binector inputs p2549 (position
controller 1 enable) and p2550 (position controller 2 enable).
The position setpoint filter (p2533 time constant position setpoint filter) is a PT1 element, the
symmetrizing filter as deadtime element (p2535 symmetrizing filter speed pre-control
(deadtime) and PT1 element (p2536 symmetrizing filter speed pre-control (PT1)). The speed
pre-control p2534 (factor, speed pre-control) can be disabled via the value 0.
Function diagrams (see SINAMICS S110 List Manual)
● 4015 Position controller
Overview of important parameters (see SINAMICS S110 List Manual)
● p2533 LR position setpoint filter, time constant
● p2534 LR speed pre-control factor
● p2535 LR speed pre-control symmetrizing filter dead time
● p2536 LR speed pre-control symmetrizing filter PT1
● p2537 CI: LR position controller adaptation
● p2538 LR proportional gain
● p2539 LR integral action time
● p2540 CO: LR position controller output speed limit
● p2541 CI: LR position controller output speed limit signal source
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7.3.5.4
Monitoring functions
Features
● Standstill monitoring (p2542, p2543)
● Positioning monitoring (p2544, p2545)
● Dynamic following error monitoring (p2546, r2563)
● Cam controllers (p2547, p2548, p2683.8, p2683.9)
Description
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Zero-speed monitoring, positioning window
The position controller monitors the standstill, positioning and following error.
Zero-speed monitoring is activated by binector inputs p2551 (setpoint stationary) and p2542
(zero-speed window). If the zero-speed window is not reached once the monitoring time
(p2543) has lapsed, fault F07450 is triggered.
Positioning monitoring is activated via binector inputs p2551 (setpoint stationary), p2554 =
"0" (travel command not active) and p2544 (positioning window). Once the monitoring time
(p2545) has elapsed, the positioning window is checked once. If this is not reached, fault
F07451 is triggered.
The standstill monitoring and the positioning monitoring can be de-activated using the value
"0" in p2542 and p2544. The standstill window should be greater than or equal to the
positioning window (p2542 ≥ p2544). The standstill monitoring time should be less than or
equal to the positioning monitoring time (p2543 ≤ p2545).
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Following error monitoring
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Following error monitoring is activated via p2546 (following error tolerance). If the absolute
value of the dynamic following error (r2563) is greater than p2546, fault F07452 is output and
bit r2648.8 is reset.
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Cam controllers
The position controller has two cam controllers. If cam position p2547 or p2548 is passed in
the positive direction (p2521 > p2547 or 2548), then cam signals r2683.8 and r2683.9 are
reset.
Function diagrams (see SINAMICS S110 List Manual)
● 4020 Zero-speed / positioning monitoring
● 4025 Dynamic following error monitoring, cam controllers
Overview of important parameters (see SINAMICS S110 List Manual)
● p2530 CI: LR setpoint position
● p2532 CI: LR actual position value
● p2542 LR standstill window
● p2543 LR standstill monitoring time
● p2544 LR positioning window
● p2545 LR positioning monitoring time
● p2546 LR dynamic following error monitoring tolerance
● p2547 LR cam switching position 1
● p2548 LR cam switching position 2
● p2551 BI: LR setpoint message present
● p2554 BI: LR travel command message active
● r2563 CO: LR latest following error
● r2683.8 Actual position value <= cam switching position 1
● r2683.9 Actual position value <= cam switching position 2
● r2684 CO/BO: EPOS status word 2
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7.3.5.5
Measuring probe evaluation and reference mark search
Description
The "Reference mark search" and "Measuring probe evaluation" functions can be initiated
and carried-out via binector input p2508 (activate reference mark search) and p2509
(activate measuring probe evaluation). Binector inputs p2510 (measurement probe selection)
and p2511 (measurement probe edge evaluation) define the mode for measurement probe
evaluation.
The probe signals are recorded via the encoder encoder status and control word. To speed
up signal processing, direct measuring probe evaluation can be activated by selecting the
input terminals for probes 1/2 via p2517 and p2518. Measuring probe evaluation is carried
out in the position controller cycle, whereby the set send clock cycle of the controller
(r2064[1]) must be an integer multiple of the position controller cycle.
The system outputs a message if the same probe input is already being used (see also
p0488, p0489 and p0580).
The appropriate function is started using a 0/1 edge at the appropriate input p2508 (activate
reference mark search) or p2509 (activate measuring probe evaluation) via the encoder
control word. Status bit r2526.1 (reference function) signals that the function is active
(feedback from the encoder status word). Status bit r2526.2 (measurement value valid)
shows the presence of the measurement required r2523 (position for reference mark or
measurement probe).
Once the function is complete (position determined for reference mark or measurement
probe), r2526.1 (reference function active) and r2526.2 (measurement valid) continue to
remain active and the measurement is provided by r2523 (reference measurement) until the
corresponding input p2508 (activate reference mark searches) or p2509 (activate
measurement probe evaluation) is reset (0 signal).
If the function (reference mark search or measuring probe evaluation) has still not been
completed and the corresponding input p2508 or p2509 is reset, then the function is
interrupted via the encoder control word and status bit r2526.1 (reference function active) is
reset via the encoder status word.
If both binector inputs p2508 and p2509 are simultaneously set, this causes the active
function to be interrupted and no function is started. This is indicated using alarm A07495
"reference function interrupted" and remains until the signals at the binector inputs are reset.
The alarm is also generated if, during an activated function (reference mark search or
measuring probe evaluation) a fault is signaled using the encoder status word.
If the "position control" function module is selected, these parameters (p2508 to p2511) are
preassigned with "0". If the "basic positioner" function module is selected, the functions
"reference mark search" (for the function reference point search) and "measuring probe
evaluation" (for the function flying referencing) are initiated by the function module basic
positioner and the feedback signal (r2526, r2523) is fed back to this (see also: section
"Control and status words for encoders").
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Function diagrams (see SINAMICS S110 List Manual)
● 4010 Position actual value conditioning
● 4720 Encoder interface, receive signals, encoder 1 ... 2
● 4730 Encoder interface, send signals, encoder 1 ... 2
Overview of important parameters (see SINAMICS S110 List Manual)
● p2508 BI: LR activate reference mark search
● p2509 BI: LR activate measuring probe evaluation
● p2510 BI: LR measuring probe evaluation, selection
● p2511 BI: LR measuring probe evaluation edge
● p2517 LR direct probe 1 input terminal
● p2518 LR direct probe 2 input terminal
● r2523 CO: LR measured value
● r2526 CO/BO: LR status word
7.3.5.6
Function diagrams and parameters
The "positon control" function module is integrated in the system as follows:
Commissioning
The configuration screen for "Position control" in STARTER is not made accessible unless
the function module "Basic positioner" is activated (r0108.4 = 1) which means that the
function module "Position control" (r0108.3 = 1) is automatically activated as well.
The "basic positioner" function module can be activated via the commissioning wizard, drive
configuration ("configure DDS"); (configuration "Closed-loop control structure" - checkbox
"basic positioner").
To ensure correct, error-free operation of the basic positioner, it is absolutely essential that
the "Position control" function module is activated and the position control correctly
configured.
If the "position control" function module is active, and to optimize the speed controller, a
function generator signal is interconnected to the speed controller input p1160, then the
position controller monitoring functions respond. To prevent this from happening, the position
controller must be disabled (p2550 = 0) and switch to tracking mode (p2655 = 1, for control
using PROFIdrive telegram 110 PosSTW.0 = 1). In this way, the monitoring functions are
switched off and the position setpoint is tracked.
Function diagrams (see SINAMICS S110 List Manual)
● 4010 Position actual value conditioning
● 4015 Position controller
● 4020 Zero-speed / positioning monitoring
● 4025 Dynamic following error monitoring, cam controllers
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7.3.6
Basic Positioner
General description
The basic positioner is used to position linear and rotary axes (modulo) in absolute/relative
terms with motor encoder (indirect measuring system) or machine encoder (direct measuring
system).
User-friendly configuration, commissioning, and diagnostic functions are also available in
STARTER for the basic positioner functionality (graphic navigation). In STARTER, there is a
control panel for the basic positioner and speed-controlled operation; using this control
panel, the functionality can be started from a PC/PG to commission the system or carry out
diagnostics.
When the basic positioner is activated (r0108.4 = 1), then the position control (r0108.3 = 1)
should also be activated. This is realized automatically when activating the basic positioner
via the STARTER commissioning wizard. Further, the necessary "internal interconnections"
(BICO technology) are automatically established.
CAUTION
The basic positioner requires the position controller functions. The BICO interconnections
established by the basic positioner must be changed by experienced users only.
This means that naturally the position control functions are also available (e.g. standstill
monitoring, positioning monitoring, dynamic following error monitoring, cam controllers,
modulo function, measuring probe evaluation). Also refer to the section "Position control".
In addition, the following functions can be carried out using the basic positioner:
● Mechanical system
– Backlash compensation
– Modulo offset
– Position tracking of the load gear (motor encoder) with absolute encoders
● Limits
– Traversing profile limits
– Traversing range limits
– Jerk limitation
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● Referencing or adjusting
– Set reference point (for an axis at standstill that has reached its target position)
– Reference point approach
(autonomous mode including reversing cam functionality, automatic direction of
rotation reversal, referencing to "cams and encoder zero mark" or only "encoder zero
mark" or "external equivalent zero mark (BERO)")
– Flying referencing
(during the "normal" traversing motion, it is possible to reference, superimposed, using
the measuring probe evaluation; generally, evaluating e.g. a BERO. Higher-level
(superimposed) function for the modes "jog", direct setpoint input/MDI and "traversing
blocks")
– Referencing with incremental measuring systems
– Absolute encoder adjustment
● Traversing blocks operating mode
– Positioning using traversing blocks that can be saved in the drive unit including block
change enable conditions and specific tasks for an axis that was previously referenced
– Traversing block editor using STARTER
– A traversing block contains the following information:
traversing block number
job (e.g. positioning, wait, GOTO block step, setting of binary outputs)
motion parameters (target position, velocity override for acceleration and deceleration)
mode (e.g: Skip block, block change enable conditions such as "Continue_with_stop"
and "Continue_flying")
Task parameters (e.g. delay time, block step conditions)
● Direct setpoint input (MDI) mode
– Positioning (absolute, relative) and setting-up (endless closed-loop position control)
using direct setpoint inputs (e.g. via the PLC or process data)
– It is always possible to influence the motion parameters during traversing (on-the-fly
setpoint acceptance) as well as on-the-fly change between the Setup and Positioning
modes.
● Jog mode
– Closed-loop position controlled traversing of the axis with the "endless position
controlled" or "jog incremental" modes that can be toggled between (traverse through
a "step width")
● Standard PROFIdrive positioning telegrams are available (telegrams 7, 9, 110 and 111).
When these are selected, the internal "connection" to the basic positioner is established
automatically.
● Control using PROFIdrive telegrams 7 and 110.
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7.3.6.1
Mechanical system
Features
● Backlash compensation (p2583)
● Modulo offset (p2577)
Description
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Backlash compensation
When mechanical force is transferred between a machine part and its drive, generally
backlash occurs. If the mechanical system was to be adjusted/designed so that there was
absolutely no play, this would result in high wear. Thus, backlash (play) can occur between
the machine component and the encoder. For axes with indirect position sensing,
mechanical backlash results in a falsification of the traversing distance, as, at direction
reversal, the axis travels either too far or not far enough corresponding to the absolute value
of the backlash.
Note
The backlash compensation is active, after
• the axis has been referenced for incremental measuring systems
• the axis has been adjusted for absolute measuring systems
In order to compensate the backlash, the determined backlash must be specified in p2583
with the correct polarity. At each direction of rotation reversal, the axis actual value is
corrected dependent on the actual traversing direction and displayed in r2667. This value is
taken into account in the position actual value using p2516 (position offset).
If a stationary axis is referenced by setting the reference point or an adjusted axis is
powered-up with an absolute encoder, then the setting of parameter p2604 (reference point
approach, starting direction) is relevant for switching-in the compensation value.
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Table 7- 26
The compensation value is switched in as a function of p2604
p2604
0
1
Traversing direction
Switch in compensation value
positive
none
negative
immediately
positive
immediately
negative
none
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Modulo offset
A modulo axis has an unrestricted traversing range. The value range of the position repeats
itself after a specific value that can be parameterized (the modulo range or axis cycle), e.g.
after one revolution: 360° → 0°. The modulo range is set in parameter p2576, the offset is
activated with parameter p2577. The modulo offset is undertaken at the setpoint end. This is
provided with the correct sign via connector output r2685 (correction value) to appropriately
correct the position actual value. EPOS initiates the activation of the correction via a rising
edge of binector output r2684.7 (activate correction) (r2685 (correction value) and r2684.7
(activate correction) are already connected as standard with the corresponding
binector/connector input of the position actual value conditioning). Absolute positioning
details (e.g. in a traversing task) must always be within the modulo range. Modulo offset can
be activated for linear and rotary length units. The traversing range cannot be limited by a
software limit switch.
With active modulo offset and the application of absolute encoders, as a result of potential
encoder overflows, it must be ensured that there is an integer ratio v between the multiturn
resolution and the modulo range.
The ratio v can be calculated as follows:
● 1. Motor encoder without position tracking:
v = p0421 * p2506 * p0433 * p2505 / (p0432 * p2504 * p2576)
● 2. Motor encoder with position tracking for the load gear:
v = p2721 * p2506 * p0433 / (p0432 * p2576)
● 3. Motor encoder with position tracking for the load gear:
v = p2721 * p2506 / p2576
● 4. Direct encoder without position tracking:
v = p0421 * p2506 * p0433 / (p0432 * p2576)
With position tracking it is recommended to change p2721.
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Function diagrams (see SINAMICS S110 List Manual)
● 3635 Interpolator
● 4010 Position actual value conditioning
Overview of important parameters (see SINAMICS S110 List Manual)
● p2576 EPOS modulo offset, modulo range
● p2577 BI: EPOS modulo offset activation
● p2583 EPOS backlash compensation
● r2684 CO/BO: EPOS status word 2
● r2685 CO: EPOS correction value
Commissioning with STARTER
In STARTER, the mechanical system screen form can be found under position control.
7.3.6.2
Limits
Description
The velocity, acceleration and deceleration can be limited and the software limit switches
and STOP cams set.
Features
● Traversing profile limits
– Maximum velocity (p2571)
– Maximum acceleration (p2572) / maximum deceleration (p2573)
● Traversing range limits
– Software limit switch (p2578, p2579, p2580, p2581, p2582)
– STOP cams (p2568, p2569, p2570)
● Jerk limitation
– Jerk limitation (p2574)
– Activation of jerk limitation (p2575)
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Maximum velocity
The maximum velocity of an axis is defined using parameter p2571. The velocity should not
be set to be greater than the maximum speeds in r1084 and r1087.
The drive is limited to this velocity if a higher velocity is specified or programmed via the
override (p2646) for the reference point approach or is programmed in the traversing block.
Parameter p2571 (maximum velocity) defines the maximum traversing velocity in units 1000
LU/min. If the maximum velocity is changed, then this limits the velocity of a traversing task
that is presently being executed.
This limit is only effective in the positioning mode for:
● Jog mode
● Processing traversing blocks
● Direct setpoint input/MDI for positioning/setting-up
● Reference point approach
Maximum acceleration/deceleration
Parameter p2572 (maximum acceleration) and p2573 (maximum deceleration) define the
maximum acceleration and the maximum deceleration. In both cases, the units are 1000
LU/s2.
Both values are relevant for:
● Jog mode
● Processing traversing blocks
● Direct setpoint input/MDI for positioning and setting-up
● Reference point approach
The parameters do not have any effect when faults occur with the fault responses OFF1 /
OFF2 / OFF3.
In the traversing blocks mode, the acceleration and deceleration can be set in multiple
integer steps (1 %, 2 % ... 100 %) of the maximum acceleration and deceleration. In “direct
setpoint input/MDI for positioning and setting up” operating mode, the acceleration/delay
override (assignment of 4000 hex = 100%) is specified
Note
A maximum acceleration and/or delay dependent on current velocity (zigzag acceleration) is
not supported.
Note
When using the PROFIdrive message frame 110, the velocity override is already connected
and has to be supplied by the message frame.
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Software limit switches
The connector inputs p2578 (software limit switch minus) and p2579 (software limit switch
plus) limit the position setpoint if the following prerequisites are fulfilled:
● The software limit switches are activated (p2582 = "1")
● The reference point is set (r2684.11 = 1)
● The modulo correction is not active (p2577 = "0")
The connector inputs are, in the factory setting, linked to the connector output p2580
(software limit switch minus) and p2581 (software limit switch plus).
STOP cam
A traversing range can, on one hand, be limited per software using the software limit
switches and on the other hand, the traversing range can be limited per hardware. In this
case, the functionality of the STOP cam (hardware limit switch) is used. The function of the
STOP cams is activated by the 1 signal on the binector input p2568 (activation of STOP
cams).
Once enabled, the activity of binector inputs p2569 (STOP cam, minus) and p2570 (STOP
cam, plus) is checked. These are low active; this means if a 0 signal is present at binector
input p2569 or p2570, then these are active.
When a STOP cam (p2569 or p2570) is active, the current motion is stopped with OFF3 and
the appropriate status bit r2684.13 (STOP cam minus active) or r2684.14 (STOP cam plus
active) is set.
When an axis has approached a STOP cam, only motion that allows the axis to move away
from the cam is permitted (if both STOP cams are actuated, then no motion is possible).
When the STOP cam is exited, this is identified by the 0/1 edge in the permitted traversing
direction which means that the corresponding status bits (r2684.13 or r2684.14) are reset.
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Jerk limitation
Acceleration and deceleration can change suddenly if jerk limiting has not been activated.
The diagram below shows the traversing profile when jerk limitation has not been activated.
The diagram shows that maximum acceleration (amax) and deceleration (dmax) are effective
immediately. The drive accelerates until the target speed (vtarget) is reached and then
switches to the constant velocity phase.
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Without jerk limitation
Jerk limitation can be used to achieve a ramp-like change of both variables, which ensures
"smooth" acceleration and braking as shown in the diagram below. Ideally, acceleration and
deceleration should be linear.
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Activated jerk limitation
The maximum inclination (rk) can be set in parameter p2574 ("Jerk limitation") in the unit
LU/s3 for both acceleration and braking. The resolution is 1000 LU/s3. To activate limiting
permanently, set parameter p2575 ("Active jerk limitation") to 1. In this case, limitation
cannot be activated or deactivated in traversing block mode by means of the command
"JERK" as this would require parameter p2575 ("Activate jerk limitation") to be set to zero.
The status signal r2684.6 ("Jerk limitation active") indicates whether or not jerk limitation is
active.
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Limitation is effective:
● In jog mode
● When traversing blocks are processed
● When setpoints are defined directly/MDI for positioning and setup
● during referencing
● During stop responses due to alarms
Jerk limitation is not active when messages are generated with stop responses OFF1 / OFF2
/ OFF3.
Function diagrams (see SINAMICS S110 List Manual)
● 3630 Traversing range limits
Overview of important parameters (see SINAMICS S110 List Manual)
● p2571 EPOS maximum velocity
● p2572 EPOS maximum acceleration
● p2573 EPOS maximum deceleration
● p2646 CI: EPOS velocity override
Software limit switches
● p2578 CI: EPOS software limit switch, minus signal source
● p2579 CI: EPOS software limit switch, plus signal source
● p2580 CO: EPOS software limit switch, minus
● p2581 CO: EPOS software limit switch, plus
● p2582 BI: EPOS software limit switch activation
● r2683 CO/BO: EPOS status word 1
STOP cam
● p2568 BI: EPOS STOP cam activation
● p2569 BI: EPOS STOP cam, minus
● p2570 BI: EPOS STOP cam, plus
● r2684 CO/BO: EPOS status word 2
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7.3.6.3
Referencing
Features
● Reference point offset (p2600)
● Reversing cams (p2613, p2614)
● Reference cam (p2612)
● Binector input start (p2595)
● Binector input setting (p2596)
● Velocity override (p2646)
● Reference point coordinate (p2598, p2599)
● Selecting the referencing type (p2597)
● Absolute encoder adjustment (p2507)
NOTICE
Referencing distance-coded zero marks is not supported.
Description
After a machine has been powered-up, for positioning, the absolute dimension reference
must be established to the machine zero. This operation is known as referencing.
The following referencing types are possible:
● Setting the reference point (all encoder types)
● Incremental encoder
Active referencing (reference point approach (p2597 = 0)):
– Reference cams and encoder zero mark (p2607 = 1)
– Encoder zero mark (p0495 = 0 or p0494 = 0)*)
– External zero mark (p0495 ≠ 0 or p0494 ≠ 0) *)
● Flying referencing (passive (p2597 = 1))
● Absolute encoder
– Absolute encoder adjustment
– Flying referencing (passive (p2597 = 1))
A connector input is provided for all referencing types to input the reference point coordinate;
this allows, e.g. the change/input via the higher-level control. However, to permanently enter
the reference point coordinate, an adjustable parameter for this quantity is also required. As
standard, this adjustable parameter p2599 is interconnected to connector input p2598.
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Set reference point
The reference point can be set using a 0/1 edge at binector input p2596 (set reference point)
if no traversing commands are active and the actual position value is valid (p2658 = 1
signal).
A reference point can also be set in conjunction with an intermediate stop.
The current actual position of the drive is set here as the reference point using the
coordinates specified by connector input p2598 (reference point coordinates). The setpoint
(r2665) is adjusted accordingly.
This function also uses actual position value correction for the position controller (p2512 and
p2513). Connector input p2598 is connected to adjustable parameter p2599 as standard.
The binector input is not effective for the traversing task being presently executed.
Absolute encoder adjustment
Absolute encoders must be adjusted while commissioning. After the machine has been
powered-down the position information of the encoder is kept.
When p2507 = 2 is entered, using the reference point coordinate in p2599, an offset value
(p2525) is determined. This is used to calculate the position actual value (r2521). Parameter
p2507 signals the adjustment with a "3" - in addition bit r2684.11 (reference point set) is set
to "1".
The offset of the encoder adjustment (p2525) should be saved in a non-volatile fashion
(RAM to ROM) to permanently save it.
Note
If an adjustment is lost on an already adjusted axis, the axis will remain unadjusted even
when the drive unit is switched OFF/ON. The axis needs to be adjusted again in such cases.
CAUTION
During adjustment with the rotary absolute encoder, a range is aligned symmetrically
around the zero point with half the encoder range within which the position is restored after
switch off/on. If position tracking is deactivated (2720.0 = 0), only one encoder overflow is
permitted in this range (further details are given in the chapter titled Position controller →
Position actual value conditioning). Once adjustment has been carried out, the range must
not be exited because a unique reference between the actual encoder value and the
mechanical components cannot be established outside the range.
If the reference point p2599 is in the encoder range, the actual position value is set in line
with the reference point during adjustment. Otherwise, it is set to a corrected value in the
encoder range.
No overflow occurs with linear absolute encoders, which means that the position can be
restored within the entire traversing range after switch on/off once adjustment has been
carried out. During adjustment, the actual position value is set in line with the reference
point.
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Reference point approach for incremental measurement systems
When the reference point approach (in the case of an incremental measuring system), the
drive is moved to its reference point. In so doing, the drive itself controls and monitors the
complete referencing cycle.
Incremental measuring systems require that after the machine has been powered-up, the
absolute dimension reference is established to the machine zero point. When powering-up
the position actual value x0 in the non-referenced state is set to x0 = 0. Using the reference
point approach, the drive can be reproducibly moved to its reference point. The geometry
with a positive starting direction (p2604 = "0") is shown in the following.
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Example: reference point approach with reference cam
The signal on binector input p2595 (start referencing) is used to trigger travel to the
reference cam (p2607 = 1) if search for reference is selected at the same time (0 signal at
binector input p2597 (referencing type selection). The signal in binector input p2595 (start
referencing) must be set during the entire referencing process otherwise the process is
aborted. Once started, the status signal r2684.11 (reference point set) is reset.
The software limit switch monitoring is inactive during the complete reference point
approach; only the maximum traversing range is checked. The SW limit switch monitoring is,
if required, re-activated after completion.
The velocity override set is only effective during the search for the reference cam (step 1).
This ensures that the "cam end" and "zero mark" positions are always overrun at the same
speed. If signal propagation delays arise during switching processes, this ensures that the
offset caused during establishment of position is the same in each referencing process.
Axes that only have one zero mark over their complete traversing or modulo range are
designated with parameter p2607 = 0 (no reference cam present). After starting the
referencing process, synchronization to the reference zero marks is started straight away
(see step 2) for these axes.
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Search for reference, step 1: travel to reference cam
If there is no reference cam present (p2607 = 0), go to step 2.
When the referencing process is started, the drive accelerates at maximum acceleration
(p2572) to the reference cam approach velocity (p2605). The direction of the approach is
determined by the signal of binector input p2604 (search for reference start direction).
When the reference cam is reached, this is communicated to the drive using the signal at
binector input p2612 (reference cam); the drive then brakes down to standstill with the
maximum deceleration (p2573).
If a signal at binector input p2613 (reversing cam, MINUS) or at binector input p2614
(reversing cam, PLUS) is detected during reference point approach, the search direction is
reversed.
If the minus reversing cam is approached in the positive direction of travel or the plus
reversing cam in the negative direction of travel, fault message F07499 "EPOS: Reversing
cam approached from the wrong direction" is generated. In this case, the reversing cam
connections must be checked (BI: p2613, BI: p2614) or the direction of approach to the
reversing cam.
The reversing cams are low active. If both reversing cams are active (p2613 = "0" and p2614
= "0"), the drive remains stationary. As soon as the reference cam is found, then
synchronization to the reference zero mark is immediately started (refer to step 2).
If the axis leaves its start position and travels the distance defined in parameter p2606 (max.
distance to reference cam) heading towards the reference cam without actually reaching the
reference cam, the drive remains stationary and fault F07458 (reference cam not found) is
issued.
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If the axis is already located at the cam, when referencing is started, then traversing to the
reference cam is not executed, but synchronization to the reference zero mark is
immediately started (refer to step 2).
Note
The velocity override is effective during the search for the cam. By changing the encoder
data set, status signal r2684.11 (reference point set) is reset.
The cam switch must be able to delivery both a rising and a falling edge. For a reference
point approach with evaluation of the encoder zero mark, for increasing position actual
values the 0/1 edge is evaluated and for decreasing position actual values, the 1/0 edge.
Inversion of the edge evaluation is not possible at the sensor zero mark.
If the length measuring system has several zero marks which repeat at cyclic intervals (e.g.
incremental, rotary measuring system), you must ensure that the cam is adjusted so that the
same zero mark is always evaluated.
The following factors may impact the behavior of the "reference cam" control signal:
• Switching accuracy and time delay of reference cam switch
• Position controller cycle of drive
• Interpolation cycle of drive
• Temperature sensitivity of machine’s mechanical system
Search for reference, step 2: Synchronizing to the reference zero mark
(encoder zero mark or external zero mark)
Reference cam available (p2607 = 1):
In step 2, the drive accelerates to the velocity, specified in p2608 (zero mark approach
velocity) in the direction opposite to that specified using binector input p2604 (reference point
approach start direction). The zero mark is expected at distance p2609 (max. distance to
zero mark). The search for the zero mark is active (status bit r2684.0 = "1" (search for
reference active)) as soon as the drive leaves the cam (p2612 = "0") and is within the
tolerance band for evaluation (p2609 - p2610). If the position of the zero mark is known
(encoder evaluation), the actual position of the drive can be synchronized using the zero
mark. The drive starts the search for reference (see step 3). The distance moved between
the end of the cam and the zero mark is displayed in diagnostics parameter r2680
(difference between the cam - zero mark).
Encoder zero mark present (p0494 = 0 or p0495 = 0) *), no reference cam (p2607 = 0):
Synchronization to the reference zero mark begins as soon as the signal at binector input
p2595 (start referencing) is detected. The drive accelerates to the velocity, specified in
parameter p2608 (zero mark approach velocity) in the direction specified by the signal of
binector input p2604 (reference point approach start direction).
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The drive synchronizes to the first zero mark and then starts to travel towards the reference
point (see step 3).
Note
In this case the direction of approach to the reference zero mark is the opposite to the axes
with reference cams!
External zero mark present (p0494 ≠ 0 or p0495 ≠ 0) *), no reference cam (p2607 = 0):
Synchronization to an external zero mark begins as soon as the signal at binector input
p2595 (start referencing) is detected. The drive accelerates to the velocity, specified in
parameter p2608 (zero mark approach velocity) in the direction specified by the signal of
binector input p2604 (reference point approach start direction). The drive synchronizes to the
first external zero mark (p0494 or p0495) *). The drive continues to travel with the same
velocity and travel is started to the reference point (refer to step 3).
Note
The velocity override is inoperative during this process.
An equivalent zero mark can be set using parameters p0494 or p0495 *) (equivalent zero
mark input terminal) and the corresponding digital input selected. As standard, for increasing
actual position values, the 0/1 edge is evaluated and for decreasing position actual values,
the 1/0 edge. For the equivalent zero mark, this can be inverted using parameter p0490
(invert measuring probe or equivalent zero mark).
Search for reference, step 3: Travel to reference point
Travel to the reference point is started when the drive has successfully synchronized to the
reference zero mark (see step 2). Once the reference zero mark has been detected, the
drive accelerates on-the-fly to the reference point approach velocity set in parameter p2611.
The reference point offset (p2600), the distance between the zero mark and reference point,
is extended.
If the axis has reached the reference point, then the position actual value and setpoint are
set to the value specified using connector input p2598 (reference point coordinate) (as
standard, connector input p2598 is connected with adjustable parameter p2599). The axis is
then homed and the status signal r2684.11 (reference point set) set.
Note
The velocity override is inoperative during this process.
If the braking distance is longer than the reference point offset or a direction reversal is
required due to the selected reference point offset, then after detecting the reference zero
mark, the drive initially brakes to standstill and then travels back.
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Flying referencing
The mode "flying referencing" (also known as post-referencing, positioning monitoring),
which is selected using a "1" signal at binector input p2597 (select referencing type), can be
used in every mode (jog, traversing block and direct setpoint input for positioning/setting-up)
and is superimposed on the currently active mode. Flying referencing can be selected both
with incremental and absolute measuring systems.
When "flying referencing" during incremental positioning (relative) you can select whether
the offset value is to be taken into account for the travel path or not (p2603).
The "flying referencing" is activated by a 0/1 edge at binector input p2595 (start referencing).
The signal in binector input p2595 (start referencing) must be set during the entire
referencing process otherwise the process is aborted.
Status bit r2684.1 (passive/flying referencing active) is linked with binector input p2509
(activate measurement probe evaluation). It activates measurement probe evaluation.
Binector inputs p2510 (measurement probe selection) and p2511 (measurement probe edge
evaluation) can be used to set which measurement probe (1 or 2) and which measurement
edge (0/1 or 1/0) is to be used.
The measurement probe pulse is used to supply connector input p2660 (home measurement
value) with the measurement via parameter r2523. The validity of the measurement is
reported to binector input p2661 (measurement valid feedback) via r2526.2.
Note
The following must always apply to the "Flying referencing mode" windows:
p2602 (outer window) > p2601 (inner window).
See function diagram 3614 for more information on the "Flying referencing mode" function.
The following then happens:
● If the drive has not yet been homed, status bit r2684.11 (reference point set) is set to "1".
● If the drive has already been homed, status bit r2684.11 (reference point set) is not reset
when starting flying referencing.
● If the drive has already been homed and the position difference is less than the inner
window (p2601), the old actual position value is retained.
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● If the drive has already been homed and the position difference is more than the outer
window (p2602), warning A07489 (reference point offset outside window 2) is output and
the status bit r2684.3 (pressure mark outside window 2) set. No offset to the actual
position value is undertaken.
● If the drive has already been referenced and the absolute value of the position difference
is greater than the inner window (p2601) and less the outer window (p2602), then the
position actual value is corrected.
Note
Flying referencing is not an active operating mode. It is superimposed by an active operating
mode.
In contrast to searches for reference, flying referencing can be carried out superimposed by
the machine process.
As standard, for flying referencing, measuring probe evaluation is used; when enabled, the
measuring probe is selected (p2510) and the edge evaluation (p2511) (in the factory setting,
measuring probe 1 is always the measuring probe, flank evaluation in the factory setting is
always the 0/1 edge).
Instructions for switching data sets
In the following cases, when a DDS switch takes place, the current actual position value
becomes invalid (p2521 = 0) and the reference point (r2684.11 = 0) is reset.
● The EDS that is effective for the position control changes.
● The encoder assignment changes (p2502).
● The mechanical relationships change (p2503...p2506)
With absolute encoders, the status of the adjustment (p2507) is also reset, if the same
absolute encoder is selected for the position control although the mechanical relationships
have changed (p2503 ... p2506).
In operating mode, a fault message (F07494) is also generated.
Function diagrams (see SINAMICS S110 List Manual)
● 3612 Referencing
● 3614 Flying referencing
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Overview of important parameters (see SINAMICS S110 List Manual)
● p0494[0...n] Equivalent zero mark input terminal*)
● p0495 Equivalent zero mark input terminal*)
● p2596 BI: EPOS set reference point
● p2597 BI: EPOS referencing type selection
● p2598 CI: EPOS reference point coordinate, signal source
● p2599 CO: EPOS reference point coordinate value
● p2600 EPOS reference point approach, reference point offset
*) Parameter
p0494 has the same meaning as parameter p0495. In addition, parameter
p0494 has an encoder data set dependency, which can, for example, be used when
switching over datasets for exchangeable heads.
7.3.6.4
Referencing with more than one zero mark per revolution
The drive detects several zero marks per revolution when using reduction gears or
measuring gears. In this cases, an additional BERO signal allows the correct zero mark to be
selected.
Example with a reduction gear
PROFIdrive
encoder interface
DQ
CU
MoMo
DQ
BERO
SMC
Gear
4:1
Motor
Position
Spindle
Encoder
Zero mark
Figure 7-52
Design with a gear between the motor and spindle
The diagram shows an application example for referencing with several zero marks per
revolution and selecting the correct zero mark using a BERO signal.
By using a reduction gear between the motor and the load (spindle), the drive detects
several revolutions of the motor per mechanical revolution of the load - and therefore also
several encoder zero marks.
The higher-level control/position control when referencing requires a unique reference
between the encoder zero mark and the machine axis (load/spindle). This is the reason that
the "correct" zero mark is selected using a BERO signal.
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Preconditions
● The position of the zero mark that has the shortest distance to the position when the
BERO signal switches is to be determined.
● The appropriate mechanical preconditions must be fulfilled when mounting the BERO.
● Preferred mechanical configuration
The BERO signal covers the zero mark, as in this case, the zero mark selection is
independent of the direction of rotation.
● In order to be able to precisely determine the position of the BERO (in relation to the
reference position of the encoder) even at higher speeds, this must be connected to a
fast Control Unit input.
Evaluating the BERO signal
You have the option of either evaluating the positive or negative signal edge of the BERO
signal:
● Positive edge (factory setting)
For referencing with a positive evaluation of the BERO signal, the encoder interface
supplies the position of that reference mark, which is directly detected after the positive
edge of the BERO signal. If, mechanically, the BERO is sized in such a way that the
BERO signal covers the entire width of the encoder zero mark, the required encoder zero
mark will be reliably detected in both traversing directions.
● Negative edge
For referencing with a negative edge evaluation of the BERO signal, synchronization is
realized to the next reference mark after leaving the BERO signal.
Proceed as follows to parameterize referencing with several zero marks:
● Using parameter p0493, define the fast digital input to which the BERO is connected.
● Set the corresponding bit of parameter p0490 to 1: The signal inversion means that the
evaluation uses the negative edge of the BERO signal.
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Referencing then proceeds as follows:
● Via the PROFIdrive encoder interface, SINAMICS S receives the request for a reference
mark search.
● Using the parameterization, SINAMICS S determines the zero mark depending on the
BERO signal.
● SINAMICS S provides the (possibly corrected) zero mark position as reference mark via
the PROFIdrive encoder interface.
Note
At high speeds or if the distance between the BERO signal and the following zero mark is
too low, then it is possible that the required, next zero mark is not detected, but instead, a
subsequent one due to the computation time. Due to the known zero mark distance, in
this particular case, the determined position is correspondingly corrected.
When using a measuring gear, the zero mark position depends on the motor revolution.
In this case, a correction is also performed and for each motor revolution a reverse
calculation is made back to the position of the zero mark with the shortest distance BERO
signal ↔ zero mark.
Overview of important parameters (see SINAMICS S110 List Manual)
● p0488 Measurement probe 1 input terminal
● p0489 Measurement probe 2 input terminal
● p0493 Zero mark selection input terminal
● p0495 Equivalent zero mark input terminal
● p0580 Measurement probe input terminal
● p0680 Central measurement probe input terminal
● p2517 LR direct measurement probe 1
● p2518 LR direct measurement probe 2
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7.3.6.5
Traversing blocks
Description
Up to 16 different traversing blocks can be saved. The maximum number is set using
parameter p2615 (maximum number of traversing tasks). All parameters which describe a
traversing order are effective during a block change, i.e. if:
● The appropriate traversing block number is selected using binector inputs p2625 to
p2630 (block selection, bits 0...5) and started using the signal at binector input p2531
(activate traversing task).
● A block change is made in a sequence of traversing tasks.
● An external block change p2632 "External block change" is triggered.
Traversing blocks are parameterized using parameter sets that have a fixed structure:
● Traversing block number (p2616[0...63])
Every traversing block must be assigned a traversing block number (in STARTER "No.").
The traversing blocks are executed in the sequence of the traversing block numbers.
Numbers containing the value "-1" are ignored so that the space can be reserved for
subsequent traversing blocks, for example.
You can use traversing block numbers in the range from 0 ... 63, regardless of the
maximum number of traversing blocks (= 16).
● Task (p2621[0...9])
1: POSITIONING
2: FIXED ENDSTOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAIT
6: GOTO
7: SET_O
8: RESET_O
9: JERK
● Motion parameters
– Target position or traversing distance (p2617[0...63])
– Velocity (p2618[0...63])
– Acceleration override (p2619[0...63])
– Deceleration override (p2620[0...63])
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● Task mode (p2623[0...63])
The execution of a traversing task can be influenced by parameter p2623 (task mode).
This is automatically written by programming the traversing blocks in STARTER.
Value = 0000 cccc bbbb aaaa
– aaaa: Identifiers
000x → Hide/show block (x = 0: show, x = 1: hide)
A hidden block cannot be selected binary-coded via binector inputs p2625 to p2630.
An alarm is output if you attempt to do so.
– bbbb: Continuation condition
0000, END: 0/1 edge at p2631
0001, CONTINUE_WITH_STOP:
The exact position parameterized in the block is approached (brake to standstill and
positioning window monitoring) before block processing can continue.
0010, CONTINUE_ON-THE-FLY:
The system switches to the next traversing block "on the fly" when the braking point
for the current block is reached (if the direction needs to be changed, this does not
occur until the drive stops within the positioning window).
0011, CONTINUE_EXTERNAL:
Same as "CONTINUE_ON-THE-FLY", except that an instant block change can be
triggered up to the braking point by a 0/1 edge. The 0/1 edge can be connected to
parameter r2526.2 of the "position control" function module, via the binector input
p2633 with p2632 = 1, or via the measuring input p2661 with p2632 = 0. Position
detection via the measuring input can be used as an accurate starting position for
relative positioning. If an external block change is not triggered, a block change is
triggered at the braking point.
0100, CONTINUE_EXTERNAL_WAIT
Control signal "External block change" can be used to trigger a flying changeover to
the next task at any time during the traveling phase. If "External block change" is not
triggered, the axis remains in the parameterized target position until the signal is
issued. The difference here is that with CONTINUE_EXTERNAL, a flying changeover
is carried out at the braking point if "External block change" has not been triggered,
while here the drive waits for the signal in the target position.
0101, CONTINUE_EXTERNAL_ALARM
This is the same as CONTINUE_EXTERNAL_WAIT, except that alarm A07463
"External traversing block change in traversing block x not requested" is output when
"External block change" is not triggered by the time the drive comes to a standstill.
The alarm can be converted to a fault with a stop response so that block processing
can be aborted if the control signal is not issued.
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– cccc: positioning mode
With the POSITION task (p2621 = 1), defines how the position specified in the
traversing task is to be approached.
0000, ABSOLUTE:
The position specified in p2617 is approached.
0001, RELATIVE:
The axis is traveled along the value specified in p2617.
0010, ABS_POS:
For rotary axes with modulo offset only. The position specified in p2617 is approached
in a positive direction.
0011, ABS_NEG:
For rotary axes with modulo offset only. The position specified in p2617 is approached
in a negative direction.
● Task parameter (command-dependent significance) (p2622[0...63])
Accepting traversing blocks
You can transfer traversing blocks from one SINAMICS S110 to another. To do this, proceed
as follows:
Note
It is possible to accept traversing blocks from other SINAMICS devices. SINAMICS S110,
however, only imports the first 16 traversing blocks; any additional traversing blocks are
declined at the time of the import and a fault message is generated.
1. Select Project → Save and export from the STARTER menu on the source device and
define the export options.
2. If you do not want to accept certain traversing blocks, you can delete these from the
ISymbol.xml file using a suitable editing program.
3. Select Project → Import from the STARTER menu on the target device and choose the
XML file to be imported.
Intermediate stop and reject traversing task
The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes
with the parameterized deceleration value (p2620 or p2645).
The current traversing task can be rejected by a 0 signal at p2641. After activation, the
system brakes with the maximum deceleration (p2573).
The "intermediate stop" and "reject traversing task" functions are only effective in "traversing
blocks" and "direct setpoint input/MDI" modes.
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POSITIONING
The POSITIONING task initiates motion. The following parameters are evaluated:
● p2616[x] Block number
● p2617[x] Position
● p2618[x] Velocity
● p2619[x] Acceleration override
● p2620[x] Acceleration override
● p2623[x] Task mode
The task is executed until the target position is reached. If, when the task is activated, the
drive is already located at the target position, then for the block change enable
(CONTINUE_ON-THE-FLY or CONTINUE_EXTERNAL, the text task is selected in the same
interpolation clock cycle. For CONTINUE_WITH_STOP, the next block is activated in the
next interpolation clock cycle. CONTINUE_EXTERNAL_ALARM causes a message to be
output immediately.
FIXED STOP
The FIXED STOP task triggers a traversing movement with reduced torque to fixed stop.
The following parameters are relevant:
● p2616[x] Block number
● p2617[x] Position
● p2618[x] Velocity
● p2619[x] Acceleration override
● p2620[x] Acceleration override
● p2623[x] Task mode
● p2622[x] Clamping torque [0.01 Nm] task parameter for rotary motors.
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT.
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ENDLESS POS, ENDLESS NEG
Using these tasks, the axis is accelerated to the specified velocity and is moved, until:
● A software limit switch is reached.
● A STOP cam signal has been issued.
● The traversing range limit is reached.
● Motion is interrupted by the control signal "no intermediate stop/intermediate stop
(p2640).
● Motion is interrupted by the control signal "do not reject traversing task/reject traversing
task" (p2641).
● An external block change is triggered (with the appropriate continuation condition).
The following parameters are relevant:
● p2616[x] Block number
● p2618[x] Velocity
● p2619[x] Acceleration override
● p2623[x] Task mode
All continuation conditions are possible.
JERK
Jerk limitation can be activated (command parameter = 1) or deactivated (task parameter =
0) by means of the JERK task. The signal at the binector input p2575 "Active jerk limitation"
must be set to zero. The value parameterized in "jerk limit" p2574 is the jerk limit.
A precise stop is always carried out here regardless of the parameterized continuation
condition of the task preceding the JERK task.
The following parameters are relevant:
● p2616[x] Block number
● p2622[x] Task parameter = 0 or 1
All continuation conditions are possible.
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WAITING
The WAIT order can be used to set a waiting period, which should expire before the
following order is processed.
The following parameters are relevant:
● p2616[x] Block number
● p2622[x]Task parameter = delay time in milliseconds ≥ 0 ms
● p2623[x] Task mode
The delay time is entered in milliseconds - but is rounded-off to a multiple of the interpolator
clock cycle p0112[5]. The minimum delay time is one interpolation clock cycle; this means
that if a delay time is parameterized which is less than an interpolation clock cycle, then the
system waits for one interpolation clock cycle.
Example:
Wait time: 9 ms
Interpolation clock cycle: 4 ms
Active delay time: 12 ms
A precise stop is always carried out here before the wait time, regardless of the
parameterized continuation condition of the order preceding the WAIT order. The WAIT task
can be executed by an external block change.
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT, and
CONTINUE_EXTERNAL_ALARM. The fault message is triggered when "External block
change" has still not been issued after the delay time has elapsed.
GOTO
Using the GOTO task, jumps can be executed within a sequence of traversing tasks. The
block number which is to be jumped to must be specified as task parameter. A continuation
condition is not permissible. If there is a block with this number, then alarm A07468 (jump
destination does not exist in traversing block x) is output and the block is designated as
being inconsistent.
The following parameters are relevant:
● p2616[x] Block number
● p2622[x] Task parameter = Next traversing block number
Any two of the SET_O, RESET_O and GOTO orders can be processed in an interpolation
cycle and a subsequent POSITION and WAIT order can be started.
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SET_O, RESET_O
Tasks SET_O and RESET_O allow up to two binary signals (output 1 or 2) to be
simultaneously set or reset. The number of the output (1 or 2) is specified bit-coded in the
task parameter.
The following parameters are relevant:
● p2616[x] Block number
● p2622[x] Task parameter = bit-coded output:
0x1: Output 1
0x2: Output 2
0x3: Output 1 + 2
Possible continuation conditions are END, CONTINUE_ON-THE-FLY and
CONTINUE_WITH_STOP, and CONTINUE_EXTERNAL_WAIT.
The binary signals (r2683.10 (output 1) (or r2683.11 (output 2)) can be assigned to digital
outputs. The assignment in STARTER is made using the button "configuration digital output".
Any two of the SET_O, RESET_O and GOTO orders can be processed in an interpolation
cycle and a subsequent POSITION and WAIT order can be started.
Function diagrams (see SINAMICS S110 List Manual)
● 3616 Traversing blocks operating mode
Overview of important parameters (see SINAMICS S110 List Manual)
● p2616 EPOS traversing block, block number
● p2617 EPOS traversing block, position
● p2618 EPOS traversing block, velocity
● p2619 EPOS traversing block, acceleration override
● p2620 EPOS traversing block, deceleration override
● p2621 EPOS traversing block, task
● p2622 EPOS traversing block, task parameter
● p2623 EPOS traversing block, task mode
● p2625...p2630 BI: EPOS block selection bits 0 ... 5
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7.3.6.6
Travel to fixed stop
Description
The "Travel to fixed stop" function can be used, for example, to traverse sleeves to a fixed
stop against the workpiece with a predefined torque. In this way, the workpiece can be
securely clamped. The clamping torque can be parameterized in the traversing task (p2622).
An adjustable monitoring window for travek to fixed stop prevents the drive from traveling
beyond the window if the fixed stop should break away.
In positioning mode, travel to fixed stop is started when a traversing block is processed with
the FIXED STOP command. In this traversing block, in addition to the specification of the
dynamic parameterized position, speed, acceleration override and deceleration override, the
required clamping torque can be specified as task parameter p2622. From the start position
onwards, the target position is approached with the parameterized speed. The fixed stop (the
workpiece) must be between the start position and the braking point of the axis; that is, the
target position is placed inside the workpiece. The preset torque limit is effective from the
start, i.e. travel to fixed stop also occurs with a reduced torque. The preset acceleration and
deceleration overrides and the current speed override are also effective. Dynamic following
error monitoring (p2546) in the position controller is not effective when traveling to the fixed
stop. As long as the drive travels to the fixed stop or is in fixed stop, the "Travel to fixed stop
active" status bit r2683.14 is active.
Fixed stop is reached
As soon as the axis comes into contact with the mechanical fixed stop, the closedloop
control in the drive raises the torque so that the axis can move on. The torque increases up
to the value specified in the task and then remains constant. Depending on the binector input
p2637 (fixed stop reached), the "fixed stop reached" status bit r2683.12 is set if:
● the following error exceeds the value set in parameter p2634 (fixed stop: maximum
following error) (p2637 = r2526.4)
● external status via the signal at binector input p2637 (fixed stop reached), if this p2637 ≠
r2526.4)
In travel to fixed stop, the clamping torque or clamping force in the traversing block is
configured via the task parameter. This is specified in units of 0.01 Nm (rotary motor). The
function module is coupled to the torque limit of the basic system via the connector output
r2686[0] (torque limit upper) or r2686[1] (torque limit lower), which are connected to the
connector input p1528 (torque limit upper scaling) or p1529 (torque limit lower scaling). The
connector outputs r2686[0] (torque limit upper) and r2686[1] (torque limit lower) are set to
100% when fixed stop is not active. During active fixed stop, r2686[0] (torque limit upper) or
r2686[1] (torque limit lower) are evaluated as a percentage of p1522/p1523 in such a way
that the specified clamping torque or clamping force is limited.
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When the fixed stop is acknowledged (p2637), the "Speed setpoint total" (p2562) is frozen,
as long as the binector input p2553 (fixed stop reached message) is set. The speed control
holds the setpoint torque due to the applied speed setpoint. The setpoint torque is output for
diagnosis via the connector output r2687 (torque setpoint).
If the parameterized clamping torque is reached at the fixed stop, the status bit r2683.13
"Fixed stop clamping torque reached" is set.
Once the "Fixed stop reached" status has been detected, the traversing task "Travel to fixed
stop" is ended. The program advances to the next block depending on the task
parameterization. The drive remains in fixed stop until the next positioning task is processed
or the system is switched to jog mode. The clamping torque is therefore also applied during
subsequent waiting tasks. The continuation condition CONTINUE_EXTERNAL_WAIT can be
used to specify that the drive must remain at the fixed stop until a step enabling signal is
applied externally.
As long as the drive remains in fixed stop, the position setpoint is adjusted to the actual
position value (position setpoint = actual position value). Fixed stop monitoring and controller
enable are active.
Note
If the drive is in fixed stop, it can be referenced using the control signal "Set reference point."
If the axis leaves the position that it had at detection of the fixed stop by more than the
selected monitoring window for the fixed stop p2635, then the status bit r2683.12 is reset. At
the same time, the speed setpoint is set to zero, and fault F07484 "Fixed stop outside of the
monitoring window" is triggered with the reaction OFF3 (quick stop). The monitoring window
can be set using the parameter p2635 ("Fixed stop monitoring window"). It applies to both
positive and negative traversing directions and must be selected such that it will only be
triggered if the axis breaks away from the fixed stop.
Fixed stop is not reached
If the brake application point is reached without the "fixed stop reached" status being
detected, then the fault F07485 "Fixed stop is not reached" is output with fault reaction
OFF1, the torque limit is canceled and the drive cancels the traversing block.
Note
• The fault can be changed into an alarm (see section "Message configuration"), which
means that the drive program will advance to the next specified block.
• The target point must be sufficiently far inside the workpiece.
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Interruption to "Travel to fixed stop"
The "travel to fixed stop" traversing task can be interrupted and continued using the
"intermediate stop" signal at the binector input p2640. The block is canceled using the
binector input signal p2641 "Reject traversing task" or by removing the controller enable. In
all of these cases, the drive is correspondingly braked. Measures are taken to prevent any
risk of damage if the block is canceled when an axis has almost reached the fixed stop
(setpoint already beyond the fixed stop, but still within the threshold for fixed stop detection).
For this purpose, the position setpoint is made to follow the actual position value after
standstill. As soon as the fixed stop is reached, the drive remains in fixed stop even after
cancelation. It can be moved away from the fixed stop using jog or by selecting a new
traversing task.
Note
The fixed stop monitoring window (p2635) is only activated when the drive is at the fixed stop
and remains active until the fixed stop is exited.
Vertical axis
Note
In servo mode, a torque limit offset (p1532) can be entered for vertical axes (see also the
chapter titled Servo control → Vertical axis).
With asymmetrical torque limits p1522 and p1523, the net weight is taken into account for
travel to fixed stop in parameters r2686 and r2687.
If, for example, with a suspended load, p1522 is set to +1000 Nm and p1523 to -200 Nm,
then a net weight of 400 Nm (p1522 - p1523) is assumed. If the clamping torque is now
configured as 400 Nm, then r2686[0] is preset to 80%, r2686[1] to 0% and r2687 to 800 Nm
when travel to fixed stop is activated.
Function diagrams (see SINAMICS S110 List Manual)
● 3616 Traversing blocks mode (r0108.4 = 1)
● 3617 Travel to fixed stop (r0108.4 = 1)
● 4025 Dynamic following error monitoring, cam controllers (r0108.3 = 1)
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Overview of important parameters (see SINAMICS S110 List Manual)
● p1528 CI: Torque limit, upper/motoring, scaling
● p1529 CI: Torque limit, lower/regenerative scaling
● p1545 BI: Activate travel to fixed stop
● r2526 CO/BO: LR status word
● p2622 EPOS traversing block, task parameter
● p2634 EPOS Fixed stop maximum permissible following error
● p2635 EPOS Fixed stop monitoring window
● p2637 BI: EPOS Fixed stop reached
● p2638 BI: EPOS Fixed stop outside monitoring window
● r2683 CO/BO: EPOS status word 1
● r2686 CO: EPOS Torque limit effective
7.3.6.7
Direct setpoint input (MDI)
Features
● Select direct setpoint input (p2647)
● Select positioning type (p2648)
● Direction selection (p2651, p2652)
● Setting-up (p2653)
● Fixed setpoints
– CO: Position setpoint (p2690)
– CO: Velocity setpoint (p2691)
– CO: Acceleration override (p2692)
– CO: Deceleration override (p2693)
● Connector inputs
– CI: MDI position setpoint (p2642)
– CI: MDI velocity setpoint (p2643)
– CI: MDI acceleration override (p2644)
– CI: MDI deceleration override (p2645)
– CI: Velocity override (p2646)
● Accept (p2649, p2650)
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Description
The direct setpoint input function allows for positioning (absolute, relative) and setup
(endless position-controlled) by means of direct setpoint input (e.g. via the PLC using
process data).
During traversing, the motion parameters can also be influenced (on-the-fly setpoint
acceptance) and an on-the-fly change can be undertaken between the Setup and Positioning
modes. The "direct setpoint input" mode (MDI) can also be used if the axis is not referenced
in the "setup" or "relative positioning" modes, which means that "flying referencing" (see the
separate section), flying synchronization, and post-referencing are possible.
The direct setpoint input function is activated by p2647 = 1. A distinction is made between
two modes: positioning mode (p2653 = 0) and setup mode (p2653 = 1).
In "positioning" mode, the parameters (position, velocity, acceleration and deceleration) can
be used to carry out absolute (p2648 = 1) or relative (p2648 = 0) positioning with the
parameter p2690 (fixed setpoint position).
In the setting-up mode, using parameters (velocity, acceleration and deceleration) "endless"
closed-loop position control behavior can be carried out.
It is possible to make a flying changeover between the two modes.
If continuous acceptance (p2649 = 1) is activated, changes to the MDI parameters are
accepted immediately. Otherwise the values are only accepted when there is a positive edge
at binector input p2650 (setpoint acceptance edge).
Note
Continuous acceptance p2649 = 1 can only be set with free telegram configuration
p0922 = 999. No relative positioning is allowed with continuous acceptance.
The direction of positioning can be specified using p2651 (positive direction specification)
and p2652 (negative direction specification). If both inputs have the same status, the
shortest distance is traveled during absolute positioning (p2648 = "1") of modulo axes
(p2577 = "1").
To use the positioning function, the drive must be in operating mode (r0002 = 0). The
following options are available for starting positioning:
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● p2649 is "1" and positive edge on p2647
● p2649 is "0" and p2647 is "1"
– positive edge on p2650 or
– positive edge on p2649
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MDI mode with the use of PROFIdrive telegram 110.
If the connector input p2654 is preset with a connector input <> 0 (e.g. with PROFIdrive
telegram 110 with r2059[11]), then it will internally manage the control signals "Select
positioning type", "Positive direction selection" and "Negative direction selection". The
following characteristics are evaluated from the value of the connector input:
● xx0x = absolute → p2648
● xx1x = relative → p2648
● xx2x = ABS_POS → p2648, p2651
● xx3x = ABS_NEG → p2648, p2652
Intermediate stop and reject traversing task
The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes
with the parameterized deceleration value (p2620 or p2645).
The current traversing task can be rejected by a 0 signal at p2641. After activation, the
system brakes with the maximum deceleration (p2573).
The "intermediate stop" and "reject traversing task" functions are only effective in "traversing
blocks" and "direct setpoint input/MDI" modes.
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Function diagrams (see SINAMICS S110 List Manual)
● 3618 EPOS - direct setpoint input mode/MDI, dynamic values
● 3620 EPOS - direct setpoint input mode/MDI
Overview of important parameters (see SINAMICS S110 List Manual)
● p2577 BI: EPOS modulo offset activation
● p2642 CI: EPOS direct setpoint input/MDI, position setpoint
● p2643 CI: EPOS direct setpoint input/MDI, velocity setpoint
● p2644 CI: EPOS direct setpoint input/MDI, acceleration override
● p2645 CI: EPOS direct setpoint input/MDI, deceleration override
● p2648 BI: EPOS direct setpoint input/MDI, positioning type
● p2649 BI: EPOS direct setpoint input/MDI, acceptance type
● p2650 BI: EPOS direct setpoint input/MDI, setpoint acceptance edge
● p2651 BI: EPOS direct setpoint input/MDI, positive direction selection
● p2652 BI: EPOS direct setpoint input/MDI, negative direction selection
● p2653 BI: EPOS direct setpoint input/MDI, setup selection
● p2654 CI: EPOS direct setpoint input/MDI, mode adaptation
● p2690 CO: EPOS position, fixed setpoint
● p2691 CO: EPOS velocity, fixed setpoint
● p2692 CO: EPOS acceleration override, fixed setpoint
● p2693 CO: EPOS deceleration override, fixed setpoint
7.3.6.8
Jog
Features
● Jog signals (p2589, p2590)
● Velocity (p2585, p2586)
● Incremental (p2587, p2588, p2591)
Description
Using parameter p2591 it is possible to change over between jog incremental and jog
velocity.
The traversing distances p2587 and p2588 and velocities p2585 and p2586 are entered
using the jog signals p2589 and p2590. The traversing distances are only effective for a "1"
signal at p2591 (jog, incremental). For p2591 = "0" then the axis moves to the start of the
traversing range or the end of the traversing range with the specified velocity.
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Jog mode
Function diagrams (see SINAMICS S110 List Manual)
● 3610 EPOS - jog mode
Overview of important parameters (see SINAMICS S110 List Manual)
● p2585 EPOS jog 1 setpoint velocity
● p2586 EPOS jog 2 setpoint velocity
● p2587 EPOS jog 1 traversing distance
● p2588 EPOS jog 2 traversing distance
● p2589 BI: EPOS jog 1 signal source
● p2590 BI: EPOS jog 2 signal source
● p2591 BI: EPOS jog incremental
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7.3.6.9
Status signals
The status signals relevant to positioning mode are described below.
Tracking mode active (r2683.0)
The "Follow-up active mode" status signal shows that follow-up mode has been activated
which can be done by binector input p2655 (follow-up mode) or by a fault. In this status, the
position setpoint follows the actual position value, i.e. position setpoint = actual position
value.
Setpoint static (r2683.2)
The status signal "setpoint static" indicates that the setpoint velocity has a value of 0. The
actual velocity can deviate from zero due to a following error. While the status word has a
value of 0, a traversing task is being processed.
Traversing command active (r2684.15)
The status signal "traversing command active" indicates that a traversing command is active.
A motion command should be understood to comprise all motions (including jog, setup etc.).
Contrary to the status signal "setpoint static", the status signal remains active - e.g. if a
traversing command was stopped by a velocity override or intermediate stop.
SW limit switch + reached (r2683.7)
SW limit switch - reached (r2683.6)
These status signals indicate that the parameterized negative p2578/p2580 or positive
p2579/p2581 traversing range limit was reached or passed. If both status signals are 0, the
drive is located within the traversing limits.
Stop cam minus active (r2684.13)
Stop cam plus active (r2684.14)
These status signals indicate that the STOP cam minus p2569 or STOP cam plus p2570 has
been reached or passed. The signals are reset when the cams are left in the direction other
than that in which they were approached.
Axis moves forwards (r2683.4)
Axis moves backwards (r2683.5)
Axis accelerates (r2684.4)
Drive decelerates (r2684.5)
Drive stationary (zero speed) (r2199.0)
These signals display the current motion status. If the actual absolute speed is less or equal
to p2161, then the status signal "drive stationary" is set - otherwise it is deleted. The signals
are appropriately set if jog mode, reference point approach or a traversing task is active.
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Cam switching signal 1 (r2683.8)
Cam switching signal 2 (r2683.9)
The electronic cam function can be implemented using these signals. Cam switching signal 1
is 0 if the actual position is greater than p2547 - otherwise 1. Cam switching signal 2 is 0 if
the actual position is greater than p2548 - otherwise 1. This means that the signal is deleted
if the drive is located behind (after) the cam switching position. The position controller
initiates these signals.
Direct output 1 (r2683.10)
Direct output 2 (r2683.11)
If a digital output is parameterized, the function "direct output 1" or "direct output 2", then it
can be set by a corresponding command in the traversing task (SET_O) or reset
(RESET_O).
Following error in tolerance (r2684.8)
When the axis is traversed, closed-loop position controlled, using a model, the permissible
following error is determined from the instantaneous velocity and the selected Kv factor.
Parameter p2546 defines a dynamic following error window that defines the permissible
deviation from the calculated value. The status signal indicates as to whether the following
error is within the window (status 1).
Target position reached (r2684.10)
The status signal "target position reached" indicates that the drive has reached its target
position at the end of a traversing command. This signal is set as soon as the actual drive
position is within the positioning window p2544 and is reset, if it leaves this window.
The status signal is not set, if
● Signal level 1 at binector input p2554 "signal traversing command active".
● Signal level 0 at binector input p2551 "signal setpoint static".
The status signal remains set, until
● Signal level 1 at binector input p2551 "signal setpoint static".
Reference point set (r2684.11)
The signal is set as soon as referencing has been successfully completed. It is deleted as
soon as no reference is there or at the start of the reference point approach.
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Acknowledgement, traversing block activated (r2684.12)
A positive edge is used to acknowledge that in the mode "traversing blocks" a new traversing
task or setpoint was transferred (the same signal level as binector input p2631 activate
traversing task). In the mode "direct setpoint input / MDI for setting-up/positioning" a positive
edge is used to acknowledge that a new traversing task or setpoint was transferred (the
same signal level as binector input p2650 "edge setpoint transfer", if the transfer type was
selected using a signal edge (binector input p2649 "0" signal)).
Velocity limiting active (r2683.1)
If the actual setpoint velocity exceeds the maximum velocity p2571 - taking into account the
velocity override - it is limited and the control signal is set.
7.3.7
Extended setpoint channel
Description
In the servo control mode, the extended setpoint channel is deactivated by default. If an
extended setpoint channel is required, it has to be activated. The extended setpoint channel
is always activated in the vector control mode.
Properties of servo mode without the "extended setpoint channel" function module
● The setpoint is directly interconnected to p1155[D] (e.g. from a higher-level control or
technology controller)
● Dynamic Servo Control (DSC) only
When using DSC, the "extended setpoint channel" is not used. This unnecessarily uses
the computation time of the Control Unit and, for servo, can be deactivated.
● Deceleration ramp OFF1 via p1121[D]
● Deceleration ramp OFF3 via p1135[D]
● For PROFIdrive telegrams 2 to 103 and 999 only (free assignment)
● STW 1 bit 5 (freeze ramp-function generator), no function
7.3.7.1
Activation of the "extended setpoint channel" function module
The "extended setpoint channel" function module can be activated via the commissioning
Wizard or the drive configuration (configure DDS).
You can check the current configuration in parameter r0108.8. Once you have set the
configuration, you must download it to the Control Unit where it is stored in a non-volatile
memory.
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7.3 Function modules
7.3.7.2
Description
In the extended setpoint channel, setpoints from the setpoint source are conditioned for
motor control.
The setpoint for motor control can also originate from the technology controller (see
"Technology controller").
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Properties of the extended setpoint channel
● Main/supplementary setpoint, setpoint scaling
● Direction of rotation limiting and direction of rotation changeover
● Suppression bandwidths and setpoint limitation
● Ramp-function generator
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7.3 Function modules
Setpoint sources
The closed-loop control setpoint can be interconnected from various sources using BICO
technology (e.g. to p1070 CI: main setpoint (see function diagram 3030)).
There are various options for setpoint input:
● Fixed speed setpoints
● Motorized potentiometer
● Jog
● Field bus
– Setpoint via PROFIBUS, for example
● About the analog input AI of the CU 305
7.3.7.3
Jog
Description
This function can be selected via digital inputs or via a field bus (e.g. PROFIBUS). The
setpoint is, therefore, predefined via p1058[D] and p1059[D].
When a jog signal is present, the motor is accelerated to the jog setpoint with the
acceleration ramp of the ramp-function generator (referred to the maximum speed p1082;
see diagram "Function chart: jog 1 and jog 2"). After the jog signal has been deselected, the
motor is decelerated via the set ramp of the ramp-function generator.
CAUTION
The "Jog" function is not PROFIdrive-compliant!
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7.3 Function modules
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Jog properties
● If both jog signals are issued at the same time, the current speed is maintained (constant
velocity phase).
● Jog setpoints are approached and exited via the ramp-function generator.
● The jog function can be activated from the "ready for switching on" status and from the
OFF1 deceleration ramp.
● If ON/OFF1 = "1" and jog are selected simultaneously, ON/OFF1 has priority.
● OFF2 and OFF3 have priority over jog.
● In jog mode, the main speed setpoints (r1078) and the supplementary setpoints 1 and 2
(p1155 and p1160) are inhibited.
● The suppression bandwidths (p1091 ... p1094) and the minimum limit (p1080) in the
setpoint channel are also active in jog mode.
● In jog mode, ZSWA.02 (operation enabled) is set to "0" because the speed setpoint has
not been enabled for control.
● The ramp-function generator cannot be frozen (via p1141) in jog mode (r0046.31 = 1).
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7.3 Function modules
Jog sequence
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7.3 Function modules
Control and status messages
Table 7- 27
Jog control
Signal name
Internal control word
Binector input
PROFIdrive/Siemens
telegram 1 ... 111
0 = OFF1
STWA.0
p0840 ON/OFF1
STW1.0
0 = OFF2
STWA.1
p0844 1. OFF2
p0845 2. OFF2
STW1.1
0 = OFF3
STWA.2
p0848 1. OFF3
p0849 2. OFF3
STW1.2
Enable operation
STWA.3
p0852 Enable operation
STW1.3
Jog 1
STWA.8
p1055 Jog bit 0
STW1.8
Jog 2
STWA.9
p1056 Jog bit 1
STW1.9
Table 7- 28
Jog status message
Signal name
Internal status word
Parameter
PROFIdrive/Siemens
telegram 1 ... 111
Ready to start
ZSWA.0
r0899.0
ZSW1.0
Ready for operation
ZSWA.1
r0899.1
ZSW1.1
Operation enabled
ZSWA.2
r0899.2
ZSW1.2
Switching on inhibited
ZSWA.6
r0899.6
ZSW1.6
Pulses enabled
ZSWA.11
r0899.11
ZSW1.11
Function diagrams (see SINAMICS S110 List Manual)
● 2610 Sequence control - sequencer
● 3030 Setpoint addition, setpoint scaling, jog
Overview of important parameters (see SINAMICS S110 List Manual)
● p1055[C] BI: Jog bit 0
● p1056[C] BI: Jog bit 1
● p1058[D] Jog 1 speed setpoint
● p1059[D] Jog 2 speed setpoint
● p1082[D] Maximum speed
● p1120[D] Ramp-function generator ramp-up time
● p1121[D] Ramp-function generator ramp-down time
Parameterization with STARTER
The "speed setpoint" parameter screen is selected via the following icon in the toolbar of the
STARTER commissioning tool.
Figure 7-59
STARTER icon for "speed setpoint"
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7.3 Function modules
7.3.7.4
Fixed speed setpoints
Description
This function can be used to specify preset speed setpoints. The fixed setpoints are defined
in parameters and selected via binector inputs. Both the individual fixed setpoints and the
effective fixed setpoint are available for further interconnection via a connector output (e.g. to
connector input p1070 - CI: main setpoint).
Properties
● Number of fixed setpoints: Fixed setpoint 1 to 15
● Selection of fixed setpoints: Binector input bits 0 to 3
– Binector input bits 0, 1, 2, and 3 = 0 → setpoint = 0 active
– Unused binector inputs have the same effect as a "0" signal
Function diagrams (see SINAMICS S110 List Manual)
● 1550 Overviews - setpoint channel
● 3010 Fixed speed setpoints
Overview of important parameters (see SINAMICS S110 List Manual)
Adjustable parameters
● p1001[D] CO: Fixed speed setpoint 1
● ...
● p1004[D] CO: Fixed speed setpoint 4
● p1020[C] BI: Fixed speed setpoint selection Bit 0
● p1021[C] BI: Fixed speed setpoint selection Bit 1
Display parameters
● r1024 CO: Fixed speed setpoint effective
● r1197 Fixed speed setpoint current number
Parameterization with STARTER
The "fixed setpoints" parameter screen is activated in the project navigator under the
relevant drive by double-clicking Setpoint channel → Fixed setpoints in the STARTER
commissioning tool.
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7.3 Function modules
7.3.7.5
Motorized potentiometer
Description
This function is used to simulate an electromechanical potentiometer for setpoint input.
You can switch between manual and automatic mode for setpoint input. The specified
setpoint is routed to an internal ramp-function generator. Setting values, start values and
braking with OFF1 do not require the ramp-function generator of the motorized
potentiometer.
The output of the ramp-function generator for the motorized potentiometer is available for
further interconnection via a connector output (e.g. interconnection to connector input p1070
- CI: main setpoint, an additional ramp-function generator is then active).
Properties for manual mode (p1041 = "0")
● Separate binector inputs for Raise and Lower are used to adjust the input setpoint:
– p1035 BI: Motorized potentiometer, setpoint, raise
– p1036 BI: Motorized potentiometer, setpoint, lower
● Invert setpoint (p1039)
● Configurable ramp-function generator, e.g.:
– Ramp-up/ramp-down time (p1047/p1048) referred to p1082
– Setting value (p1043/p1044)
– Initial rounding active/not active (p1030.2)
● Non-volatile storage via p1030.3
● Configurable setpoint for Power ON (p1030.0)
– Starting value is the value in p1040 (p1030.0 = 0)
– Starting value is the stored value (p1030.0 = 1)
Properties for automatic mode (p1041 = "1")
● The input setpoint is specified via a connector input (p1042).
● The motorized potentiometer acts like a "normal" ramp-function generator.
● Configurable ramp-function generator, e.g.:
–
–
–
–
Switch on/off (p1030.1)
Ramp-up/ramp-down time (p1047/p1048)
Setting value (p1043/p1044)
Initial rounding active/not active (p1030.2)
● Non-volatile storage of the setpoints via p1030.3
● Configurable setpoint for Power ON (p1030.0)
– Starting value is the value in p1040 (p1030.0 = 0)
– Starting value is the stored value (p1030.0 = 1)
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7.3 Function modules
Function diagrams (see SINAMICS S110 List Manual)
● 1550 Setpoint channel
● 2501 Control word sequence control
● 3020 Motorized potentiometer
Overview of important parameters (see SINAMICS S110 List Manual)
● p1030[D] Motorized potentiometer, configuration
● p1035[C] BI: Motorized potentiometer, setpoint, raise
● p1036[C] BI: Motorized potentiometer, setpoint, lower
● p1037[D] Motorized potentiometer, maximum speed
● p1038[D] Motorized potentiometer, minimum speed
● p1039[C] BI: Motorized potentiometer, inversion
● p1040[D] Motorized potentiometer, starting value
● p1041[C] BI: Motorized potentiometer, manual/automatic
● p1042[C] CI: Motorized potentiometer, automatic setpoint
● p1043[C] BI: Motorized potentiometer, accept setpoint
● p1044[C] CI: Motorized potentiometer, setting value
● r1045 CO: Motorized potentiometer, speed setpoint in front of the ramp-function
generator
● p1047[D] Motorized potentiometer, ramp-up time
● p1048[D] Motorized potentiometer, ramp-down time
● r1050 CO: Motorized potentiometer, setpoint after the ramp-function generator
● p1082[D] Maximum speed
Parameterization with STARTER
The "motorized potentiometer" parameter screen is activated in the project navigator under
the relevant drive by double-clicking Setpoint channel → Motorized potentiometer in the
STARTER commissioning tool.
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7.3 Function modules
7.3.7.6
Main/supplementary setpoint and setpoint modification
Description
The supplementary setpoint can be used to incorporate correction values from lower-level
controllers. This can be easily carried out using the addition point for the
main/supplementary setpoint in the setpoint channel. Both variables are imported
simultaneously via two separate or one setpoint source and added in the setpoint channel.
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Setpoint addition, setpoint scaling
Function diagrams (see SINAMICS S110 List Manual)
● 1550 Setpoint channel
● 3030 Main/supplementary setpoint, setpoint scaling, jog
Overview of important parameters (see SINAMICS S110 List Manual)
Adjustable parameters
● p1070[C] CI: Main setpoint
● p1071[C] CI: Main setpoint scaling
● p1075[C] CI: Supplementary setpoint
● p1076[C] CI: Supplementary setpoint scaling
Display parameters
r1073[C] CO: Main setpoint effective
r1077[C] CO: Supplementary setpoint effective
r1078[C] CO: Total setpoint effective
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7.3 Function modules
Parameterization with STARTER
The "speed setpoint" parameter screen is selected via the following icon in the toolbar of the
STARTER commissioning tool:
7.3.7.7
Direction limitation and setpoint inversion
Description
A reverse operation involves a direction reversal. Selecting setpoint inversion p1113[C] can
reverse the direction in the setpoint channel.
Parameter p1110[C] or p1111[C] can be set respectively to prevent input of a negative or
positive setpoint via the setpoint channel. However, the following settings for minimum speed
(p1080) in the setpoint channel are still operative. With the minimum speed, the motor can
turn in a negative direction, although p1110 = 1 is set.
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Direction of rotation limiting and direction of rotation changeover
Function diagrams (see SINAMICS S110 List Manual)
● 1550 Setpoint channel
● 3040 Direction limitation and direction reversal
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7.3 Function modules
Overview of important parameters (see SINAMICS S110 List Manual)
Adjustable parameters
● p1110[C] BI: Inhibit negative direction
● p1111[C] BI: Inhibit positive direction
● p1113[C] BI: Setpoint inversion
Parameterization with STARTER
The "speed setpoint" parameter screen is selected via the following icon in the toolbar of the
STARTER commissioning tool:
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7.3 Function modules
7.3.7.8
Suppression bandwidths and setpoint limits
Description
In the range 0 U/min to setpoint speed, a drive train (e.g. motor, coupling, shaft, machine)
can have one or more points of resonance, which can result in vibrations. The suppression
bandwidths can be used to prevent operation in the resonance frequency range.
The limit speeds can be set via p1080[D] and p1082[D]. These limits can also be changed
during operation with the connectors p1085[C] and p1088[C].
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Suppression bandwidths, setpoint limitation
Function diagrams (see SINAMICS S110 List Manual)
● 1550 Setpoint channel
● 3050 Suppression bandwidth and speed limiting
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7.3 Function modules
Overview of important parameters (see SINAMICS S110 List Manual)
Setpoint limitation
● p1080[D] Minimum speed
● p1082[D] Maximum speed
● p1083[D] CO: Speed limit in positive direction of rotation
● r1084 Speed limit positive effective
● p1085[C] CI: Speed limit in positive direction of rotation
● p1086[D] CO: Speed limit negative direction of rotation
● r1087 Speed limit negative effective
● p1088[C] DI: Speed limit negative direction of rotation
● r1119 Ramp-function generator setpoint at the input
Suppression bandwidths
● p1091[D] Suppression speed 1
● ...
● p1094[D] Suppression speed 4
● p1101[D] Suppression speed bandwidth
Parameterization with STARTER
The "speed limitation" parameter screen is selected by activating the following icon in toolbar
of the STARTER commissioning tool:
Figure 7-63
7.3.7.9
STARTER icon for "speed limitation"
Ramp-function generator
Description
The ramp-function generator is used to limit acceleration in the event of abrupt setpoint
changes, which helps prevent load surges throughout the drive train. The ramp-up time
p1120[D] and ramp-down time p1121[D] can be used to set mutually independent
acceleration and deceleration ramps. This allows a controlled transition to be made in the
event of setpoint changes.
The maximum speed p1082[D] is used as a reference value for calculating the ramps from
the ramp-up and ramp-down times. A special adjustable ramp can be set via p1135 for quick
stop (OFF3), e.g. for rapid controlled deceleration when an emergency OFF button is
pressed.
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7.3 Function modules
There are two types of ramp-function generator:
● Basic ramp-function generator with
– Acceleration and deceleration ramps
– Ramp for quick stop (OFF3)
– Tracking configurable via parameter p1145
– Setting values for the ramp-function generator
● The extended ramp-function generator also has
– Initial and final rounding off
Note
The ramp-function generator cannot be frozen (via p1141) in jog mode (r0046.31 = 1).
Properties of the basic ramp-function generator
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● RFG ramp-up time Tup p1120[D]
● RFG ramp-down time Tdn p1121[D]
● OFF3 deceleration ramp
– OFF3 ramp-down time p1135[D]
● Set ramp-function generator
– Ramp-function generator setting value p1144[C]
– Set ramp-function generator signal p1143[C]
● Freezing of the ramp-function generator using p1141 (not in jog mode r0046.31 = 0)
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Drive functions
7.3 Function modules
Properties of the extended ramp-function generator
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● RFG ramp-up time Tup p1120[D]
● RFG ramp-down time Tdn p1121[D]
● Initial rounding IR p1130[D]
● Final rounding FR p1131[D]
● Effective ramp-up time
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● Effective ramp-down time
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● OFF3 deceleration ramp
OFF3 ramp-down time p1135[D]
OFF3 initial rounding p1136[D]
OFF3 final rounding p1137[D]
● Set ramp-function generator
– Ramp-function generator setting value p1144[C]
– Set ramp-function generator signal p1143[C]
● Select ramp-function generator rounding type p1134[D]
– p1134 = "0": continuous smoothing rounding is always active. Overshoots may occur.
If the setpoint changes, final rounding is carried out and then the direction of the new
setpoint is adopted.
– p1134 = "1": non-continuous smoothing changes immediately to the direction of the
new setpoint when the setpoint is changed.
● Configure ramp-function generator, deactivate rounding at zero crossing p1151[D]
● Freezing of the ramp-function generator using p1141 (not in jog mode r0046.31 = 0)
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7.3 Function modules
Ramp-function generator tracking
If the drive is in the area of the torque limits, the actual speed value is removed from the
speed setpoint. The ramp-function generator tracking updates the speed setpoint in line with
the actual speed value and so levels the ramp. p1145 can be used to deactivate rampfunction generator tracking (p1145 = 0) or set the permissible following error (p1145 > 1). If
the permissible following error is reached, then the speed setpoint at the ramp-function
generator output will only be further increased in the same proportion as the actual speed
value.
Ramp-function generator tracking can be activated for the basic and the extended rampfunction generators.
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Without ramp-function generator tracking
● p1145 = 0
● Drive accelerates until t2 although setpoint < actual value
With ramp-function generator tracking
● At p1145 > 1 (values between 0 and 1 are not applicable), ramp-function generator
tracking is activated when the torque limit is approached. The ramp-function generator
output thereby only exceeds the actual speed value by a deviation value that can be
defined in p1145.
● t1 and t2 almost identical
Function diagrams (see SINAMICS S110 List Manual)
● 1550 Setpoint channel
● 3060 Basic ramp-function generator
● 3070 Extended ramp-function generator
● 3080 Ramp-function generator selection, status word, tracking
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7.3 Function modules
Signal overview (see SINAMICS S110 List Manual)
● Control signal STW1.2 OFF3
● Control signal STW1.4 Enable ramp-function generator
● Control signal STW1.5 Start/stop ramp-function generator
● Control signal STW1.6 Enable setpoint
● Control signal STW2.1 Bypass ramp-function generator
Parameterization with STARTER
The "ramp-function generator" parameter screen is selected via the following icon in the
toolbar of the STARTER commissioning tool:
Figure 7-67
STARTER icon for "ramp-function generator"
Overview of important parameters (see SINAMICS S110 List Manual)
Adjustable parameters
● p1115 Ramp-function generator selection
● p1120[D] Ramp-function generator ramp-up time
● p1121[D] Ramp-function generator ramp-down time
● p1122[C] BI: Bypass ramp-function generator
● p1130[D] Ramp-function generator initial rounding time
● p1131[D] Ramp-function generator final rounding time
● p1134[D] Ramp-function generator rounding type
● p1135[D] OFF3 ramp-down time
● p1136[D] OFF3 initial rounding time
● p1137[D] OFF3 final rounding time
● p1140[C] BI: Enable ramp-function generator
● p1141[C] BI: Start ramp-function generator
● p1143[C] BI: Ramp-function generator, accept setting value
● p1144[C] CI: Ramp-function generator setting value
● p1145[D] Ramp-function generator tracking
● p1148 [D] Ramp-function generator tolerance for ramp-up and ramp-down active
● p1151 [D] Ramp-function generator configuration
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7.3 Function modules
Display parameters
● r1119 CO: Ramp-function generator setpoint at the input
● p1149 Ramp-function generator acceleration
● r1150 CO: Ramp-function generator speed setpoint at the output
7.3.8
Free function blocks
7.3.8.1
Overview
Application, properties
A logic operation, which connects several states (e.g. access control, plant status) to a
control signal (e.g. ON command), is required for controlling the drive system in a wide
variety of applications.
Along with logic operations, a number of mathematical functions and storing elements are
becoming increasingly important in drive systems.
This functionality is only available as a "free function blocks" function module (FBLOCKS) on
the SERVO drive object type of SINAMICS S110.
In the free function blocks, analog signals are treated as dimensionless per unit variables
(see the "Connection to the drive" chapter).
Note
This additional functionality increases the calculation time load. This means that the
maximum possible configuration with a Control Unit may be restricted (see the "Calculation
time load" chapter).
Configuration and operation
The free function blocks are configured at the parameter level. The following parameters are
required for this:
● Input parameters (e.g. inputs I0 ... I3 for the AND function block).
● Output parameters (e.g. output Y for numeric change-over switch NSW).
● Adjustable parameters (e.g. pulse duration for pulse generator MFP).
● Runtime group (this includes the sampling time; the free function blocks are not
computed in the factory setting).
● Run sequence within the runtime group.
A parameter is assigned to each input, output, and adjustable variable. These can be
accessed with the STARTER commissioning software or via the BOP. The "free function
blocks" can all be interconnected at BICO level.
The "free function blocks" do not support data set dependency.
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Runtime group, sampling time, and run sequence
Runtime groups
Runtime groups are groups of free function blocks within the system that are computed in
the same sampling time and at a specific time.
A total of 10+1 "runtime groups" (runtime group 0 to 9 and runtime group 9999 (= runtime
group is not computed)) are available for which the sampling time can be set in specific
intervals.
Each function block is assigned one runtime group via a parameter. In the factory setting, the
value 9999 (i.e. the function block is not computed) is assigned to each function block.
Example:
For function block ADD 0 (see the SINAMICS S110 List Manual, function diagram 7220), the
runtime group is set in p20096.
The runtime groups are divided into one "fixed runtime group" and several "free runtime
groups".
● The "fixed runtime group" is called at a defined point in the system runtime. The sole fixed
runtime group (p20000[x] = 9003) is arranged before the setpoint channel and calculated
in the sampling time of the setpoint channel (4 ms). This set value is only available for the
SERVO drive object type.
● The "free runtime groups" are only defined via their sampling time.
Note
If the same sampling time is assigned to two or more runtime groups (the same fixed or
free runtime group), the runtime groups are processed in numerical order.
Example
p20000[0] = p20000[3] = p20000[9] = 9003
The computing sequence is:
runtime group 0 first, then runtime group 3, then runtime group 9, and then the setpoint
channel.
The minimum sampling time is 1 ms.
The actual sampling time in ms is displayed for each runtime group in parameter
r20001[0...9].
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In the factory setting, none of the runtime groups is called (p20000[x] = 0).
Note
The assignment of a runtime group can only be changed if closed loop control is disabled.
When changing, the runtime group involved is first logged off from the sampling time
management and then logged on again with the new assignment. The runtime group is not
calculated during this operation.
Logon and logoff are performed in a background process of the drive unit. This is the reason
that duration is not defined and depends on the actual calculation time load. This influences
the output signal characteristic in the case of time-dependent blocks (e.g. DIF derivative
action element). Prior to the first computation cycle after logging back on, internal status
variables of the blocks are partially reset.
For both of these reasons, this can result in jumps in the output signal of blocks, which for
example can influence the torque/force setpoint and, for axes in operation, the torque/force
actual value as well. Logic signals can also assume an unexpected state at this instant.
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Sampling times
Two types of sampling times are available for runtime groups:
● Sampling times generated in the hardware:
Every integer multiple of the basic sampling time (r20002) can be generated as a
sampling time in p20000[0...9] in the range from 1 x r20002 to 256 x r20002, subject to
the following limits:
– Min. sampling time = 1 ms
– Max. sampling time = r20003
Sampling times of 1 ms ... r20003 - r20002 are generated in the hardware from these.
Note
As regards offline configuration using STARTER commissioning software, values 0 ...
256 can be entered in p20000[x], even if this violates the limits stated above for the
hardware sampling times from 1 ms ... r20003 - r20002 and r20003.
This will only be detected after the Control Unit has been downloaded and generates fault
F01042 (parameter error during project download).
The basic sampling time for the SERVO drive object type in SINAMICS S110 is as
follows:
r20002 = 0.25 ms (current controller sampling time)
● Sampling times generated in the software:
These sampling times are generated as integer multiples of the basic value for software
sampling times and must be read in parameter r20003 when the "free function blocks"
function module is active.
For the possible set values for the software sampling times, refer to the parameter
description for p20000 (see SINAMICS S110 List Manual).
Note
When p20000[k] = 0, the corresponding runtime group (and, in turn, all the associated
function blocks) is not computed.
The sampling time of runtime group k is displayed in r20001[k] in ms.
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Example for the adjustable sampling times in SINAMICS S110:
The basic sampling time (r20002) on the SERVO drive object is 250 µs, which means that
the following sampling times are possible:
● Hardware sampling times:
p20000[x] = 0 (runtime group not computed)
p20000[x] = 1 x 250 µs = 250 µs (not permitted because less than 1 ms)
p20000[x] = 2 x 250 µs = 500 µs (not permitted because less than 1 ms)
p20000[x] = 3 x 250 µs = 750 µs (not permitted because less than 1 ms)
p20000[x] = 4 x 250 µs = 1000 µs
p20000[x] = 5 x 250 µs = 1250 µs
...
p20000[x] = 31 x 250 µs = 7750 µs (longest hardware sampling time)
p20000[x] = 32 x 250 µs = 8000 µs (can be selected as a multiple of r20002 - but is a
software sampling time)
p20000[x] = 33 x 250 µs = 8250 µs (rejected because greater than r20003!)
The settings below are no longer possible because the sampling times would exceed 8
ms.
The basic value of the software sampling time is: r20003 = 8 ms.
● Software sampling times:
p20000[x] = 1001: Sampling time = 1 x 8 ms = 8 ms
p20000[x] = 1002: Sampling time = 2 x 8 ms = 16 ms
p20000[x] = 1003: Sampling time = 3 x 8 ms = 24 ms
p20000[x] = 1004: Sampling time = 4 x 8 ms = 32 ms
p20000[x] = 1005: Sampling time = 5 x 8 ms = 40 ms
p20000[x] = 1006: Sampling time = 6 x 8 ms = 48 ms
p20000[x] = 1008: Sampling time = 8 x 8 ms = 64 ms
p20000[x] = 1010: Sampling time = 10 x 8 ms = 80 ms
p20000[x] = 1012: Sampling time = 12 x 8 ms = 96 ms
p20000[x] = 1016: Sampling time = 16 x 8 ms = 128 ms
p20000[x] = 1020: Sampling time = 20 x 8 ms = 160 ms
p20000[x] = 1024: Sampling time = 24 x 8 ms = 192 ms
p20000[x] = 1032: Sampling time = 32 x 8 ms = 256 ms
p20000[x] = 1040: Sampling time = 40 x 8 ms = 320 ms
p20000[x] = 1048: Sampling time = 48 x 8 ms = 384 ms
p20000[x] = 1064: Sampling time = 64 x 8 ms = 512 ms
p20000[x] = 1096: Sampling time = 96 x 8 ms = 768 ms
Note
The missing intermediate values are not permitted by the system.
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Run sequence
In the factory setting, each free function block is assigned a default setting for the run
sequence. The run sequence of consecutive free function blocks within a runtime group can
be optimized by changing these values accordingly.
A run sequence value can be used on a drive object once only. If the same run sequence
value is assigned twice in online mode for a drive object, the second value is rejected and
the first value retained.
The run sequence can be set to between 0 and 32000. A function block with a lower run
sequence value is computed within a runtime group before one with a higher value.
Note
If configuration is carried out OFFLINE, you can set each run sequence value at the outset
(e.g. a value can also be assigned to more than one function block simultaneously). The
system does not check this until the configuration has been downloaded to the Control Unit.
Once downloaded, the parameter values are checked in the order of the parameter
numbers. If the system detects that the run sequence value for one function block is already
being used by a different function block, the value is not applied and fault F01042 (message
in STARTER: Error occurred when downloading) is output. You are informed of this in the
"Target system output" window.
Note
In the factory setting, value range 10 ... 750 is already assigned the run sequence values of
the function blocks.
In user configurations, for example, the only run sequence values outside this range which
should be used are those above 1000. This will avoid conflicts during the download process
with the run sequence values that have already been assigned.
If at all possible, the process signals for a drive object should only be processed by the
function blocks on this drive object.
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Range of blocks
The table below shows the range of free function blocks available. For details of individual
function blocks, see the "Description of function blocks" chapter. For information on the
special technical properties of the individual function blocks, see the function diagrams in the
SINAMICS S110 List Manual.
Table 7- 29
Short name
Range of "free function blocks"
Name of function block
Data type
Number per drive
object
AND
AND function block
BOOL
4
OR
OR function block
BOOL
4
XOR
XOR function block
BOOL
4
NOT
Inverter
BOOL
4
ADD
Adder
REAL
2
SUB
Subtracter
REAL
2
MUL
Multiplier
REAL
2
DIV
Divider
REAL
2
AVA
Absolute value generator with sign evaluation
REAL
2
MFP
Pulse generator
BOOL
2
PCL
Pulse shortener
BOOL
2
PDE
ON delay
BOOL
2
PDF
OFF delay
BOOL
2
PST
Pulse stretcher
BOOL
2
RSR
RS flip-flop, reset dominant
BOOL
2
DFR
D flip-flop, reset dominant
BOOL
2
BSW
Binary change-over switch
BOOL
2
NSW
Numeric change-over switch
REAL
2
LIM
Limiter
REAL
2
PT1
Smoothing element
REAL
2
INT
Integrator
REAL
1
DIF
Derivative-action element
REAL
1
LVM
Double-sided limit monitor with hysteresis
BOOL
2
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Connection to the drive
Connector inputs (CI) and connector outputs (CO) on the free function blocks (p20094 ...
p20286) have the properties of per unit variables. This means that calculations in the free
function blocks are only carried out with per unit signal values (1.0 = 100%). Conversion to
the connectors of the drive with units is performed automatically.
Note
The following manual contains function diagrams for "free function blocks" and all the
product-dependent function diagrams available for SINAMICS S110 (e.g. function diagram
3010): SINAMICS S110 List Manual, "Function diagrams" chapter.
Example 1: Interconnecting the input value
The actual fixed speed setpoint (CO: r1024, function diagram 3010) is to be read to the free
function block ADD 0 (function diagram 7220) for further processing.
p20094[0] is set to 1024 for this purpose.
Function block ADD 0 is to be called cyclically and is, therefore, assigned to runtime group 9.
It is also to be called with the sampling time 2 x r20003. The runtime group number is
chosen here at random.
p20096 is set to 9 and p20000[9] is set to 1002.
Fixed speed setpoint effective
r1024
x1
x2
x1
x2
ADD 0 Input X
0
p20094[ 0]
1024
ADD 0 Input X
1
p20094[ 1]
Reference speed
p2000
X1
(0)
ADD 0 Input X
p20094[ 2]
2
+
Y
ADD 0 Output Y
r20095
X2
(0)
ADD 0 Input X
p20094[ 3]
3
(0)
Figure 7-68
X0
X3
Example 1: Interconnecting the input value
Input signal r1024 with the unit rpm is referred to its reference variable p2000.
Assumption:
● r1024 = 1500 rpm
● p2000 = 3000 rpm reference speed
Result:
● r20095 = 0.5
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Example 2: Interconnecting the output value
The per unit output value of the free function block LIM 0 (function diagram 7260) is to be
switched in as additional torque M_additional 2 (function diagram 5060) in SERVO control
mode.
p1513[0] is set to 20231 for this purpose.
Function block LIM 0 is to be called cyclically and is, therefore, assigned to runtime group 8.
p20234 is set to 8.
The runtime group number is chosen here at random.
The sampling time for calling LIM 0 is to be 1 ms.
p20000[8] is set to 4 (= 4 x r20002 = 4 x 250 µs = 1 ms)
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/8
48
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Figure 7-69
Example 2: Interconnecting the output value
Due to the interconnection of p1513 (additional torque 2) to r20231, the per unit output signal
Y of the function block is multiplied internally with the reference torque p2003 and interpreted
as additional torque with units.
Assumption:
● Basic sampling time: r20002 = 0.25 ms
● r20231 = 0.3333
● p2003 = 300 Nm reference torque
● p1511[0] = 0 (additional torque 1 = "0")
● p1513[0] = 20231
Result:
● r1515 = 100.0 Nm (for CDS0)
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Example 3: Interconnecting the PROFIBUS receive word (WORD)
The PZD receive word 2 (CO: r2050[1], function diagram 2460) is to be interconnected with
the free function block ADD 0 (function diagram 7220).
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3='5HFHLYHZRUG U>@
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Figure 7-70
[
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;
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Example 3: Interconnecting the PROFIBUS receive word (WORD)
The PROFIBUS process data of data type WORD (16 bits) has the reference variable 4000
hex. At the inputs of the free function blocks, this reference variable is equivalent to 1.0.
Assumption:
● p20096 = 0
Assign function block ADD 0 to runtime group 0.
● p20000[0] = 1002
Call runtime group 0 with the sampling time 2 x r20003. The runtime group number zero
was chosen at random.
● PROFIBUS receive word 2: r2050[1] = 6000 hex
Result:
● r20095 = (6000 hex/4000 hex) x 1.0 = 1.5
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Example 4: Interconnecting the PROFIBUS send word (DWORD)
The output of the free function block LIM 1 (CO: r20234, function diagram 7260) is to be
interconnected with a PZD send word (function diagram 2470) of data type DWORD.
The input of the free function block LIM 1 is supplied with a fixed speed setpoint (p1002,
function diagram 3010).
LIM 1 Runtime group
p20242 = 0
LIM 1 Upper limit value LU
p20237 = 2.0
Fixed speed setpoint 2
p1002 [D] = 5400 .0 [ 1/min ]
p1002[ D]
LIM 1 Input X
p20236
(0)
LU
QU
X
Y
LL
QL
LIM 1 Lower limit value LL
p 20238 = -2.0
LIM 1 Run sequence
p20243 (650 )
r2063 [1]
x1
x2
LIM 1 Output Y
r20239
x1 * x 2
DW O RD
p2061[ 1]
20239
PZD -Send word 1
PZD -Send word 2
PZD -Send word 3
4000 0000 hex
Figure 7-71
PZD -Send word 4
Example 4: Interconnecting the PROFIBUS send word (DWORD)
The PROFIBUS process data of data type DWORD (32 bits) has the reference variable
4000 0000 hex. At the outputs of the free function blocks, this reference variable is
equivalent to 1.0. Parameter r2063 is only updated when cyclic data exchange actually takes
place on PROFIBUS.
Assumption:
● p20000[0] = 1002
Call runtime group 0 with the sampling time 2 x r20003. The runtime group number zero
was chosen at random.
● p1002 = 5400 rpm
● p2000 = 3000 rpm
Result:
● Output value of LIM 1: r20239 = 5400 rpm/3000 rpm = 1.8
● r2063[1] = X1 x X2 = 1.8 x 4000 0000 hex = 7333 3333 hex
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7.3.8.2
Commissioning
Activating the "free function blocks" function module
STARTER commissioning software
Activation with the STARTER commissioning software is only possible offline and is
performed via the "Properties" dialog box for the drive objects. The "free function blocks" can
be selected on the "Function modules" tab.
Open the relevant project with STARTER and left-click the plus sign in the project navigator
once to open the sub-elements.
Right-click once to display the shortcut menu for the selected drive object. In each case, leftclick once to select "Properties" and "Function modules". Scroll to "Free function blocks".
Select this function module (set the checkbox) and confirm with "OK". The properties dialog
is then closed automatically.
In its factory setting, the "Free function blocks" checkbox is not selected. If you select the
checkbox and confirm with "OK", the "free function blocks" function module is activated once
the project has been downloaded.
Activating the individual function blocks
Each individual function block is assigned to a runtime group via two parameters:
● The first parameter defines the runtime group.
● The second parameter defines the run sequence within the runtime group.
Within a runtime group, a function block with a lower value for the run sequence is computed
before a function block with a higher value.
Note
In the factory setting, each function block is assigned to runtime group 9999. This means
that the function block is not computed.
You also have to ensure that runtime group x is called cyclically. This can be done by setting
parameter p20000[x] to a value > 0.
Example:
On the "SERVO" drive object type, the basic software sampling time r20003 is 8 ms.
Runtime group 0 is to be called every 16 ms.
This means:
Set p20000[0] = 1002 (sampling time 2 x r20003).
Check via r20001[0] = 16.0 ms (sampling time of runtime group 0).
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Calculation time load for firmware version 4.1
Processing of free function blocks requires calculation time. If calculation time is becoming
short, you will need to check whether all the activated function modules are required and
whether all the function blocks used need to be calculated within the same sampling time.
The calculation time load can be reduced by either deactivating function modules or
assigning used function blocks to a runtime group with a longer sampling time.
Dependency
The resulting calculation time load depends on the following:
● Number of activated runtime groups (p20000[x] > 0)
● Number of calculated function blocks
● Sampling time
Calculation time online
The calculation time load shown in r9976[0...7] does not include the additional load caused
by the free function blocks.
Note
For the basic SINAMICS system as of firmware version 4.1, the following applies:
As of this version, the process of determining the calculation time load is different. For this
reason, r9976[0...7] no longer contains the calculation time load generated by the "free
function blocks".
Calculation time offline
When the system is in offline mode, SIZER offers an approximate statement regarding
whether a configuration can be computed on SINAMICS S110. The additional calculation
time load is not taken into account when the "free function blocks" function module is
activated.
Calculation time load for firmware version 4.3 and higher
For firmware version 4.3 and higher, after a download or a parameter change (e.g. where the
sampling time of a runtime group is changed) using the configuration data, the Control Unit
(CU) determines the calculation time load to be expected (including the load associated with
FBLOCKS). This value is displayed in r9976 (system utilization) for the system as a whole.
If the calculated average calculation time load for the system as a whole r9976[1] or the
maximum utilization (including the interruption as a result of time slices with a shorter
sampling time) in a sampling time r9976[5] exceeds 100.00%, this generates fault F01054
(CU: System limit exceeded) to be output with fault reaction OFF2.
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The utilization is calculated on the Control Unit, i.e. the utilization values are displayed in
STARTER/SCOUT in online mode only.
The resulting calculation time load caused by FBLOCKS depends on the following:
● Number of calculated runtime groups
● Sampling time of the runtime groups
● Number of calculated blocks
● Calculated block types
The proportion of the calculation time load associated with FBLOCKS is displayed in
r20005[0…9] for runtime groups 0 to 9 (as of firmware version 4.3). Note that the calculation
time load for a runtime group k can only be calculated if this has been logged on for cyclic
processing (p20000[k-1] ≠ 0).
For firmware version 4.3 and higher, and unlike with version 4.1, if a parameter is changed
(in the STARTER online mode) that has an influence on the calculation time load (e.g.
changes the sampling time of a runtime group in FBLOCKS), the drive unit immediately
recalculates r9976 (and r20005). For parameters which can only be changed in the device
states C1 (commissioning device) or C2 (commissioning drive object), i.e. only when
STARTER/SCOUT is in the offline mode, r9976 is only updated after the project has been
downloaded and the Control Unit has powered up.
For firmware version 4.3, the calculation time load displayed in r9976 can be up to 100.00%
without triggering a fault.
Number of possible hardware sampling times
The sampling times for the runtime groups can be selected in p20000[x] as a multiple of
r20002 (basic sampling time of hardware time slices), a multiple of r20003 (basic sampling
time of software time slices), or on the basis of the sampling time of a basic SINAMICS
system function (e.g. when p20000[x] = 9003 == "before setpoint channel" from the sampling
time of the setpoint channel).
Only sampling times to which the following applies can be set as hardware sampling times:
1 ms ≤ T_sampling ≤ r20003 - r20002 in p20000[x]
Sampling time r20003 is always a software sampling time regardless of whether it is set as
p20000[x] = 1001 (== 1 x r20003) or as a multiple of r20002 (p20000[x] ≤ 256).
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Hardware sampling times, number, and assignment
During configuration, note that the number of hardware sampling times (1 ms ≤ time period
T_sampling < r20003 - r20002) used by the basic SINAMICS system and "free function
blocks" is restricted as follows:
● SINAMICS S110 → no. of hardware sampling times = 11
The assignment of the available hardware sampling times is displayed in r20008[0...12] as
follows (STARTER/SCOUT: in online mode only):
● Value = 0.0 → sampling time not assigned
● Value ≠ 0.0 (not equal to 0.0) → sampling time in ms
● Value = 9999900.00000 → sampling time not supported
Note
Note that a long-term trace registers a sampling time of 2 ms and the trace registers
sampling times in accordance with the selected trace clock cycle. If these sampling times
have not already been registered by the basic SINAMICS system or "free function blocks"
(FBLOCKS), these functions require additional free hardware sampling times.
The registered hardware sampling times can be read (if the FBLOCKS are activated) in
r20008[0...12]. The current number of free hardware sampling times can be read in
r7903.
Hardware sampling times, usage
A sampling time can be used simultaneously by more than one runtime group of "free
function blocks" and the basic SINAMICS system.
For this reason, the runtime groups should ideally be registered to existing sampling times or
- if it makes more sense due to the function - the fixed runtime group "Calculate before
setpoint channel" should be used.
For internal purposes, the drive unit always requires at least two free hardware sampling
times, This is why the current number of free hardware sampling times can be read in r7903.
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Project download, fault message, and procedure
If too many different hardware sampling times are configured offline, a fault message is not
output until the project is downloaded.
In this case, proceed as follows:
1. When the project is in offline mode, switch the free runtime groups assigned hardware
sampling times to software sampling times.
– Hardware sampling times (p20000 < 256)
– Software sampling times (p20000 ≥ 1001)
The assignment of fixed runtime groups (p20000 = 9003) does not need to be
changed because the fixed runtime group uses the same sampling time as the
assigned basic SINAMICS system function.
2. Download the project again.
3. Once the project has been downloaded and the Control Unit has booted, check:
– r7903: Number of hardware sampling times still available
– r20008: Number of hardware sampling times already registered by the basic
SINAMICS system
4. Adapt the parameterization of the runtime groups accordingly.
Note
The number of different hardware sampling times possible on a Control Unit is restricted.
For this reason, preference should be given to software sampling times (multiple of
r20003) or, where applicable, the fixed runtime group "Calculate before setpoint channel"
(p20000[0...9] = 9003).
7.3.8.3
AND
Brief description
BOOL-type AND function block with four inputs
Mode of operation
This function block links the binary variables at inputs I to a logical AND and outputs the
result to its digital output Q.
Output Q = 1 when the value 1 is present at every input from I0 to I3. In all other cases,
output Q = 0.
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7.3.8.4
OR
Brief description
BOOL-type OR function block with four inputs
Mode of operation
This function block links the binary variables at inputs I to a logic OR (disjunction) and
outputs the result to its digital output Q.
Q = I0 v I1 v I2 v I3
Output Q = 0 when the value 0 is present at every input from I0 to I3. In all other cases,
output Q = 1.
7.3.8.5
XOR (exclusive OR)
Brief description
BOOL-type XOR function block with four inputs
Mode of operation
This function block links the binary variables at the inputs I according to the exclusive OR
logic function and outputs the result to its digital output Q.
Output Q = 0 when the value 0 is present at every input from I0 to I3 or when the value 1 is
present at an even number of inputs from I0 to I3.
Output Q = 1 when the value 1 is present at an odd number of inputs from I0 to I3.
7.3.8.6
NOT (inverter)
Brief description
BOOL-type inverter
Mode of operation
This function block inverts the binary variables at input I and outputs the result to output Q.
Output Q = 1 when the value 0 is present at input I.
Output Q = 0 when the value 1 is present at input I.
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7.3.8.7
ADD (adder)
Brief description
REAL-type adder with four inputs
Mode of operation
This function block adds (in accordance with the sign) the values entered at inputs X0 to X3.
The result is limited to a range of -3.4E38 to +3.4E38 and output at output Y.
Y = X0 + X1 + X2 +X3
7.3.8.8
SUB (subtracter)
Brief description
REAL-type subtracter with two inputs
Mode of operation
This function block subtracts (in accordance with the sign) the value entered at input X1 from
the value entered at input X0.
The result is limited to a range of -3.4E38 to +3.4E38 and output at output Y.
Y = X0 – X1
7.3.8.9
MUL (multiplier)
Brief description
REAL-type multiplier with four inputs
Mode of operation
This function block multiplies (in accordance with the sign) the values entered at inputs X0 to
X3.
The result is limited to a range of -3.4E38 to +3.4E38 and output at output Y.
Y = X0 · X1 · X2 · X3
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7.3 Function modules
7.3.8.10
DIV (divider)
Brief description
REAL-type divider with two inputs
Mode of operation
This function block divides the value entered at input X0 by the value entered at input X1. The
result is output at the outputs as follows:
● Y output: Quotient with places before and after the decimal point
● YIN output: Integer quotient
● MOD output: Division remainder (absolute remainder value, MOD = (Y - YIN) × X0)
The Y output is limited to a range of approx. -3.4E38 to +3.4E38.
If output value Y exceeds the permissible value range of approx. -3.4E38 to 3.4E38
(because divisor X1 is very small or zero), the limit value of the output range with the correct
sign is output at the Y output. At the same time, digital output QF is set to 1.
With a division of 0/0, block output Y remains unchanged. Digital output QF is set to 1.
7.3.8.11
AVA (absolute value generator with sign evaluation)
Brief description
REAL-type arithmetic function block for generating absolute values
Mode of operation
This function block generates the absolute value of the value present at input X. The result is
output at output Y.
Y = |X|
If the input variable is negative, digital output SN is set to 1.
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7.3.8.12
MFP (pulse generator)
Brief description
● Timer for generating a pulse with a fixed duration
● Used as a pulse-contracting or pulse-stretching monoflop
Mode of operation
The rising edge of a pulse at input I sets output Q to 1 for pulse duration T. The pulse
generator cannot be retriggered.
Time flow chart
Output pulse Q as a function of pulse duration T and input pulse I.
I
Q
1
0
T
T
1
0
Figure 7-72
7.3.8.13
T
MFP (pulse generator): Time flow chart
PCL (pulse shortener)
Brief description
Timer for limiting the pulse duration
Mode of operation
The rising edge of a pulse at input I sets output Q to 1.
Output Q becomes 0 when input I is 0 or pulse duration T has expired.
Time flow chart
Output pulse Q as a function of pulse duration T and input pulse I.
I
Q
1
0
T
T
1
0
Figure 7-73
PCL (pulse shortener): Time flow chart
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7.3.8.14
PDE (ON delay)
Brief description
BOOL-type timer with ON delay
Mode of operation
The rising edge of a pulse at input I sets output Q to 1 after pulse delay time T.
Output Q become 0 when I is 0.
If the duration of input pulse I is less than pulse delay time T, Q remains 0.
If time T is so long that the maximum value that can be displayed internally (T/ta as 32 bit
value, where ta = sampling time) is exceeded, the maximum value is set (e.g. when ta = 1
ms, approx. 50 days).
Time flow chart
Output pulse Q as a function of pulse duration T and input pulse I.
I
Q
1
0
T
T
T
1
0
Figure 7-74
PDE (ON delay): Time flow chart
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7.3.8.15
PDF (OFF delay)
Brief description
Timer with OFF delay
Mode of operation
The falling edge of a pulse at input I resets output Q to 0 after OFF delay time T.
Output Q becomes 1 when I is 1.
Output Q becomes 0 when input pulse I is 0 and OFF delay time T has expired.
If input I is reset to 1 before time T has expired, output Q remains 1.
Time flow chart
Output pulse Q as a function of pulse duration T and input pulse I.
I
Q
1
0
T
T
T
1
0
Figure 7-75
PDF (OFF delay): Time flow chart
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7.3 Function modules
7.3.8.16
PST (pulse stretcher)
Brief description
Timer for generating a pulse with a minimum duration and an additional reset input
Mode of operation
The rising edge of a pulse at input I sets output Q to 1.
Output Q does not return to 1 until input pulse I is 0 and pulse duration T has expired.
Output Q can be set to zero at any time via reset input R with R = 1.
Time flow chart
Output pulse Q as a function of pulse duration T and input pulse I (when R = 0).
I
Q
1
0
T
T
T
1
0
Figure 7-76
PST (pulse stretcher): Time flow chart
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7.3.8.17
RSR (RS flip-flop, reset dominant)
Brief description
Reset dominant RS flip-flop for use as a static binary value memory
Mode of operation
With logical 1 at input S, output Q is set to logical 1.
If input R is set to logical 1, output Q is set to logical 0.
If both inputs are logical 0, Q does not change.
If both inputs are logical 1, however, Q is logical 0 because the reset input dominates.
Output QN always has the opposite value to Q.
7.3.8.18
DFR (D flip-flop, reset dominant)
Brief description
BOOL-type function block for use as a D flip-flop with reset dominance
Mode of operation
If inputs S and R are logical 0, the D input data is switched through to output Q when a rising
edge is present at trigger input I.
Output QN always has the opposite value to Q. With logical 1 at input S, output Q is set to
logical 1.
If input R is set to logical 1, output Q is set to logical 0. If both inputs are logical 0, Q does
not change.
If inputs S and R are logical 1, however, Q is logical 0 because the reset input dominates.
Time flow chart
Output pulse Q as a function of the D input and input pulse I for S = R = 0.
1
0
1
D
0
1
Q
0
1
QN
0
I
Figure 7-77
DFR (D flip-flop, reset dominant): Time flow chart
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7.3.8.19
BSW (binary change-over switch)
Brief description
This function block switches one of two binary input variables (BOOL type) to the output.
Mode of operation
If input I = 0, I0 is switched to output Q.
If input I = 1, I1 is switched to output Q.
7.3.8.20
NSW (numeric change-over switch)
Brief description
This function block switches one of two numeric input variables (REAL type) to the output.
Mode of operation
If input I = 0, X0 is switched to output Y.
If input I = 1, X1 is switched to output Y.
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7.3.8.21
LIM (limiter)
Brief description
● Function block for limiting
● Adjustable upper and lower limit
● Indication when set limits are reached
Mode of operation
This function block transfers input variable X to its output Y. The input variable is limited
depending on LU and LL.
If the input variable reaches the upper limit LU, output QU is set to 1.
If the input variable reaches the lower limit LL, output QL is set to 1.
If the lower limit is greater than or equal to the upper limit, output Y is set to the upper limit
LU.
Algorithm:
<
^
/8IRU;ุ/8
;IRU//;/8
//IRU;ื//
Constraint: LL < LU
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7.3.8.22
PT1 (smoothing element)
Brief description
● First-order delay element with setting function
● Used as smoothing element
Mode of operation
Setting function not active (S = 0)
Input variable X, dynamically delayed by smoothing time constant T, is switched to output Y.
T determines the steepness of the rise of the output variable. It specifies the time at which
the transfer function has risen to 63% of its full-scale value.
When t = 3T, the transfer function reaches approximately 95% of its full-scale value.
The internally fixed proportional gain is 1 and cannot be changed.
If T/TA is sufficiently large (T/TA > 10), the transfer function has the following characteristic:
Y (t) = X · (1 - e-t/T)
Constraint: t = n · TA
The discrete values are calculated according to the following algorithm:
Yn = Yn-1 + (TA/T) (Xn - Yn-1)
Yn
Value of Y in sampling time n
Yn-1
Value of Y in sampling time n-1
Xn
Value of X in sampling time n
Setting function active (S = 1)
When the setting function is active, the current setting value SVn is accepted at the output
variable:
Yn = SVn
Note
The larger T/TA is, the smaller the amplitude change at Y from one sampling time to the
next. TA is the configured sampling time of the function block.
T is limited internally: T ≥ TA
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7.3.8.23
INT (integrator)
Brief description
● Function block with integrating action
● Integrator functions:
– Set initial value.
– Adjustable integral time constant
– Adjustable limits
– For normal integrator operation, a positive limit value must be specified for LU and a
negative limit value for LL.
Mode of operation
The change in output variable Y is proportional to input variable X and inversely proportional
to the integral time constant TI.
Output Y of the integrator can be limited via the inputs LU and LL. If the output reaches one
of the two limits, a signal is sent via the outputs QU or QL. If LL ≥ LU, then output Y = LU.
The discrete values (TA is the configured sampling time of the function block) are calculated
according to the following algorithm:
Yn = Yn-1 + (TA/TI) Xn
Yn
Value of Y in sampling time n
Yn-1
Value of Y in sampling time n-1
Xn
Value of X in sampling time n
When S = 1, the output variable Y is set to the setting value SV. Two functions can be
performed via S:
● Track integrator (Y = SV)
The digital input is S = 1 and the setting value SV is changed. If applicable, the output
makes a jump to the setting value immediately after the setting operation.
● Set integrator to initial value SV.
S is switched to 1. S is then set to 0, and the integrator starts from SV in the direction
specified by the polarity of input variable X.
Note
TI is limited internally: TI = TA
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7.3 Function modules
7.3.8.24
DIF (derivative action element)
Brief description
Function block with derivative action behavior
Mode of operation
Output variable Y is proportional to the rate of change of input variable X multiplied by
derivative time constant TD.
The discrete values are calculated according to the following algorithm:
Yn = (Xn – Xn-1) · TD/TA
Yn
Value of Y in sampling time n
Xn
Value of Y in sampling time n-1
X n-1
Value of X in sampling time n
Note
The bigger TD/TA, the bigger the amplitude change on Y from one sampling time to the next.
TA is the configured sampling time of the function block.
TD is limited internally to TD ≥ 0.
Caution: Overcontrol possible!
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7.3 Function modules
7.3.8.25
LVM (double-sided limit monitor with hysteresis)
Brief description
● This BOOL-type function block monitors an input variable by comparing it with selectable
reference variables.
● Application:
– Monitoring setpoints, actual, and measured values
– Suppressing frequent switching (jitter)
● This function block provides a window discriminator function.
Mode of operation
This function block uses a transfer characteristic (see transfer characteristic) with hysteresis
to calculate an internal intermediate value.
The intermediate value is compared with the interval limits and the result is output at outputs
QU, QM, and QL.
The transfer characteristic is configured with the values for the mean value M, the interval
limit L, and the hysteresis HY.
Transfer characteristic
1
QU
0
1
QM
0
1
QL
0
M
M -L
M +L
HY
HY
L
Figure 7-78
L
LVM (double-sided limit monitor with hysteresis): Transfer characteristic
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8.1
Standards and regulations
8.1.1
General information
8.1.1.1
Aims
8
Manufacturers and operating companies of equipment, machines, and products are
responsible for ensuring the required level of safety. This means that plants, machines, and
other equipment must be designed to be as safe as possible in accordance with the current
state of the art. To ensure this, companies describe in the various standards the current
state of the art covering all aspects relevant to safety. When the relevant Standards are
observed, this ensures that state-of-the-art technology has been utilized and, in turn, the
erector/builder of a plant or a manufacturer of a machine or a piece of equipment has fulfilled
his appropriate responsibility.
Safety systems are designed to minimize potential hazards for both people and the
environment by means of suitable technical equipment, without restricting industrial
production and the use of machines more than is necessary. The protection of man and
environment must be assigned equal importance in all countries, which is it is important that
rules and regulations that have been internationally harmonized are applied. This is also
designed to avoid distortions in the competition due to different safety requirements in
different countries.
There are different concepts and requirements in the various regions and countries of the
world when it comes to ensuring the appropriate degree of safety. The legislation and the
requirements of how and when proof is to be given and whether there is an adequate level of
safety are just as different as the assignment of responsibilities.
The most important thing for manufacturers of machines and companies that set up plants
and systems is that the legislation and regulations in the country where the machine or plant
is being operated apply. For example, the control system for a machine that is to be used in
the US must fulfill local US requirements even if the machine manufacturer (OEM) is based
in the European Economic Area (EEA).
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8.1 Standards and regulations
8.1.1.2
Functional safety
Safety, from the perspective of the object to be protected, cannot be split-up. The causes of
hazards and, in turn, the technical measures to avoid them can vary significantly. This is why
a differentiation is made between different types of safety (e.g. by specifying the cause of
possible hazards). "Functional safety" is involved if safety depends on the correct function.
To ensure the functional safety of a machine or plant, the safety-related parts of the
protection and control devices must function correctly. In addition, the systems must behave
in such a way that either the plant remains in a safe state or it is brought into a safe state if a
fault occurs. In this case, it is necessary to use specially qualified technology that fulfills the
requirements described in the associated Standards. The requirements to achieve functional
safety are based on the following basic goals:
● Avoiding systematic faults
● Controlling systematic faults
● Controlling random faults or failures
Benchmarks for establishing whether or not a sufficient level of functional safety has been
achieved include the probability of hazardous failures, the fault tolerance, and the quality that
is to be ensured by minimizing systematic faults. This is expressed in the Standards using
different terms. In IEC/EN 61508, IEC/EN 62061, IEC/EN 61800-5-2 "Safety Integrity Level"
(SIL) and EN ISO 13849-1 "Categories" and "Performance Level" (PL).
8.1.2
Safety of machinery in Europe
The EU Directives that apply to the implementation of products are based on Article 95 of the
EU contract, which regulates the free exchange of goods. These are based on a new global
concept ("new approach", "global approach"):
● EU Directives only specify general safety goals and define basic safety requirements.
● Technical details can be defined by means of standards by Standards Associations that
have the appropriate mandate from the commission of the European Parliament and
Council (CEN, CENELEC). These standards are harmonized in line with a specific
directive and listed in the official journal of the commission of the European Parliament
and Council. Legislation does not specify that certain standards have to be observed.
When the harmonized Standards are observed, it can be assumed that the safety
requirements and specifications of the Directives involved have been fulfilled.
● EU Directives specify that the Member States must mutually recognize domestic
regulations.
The EU Directives are equal. This means that if several Directives apply for a specific piece
of equipment or device, the requirements of all of the relevant Directives apply (e.g. for a
machine with electrical equipment, the Machinery Directive and the Low-Voltage Directive
apply).
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8.1 Standards and regulations
8.1.2.1
Machinery Directive
The basic safety and health requirements specified in Annex I of the Directive must be
fulfilled for the safety of machines.
The protective goals must be implemented responsibly to ensure compliance with the
Directive.
Manufacturers of a machine must verify that their machine complies with the basic
requirements. This verification is facilitated by means of harmonized standards.
8.1.2.2
Harmonized European Standards
The two Standards Organizations CEN (Comité Européen de Normalisation) and CENELEC
(Comité Européen de Normalisation Électrotechnique), mandated by the EU Commission,
drew-up harmonized European standards in order to precisely specify the requirements of
the EC directives for a specific product. These standards (EN standards) are published in the
official journal of the commission of the European Parliament and Council and must be
included without revision in domestic standards. They are designed to fulfill basic health and
safety requirements as well as the protective goals specified in Annex I of the Machinery
Directive.
When the harmonized standards are observed, it is "automatically assumed" that the
Directive is fulfilled. As such, manufacturers can assume that they have observed the safety
aspects of the Directive under the assumption that these are also covered in this standard.
However, not every European Standard is harmonized in this sense. Key here is the listing in
the official journal of the commission of the European Parliament and Council.
The European standards regarding the safety of machines are structured in a hierarchical
manner as follows:
● A standards (basic standards)
● B standards (group standards)
● C standards (product standards)
Type A standards/basic standards
A standards include basic terminology and definitions relating to all types of machine. This
includes EN ISO 12100-1 (previously EN 292-1) "Safety of Machines, Basic Terminology,
General Design Principles."
A standards are aimed primarily at the bodies responsible for setting the B and C standards.
The measures specified here for minimizing risk, however, may also be useful for
manufacturers if no applicable C standards have been defined.
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8.1 Standards and regulations
Type B standards/group standards
B standards cover all safety-related standards for various different machine types. B
standards are aimed primarily at the bodies responsible for setting C standards. They can
also be useful for manufacturers during the machine design and construction phases,
however, if no applicable C standards have been defined.
A further sub-division has been made for B standards:
● Type B1 standards for higher-level safety aspects (e.g. ergonomic principles, safety
clearances from sources of danger, minimum clearances to prevent parts of the body
from being crushed).
● Type B2 standards for protective safety devices are defined for different machine types
(e.g. EMERGENCY STOP devices, two-hand operating circuits, interlocking elements,
contactless protective devices, safety-related parts of controls).
Type C standards/product standards
C standards are product-specific standards (e.g. for machine tools, woodworking machines,
elevators, packaging machines, printing machines etc.). Product standards cover machinespecific requirements. The requirements can, under certain circumstances, deviate from the
basic and group standards. Type C/product standards have the highest priority for machine
manufacturers who can assume that it fulfills the basic requirements of Annex I of the
Machinery Directive (automatic presumption of compliance). If no product standard has been
defined for a particular machine, type B standards can be applied when the machine is
constructed.
A complete list of the standards specified and the mandated draft standards are available on
the Internet at the following address:
http://www.newapproach.org/
Recommendation: Due to the rapid pace of technical development and the associated
changes in machine concepts, the standards (and C standards in particular) should be
checked to ensure that they are up to date. Please note that the application of a particular
standard may not be mandatory provided that all the safety requirements of the applicable
EU directives are fulfilled.
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8.1 Standards and regulations
8.1.2.3
Standards for implementing safety-related controllers
If the functional safety of a machine depends on various control functions, the controller must
be implemented in such a way that the probability of the safety functions failing is sufficiently
minimized. EN ISO 13849-1 (formerly EN 954-1) and EN 62061 define principles for
implementing safety-related machine controllers which, when properly applied, ensure that
all the safety requirements of the EC Machinery Directive are fulfilled. These standards
ensure that the relevant safety requirements of the Machinery Directive are fulfilled.
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Standards for implementing safety-related controllers
The application areas of EN ISO 13849-1, EN 62061, and EN 61508 are very similar. To
help users make an appropriate decision, the IEC and ISO associations have specified the
application areas of both standards in a joint table in the introduction to the standards.
EN ISO 13849-1 or EN 62061 should be applied depending on the technology (mechanics,
hydraulics, pneumatics, electrics, electronics, programmable electronics), risk classification
and architecture.
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8.1 Standards and regulations
Systems for executing safety-related control
functions
EN ISO 13849-1
EN 62061
A
Non-electrical (e.g. hydraulic, pneumatic)
X
Not covered
B
Electromechanical (e.g. relay and/or basic
electronics)
Restricted to the designated
architectures (see comment 1)
and max. up to PL = e
All architectures and max. up to
SIL 3
C
Complex electronics (e.g. programmable
electronics)
Restricted to the designated
architectures (see comment 1)
and max. up to PL = d
All architectures and max. up to
SIL 3
D
A standards combined with B standards
Restricted to the designated
architectures (see comment 1)
and max. up to PL = e
X
See comment 3
E
C standards combined with B standards
Restricted to the designated
architectures (see comment 1)
and max. up to PL = d
All architectures and max.
up to SIL 3
F
C standards combined with A standards
or
X
X
C standards combined with A standards and B
standards
See comment 2
See comment 3
"X" indicates that the point is covered by this standard.
Comment 1:
Designated architectures are described in Annex B of EN ISO 13849-1 and provide a simplified basis for the quantification.
Comment 2:
For complex electronics: Using designated architectures in compliance with EN ISO 13849-1 up to PL = d or every
architecture in compliance with EN 62061.
Comment 3:
For non-electrical systems: Use components that comply with EN ISO 13849-1 as sub-systems.
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8.1 Standards and regulations
8.1.2.4
EN ISO 13849-1 (previously EN 954-1)
A qualitative analysis (to EN 954-1) is not sufficient for modern controllers due to their
technology. Among other things, EN 954-1 does not take into account time behavior (e.g.
test interval and/or cyclic test, lifetime). This results in the probabilistic basis in EN ISO
13849-1 (probability of failure per unit time).
EN ISO 13849-1 is based on the known categories of EN 954-1. It now also takes into
account complete safety functions and all the devices required to execute these. With EN
ISO 13849-1, safety functions are investigated from a quantitative perspective going beyond
the qualitative basis of EN 954-1. Performance levels (PL), which are based on the
categories, are used. The following safety-related characteristic quantities are required for
devices/equipment:
● Category (structural requirement)
● PL: Performance level
● MTTFd: Mean time to dangerous failure
● DC: Diagnostic coverage
● CCF:
Common cause failure
The standard describes how the performance level (PL) is calculated for safety-related
components of the controller on the basis of designated architectures. In the event of any
deviations from this, EN ISO 13849-1 refers to EN 61508.
When combining several safety-related parts to form a complete system, the Standard
explains how to determine the resulting PL.
Note
Since May 2007, EN ISO 13849-1 has been harmonized as part of the Machinery Directive.
EN 954-1 will continue to apply until 30.12.2011.
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8.1 Standards and regulations
8.1.2.5
EN 62061
EN 62061 (identical to IEC 62061) is a sector-specific standard subordinate to IEC/EN
61508. It describes the implementation of safety-related electrical machine control systems
and looks at the complete lifecycle, from the conceptual phase to decommissioning. The
standard is based on the quantitative and qualitative analyses of safety functions,
whereby it systematically applies a top-down approach to implementing complex control
systems (known as "functional decomposition"). The safety functions derived from the risk
analysis are sub-divided into sub-safety functions, which are then assigned to real devices,
sub-systems, and sub-system elements. Both the hardware and software are covered. EN
62061 also describes requirements regarding the implementation of application programs.
A safety-related control systems comprises different sub-systems. From a safety
perspective, the sub-systems are described in terms of the SIL claim limit and PFHD
characteristic quantities.
Programmable electronic devices (e.g. PLCs or variable-speed drives) must fulfill EN 61508.
They can then be integrated in the controller as sub-systems. The following safety-related
characteristic quantities must be specified by the manufacturers of these devices.
Safety-related characteristic quantities for subsystems:
● SIL CL: SIL claim limit
● PFHD:
Probability of dangerous failures per hour
● T1:
Lifetime
Simple sub-systems (e.g. sensors and actuators) in electromechanical components can, in
turn, comprise sub-system elements (devices) interconnected in different ways with the
characteristic quantities required for determining the relevant PFHD value of the sub-system.
Safety-related characteristic quantities for subsystem elements (devices):
● λ:
Failure rate
● B10 value: For elements that are subject to wear
● T1:
Lifetime
For electromechanical devices, a manufacturer specifies a failure rate λ with reference to the
number of operating cycles. The failure rate per unit time and the lifetime must be
determined using the switching frequency for the particular application.
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8.1 Standards and regulations
Parameters for the sub-system, which comprises sub-system elements, that must be defined
during the design phase:
● T2:
Diagnostic test interval
● β:
Susceptibility to common cause failure
● DC:
Diagnostic coverage
The PFHD value of the safety-related controller is determined by adding the individual PFHD
values for subsystems.
The user has the following options when setting up a safety-related controller:
● Use devices and sub-systems that already comply with EN ISO 13849-1, IEC/EN 61508,
or IEC/EN 62061. The standard provides information specifying how qualified devices
can be integrated when safety functions are implemented.
● Develop own subsystems:
– Programmable, electronic systems and complex systems: Application of EN 61508 or
EN 61800-5-2.
– Simple devices and subsystems: Application of EN 62061.
EN 62061 does not include information about non-electric systems. The standard provides
detailed information on implementing safety-related electrical, electronic, and programmable
electronic control systems.
EN ISO 13849-1 must be applied for non-electric systems.
Note
Details of simple sub-systems that have been implemented and integrated are now available
as "functional examples".
Note
IEC 62061 has been ratified as EN 62061 in Europe and harmonized as part of the
Machinery Directive.
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8.1 Standards and regulations
8.1.2.6
Series of standards EN 61508 (VDE 0803)
This series of standards describes the current state of the art.
EN 61508 is not harmonized in line with any EU directives, which means that an automatic
presumption of conformity for fulfilling the protective requirements of a directive is not
implied. The manufacturer of a safety-related product, however, can also use EN 61508 to
fulfill basic requirements of European directives in accordance with the latest conceptual
design, for example, in the following cases:
● If no harmonized standard exists for the application in question. In this case, the
manufacturer can use EN 61508, although no presumption of conformity exists here.
● A harmonized European standard (e.g. EN 62061, EN ISO 13849, EN 60204-1)
references EN 61508. This ensures that the appropriate requirements of the directives
are fulfilled ("standard that is also applicable"). When manufacturers apply EN 61508
properly and responsibly in accordance with this reference, they can use the presumption
of conformity of the referencing standard.
EN 61508 covers all the aspects that must be taken into account when E/E/PES systems
(electrical, electronic, and programmable electronic System) are used in order to execute
safety functions and/or to ensure the appropriate level of functional safety. Other hazards
(e.g. electric shock) are, as in EN ISO 13849, not part of the standard.
EN 61508 has recently been declared the "International Basic Safety Publication", which
makes it a framework for other, sector-specific standards (e.g. EN 62061). As a result, this
standard is now accepted worldwide, particularly in North America and in the automotive
industry. Today, many regulatory bodies already stipulate it (e.g. as a basis for NRTL listing).
Another recent development with respect to EN 61508 is its system approach, which extends
the technical requirements to include the entire safety installation from the sensor to the
actuator, the quantification of the probability of hazardous failure due to random hardware
failures, and the creation of documentation covering all phases of the safety-related lifecycle
of the E/E/PES.
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8.1 Standards and regulations
8.1.2.7
Risk analysis/assessment
Risks are intrinsic in machines due to their design and functionality. For this reason, the
Machinery Directive requires that a risk assessment be performed for each machine and, if
necessary, the level of risk reduced until the residual risk is less than the tolerable risk. To
assess these risks, the following standards must be applied:
● EN ISO 12100-1 "Safety of Machinery - basic terminology, general principles for design"
● EN ISO 13849-1 (successor to EN 954-1) "Safety-related parts of control systems"
● EN ISO 14121-1 (previously EN 1050, Paragraph 5) "Safety of machinery - Risk
assessment"
EN ISO 12100-1 focuses on the risks to be analyzed and the design principles for minimizing
risk. EN ISO 14121-1 describes the iterative process for assessing and minimizing risk to
achieve the required level of safety.
The risk assessment is a procedure that allows hazards resulting from machines to be
systematically investigated. Where necessary, the risk assessment is followed by a risk
reduction procedure. When the procedure is repeated, this is known as an iterative process.
This can help eliminate hazards (as far as this is possible) and can act as a basis for
implementing suitable protective measures.
The risk assessment involves the following:
● Risk analysis
– Determining the limits of the machine (EN ISO 12100-1, EN ISO 14121-1 Paragraph
5)
– Identifying the hazards (EN ISO 12100-1, EN ISO 14121-1 Paragraph 6)
– Estimating the level of risk (EN 1050 Paragraph 7)
● Risk assessment (EN ISO 14121-1 Paragraph 8)
As part of the iterative process to achieve the required level of safety, a risk assessment is
carried out after the risk estimation. A decision must be made here as to whether the
residual risk needs to be reduced. If the risk is to be further reduced, suitable protective
measures must be selected and applied. The risk assessment must then be repeated.
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8.1 Standards and regulations
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Risks must be reduced by designing and implementing the machine accordingly (e.g. by
means of controllers or protective measures suitable for the safety-related functions).
If the protective measures involve the use of interlocking or control functions, these must be
designed in accordance with EN ISO 13849-1. For electrical and electronic controls, EN
62061 can be used as an alternative to EN ISO 13849-1. Electronic controls and bus
systems must also comply with IEC/EN 61508.
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8.1 Standards and regulations
8.1.2.8
Risk reduction
Risk reduction measures for a machine can be implemented by means of safety-related
control functions in addition to structural measures. To implement these control functions,
special requirements must be taken into account, graded according to the magnitude of the
risk. These are described in EN ISO 13849-1 or, in the case of electrical controllers
(particularly programmable electronics), in EN 61508 or EN 62061. The requirements
regarding safety-related controller components are graded according to the magnitude of the
risk and the level to which the risk needs to be reduced.
EN ISO 13849-1 defines a risk graph, which can be used instead of the categories to create
hierarchical performance levels (PL).
IEC/EN 62061 uses "Safety Integrity Level" (SIL) for classification purposes. This is a
quantified measure of the safety-related performance of a controller. The required SIL is also
determined in accordance with the risk assessment principle to ISO 14121 (EN 1050). Annex
A of the standard describes a method for determining the required Safety Integrity Level
(SIL).
Regardless of which standard is applied, steps must be taken to ensure that all the machine
controller components required for executing the safety-related functions fulfill these
requirements.
8.1.2.9
Residual risk
In today's technologically advanced world, the concept of safety is relative. The ability to
ensure safety to the extent that risk is ruled out in all circumstances – "zero-risk guarantee" –
is practically impossible. The residual risk is the risk that remains once all the relevant
protective measures have been implemented in accordance with the latest state of the art.
Residual risks must be clearly referred to in the machine/plant documentation (user
information according to EN ISO 12100-2).
8.1.3
Machine safety in the USA
A key difference between the USA and Europe in the legal requirements regarding safety at
work is that, in the USA, no legislation exists regarding machinery safety that is applicable in
all of the states and that defines the responsibility of the manufacturer/supplier. A general
requirement exists stating that employers must ensure a safe workplace.
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8.1 Standards and regulations
8.1.3.1
Minimum requirements of the OSHA
The Occupational Safety and Health Act (OSHA) from 1970 regulates the requirement that
employers must offer a safe place of work. The core requirements of OSHA are specified in
Section 5 "Duties".
The requirements of the OSH Act are managed by the "Occupational Safety and Health
Administration" (also known as OSHA). OSHA employs regional inspectors who check
whether or not workplaces comply with the applicable regulations.
The OSHA regulations are described in OSHA 29 CFR 1910.xxx ("OSHA Regulations (29
CFR) PART 1910 Occupational Safety and Health"). (CFR: Code of Federal Regulations.)
http://www.osha.gov
The application of standards is regulated in 29 CFR 1910.5 "Applicability of standards". The
concept is similar to that used in Europe. Product-specific standards have priority over
general standards insofar as they cover the relevant aspects. Once the standards are
fulfilled, employers can assume that they have fulfilled the core requirements of the OSH Act
with respect to the aspects covered by the standards.
In conjunction with certain applications, OSHA requires that all electrical equipment and
devices that are used to protect workers be authorized by an OSHA-certified, "Nationally
Recognized Testing Laboratory" (NRTL) for the specific application.
In addition to the OSHA regulations, the current standards defined by organizations such as
NFPA and ANSI must be carefully observed and the extensive product liability legislation
that exists in the US taken into account. Due to the product liability legislation, it is in the
interests of manufacturing and operating companies that they carefully maintain the
applicable regulations and are "forced" to fulfill the requirement to use state-of-the-art
technology.
Third-party insurance companies generally demand that their customers fulfill the applicable
standards of the standards organizations. Self-insured companies are not initially subject to
this requirement but, in the event of an accident, they must provide verification that they
have applied generally-recognized safety principles.
8.1.3.2
NRTL listing
To protect employees, all electrical equipment used in the USA must be certified for the
planned application by a "Nationally Recognized Testing Laboratory" (NRTL) certified by the
OSHA. NRTLs are authorized to certify equipment and material by means of listing, labeling,
or similar. Domestic standards (e.g. NFPA 79) and international standards (e.g. IEC/EN
61508 for E/E/PES systems) are the basis for testing.
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8.1.3.3
NFPA 79
Standard NFPA 79 (Electrical Standard for Industrial Machinery) applies to electrical
equipment on industrial machines with rated voltages of less than 600 V. A group of
machines that operate together in a coordinated fashion is also considered to be one
machine.
For programmable electronics and communication buses, NFPA 79 states as a basic
requirement that these must be listed if they are to be used to implement and execute safetyrelated functions. If this requirement is fulfilled, then electronic controls and communication
buses can also be used for Emergency Stop functions, Stop Categories 0 and 1 (refer to
NFPA 79 9.2.5.4.1.4). Like EN 60204-1, NFPA 79 no longer specifies that the electrical
energy must be disconnected by electromechanical means for emergency stop functions.
The core requirements regarding programmable electronics and communication buses are:
system requirements (see NFPA 79 9.4.3)
1. Control systems that contain software-based controllers must:
– In the event of a single fault
(a) cause the system to switch to a safe shutdown mode
(b) prevent the system from restarting until the fault has been rectified
(c) prevent an unexpected restart
– Offer the same level of protection as hard-wired controllers
– Be implemented in accordance with a recognized standard that defines the
requirements for such systems.
2. IEC 61508, IEC 62061, ISO 13849-1, ISO 13849-2 and IEC 61800-5-2 are specified as
suitable standards in a note.
Underwriter Laboratories Inc. (UL) has defined a special category for "Programmable Safety
Controllers" for implementing this requirement (code NRGF). This category covers control
devices that contain software and are designed for use in safety-related functions.
A precise description of the category and a list of devices that fulfill this requirement can be
found on the Internet at the following address:
http://www.ul.com → certifications directory → UL Category code/ Guide information → search
for category "NRGF"
TUV Rheinland of North America, Inc. is also an NRTL for these applications.
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8.1 Standards and regulations
8.1.3.4
ANSI B11
ANSI B11 standards are joint standards developed by associations such as the Association
for Manufacturing Technology (AMT) and the Robotic Industries Association (RIA).
The hazards of a machine are evaluated by means of a risk analysis/assessment. The risk
analysis is an important requirement in accordance with NFPA 79, ANSI/RIA 15.06, ANSI
B11.TR-3 and SEMI S10 (semiconductors). The documented findings of a risk analysis can
be used to select a suitable safety system based on the safety class of the application in
question.
8.1.4
Machine safety in Japan
The situation in Japan is different from that in Europe and the US. Legislation such as that
prescribed in Europe does not exist. Similarly, product liability does not play such an
important role as it does in the US.
Instead of legal requirements to apply standards have been defined, an administrative
recommendation to apply JIS (Japanese Industrial Standard) is in place: Japan bases its
approach on the European concept and uses basic standards as national standards (see
table).
Table 8- 1
Japanese standards
ISO/IEC number
JIS number
Comment
ISO12100-1
JIS B 9700-1
Earlier designation TR B 0008
ISO12100-2
JIS B 9700-2
Earlier designation TR B 0009
ISO14121- 1 / EN1050
JIS B 9702
ISO13849-1
JIS B 9705-1
ISO13849-2
JIS B 9705-1
IEC 60204-1
JIS B 9960-1
IEC 61508-0 to -7
JIS C 0508
IEC 62061
8.1.5
Without annex F or route map of the
European foreword
JIS number not yet assigned
Equipment regulations
In addition to the requirements of the guidelines and standards, company-specific
requirements must be taken into account. Large corporations in particular (e.g. automobile
manufacturers) make stringent demands regarding automation components, which are often
listed in their own equipment specifications.
Safety-related issues (e.g. operating modes, operator actions with access to hazardous
areas, EMERGENCY STOP concepts, etc.) should be clarified with customers early on so
that they can be integrated in the risk assessment/risk reduction process.
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8.1 Standards and regulations
8.1.6
Other safety-related issues
8.1.6.1
Information sheets issued by the Employer's Liability Insurance Association
Safety-related measures to be implemented cannot always be derived from directives,
standards, or regulations. In this case, supplementary information and explanations are
required.
Some regulatory bodies issue publications on an extremely wide range of subjects.
Information sheets covering the following areas are available, for example:
● Process monitoring in production environments
● Axes subject to gravitational force
● Roller pressing machines
● Lathes and turning centers - purchasing/selling
These information sheets issued by specialist committees can be obtained by all interested
parties (e.g. to provide support in factories, or when regulations or safety-related measures
for plants and machines are defined). These information sheets provide support for the fields
of machinery construction, production systems, and steel construction.
You can download the information sheets from the following Internet address (website is in
German, although some of the sheets are available in English):
http://www.bg-metall.de/
First select the menu item "Service and Contact", then the Link "Downloads" and finally the
category "Information sheets of the specialist committees".
8.1.6.2
Additional references
● Safety Integrated: The Safety System for Industry (5th Edition and supplement), order no.
6ZB5 000-0AA01-0BA1
● Safety Integrated - Terms and Standards - Machine Safety Terminology (Edition
04/2007), order no. E86060-T1813-A101-A1
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8.2 General information about SINAMICS Safety Integrated
8.2
General information about SINAMICS Safety Integrated
8.2.1
Supported functions
This chapter covers all the Safety Integrated functions available for SINAMICS S110. A
distinction is made between Safety Integrated Basic Functions and Safety Integrated
Extended Functions.
The safety functions listed here conform to:
● Safety Integrity Level (SIL) 2 according to DIN EN 61508
● Category 3 to DIN EN ISO 13849-1
● Performance Level (PL) d according to DIN EN ISO 13849-1
The safety functions match the functions according to DIN EN 61800-5-2.
The following Safety Integrated (SI) functions are available:
● Safety Integrated Basic Functions
These functions are part of the standard scope of the drive and can be used without
requiring an additional license. These functions are always available. These functions do
not place any special requirements on the encoder used.
– Safe Torque Off (STO)
Safe Torque Off is a safety function that prevents the drive from restarting
unexpectedly in accordance with EN- 60204-1, Section 5.4.
– Safe Stop 1 (SS1, time controlled)
Safe Stop 1 is based on the "Safe Torque Off" function. This means that a Category 1
stop in accordance with EN 60204-1 can be implemented.
– Safe Brake Control (SBC)
Safe Brake Control is used to safely control a holding brake.
A Safe Brake Relay is needed in addition for these functions.
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8.2 General information about SINAMICS Safety Integrated
● Safety Integrated Extended Functions
These functions require an additional Safety license. Extended Functions with encoder
require an encoder with Safety capability (see section "Reliable actual value acquisition
with the encoder system").
– Safe Torque Off (STO)
Safe Torque Off is a safety function that prevents the drive from restarting
unexpectedly in accordance with EN- 60204-1, Section 5.4.
– Safe Stop 1 (SS1, time and acceleration controlled)
Safe Stop 1 is based on the "Safe Torque Off" function. This means that a Category 1
stop in accordance with EN 60204-1 can be implemented.
– Safe Stop 2 (SS2)
Safe Stop 2 is used to safely brake the motor with a subsequent transition into the
"Safe Operating Stop" state (SOS). This means that a Category 2 stop in accordance
with EN 60204-1 can be implemented.
– Safe Operating Stop (SOS)
Safe Operating Stop is used to protect against unintentional movement. The drive is in
closed-loop control mode and is not disconnected from the power supply.
– Safely Limited Speed (SLS)
Safely Limited Speed ensures that the drive does not exceed a preset speed
limit/velocity.
– Safe Speed Monitor (SSM)
Safe Speed Monitor is used for safely identifying when a speed limit is fallen below in
both directions of rotation, e.g. to identify zero speed. A fail-safe output signal is
available for further processing.
– Safe Acceleration Monitor (SAM)
Safe Acceleration Monitor monitors the safe braking of the drive during the ramp
down. An unintentional "reacceleration" is reliably prevented. It is part of functions SS1
and SS2.
– Safe Brake Ramp (SBR)
Safe Brake Ramp is used to safely monitor the brake ramp. It is part of the "SS1
without encoder" and "SLS without encoder" functions.
– Safe Direction (SDI)
Safe Direction is used to safely monitor the direction of motion.
The term "Motion Monitoring Functions" is also used for the Safety Integrated Extended
Functions.
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8.2 General information about SINAMICS Safety Integrated
Prerequisites for the Extended Functions
● Safety Integrated Extended Functions can only be operated with the relevant license. The
associated license key is entered in parameter p9920 in ASCII code. The license key can
be activated via parameter p9921 = 1. Alternatively, you can enter the license key via the
STARTER button "License Key".
For information on how to generate the license key for the product "SINAMICS Safety
Integrated Extended Functions", read the section "Licensing". An insufficient license is
indicated via the following alarm and LED:
– A13000 → License not sufficient
– LED RDY → Flashes greed/red at 0.5 Hz
● Activation via PROFIsafe or safe on-board terminals
● An activated speed controller in the drive
● Overview of hardware components that support the Extended Functions:
– CU305 Control Unit
– Power Modules blocksize PM340
– Sensor Modules SMC20, SME20/25
– Motors with DRIVE-CLiQ interface (not with resolver encoder)
– Safe Brake Relay (SBR)
8.2.2
Control of Safety Integrated functions
Safety Integrated functions can be controlled via on-board terminals or via a PROFIsafe
telegram using PROFIBUS or PROFINET. The Extended Functions can be controlled via onboard terminals or PROFIsafe, control of the Basic Functions can be selected via on-board
terminals (F-DI 0) or PROFIsafe and on-board terminals (F-DI 0).
NOTICE
PROFIsafe or terminals
With a Control Unit, control of the Extended Functions is only possible using PROFIsafe or
on-board terminals. Mixed operation is not permissible.
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8.2 General information about SINAMICS Safety Integrated
8.2.3
Drive monitoring with or without encoder
If motors without a (safety-capable) encoder are being used, not all Safety Integrated
functions can be used.
Note
When "without encoder" is used in this manual, then this always means that either no
encoder or no safety-capable encoder is being used.
In operation without encoder the speed actual values are calculated from the measured
electrical actual values. As a consequence, speed monitoring down to a speed of 0 rpm is
also possible for operation without an encoder.
Table 8- 2
Overview of Safety Integrated functions
Functions
Basic
Functions
Extended
Functions
Abbreviation With
encoder
Without Brief description
encode
r
Safe Torque Off
STO
Yes
Yes
Safe torque off
Safe Stop 1
SS1
Yes
Yes
Safe stopping process in
accordance with stop
category 1
Safe Brake
Control
SBC
Yes
Yes
Safe brake control
Safe Torque Off
STO
Yes
Yes
Safe torque off
Safe Stop 1
SS1
Yes
Yes
Safe stop in accordance with
stop category 1
Safe Brake
Control
SBC
Yes
Yes
Safe brake control
Safe Stop 2
SS2
Yes
No
Safe stop in accordance with
stop category 2
Safe Operating
Stop
SOS
Yes
No
Safe monitoring of the
standstill position
Safely Limited
Speed
SLS
Yes
Yes
Safe monitoring of the
maximum speed
Safe Speed
Monitor
SSM
Yes
Yes
Safe monitoring of the
minimum speed
Safe Acceleration
Monitor
SAM
Yes
Yes
Safe monitoring of drive
acceleration
Safe Brake Ramp
SBR
No
Yes
Safe brake ramp
Safe Direction
SDI
Yes
Yes
Safe monitoring of the
direction of motion
The configuration of the Safety Integrated functions and the selection of monitoring with or
without encoder takes place in the Safety screens of the STARTER or SCOUT tools.
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8.2 General information about SINAMICS Safety Integrated
Monitoring with an encoder
The Safety Integrated functions with encoder are configured using p9506 = p9306 = 0 in the
expert list (factory setting) or by selecting "with encoder" in the Safety screen form.
The Safe Acceleration Monitor (SAM) recognizes if the drive accelerates beyond the
tolerance defined in p9348/p9548 during the ramp down phase, and generates a STOP A.
The monitoring function is activated for SS1 (or STOP B) and SS2 (or STOP C) and is
deactivated after the speed drops below the value set in p9368/p9568.
You can find more detailed information on the Safe Acceleration Monitor later on in this
manual.
Monitoring without an encoder
The encoderless Safety Integrated functions are configured in the expert list using p9506 =
p9306 = 1 or p9506 = p9306 = 3 or by selecting "without encoder" in the Safety screen form.
For speed monitoring without encoder, the drive is braked along a ramp, which is defined
using Safe Brake Ramp (SBR encoderless). The gradient of the brake ramp is defined using
a reference speed (p9581/p9381) and a monitoring time (p9583/p9383). In addition, a delay
time (p9582/p9382) can be set. The brake ramp is effectively monitored once this delay time
expires.
If a Safety Integrated function is activated, e.g. SS1, then the system monitors whether the
actual value of the speed remains below the brake ramp during the complete braking
operation.
For p9506/p9306 = 3, the Safety functions without encoder correspond to the functions with
encoder, and SAM responds just the same as for "monitoring with encoder".
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8.2 General information about SINAMICS Safety Integrated
8.2.4
Parameter, Checksum, Version, Password
Properties of Safety Integrated parameters
The following applies to Safety Integrated parameters:
● The Safety parameters are kept separate for each monitoring channel.
● During startup, checksum calculations (Cyclic Redundancy Check, CRC) are performed
on the Safety parameter data and checked. The display parameters are not contained in
the CRC.
● Data storage: The parameters will be saved in the non-volatile memory.
● Factory settings for Safety parameters
– A reset of the safety parameters to the factory setting on a drive-specific basis using
p3900 and p0010 = 30 is only possible when the safety functions are not enabled
(p9301 = p9501 = p9601 = p9801 = p10010 = 0).
– Safety parameters can be reset to the factory setting with p0970 = 5. To do so, the
Safety Integrated password must be set. When Safety Integrated is enabled, this can
result in error messages, which in turn require an acceptance test to be performed.
Then save the parameters and carry out a POWER ON.
– A complete reset of all parameters to the factory settings (p0976 = 1 and p0009 = 30
on the Control Unit) is possible even when the safety functions are enabled (p9301 =
p9501 = p9601 = p9801 ≠ 0).
● The Safety parameterization is password-protected against accidental or unauthorized
changes.
NOTICE
The following Safety parameters are not protected by the Safety password:
• p9370 SI Motion acceptance test mode (CPU 2)
• p9570 SI Motion acceptance test mode (CPU 1)
• p9533 SI Motion SLS Setpoint speed limitation
• p9783 SI Motion Synchronous motor current without encoder
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8.2 General information about SINAMICS Safety Integrated
Checking the checksum
For each monitoring channel, the Safety parameters include one parameter for the actual
checksum for the Safety parameters that have undergone a checksum check.
During commissioning, the actual checksum must be transferred to the corresponding
parameter for the reference checksum. This can be done for all checksums of a drive object
at the same time with parameter p9701.
Basic Functions
● r9798 SI actual checksum SI parameters (CPU 1)
● r9799 SI reference checksum SI parameters (CPU 1)
● r9898 SI actual checksum SI parameters (CPU 2)
● p9899 SI reference checksum SI parameters (CPU 2)
Extended Functions
● r9398[0...1] SI Motion actual checksum SI parameters (CPU 2)
● p9399[0...1] SI Motion reference checksum SI parameters (CPU 2)
● r9728[0...1] SI Motion actual checksum SI parameters
● p9729[0...1] SI Motion reference checksum SI parameters
During each ramp-up procedure, the actual checksum is calculated via the Safety
parameters and then compared with the reference checksum.
If the actual and reference checksums are different, fault F01650/F30650 or F01680/F30680
is output.
Safety Integrated versions
The Safety firmware on the Control Unit has a different version ID to that on the Sensor
Module.
For the Basic Functions:
● r9770 SI version, drive-autonomous safety functions (CPU 1)
For the Extended Functions:
● r9590 SI Motion version safe motion monitoring (CPU 1)
● r9890 SI version (Sensor Module)
Note
For detailed requirements regarding Safety Integrated firmware, see "Safety Integrated
firmware versions".
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8.2 General information about SINAMICS Safety Integrated
Password
The Safety password protects the Safety parameters against unintentional or unauthorized
access.
In commissioning mode for Safety Integrated (p0010 = 95), you cannot change Safety
parameters until you have entered the valid Safety password in p9761 for the drive.
● When Safety Integrated is commissioned for the first time, the following applies:
– Default of p9761 = 0 (SI password entry drive)
In other words:
The Safety password does not need to be set during first commissioning.
● In the case of a series commissioning of Safety or in the case of spare part installation,
the following applies:
– The Safety password is retained on the memory card and in the STARTER project.
– No Safety password is required in the case of spare part installation.
● Change password for the drive
– p0010 = 95 Commissioning mode
– p9761 = Enter "old Safety password".
– p9762 = Enter "new password".
– p9763 = Confirm "new password".
– The new and confirmed Safety password is valid immediately.
Alternatively, you can change the Safety password using the STARTER screen.
If you need to change Safety parameters but you do not know the Safety password, proceed
as follows:
1. Resetting the drive unit to factory settings.
2. Recommission the drive unit and drive.
3. Recommission Safety Integrated.
Or contact your regional Siemens office and ask for a readout of the password (complete
drive project must be made available).
Overview of important parameters (see SINAMICS S110 List Manual)
● p9761 SI password input
● p9762 SI password new
● p9763 SI password acknowledgment
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8.3
System features
8.3.1
Latest information
Important note for maintaining the operational safety of your system:
WARNING
Systems with safety-related characteristics are subject to special operational safety
requirements on the part of the operating company. The supplier is also obliged to comply
with special product monitoring measures. For this reason, we publish a special newsletter
containing information on product developments and features that are (or could be) relevant
when operating safety-related systems. You should subscribe to the corresponding
newsletter in order to obtain the latest information and to allow you to modify your
equipment accordingly.
Go into the Internet under:
http://automation.siemens.com
To subscribe to the newsletter, please proceed as follows:
1. Select the desired language for the webpage.
2. Click on the menu item "Support".
3. Click on the menu item "Newsletter".
Note
You have to register and log in if you want to subscribe to any newsletters. You will be led
automatically through the registration process.
4. Click on "Login" and log in with your access data. If you do not yet have a login and
password, select "Yes, I would like to register now".
You can subscribe to the individual newsletters in the following window.
5. Select the document type you wish to be informed about under "Select document type for
topic and product newsletters".
6. Under the "Product Support" heading on this page, you can see which newsletter is
currently available.
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7. Open the subject area "Safety Engineering - Safety Integrated".
You will now be shown which newsletter is available for this particular subject area or
topic. You can subscribe to the appropriate newsletter by clicking on the box. If you
require more detailed information on the newsletters then please click on these. A small
supplementary window is opened from where you can take the appropriate information.
8. At the very least, register for the newsletters for the following product areas:
– Safety Integrated for SIMOTION
– Drives
8.3.2
Certification
The safety functions of the SINAMICS S drive system meet the following requirements:
● Category 3 according to ISO 13849-1
● Performance level (PL) d according to EN ISO 13849-1
● Safety integrity level 2 (SIL 2) to IEC 61508
● EN 954-1
● EN 61800-5-2
● Systematic capability according to EN 62061
In addition, most of the safety functions of the SINAMICS S have been certified by
independent institutes. An up-to-date list of certified components is available on request from
your local Siemens office.
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8.3.3
Safety instructions
Note
Additional safety information and residual risks not specified in this section are included in
the relevant sections of this Function Manual.
DANGER
Safety Integrated can be used to minimize the level of risk associated with machines and
plants.
Machines and plants can only be operated safely in conjunction with Safety Integrated,
however, when the machine manufacturer
• is familiar with and observes every aspect of this technical user documentation,
including the documented general conditions, safety information, and residual risks.
• Carefully constructs and configures the machine/plant. A careful and thorough
acceptance test must then be performed by qualified personnel and the results
documented.
• Implements and validates all the measures required in accordance with the
machine/plant risk analysis by means of the programmed and configured Safety
Integrated functions or by other means.
It should be noted that Safety Integrated does not replace the machine/plant risk
assessment carried out by the machine manufacturer as required by the EG Machinery
Directive.
In addition to Safety Integrated, further risk reduction measures must be implemented.
WARNING
The Safety Integrated functions cannot be activated until the startup is completed. System
startup is a critical operating state with increased risk. No personnel may be present in the
immediate danger zone in this phase.
The drives of vertical axes must be in torque state.
A complete forced dormant error detection cycle is required after power on (see chapter
"Forced dormant error detection").
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WARNING
EN 60204-1
The Emergency Stop function must bring the machine to a standstill in accordance with
stop category 0 or 1 (STO or SS1).
The machine must not restart automatically after EMERGENCY STOP.
When the safety functions (Extended functions) are deactivated, an automatic restart is
permitted under certain circumstances depending on the risk analysis (except when
EMERGENCY STOP is reset). An automatic start is permitted when a protective door is
closed, for example.
WARNING
After hardware and/or software components have been modified or replaced, all protective
equipment must be closed prior to system startup and drive activation. Personnel shall not
be present within the danger zone.
It may be necessary to carry out a partial or complete acceptance test or a simplified
functional test (see the "Acceptance test" chapter) after making certain changes or
replacements.
Before allowing anybody to re-enter the danger zone, you should test steady control
response by briefly moving the drives in forward and reverse direction (+/–).
To observe during power on:
The safety functions can only be activated once system has booted up.
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WARNING
• Encoder faults within a single-encoder system are detected by means of various HW
and SW monitoring functions. It is not allowed to disable these monitoring functions and
they must be parameterized carefully. Depending on the fault type and responding
monitoring function, stop function category 0 or 1 in accordance with EN 60204-1 (fault
response functions STOP A or STOP B in accordance with Safety Integrated) is
selected.
• The category 0 stop function to EN 60204-1 (STO or STOP A to Safety Integrated)
means that the drives are not decelerated but instead coast to standstill (the time
required to coast to standstill depends on the kinetic energy). This must be included in
the logic of the protective door lock, for example, by means of logic operation of "SSM
with encoder (n<nx)". For Safety without encoder, you need to use other measures to
ensure that the protective door remains locked until the drive has come to a standstill.
• Safety Integrated is not capable of detecting parameterization errors made by the
machine manufacturer. The required safety level can only be reached by by means of
an elaborate acceptance test.
• Power Modules or the motor must be replaced with a device of the same type, as the
parameter settings will otherwise lead to an incorrect Safety Integrated response. The
corresponding drive must be re-commissioned after an encoder was replaced.
WARNING
If an internal or external fault occurs, none or only some of the parameterized safety
functions are available during the STOP-F response triggered by the fault. This must be
taken into account when a delay time between STOP F and STOP B is parameterized. This
applies in particular to vertical axes.
NOTICE
Changing the EDS with safe motion monitoring
An encoder which is used for Safety functions must not be switched over when a data set is
switched over.
The Safety functions check the safety-relevant encoder data for changes when data sets
are switched over. If a change is detected, fault F01670 is displayed with a fault value of
10, which results in a non-acknowledgeable STOP A. The safety-relevant encoder data in
the various data sets must therefore be identical.
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8.3.4
Probability of failure for safety functions
The probabilities of safety function failure must be specified in the form of a PHF value
(Probability of Failure per Hour) to IEC 61508, IEC 62061 and ISO 13849-1. The PFH value
of a safety function depends on the safety concept of the drive unit and its hardware
configuration, as well as on the PFH values of other components used for this safety
function.
Corresponding PFH values are provided for the SINAMICS S110 drive unit, depending on
the hardware configuration (control type, ...). The various integrated safety functions are not
differentiated.
The PHF values can be requested from your local sales office.
8.3.5
Response times
Note
You can only see the actual value of the monitoring clock cycle (r9780), if you are connected
ONLINE with the drive. However, for an initial calculation of the response times you can use
the value r9780 = 2 ms.
Controlling the Basic Functions
Control of the Basic Functions via terminals
The table below shows the control response times via terminals.
Table 8- 3
Response times when controlling the Basic Functions via terminals
Function
Typical1)
Worst case1)
STO
2 x r9780 + t_E
7 x r9780 + t_E
SBC
4 x r9780 + t_E
11 x r9780 + t_E
SS1 (time controlled)
Selection until STO is initiated
2 x r9780 + p9652 + t_E
7 x r9780 + p9652 + t_E
SS1 (time controlled)
Selection until SBC is initiated
4 x r9780 + p9652 + t_E
11 x r9780 + p9652 + t_E
For t_E (debounce time of the digital input F-DI 0):
p9651 = 0
t_E = p0799 (default = 4 ms)
p9651 ≠ 0
t_E = p9651 + 1 ms
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Control of Basic Functions via PROFIsafe
The following table lists the response times from receiving the PROFIsafe telegram at the
Control Unit up to initiating the particular response.
Table 8- 4
Response times when controlling the Basic Functions via PROFIsafe
Function
Typical
Worst case
STO
5 x r9780
5 x r9780
SBC
6 x r9780
13 x r9780
SS1 (time controlled)
Selection until STO is initiated
5 x r9780 + p9652
5 x r9780 + p9652
SS1 (time controlled)
Selection until SBC is initiated
6 x r9780 + p9652
13 x r9780 + p9652
Controlling the Extended Functions
The tables below show the response times, when functions STO, SS1, or SS2 are selected,
between recognition of the selection at the Control Unit and the initiation of the relevant
braking response. The entries for monitoring functions SOS, SLS, SAM, and SSM show the
time between when the relevant limit value is exceeded and when the response is initiated.
Control of Extended Functions with encoder via PROFIsafe
The following table lists the response times from receiving the PROFIsafe telegram at the
Control Unit up to initiating the particular response.
Table 8- 5
Reaction times when controlling the Extended Functions with encoder via PROFIsafe
Function
Typical
Worst case
STO
4 x p9500 + r9780
4 x p9500 + 3 x r9780
SBC
4 x p9500 + 2 x r9780
4 x p9500 + 9 x r9780
SS1 (time and acceleration controlled), SS2
selection until braking initiated
4 x p9500 + 2 ms
5 x p9500 + 2 ms
SAM response of the safe acceleration
monitoring
2 x p9500 + 2 ms
2.5 x p9500 + r9780 + p9511
SOS standstill tolerance window violated
1.5 x p9500 + 2 ms
3 x p9500 + p9511 + 2 ms
SLS speed limit violated
2 x p9500 + 2 ms
3.5 x p9500 + p9511 + 2 ms
4 x p9500
4.5 x p9500 + p9511
SSM 3)
2)
The specified response times involve internal SINAMICS response times. Program run times
in the F host and the transmission time via PROFIBUS or PROFINET are not taken into
account.
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Control of Extended Functions with encoder via terminals
The table below shows the response times after the appearance of a signal at the terminals.
Table 8- 6
Response times when controlling the Extended Functions with encoder via safe on-board terminals
Function
Typical1)
Worst case1)
STO
2.5 x p9500 + r9780 + p10017 + 1.5
ms
3 x p9500 + 6 x r9780 + p10017
SBC
2.5 x p9500 + 2 x r9780 + p10017 + 1 3 x p9500 + 9 x r9780 + p10017 + 2
ms
ms
SS1 (time and acceleration controlled), SS2
selection until braking initiated
2.5 x p9500 + p10017 + 3 ms
4 x p9500 + p10017 + 4 ms
SAM response of the safe acceleration
monitoring
2 x p9500 + 2 ms
2.5 x p9500 + r9780 + p9511
SOS standstill tolerance window violated
1.5 x p9500 + 2 ms
3 x p9500 + p9511+ 2 ms
SLS speed limit violated
2 x p9500 + 2 ms
3.5 x p9500 + p9511 + 2 ms
3 x p9500
3.5 x p9500 + p9511
SSM
2)
4)
Control of Extended Functions without encoder via PROFIsafe
The following table lists the response times from receiving the PROFIsafe telegram at the
Control Unit up to initiating the particular response.
Table 8- 7
Response times when controlling the Extended Functions without encoder via PROFIsafe
Function
Typical
Worst case
STO
4 x p9500 + r9780
4 x p9500 + 3 x r9780
SBC
4 x p9500 + 2 x r9780
4 x p9500 + 9 x r9780
SS1 (time and acceleration controlled)
4 x p9500 + 2 ms
5 x p9500 + 2 ms
SAM response of the safe acceleration monitoring
3 x p9500 + 31 ms
3.5 x p9500 + r9780 + 57 ms
SLS speed limit violated 2)
Standard
3 x p9500 + 31 ms
4.5 x p9500 + r9780 + 57 ms
Starting
phase5)
3 x p9500 + 31 ms + p95865)
4.5 x p9500 + r9780 + 57 ms +
p95865)
6 x p9500 + p9587 + 4 ms
6.5 x p9500 + p9587 + 32 ms
Standard
2.5 x p9500 + p9587 + 6 ms
4 x p9500 + r9780 + p9587 + 32 ms
Starting
phase5)
2.5 x p9500 + p9587 + 6 ms +
p95865)
4 x p9500 + r9780 + p9587 + 32 ms
+ p95865)
SSM without encoder
SDI without encoder until braking
initiated
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CAUTION
If the safety functions SLS without encoder or SDI without encoder are already selected
when the gating pulses for the Power Module are enabled, then during the starting phase, it
is absolutely imperative that you take into account the response times when limit values are
violated and for system errors in order to extend the time value set in parameters p9586
and p93865) with respect to the standard values (see the table above).
The standard response times (see the table above) are valid after the time interval, which is
set in parameters p9586 and p9386.
The specified response times involve internal SINAMICS response times. Program run times
in the F host and the transmission time via PROFIBUS or PROFINET are not taken into
account.
Control of Extended Functions without encoder via terminals
The table below shows the response times after the appearance of a signal at the terminals.
Table 8- 8
Response times when controlling the Extended Functions without encoder via terminals
Function
Typical
Worst case
STO
2.5 x p9500 + r9780 + p10017 3 x p9500 + 6 x r9780 + p10017
+ 1.5 ms
SBC
2.5 x p9500 + 2 x r9780 +
p10017 + 1 ms
SS1 (time and acceleration controlled)
2.5 x p9500 + p10017 + 3 ms
3 x p9500 + 9 x r9780 + p10017 + 2
ms
SAM response of the safe acceleration monitoring 3 x p9500 + 31 ms
SLS speed limit violated 2)
Standard
Starting
phase5)
SSM without encoder
SDI without encoder until braking
initiated
3 x p9500 + 31 ms
3 x p9500 + 31 ms +
4 x p9500 + p10017 + 4 ms
3.5 x p9500 + r9780 + 57 ms
4.5 x p9500 + r9780 + 57 ms
p95865)
4.5 x p9500 + r9780 + 57 ms +
p95865)
4 x p9500 + p9587 + 4 ms
4.5 x p9500 + p9587 + 32 ms
Standard
2.5 x p9500 + p9587 + 6 ms
4 x p9500 + r9780 + p9587 + 32 ms
Starting
phase5)
2.5 x p9500 + p9587 + 6 ms + 4 x p9500 + r9780 + p9587 + 32 ms +
p95865)
p95865)
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CAUTION
If the safety functions SLS without encoder or SDI without encoder are already selected
when the gating pulses for the Power Module are enabled, then during the starting phase, it
is absolutely imperative that you take into account the response times when limit values are
violated and for system errors in order to extend the time value set in parameters p9586
and p93865) with respect to the standard values (see the table above).
The standard response times (see the table above) are valid after the time interval, which is
set in parameters p9586 and p9386.
Information on the tables:
1)
r9780 = 2 ms (fixed)
SLS: Specification of the response time required for initiation of a braking reaction in the
drive, or for the output of the "SOS selected" message to the motion control system.
2)
3) SSM:
The data corresponds to the times between the limit value being undershot up to
sending the information via PROFIsafe.
4) SSM:
The data corresponds to the times between the limit value being undershot up to
output of the information via the terminals.
5)
This is how you determine the "delay time of the evaluation encoderless" (p9386/p9586)
The delay time p9586/p9386 is used to avoid unnecessary messages/signals while the
converter starts.
1. To determine the minimum delay time p9586/p9386, record (trace) the starting behavior
of the drive system (with the motor and the intended load). The STARTER trace function
allows the value for p9586/p9386 to be determined.
2. In order to avoid unnecessary messages/signals, deselect the "SDI without encoder" and
"SLS without encoder" functions.
3. Activate the trace function using the trigger "OFF2 → inactive" and as signals to be
recorded/traced: the current in at least one motor phase and OFF2.
After the ON command, record this motor phase current until Irated is reached. Enter the
time that it takes to reach Imin (+ 10 % reserve) into p9386.
4. Start the drive as it would normally start in your particular application.
5. From the trace, read-off the time, after which the current peak of the induction motor or
the pulse pattern of the rotor position identification has ended, and the current has
exceeded the "minimum current actual value sensing without encoder" p9588/p9388.
6. Enter this measured time + approx. 10 % into p9586 (as a result of the parameter
doubling function, the same value is automatically entered into p9386).
7. Activate the "SDI without encoder" and "SLS without encoder" functions
8. Restart the machine, and keep the trace function activated.
9. Unnecessary messages/signals should no longer occur.
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Overview of important parameters (see SINAMICS S110 List Manual)
● p0799[0...2] CU inputs/outputs sampling time
● p9500 SI Motion monitoring clock cycle (processor 1)
● p9511 SI Motion actual value sensing clock cycle (processor 1)
● p9586 SI Motion delay time of the evaluation, encoderless (CU)
● p9651 SI STO/SBC/SS1 debounce time (processor 1)
● p9652 SI Safe Stop 1 delay time (processor 1)
● r9780 SI monitoring clock cycle (Control Unit)
8.3.6
Residual risk
The fault analysis enables the machine manufacturer to determine the residual risk at his
machine with regard to the drive unit. The following residual risks are known:
WARNING
Due to the intrinsic potential of hardware faults, electrical systems are subject to additional
residual risk, which can be expressed by means of the PFH value.
WARNING
• Faults in the absolute track (C-D track), cyclic interchange of the drive phases (V-W-U
instead of U-V-W) and reversal of the control direction may cause acceleration of the
drive. Due to the fault, however, Category 1 and 2 stop functions to EN 60204-1 (fault
response functions STOP B to D in accordance with Safety Integrated) are not effective.
Stop function Category 0 to EN 60204-1 (fault response function STOP A in accordance
with Safety Integrated) is not triggered until after the transition or delay time set in the
parameter has elapsed. These faults are detected when SAM is selected (fault response
functions STOP B/C) and stop function category 0 in accordance with EN 60204-1 (fault
response function STOP A in accordance with Safety Integrated) is triggered as early as
possible regardless of this delay. Electrical faults (defective components or similar) may
also lead to the response stated above.
• Simultaneous failure of two power transistors (one in the upper and the other offset in
the lower inverter bridge) in the inverter may cause brief movement of the drive,
depending on the number of poles of the motor.
Maximum value of this movement:
Synchronous rotary motors: Max. movement = 180° / no. of pole pairs
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WARNING
• Violation of limits may briefly lead to a speed higher than the speed setpoint, or the axis
may pass the defined position to a certain extent, depending on the dynamic response
of the drive and on parameter settings.
• Mechanical forces greater than the maximum drive torque may force a drive currently
operated in position control mode out of the Safe Operating Stop state (SOS) and
trigger stop function category 1 in accordance with EN 60204-1 (fault reaction function
STOP B).
WARNING
Within a single-encoder system:
a) a single electrical fault in the encoder
b) a broken encoder shaft (or loose encoder shaft coupling), or a loose encoder housing will
cause the encoder signals to remain static (that is, they no longer follow a movement while
still returning a correct level), therefore preventing a fault from being detected while the
drive is in a stop state (for example, drive in SOS state).
Generally, the drive is held by the active closed-loop control. With closed loop control, it is
conceivable that vertical (suspended) drives in particular can move without their motion
being detected.
The risk of an electrical fault in the encoder as described under a) is only present for few
encoder types employing a specific principal of operation (for example, encoders with
microprocessor controlled signal generation such as the Heidenhain EQI, Hübner HEAG
159/160, or AMO measuring systems with sin/cos signals).
The risk analysis of the machine manufacturer must include all of the faults described
above. Additional safety measures have to be taken for drives with suspended/vertical or
dragging loads in order to exclude the faults described in a). For example:
• Use of an encoder with analog signal generation
In order to exclude the fault described in b), for example:
• Perform an FMEA regarding encoder shaft breakage (or slip of the encoder shaft
coupling), and implement a solution to prevent loose encoder housings, integration of a
fault exclusion process - for example according to IEC 61800-5-2
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8.4 Safety Integrated Basic Functions
8.4
Safety Integrated Basic Functions
Note
You can ask your local sales office regarding the PFH values of the individual safety
components of the SINAMICS S110 (also refer to the Section "Probability of failure of safety
functions").
8.4.1
Safe Torque Off (STO)
In conjunction with a machine function or in the event of a fault, the "Safe Torque Off" (STO)
function is used to safely disconnect the torque-generating motor power supply.
The following is executed when "Safe Torque Off" is selected:
● Each monitoring channel triggers safe pulse suppression via its switch-off signal path.
● A motor holding brake is closed (if connected and configured).
When the function is selected, the drive unit is in a "safe status". The Switching On Inhibited
status prevents the drive unit from being restarted.
The integrated two-channel pulse suppression is the basis for this function.
Functional features of "Safe Torque Off"
● This function is integrated in the drive; this means that a higher-level controller is not
required.
● The function must be enabled via parameter.
● When the "Safe Torque Off" function is selected:
– The motor cannot be started accidentally.
– The pulse suppression safely disconnects the torque-generating motor power supply.
– The power unit and motor are not electrically isolated.
● Extended acknowledgment:
If STO is selected/deselected (and p9307.0/p9507.0 = 1 are set), safety messages, in
addition to fault messages, are also canceled automatically.
If, in addition to the "Basic Functions via terminals", the "Extended Functions" are also
enabled, then acknowledgment is also possible by selecting/deselecting STO via
PROFIsafe or TM54F. Selecting/deselecting STO via terminals can, in this case however,
only acknowledge messages of stop responses STOP C, STOP D, STOP E and STOP F,
as long as STOP A or STOP B have not been triggered.
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● The input terminals can be debounced to prevent signal faults triggering other faults.
Parameters p9651 and p9851 are used to set filter times.
WARNING
Appropriate measures must be taken to ensure that the motor does not move once the
motor power supply has been disconnected ("coast down") (e.g. enable the "Safe Brake
Control" function with a vertical axis).
CAUTION
If two power transistors in the power unit (one in the upper and one offset in the lower
inverter bridge) break down at the same time, this can cause a limited momentary
movement.
For rotary synchronous motors the movement can be up to a maximum of 180° /
number of pole pairs.
● The status of the "Safe Torque Off" function is displayed using parameters.
Enabling the "Safe Torque Off" (STO) function
The "Safe Torque Off" function is enabled via the following parameters:
● STO via onboard terminals:
– p9601.0 = 1, p9801.0 = 1
– p9601.2.= 0, p9801.2.= 0
– p9601.3 = 0, p9801.3.= 0
● STO via PROFIsafe:
– p9601.0 = 0, p9801.0 = 0
– p9601.2 = 0, p9801.2 = 0
– p9601.3 = 1, p9801.3 = 1
● STO via PROFIsafe and on-board terminal (F-DI 0):
– p9601.0 = 1, p9801.0 = 1
– p9601.2 = 0, p9801.2 = 0
– p9601.3 = 1, p9801.3 = 1
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Selecting/deselecting "Safe Torque Off"
The following is executed when "Safe Torque Off" is selected:
● Each monitoring channel triggers safe pulse suppression via its switch-off signal path.
● A motor holding brake is closed (if connected and configured).
If "Safe Torque Off" is deselected, this is treated as an internal safe acknowledgment. The
following processes occur:
● Each monitoring channel cancels safe pulse suppression via its switch-off signal path.
● The safety prompt "Apply motor holding brake" is canceled.
● Any pending STOP F or STOP A commands are canceled (see r9772/r9872).
● The cause of the fault must be remedied.
● The messages in the fault memory also need to be reset using the general
acknowledgment mechanism.
Note
If "Safe Torque Off" is selected and deselected again through one channel within the time
in p9650/p9850, the pulses are suppressed, but no messages are output.
If you want a message to be displayed in this case, however, you have to reconfigure
N01620/N30620 via p2118 and p2119 as an alarm or fault.
Restart after the "Safe Torque Off" function has been selected
1. Deselect the function.
2. Set drive enables.
3. Cancel "Switching On Inhibited" and switch the drive back on.
– 1/0 edge at input signal "ON/OFF1" (cancel "Switching On Inhibited")
– 0/1 edge at input signal "ON/OFF1" (switch on drive)
Status for "Safe Torque Off"
The status of the "Safe Torque Off" (STO) function is displayed via parameters r9772, r9872,
r9773, and r9774.
As an alternative, the status of the function can be displayed using the configurable
messages N01620 and N30620 (configured using p2118 and p2119).
Response time with the "Safe Torque Off" function
For the response times when the function is selected/deselected via input terminals, see the
table in "Response times".
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8.4 Safety Integrated Basic Functions
Overview of important parameters (see SINAMICS S110 List Manual)
● p9601 SI enable, functions integrated in the drive (CPU 1)
● r9772 CO/BO: SI status (CPU 1)
● r9773 CO/BO: SI status (CPU 1 + CPU 2)
● r9780 SI monitoring clock cycle (CPU 1)
● p9801 SI enable, functions integrated in the drive (CPU 2)
● r9872 CO/BO: SI status (CPU 2)
● r9880 SI monitoring clock cycle (CPU 2)
8.4.2
Safe Stop 1 (SS1, time controlled)
General description
The "Safe Stop 1" function can be used to stop the drive in accordance with EN 60204-1,
stop category 1. The drive decelerates with the OFF3 ramp (p1135) once "Safe Stop 1" is
selected and switches to "Safe Torque Off" once the delay time set in p9652/p9852 has
elapsed.
CAUTION
When the SS1 (time-controlled) function has been activated through the parameterization
of a delay in p9652/p9852, it is no longer possible to select STO directly via terminals.
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8.4 Safety Integrated Basic Functions
Functional features of "Safe Stop 1"
SS1 is enabled when p9652 and p9852 (delay time) are not equal to "0".
● The precondition is the Basic Functions or STO are enabled via terminals and/or
PROFIsafe:
– p9601.0/p9801.0 = 1 (enable via terminals)
– p9601.3/p9801.3 = 1 (enable via PROFIsafe)
● The settings for parameters p9652/p9852 shown below have the following effect:
Setting
Effect
Control type for Basic Functions
p9652/p9852 = 0
STO enabled
Via terminals
STO enabled and SS1 not enabled (which
also means that it cannot be selected)
Via Profisafe
SS1 enabled
Via Profisafe or terminals
p9652/p9852 > 0
● When SS1 is selected, the drive is braked along the OFF3 ramp (p1135) and STO/SBC is
automatically initiated after the delay time has expired (p9652/p9852).
As soon as the function is selected, the delay time will start to run down - even if the
function is deselected during this time. In this case, after the delay time has expired, the
STO/SBC function is selected and then again de-selected immediately.
Note
So that the drive is able to travel down the OFF3 ramp completely and any motor holding
brake present can be applied before the pulse is switched off, the delay time can be set
as follows:
• Motor holding brake parameterized: Delay time ≥ p1135 + p1228 + p1217
• Motor holding brake not parameterized: Delay time ≥ p1135 + p1228
● The selection is realized through two channels - however braking along the OFF3 ramp,
only through one channel.
● The input terminals can be debounced to prevent signal faults triggering other faults.
Parameters p9651 and p9851 are used to set filter times.
Enabling function Safe Stop 1
The "Safe Stop 1" (SS1) function is enabled via the following parameters:
● SS1 via terminals or PROFIsafe:
– By entering the delay time in p9652 and p9852
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8.4 Safety Integrated Basic Functions
Prerequisite
STO via terminals (p9601.0 = p9801.0 =1) or Basic Functions via PROFIsafe (p9601.2 =
p9801.2 = 0 and p9601.3 = p9801.3 = 1) must be configured.
In order that the drive can brake down to a standstill even when selected through one
channel, the time in p9652/p9852 must be shorter than the sum of the parameters for the
data cross-check (p9650/p9850 and p9658/p9858). Otherwise the drive will coast down after
the time p9650 + p9658 has elapsed.
Status for "Safe Stop 1"
The status of the "Safe Stop 1" function is displayed via parameters r9772, r9773, r9774,
and r9872.
Alternatively, the status of the functions can be displayed using the configurable messages
N01621 and N30621 (configured using p2118 and p2119).
Overview of important parameters (see SINAMICS S110 List Manual)
● p1135[0...n] OFF3 ramp-down time
● p9650 SI F-DI changeover tolerance time (processor 1)
● p9651 SI STO/SBC/SS1 debounce time (processor 1)
● p9652 SI Safe Stop 1 delay time (CPU 1)
● r9772 CO/BO: SI status (CPU 1)
● r9773 CO/BO: SI status (CPU 1 + CPU 2)
● r9872 CO/BO: SI status (CPU 2)
● p9850 SI F-DI changeover tolerance time (processor 2)
● p9851 SI STO/SBC/SS1 debounce time (processor 2)
● p9852 SI Safe Stop 1 delay time (CPU 2)
8.4.3
Safe Brake Control (SBC)
Description
The "Safe Brake Control" function (SBC) is used to control holding brakes that function
according to the quiescent current principle (e.g. motor holding brakes).
The command for releasing or applying the brake is transmitted to the Safe Brake Relay via
the Power Module. The Safe Brake Relay then carries out the action and activates the
outputs for the brake accordingly.
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8.4 Safety Integrated Basic Functions
Brake activation via the brake connection on the Safe Brake Relay is carried out using a
safe, two-channel method.
Note
To ensure that this function can be used for Blocksize Power Modules, a Safe Brake Relay
must be used (for more information, see the Equipment Manual SINAMICS S110).
When the Power Module is configured automatically, the Safe Brake Relay is detected and
the motor holding brake type is defaulted (p1278 = 0).
WARNING
"Safe Brake Control" does not detect faults in the brake itself, such as brake winding shortcircuit, worn brakes, etc.
If a cable breaks, this is only recognized by the "Safe Brake Control" function when the
status changes, i.e. when the brake is applied/released.
Functional features of "Safe Brake Control" (SBC)
● When "Safe Torque Off" is selected or when safety monitors are triggered, "SBC" is
performed with safe pulse suppression.
● Unlike conventional brake control, SBC is executed via p1215 through two channels.
● SBC is executed regardless of the brake control or mode set in p1215. SBC is not
recommended, however, when 1215 = 0 or 3.
● The function must be enabled via parameter.
● When SBC is enabled, the holding brake is applied immediately with forced dormant error
detection each time "Safe Torque Off" is selected.
● The input terminals can be debounced to prevent signal faults triggering other faults.
Parameters p9651 and p9851 are used to set filter times.
Enabling the "Safe Brake Control (SBC)" function
The "Safe Brake Control" function is enabled via the following parameters:
● p9602 SI enable safe brake control (CPU 1)
● p9802 SI enable safe brake control (CPU 2)
The "Safe Brake Control" function cannot be used until at least one safety monitoring
function has been enabled (i.e. p9601 = p9801 ≠ 0).
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8.4 Safety Integrated Basic Functions
Two-channel brake control
The function "Safe Brake Control" is carried out using a two-channel method, in which both
the plus-potential (24 V) leading and the ground-potential leading brake connection are
connected to the Safe Brake Relay.
The brake diagnosis can only reliably detect a malfunction in either of the switches in the
Safe Brake Relay when the status changes (when the brake is released or applied).
If the Safe Brake Relay or its controller detects a fault, the brake current is switched off and a
safe status is reached.
Response time with the "Safe Brake Control" function
For the response times when the function is selected/deselected via input terminals, see the
table in "Response times".
NOTICE
When controlling the brake via a relay using "Safe Brake Control":
A relay cannot be used to apply the brake if "Safe Brake Control" is being used. It may
result in faults being triggered in the brake control.
Overview of important parameters (see SINAMICS S110 List Manual)
● p9602 SI enable safe brake control (CPU 1)
● r9780 SI monitoring clock cycle (CPU 1)
● p9802 SI enable safe brake control (CPU 2)
● r9880 SI monitoring clock cycle (CPU 2)
8.4.4
Safety faults
The fault messages for Safety Basic Functions are stored in the standard message buffer
and can be read from there. In contrast, the fault messages for Safety Integrated Extended
Functions are stored in a separate safety message buffer (see section "Message buffer").
When faults associated with Safety Integrated Basic Functions occur, the following stop
responses can be initiated:
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8.4 Safety Integrated Basic Functions
Table 8- 9
Stop responses to Safety Integrated Basic Functions
Stop response
Triggered ...
STOP A cannot be For all nonacknowledged
acknowledgeable
safety faults with
pulse suppression.
STOP A
For all
acknowledgeable
safety faults with
pulse suppression.
Action
Effect
Trigger safe pulse
The motor coasts to a
suppression via the
standstill or is braked by the
switch-off signal path for
holding brake.
the relevant monitoring
channel. During operation
with SBC:
apply motor holding
brake.
As a follow-up
reaction of STOP F.
STOP A corresponds to Stop Category 0 in accordance with EN 60204-1.
With STOP A, the motor is switched directly to zero torque via the "Safe Torque
Off (STO)" function.
A motor at standstill cannot be started again accidentally.
A moving motor coasts to standstill. This can be prevented by using external
braking mechanisms (e.g. armature short-circuiting, holding or operational
brake).
When STOP A is active, "Safe Torque Off" (STO) is effective.
STOP F
If an error occurs in the Transition to STOP A.
data cross-check.
Follow-up reaction STOP A
with adjustable
delay (default setting without
delay) if one of the safety
functions is selected
STOP F is permanently assigned to the data cross-check (DCC). In this way,
errors are detected in the monitoring channels.
After STOP F, STOP A is triggered.
When STOP A is active, "Safe Torque Off" (STO) is effective.
WARNING
With a vertical axis or pulling load, there is a risk of uncontrolled axis movements when
STOP A/F is triggered. This can be prevented by using "Safe Brake Control (SBC)" and a
holding brake (not a safety brake!) with sufficient holding force.
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8.4 Safety Integrated Basic Functions
Acknowledging the safety faults
Faults associated with Safety Integrated Basic Functions must be acknowledged as follows:
1. Remove the cause of the fault.
2. Deselect "Safe Torque Off" (STO).
3. Acknowledge the fault.
If safety commissioning mode is exited when the safety functions are switched off (p0010 ≠
95 when p9601 = p9801 = 0), all the safety faults can be acknowledged.
Once safety commissioning mode has been selected again (p0010 = 95), all the faults that
were previously present reappear.
NOTICE
Safety faults can also be acknowledged (as with all other faults) by switching the drive unit
off and then on again (POWER ON).
If this action has not eliminated the fault cause, the fault is displayed again immediately
after power up.
Acknowledgment via PROFIsafe
The higher-level controller sets the signal "Internal Event ACK" via the PROFIsafe telegram
(STW bit 7). A falling edge in this signal resets the status "Internal Event" and so
acknowledges the fault.
Description of faults and alarms
Note
The faults and alarms for SINAMICS Safety Integrated are described in the following
documentation:
References: SINAMICS S110 List Manual
8.4.5
Forced checking procedure
Forced dormant error detection or test of the switch-off signal paths for Safety Integrated Basic
Functions
The forced dormant error detection function at the switch-off signal paths is used to detect
software/hardware faults at both monitoring channels in time and is automated by means of
activation/deactivation of the "Safe Torque Off" function.
To fulfill the requirements of ISO 13849-1 regarding timely error detection, the two switch-off
signal paths must be tested at least once within a defined time to ensure that they are
functioning properly. This functionality must be implemented by means of forced dormant
error detection function, triggered either in manual mode or by the automated process.
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8.4 Safety Integrated Basic Functions
A timer ensures that forced dormant error detection is carried out as quickly as possible.
● p9659 SI timer for the forced dormant error detection.
Forced dormant error detection must be carried out at least once during the time set in this
parameter.
Once this time has elapsed, an alarm is output and remains present until forced dormant
error detection is carried out.
The timer returns to the set value each time the STO function is deactivated.
When the appropriate safety devices are implemented (e.g. protective doors), it can be
assumed that running machinery will not pose any risk to personnel. For this reason, an
alarm is only output to inform the user that a forced dormant error detection run is due and to
request that this be carried out at the next available opportunity. This alarm does not affect
machine operation.
The user must set the time interval for carrying out forced dormant error detection to
between 0.00 and 9000.00 hours depending on the application (factory setting: 8.00 hours).
Examples of when to carry out forced dormant error detection:
● When the drives are at a standstill after the system has been switched on (POWER ON).
● When the protective door is opened.
● At defined intervals (e.g. every 8 hours).
● In automatic mode (time and event dependent)
NOTICE
The timer of the Basic Functions will be reset if the associated forced dormant error
detection is executed and the Extended Functions are used simultaneously.
Discrepancy is not checked at the terminals used to select the Basic Functions as long as
STO is set by the Extended Functions. That is, the forced dormant error detection
procedure of the Basic Functions always has to be executed without simultaneous selection
of STO or SS1 by the Extended Functions. It is otherwise not possible to verify the correct
control through the terminals.
WARNING
For the SINAMICS S110 drive system, to perform a self test, a POWER OFF/POWER ON1)
must be performed for the Control Unit at least once a year. This also applies, if the forced
checking procedure of the safety functions takes place more frequently than once per year.
1) For
SINAMICS S110, the Control Unit can also be supplied from the line connection of the
Power Module. For SINAMICS S110, a POWER OFF/POWER ON means line supply off/on
for the Power Module and – if one is being used – also for the 24V power supply.
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8.5 Safety Integrated Extended Functions
8.5
Safety Integrated Extended Functions
Note
You can ask your local sales office regarding the PFH values of the individual safety
components of the SINAMICS S110 (also refer to the Section "Probability of failure of safety
functions").
8.5.1
Extended Functions "with encoder" / "without encoder"
For activation of the Safety Integrated functions "with encoder" and "without encoder", set
the parameters p9306 and p9506 (factory setting = 0). You can also make this setting by
selecting "with encoder" or "without encoder" on the Safety Integrated STARTER screen.
This STARTER screen can be found for each drive under "Functions" → "Safety Integrated".
● Operation with encoder
p9306 = p9506 = 0
● Operation without encoder
p9306 = p9506 = 1
or
p9306 = p9506 = 3
"Park" mode for Safety Integrated Extended Functions "with encoder"
Note
When a drive object for which Safety Integrated Extended Functions with encoder are
enabled is switched to "Park" mode, the Safety Integrated software responds by selecting
STO without generating a separate message. This internal STO selection is displayed in
parameter r9772.19.
Restrictions for Safety Integrated Extended Functions "without encoder"
The following restrictions apply for the Safety Extended Functions "without encoder":
Operation only with synchronous motors of the series
1
SIEMOSYN (only with U/f control)
No operation for units with the following design
1
Blocksize GX
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8.5 Safety Integrated Extended Functions
Technological restrictions
1
Pulling loads are not permitted
2
The slip of an induction motor must be taken into account
No operation in conjunction with the following functions1)
1)
1
Flying restart
2
Current limitation Ilim
3
DC brake
4
Compound brake
5
SW pulse logic
6
Motor identification
7
Motor data set changeover of synchronous and induction motors is not permitted
8
Pulse pattern technique for encoderless vector control of synchronous motors (selected
using p1750.5)
Note: Activation of a Safety motion monitoring function and simultaneously using these drive
functions results in a Safety fault.
Performance restrictions
2)
1
Within1 s only one start-up and one down-ramp are permitted2)
2
The permissible ramp time is a minimum of 1 second for synchronous motors (the ramp
time depends on the power rating)
Note: For a cycle "0 → +nset → -nset→ 0, a minimum period of 2 s is required.
CAUTION
Safety Integrated Extended Functions "without encoder" must not be used if the motor,
after it has been switched off, can still be accelerated by the mechanical elements of the
connected machine component.
Whether or not a mechanical brake is installed is irrelevant here.
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8.5 Safety Integrated Extended Functions
Examples:
1. For the hoisting gear of a crane, the suspended load can accelerate the motor as soon as
the motor is switched off. In this case, the safety functions "without encoder" are not
permitted.
Even if the mechanical brake of the hoisting gear is generally applied after the motor has
been switched off, the use of safety functions "without encoder" in this application is still
prohibited.
2. A horizontal conveyor is always braked to a standstill due to friction as soon as the motor
is switched off. In this case, the safety functions "without encoder" can be used without
any restriction.
8.5.2
Safe Torque Off
In addition to the control options specified under Safety Integrated Basic Functions, "Safe
Torque Off (STO) under Safety Integrated Extended Functions can also be activated via
PROFIsafe.
Functional features of "Safe Torque Off"
The functionality of "Safe Torque Off (STO)" is described in the section, "Safety Integrated
Basic Functions".
8.5.3
Safe Stop 1 (SS1)
8.5.3.1
Safe Stop 1 (SS1, time and acceleration controlled)
The SS1 function with an encoder monitors whether motor acceleration reaches
impermissible levels during the SS1 time.
The "Safe Stop 1" function can be used to stop the drive in accordance with EN 60204-1,
stop category 1. The drive brakes with the OFF3 ramp (p1135) once "Safe Stop 1" is
selected and switches to "Safe Torque Off" (STO) once the delay time has elapsed
(p9356/p9556) or when the shutdown speed is reached (p9360/p9560).
If the drive complies with acceleration monitoring limits, STO is triggered when the shutdown
speed is reached or after the SS1 time has expired. If acceleration monitoring limits are
violated, messages C01706 and C30706 are output and the drive is stopped with STOP A.
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8.5 Safety Integrated Extended Functions
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Functional features of "Safe Stop 1"
● The delay time starts after the function has been selected. If SS1 is deselected again
during this time, the STO function is selected and deselected again straightaway after the
delay time has elapsed or the speed has dropped below the shutdown speed.
● Selection and monitoring of the brake ramp (SBR) or the acceleration (SAM) are
implemented in two channels, however braking along the OFF3 ramp is only through one
channel.
● The "Safe Acceleration Monitor" (SAM) function is selected during braking (see "Safe
Acceleration Monitor").
Note
Activating SS1 may cause the higher-level control (PLC, motion controller), which enters the
speed setpoint, to interrupt the ramp function by triggering OFF2.
The device behaves in this way as a result of a fault reaction triggered by OFF3 activation.
This fault reaction must be avoided using the appropriate parameterization/configuration.
Note
If you use SS1 together with EPOS, then as fault reaction to F07490 (EPOS: enable
withdrawn while traversing) OFF2 is not permitted. The reaction can be configured using
p2100/p2101.
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8.5 Safety Integrated Extended Functions
Commissioning
Note
When "Safe Stop 1" (SS1) is installed, the function "Safe Acceleration Monitor" (SAM) is
active. For parameterizing the "Safe Acceleration Monitor" (SAM) function
→ see section "Safe Acceleration Monitor (SAM)".
The delay time (SS1 time) is set using parameters p9356 and p9556. The wait time until the
pulses are suppressed can be shortened by defining a shutdown speed in p9360 and p9560.
To enable the drive to decelerate to standstill, the time set in p9356/p9556 must be sufficient
to allow the drive to decelerate to below the shutdown speed in p9360/p9560 along the
OFF3 ramp (p1135).
Note
So that the drive is able to travel down the OFF3 ramp completely and any motor holding
brake present can be applied, the delay time can be set as follows:
• Motor holding brake parameterized: Delay time ≥ p1135 + p1228 + p1217
• Motor holding brake not parameterized: Delay time ≥ p1135 + p1228
When setting a shutdown speed in p9360/p9560, you must be certain that the safety of
personnel or machinery will not be compromised at speeds less than or equal to this speed
or as a result of subsequent coasting caused by the pulse inhibit.
The actual speed tolerance is set using parameters p9348/p9548 (for more information
please see section "Safe Acceleration Monitor (SAM)").
Responses
Speed limit violated (SAM):
● STOP A
● Safety message C01706/C30706
System errors:
1. STOP F with subsequent STOP A
2. Safety message C01711/C30711
Status for "Safe Stop 1"
The status of the "Safe Stop 1" function is displayed using the following parameters:
● r9722.1 CO/BO: SI Motion status signals, SS1 active
● r9722.0 CO/BO: SI Motion status signals, STO active (power removed)
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8.5 Safety Integrated Extended Functions
8.5.3.2
Safe Stop 1 without encoder (speed controlled)
Two encoderless Safe Stop 1 (SS1) monitoring functions can be set with parameters
p9506/p9306:
● p9506/p9306 = 3: Safe monitoring of acceleration (SAM) / delay time
The function is identical to "Safe Stop 1" with encoder, which was described in the
previous section.
● p9506/p9306 = 1: Safe brake ramp monitoring (SBR)
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8.5 Safety Integrated Extended Functions
Brake ramp monitoring
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The motor is immediately decelerated along the OFF3 ramp as soon as SS1 is triggered.
Monitoring is activated once the delay time in p9582/p9382 has elapsed. The drive is
monitored during braking to ensure the set brake ramp is adhered to. As soon as the speed
drops below the shutdown speed (p9560/p9360), safe monitoring of the brake ramp is
deactivated and safe pulse suppression (STO) is activated. If the set brake ramp (SBR) is
violated (exceeded), messages C01706 and C30706 are output and the drive is stopped with
STO (STOP A).
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Sequence for "Safe Stop 1" without encoder (p9506/p9306 = 1)
Functional feature of Safe Stop 1 without encoder
● Selection and monitoring of the brake ramp (SBR) or the acceleration (SAM) are
implemented in two channels, however braking at the OFF3 ramp is only through one
channel.
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
Parameterization of the brake ramp "without encoder"
p9581/p9381 and p9583/p9383 are used to set the steepness of the brake ramp (SBR).
Parameters p9581/p9381 determine the reference speed; parameters p9583/p9383 define
the ramp-down time from the reference speed to the value 0. Parameters p9582/p9382 are
used to set the time between the triggering of Safe Stop 1 and the start of brake ramp
monitoring.
8.5.3.3
Safe Stop 1 - Parameter
Overview of important parameters (see SINAMICS S110 List Manual)
● p1135[0...n] OFF3 ramp-down time
● p9301 SI Motion enable safety functions (CPU 2)
● p9501 SI Motion enable safety functions (CPU 1)
● p9306 SI Motion function specification (CPU 2)
● p9506 SI Motion function specification (CPU 1)
● p9356 SI Motion pulse suppression delay time (CPU 2)
● p9556 SI Motion pulse suppression delay time (CPU 1)
● p9360 SI Motion pulse suppression shutdown speed (CPU 2)
● p9560 SI Motion pulse suppression shutdown speed (CPU 1)
● r9722.0...15 CO/BO: SI Motion drive-integrated status signals
Only for SS1 with encoder and SS1 without encoder with acceleration monitoring (p9506 = 3):
● p9348 SI Motion SAM actual speed tolerance (CPU 2)
● p9548 SI Motion SAM actual speed tolerance (CPU 1)
Only for SS1 without encoder (p9506 = 1):
● p9381 SI Motion brake ramp reference value (CPU 2)
● p9581 SI Motion brake ramp reference value (CPU 1)
● p9382 SI Motion brake ramp delay time (CPU 2)
● p9582 SI Motion brake ramp delay time (CPU 1)
● p9383 SI Motion brake ramp monitoring time (CPU 2)
● p9583 SI Motion brake ramp monitoring time (CPU 1)
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8.5 Safety Integrated Extended Functions
8.5.4
Safe Stop 2 (SS2)
The "Safe Stop 2" (SS2) safety function is used to brake the motor safely on the OFF3 ramp
down (p1135) with subsequent transition to the SOS state (see the "Safe Operating Stop"
chapter) after the delay time expires (p9352/p9552). The delay time set must allow the drive
to decelerate to a standstill within this time. The standstill tolerance (p9330/p9530) may not
be violated after this time.
After the braking operation is completed, the drive remains in the speed controlled mode with
the speed setpoint n = 0. The full torque is available.
Note
The "Safe Stop 2" (SS2) safety function can only be used with an encoder.
The setpoint input (e.g. from the setpoint channel, or from a higher-level control) remains
inhibited as long as SS2 is selected. The "Safe Acceleration Monitor" (SAM) function is
active during braking.
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Sequence with SS2 selection
Selection and monitoring of the brake ramp (SBR) or the acceleration (SAM) are
implemented in two channels, however braking along the OFF3 ramp is only through one
channel.
Note
Activating SS1 can mean that the higher-level control (PLC, motion controller), which enters
the speed setpoint, interrupts the ramp function with OFF2. The reason for this is a fault
response of this device, triggered by the OFF3 activation. This fault reaction can be avoided
using suitable parameterization/configuration.
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
Responses
Speed limit violated (SAM):
● STOP A
● Safety message C01706/C30706
Standstill tolerance violated in p9330/p9530 (SOS):
● STOP B with subsequent STOP A
● Safety message C01707/C30707
System errors:
● STOP F with subsequent STOP A
● Safety message C01711/C30711
Overview of important parameters (see SINAMICS S110 List Manual)
● p1135[0...n] OFF3 ramp-down time
● p9301 SI Motion enable safety functions (CPU 2)
● p9501 SI Motion enable safety functions (CPU 1)
● p9330 SI Motion standstill tolerance (CPU 2)
● p9530 SI Motion standstill tolerance (CPU 1)
● p9348 SI Motion SAM actual speed tolerance (CPU 2)
● p9548 SI Motion SAM actual speed tolerance (CPU 1)
● p9352 SI Motion transition time STOP C to SOS (CPU 2) 1)
● p9552 SI Motion transition time STOP C to SOS (CPU 1) 1)
● r9722.0...15 CO/BO: SI Motion drive-integrated status signals
1) STOP
C corresponds to SS2.
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8.5 Safety Integrated Extended Functions
8.5.4.1
EPOS and Safe Stop 2
Since the function SS2 – with its setpoint-independent braking – is not suitable for use with
EPOS, the Safe Operating Stop (SOS) function can be used with delay.
On selection of SOS, the EPOS function "intermediate stop" (p2640 = 0) ensures that EPOS
is able to stop the drive in its tracks and then keep it under control in this state before the
SOS becomes active. The maximum necessary braking time (from p2573 and p2645 from
EPOS) must then be entered in the delay time for SLS/SOS (p9551/p9351) with a small
safety addition: This ensures that the drive is stationary before SOS becomes active.
To do this, proceed as follows:
1. Connect the EPOS function "intermediate stop" (p2640) with the SOS selection (r9720.3).
2. Enter the maximum necessary braking time from EPOS (depending on the values set in
p2573 and p2645) with a safety addition (approx. +5%) in the SOS delay time
(p9551/p9351).
Overview of important parameters (see SINAMICS S110 List Manual)
● p2645 CI: EPOS direct setpoint input/MDI, deceleration override
● p2573 EPOS maximum deceleration
● p2594 CI: EPOS maximum speed, externally limited
● p2640 BI: EPOS intermediate stop (0 signal)
● p9351 SI Motion SLS changeover delay time (CPU 2)
● p9551 SI Motion SLS(SG) changeover delay time (CPU 1)
● r9720.0...10 CO/BO: SI Motion drive-integrated control signals
● r9733[0...1] CO: SI Motion setpoint speed limit effective
8.5.5
Safe Operating Stop (SOS)
General description
This function serves for fail-safe monitoring of the standstill position of a drive.
Personnel can enter the protected machine areas without having to shut down the machine
as long as SOS is active.
Drive standstill is monitored by means of an SOS tolerance window (p9330 and p9530). The
function SOS comes into effect in the following cases:
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
● After SOS has been selected and after the delay time set in p9351/p9551 has expired.
The drive must be braked to standstill within this delay time (e.g. by the controller).
● As a consequence of SS2
● As a consequence of STOP C (corresponds to selection SS2)
● As a consequence of STOP D (corresponds to selection SOS)
● As a consequence of STOP E
When this function is activated, the current actual position is saved as a comparative
position, until SOS is deselected again. Any delay time is cleared after SOS is deselected
and the drive can be immediately moved.
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Standstill tolerance
Note
The "Safe Operating Stop" (SOS) safety function can only be used with an encoder.
Functional features of "Safe Operating Stop"
● The drive remains in the closed-loop control mode.
● A programmable standstill tolerance window is available.
● STOP B is the stop response after the standstill tolerance window has been violated
Note
The size of the tolerance window should be slightly above the standard standstill
monitoring limit, otherwise the standard monitoring functions will no longer be effective.
Parameter r9731 displays the safe position accuracy (load side) that can be achieved as
a maximum, based on the acquisition of the actual value for the safe motion monitoring
functions.
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8.5 Safety Integrated Extended Functions
Responses
Standstill tolerance violated in p9330/p9530:
● STOP B with subsequent STOP A
● Safety message C01707/C30707
System errors:
● STOP F
● Safety message C01711/C30711
Overview of important parameters (see SINAMICS S110 List Manual)
● p9301 SI Motion enable safety functions (CPU 2)
● p9501 SI Motion enable safety functions (CPU 1)
● p9330 SI Motion standstill tolerance (CPU 2)
● p9530 SI Motion standstill tolerance (CPU 1)
● p9351 SI Motion SLS changeover delay time (CPU 2)
● p9551 SI Motion SLS changeover delay time (CPU 1)
● r9722.0...15 CO/BO: SI Motion drive-integrated status signals
● r9731 SI Motion safe position accuracy
8.5.6
Safely Limited Speed (SLS)
The Safely Limited Speed (SLS) function is used to protect a drive against unintentionally
high speeds in both directions of rotation. This is achieved by monitoring the current drive
speed up to a speed limit.
Safely Limited Speed prevents a parameterized speed limit from being exceeded. Limits
must be specified based on results of the risk analysis. Up to 4 different SLS speed limits
can be parameterized via parameter p9331[0..3]/p9531[0..3]; it is possible to switch between
them even if the SLS is activated.
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
8.5.6.1
Safely Limited Speed (SLS)
Features
● After switching to a lower Safely Limited Speed limit value (p9331/p9531), the actual
speed of the drive must have dropped below the new Safely Limited Speed limit within
the delay time (p9351/p9551). The existing Safely Limited Speed limit remains active
during the delay time. The lower Safely Limited Speed limit becomes active after the
delay time has elapsed.
● If the actual speed of the drive is higher than the new Safely Limited Speed limit after the
delay time has elapsed, a message is created with the parameterized stop response.
● The stop response (STOP A, STOP B, STOP C or STOP D) is parameterized with
p9363/p9563.
● The delay time is not active when switching over to a higher Safely Limited Speed limit –
the higher Safely Limited Speed limit (SLS limit value) is active immediately.
● 4 parameterizable Safely Limited Speed limit values p9331[0...3] and p9531[0...3]
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Safely Limited Speed limit delay time
● In parameter p9533, enter the factor for the speed setpoint limitation as a percentage.
This factor is used to calculate the effective speed setpoint limit r9733. The effective
speed setpoint limit is dependent on the selected SLS limit value p9531[x]. In contrast to
the parameterization of SLS limit values, r9733 specifies limits on the motor side, not
limits on the load side.
● SLS limit value
– r9733[0] = p9531[x] * p9533; x = selected SLS limit value
– r9733[1] = - p9531[x] * p9533; x = selected SLS limit value
r9733 is used, for example, for transmitting values to a higher-level control, which can
then, for example, adjust traversing speeds to the SLS levels. r9733 is a part of the
Safety Info Channel (SIC).
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8.5 Safety Integrated Extended Functions
Changeover of SLS limit values
The changeover is executed binary-coded via two F-DIs or two PROFIsafe control bits. The
speed selection status can be checked using the r9720.9/r9720.10 parameters. Parameters
r9722.9 and r9722.10 indicate the actual speed limit, bit r9722.4 must carry a "1" signal.
Table 8- 10
Changeover of speed limits:
F-DI for bit 1 (r9720.10)
F-DI for bit 0 (r9720.9)
Speed limit
0
0
p9331[0]/p9531[0]
0
1
p9331[1]/p9531[1]
1
0
p9331[2]/p9531[2]
1
1
p9331[3]/p9531[3]
The changeover from a lower to a higher speed limit takes effect without any delay.
The changeover from a higher to a lower limit triggers a delay time which can be set at the
corresponding parameter (p9351 and p9551).
CAUTION
The limit value SLS1 must be defined as the lowest Safely Limited Speed limit.
The limit value SLS level 1 is activated after two unacknowledged discrepancy errors; in
other words, 0 is the failsafe value for the 2 F-DIs for speed level selection. The SLS limit
values must, therefore, always be parameterized in ascending order, i.e. with limit value
SLS1 as the lowest speed and limit value SLS4 as the highest speed.
Responses
Speed limit value exceeded:
● Configured subsequent stop STOP A / B / C / D by means of p9363/p9563
● Safety message C01714/C30714
System errors:
● STOP F
● Safety messages C01711/C30711
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
8.5.6.2
Safely Limited Speed without encoder
Functions
Two different encoderless Safely Limited Speed monitoring functions can be set with the
parameters p9506/9306:
● p9506/9306 = 3: Safe monitoring of acceleration (SAM) / delay time
The function is identical to "Safely Limited Speed with encoder", which was described in
the previous section.
● p9506/9306 = 1: Safe brake ramp monitoring (SBR)
Monitoring the brake ramp
● If SLS is selected or switched to a lower SLS stage, and at the same time if the setpoint
speed limiting is configured (e.g. in a higher-level control, which evaluates the Safety
information channel or wiring from r9733[0/1] to the ramp-function generator speed limits
(p1051/p1052)), then the motor is a braked with the OFF3 ramp from the actual speed to
below the selected SLS limit value.
● Parameters p9582/p9382 are used to set the delay time for the brake ramp monitoring.
● Monitoring of the brake ramp is activated once the delay time in p9582/p9382 has
elapsed. If the actual speed of the drive violates the brake ramp (SBR) during braking,
Safety messages C01706 and C30706 are output and the drive is stopped with STOP A.
● The newly selected SLS limit value is also taken over as the new limit speed, if either
– the SBR ramp has reached the new SLS limit value, or
– the actual speed of the drive was below the new SLS limit value for at least the time
set in p9582/p9382.
● The function "Safely Limited Speed without encoder" then monitors whether the actual
speed remains below the newly selected SLS limit value.
● The parameterized stop response (p9563[x]) is triggered if the SLS limit value is
exceeded.
Configuring the limits
● The speed limits for Safely Limited Speed without encoder are configured in exactly the
same way as described for Safely Limited Speed with encoder.
● Only STOP A and STOP B may be configured as stop responses for "Safely Limited
Speed" (SLS) without encoder.
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8.5 Safety Integrated Extended Functions
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Signal profile for SLS without encoder
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Signal profile for SLS without encoder
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8.5 Safety Integrated Extended Functions
Restart after OFF2
If the drive has been switched off via OFF2/STO, the following steps need to be carried out
before a restart can be performed:
1st scenario:
● State after power-on: SLS selected, STO selected, OFF2 active
● Deselect STO.
● The drive enable must be given within 5 seconds via a positive edge at OFF1, otherwise
STO is reactivated.
2nd scenario
● Situation: Run until standstill with SLS selected, then OFF2 activated
● Select STO
● Deselect STO.
STO activated internally via OFF2: This activation must be undone by
selection/deselection.
● The drive enable must be given within 5 seconds via a positive edge at OFF1, otherwise
STO is reactivated.
3rd scenario
● Situation: Run until standstill with SLS selected, then OFF2 activated
● Deselect SLS
● Select SLS
STO activated internally via OFF2: This activation must be undone by
selecting/deselecting SLS.
● After this the drive enable must be given by a positive edge at OFF1.
4th scenario
● Situation: All Safety Integrated functions are deselected
● After this the drive enable must be given by a positive edge at OFF1.
Note
In the 4th scenario the motor is not reliably started.
Parameterization of the brake ramp without encoder
p9581/p9381 and p9583/p9383 are used to set the steepness of the brake ramp.
Parameters p9581/p9381 define the reference velocity, parameters p9583/p9383 the rampdown time from the reference velocity down to a value of 0. Parameters p9582/p9382 are
used to set the time, which after changing over to a lower SLS velocity stage, elapses until
the braking ramp monitoring becomes effective.
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8.5 Safety Integrated Extended Functions
8.5.6.3
Safely Limited Speed - Parameter
Overview of important parameters (see SINAMICS S110 List Manual)
● p9301.0 SI Motion enable safety functions (CPU 2)
● p9306 SI Motion function specification (CPU 2)
● p9331[0...3] SI Motion SLS limits (CPU 2)
● p9351 SI Motion SLS changeover delay time (CPU 2)
● p9381 SI Motion brake ramp reference value (CPU 2)
● p9382 SI Motion brake ramp delay time (CPU 2)
● p9383 SI Motion brake ramp monitoring time (CPU 2)
● p9501.0 SI Motion enable safety functions (CPU 1)
● p9506 SI Motion function specification (CPU 1)
● p9531[0...3] SI Motion SLS (SG) limits (CPU 1)
● p9551 SI Motion SLS(SG) changeover delay time (CPU 1)
● p9581 SI Motion brake ramp reference value (CPU 1)
● p9582 SI Motion brake ramp delay time (CPU 1)
● p9583 SI Motion brake ramp monitoring time (CPU 1)
● p9601 SI enable, functions integrated in the drive (processor 1)
● r9714[0...1] SI Motion diagnostics speed
● r9720.0...10 CO/BO: SI Motion drive-integrated control signals
● r9721.0...15 CO/BO: SI motion, status signals
● r9722.0...15 CO/BO: SI Motion drive-integrated status signals
● p9801 SI enable, functions integrated in the drive (processor 2)
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8.5 Safety Integrated Extended Functions
8.5.6.4
EPOS and Safely-Limited Speed
If safe speed monitoring (SLS) is also to be used at the same time as the EPOS positioning
function , EPOS must be informed of the activated speed monitoring limit. Otherwise the
speed monitoring limit can be violated by the EPOS setpoint input. Through the SLS
monitoring, this violation leads to the drive being stopped and so abandoning the planned
movement sequences. Here the relevant safety faults are output first of all and only then the
sequential faults created by EPOS.
With its parameter r9733, the SLS function provides a setpoint limit value which, when taken
into account, prevents the SLS limit value from being violated.
This means that the setpoint limit value in r9733 must therefore be transferred to the input for
the maximum setpoint speed/velocity of EPOS (p2594), to prevent an SLS limit value
violation as a result of the EPOS setpoint input. You need to set the delay time for SLS/SOS
(p9551/p9351) so that the SLS only becomes active after the maximum required time for the
speed to be reduced below the SLS limit. This required braking time is determined by the
current speed, the jerk limit in p2574 and the maximum delay in p2573.
Overview of important parameters (see SINAMICS S110 List Manual)
● p2573 EPOS maximum deceleration
● p2574 EPOS jerk limitation
● p2593 CI: EPOS LU/revolution LU/mm
● p2594 CI: EPOS maximum speed externally limited
● p9351 SI Motion SLS changeover delay time (CPU 2)
● p9551 SI Motion SLS changeover delay time (CPU 1)
● r9733(0,1) CO: SI Motion speed setpoint limit active
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8.5 Safety Integrated Extended Functions
8.5.7
Safe Speed Monitor (SSM)
The "Safe Speed Monitor" (SSM) function provides a reliable method for detecting when a
speed limit has been undershot (p9346/p9546) in both directions of rotation, e.g. for zero
speed detection. A fail-safe output signal is available for further processing.
The function is activated automatically as soon as the Safety Integrated Extended Functions
are enabled with parameters p9301.0 = p9501.0 = 1 and p9346/p9546 > 0. SSM is
deactivated if p9346/p9546 = 0.
NOTICE
If 0 is entered for p9368/p9568, the speed limit of the SSM function (p9346/p9546) is
simultaneously the minimum limit for the safe acceleration monitoring function (SAM).
In this case, the effect of safe acceleration monitoring is therefore restricted if a relatively
high SSM/SAM speed limit is set when using the SS1 and SS2 stop functions.
WARNING
A STOP F is indicated by Safety message C01711/C30711. STOP F only results in the
follow-up response STOP B / STOP A if one of the Safety functions is active. If only the
SSM function is active, a STOP F cross-checking error does not result in a STOP B /
STOP A follow-up response.
SSM is only valid as an active monitoring function if p9301.0 = p9501.0 ≠ 0 and
p9346 = p9546 ≠ 0 and "Hysteresis and filtering" is parameterized
(p9301.16 = p9501.16 = 1).
If "Hysteresis and filtering" is not parameterized (p9301.16 = p9501.16 = 0), SSM is not
valid as an active monitoring function, but instead has only an informative character.
Note
You must carefully observe the following rules when parameterizing hysteresis and actual
value synchronization:
• If "SSM hysteresis" has been enabled (p9501.16 = p9301.16 = 1), you must set
parameters p9546/p9346 and p9547/p9347 according to this rule:
p9546 ≥ 2 × p9547
p9346 ≥ 2 × p9347
• If "Actual value synchronization" has been enabled (p9501.3 = p9301.3 = 1), you must
also observe this rule:
p9549 ≤ p9547
p9349 ≤ p9347
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
Features
● Safe monitoring of the speed limit specified in p9346 and p9546
● Parameterizable hysteresis via p9347 and p9547
● Variable PT1 filter via p9345 and p9545
● Safe output signal
● No stop response
8.5.7.1
Safe Speed Monitor with encoder
Functional features of "Safe Speed Monitor" with encoder
The parameter p9346/p9546 "SI Motion SSM (SGA n < nx) speed limit n_x" is used to set
the speed limit. The abbreviation "SGA n < nx" indicates the safety function required for
determining an output signal when a parameterizable velocity limit has been undershot.
If the speed limit for the "Safe Speed Monitor" feedback signal (n < n_x) is undershot, the
signal "Safe Speed Monitor feedback signal active" (SGA n < n_x) is set. When the set
threshold value has been undershot, the "Safe Acceleration Monitor" (SAM) function is also
deactivated (see p9368/p9568). If p9368 = p9568 = 0, then p9346/p9546 (SSM feedback
signal) is also used as a minimum threshold for the SAM monitoring.
The hysteresis for the SSM output signal is set in parameter p9347/p9547 "SI Motion SSM
Speed Hysteresis n_x". The SSM output signal can either take the state "1" or "0" –
depending on from which direction the belt is reached.
If the maximum permissible speed tolerance is exceeded (i.e. one channel displays a speed
less than p9546 - p9547, while the other channel displays a speed greater than p9546), a
STOP F is issued. Parameters p9347/p9547 are used to define the maximum tolerance of
the speed actual values between the two channels.
The output signal for SSM is smoothed by setting a filter time with a PT1 filter
(p9345/p9545).
During safe motion monitoring, the hysteresis and filtering functions can be activated or
deactivated jointly using the enable bit p9301.16/p9501.16. In the default setting, the
functions are deactivated (p9301.16/p9501.16 = 0).
NOTICE
Exception
If the "hysteresis and filtering" function is enabled, the SSM function is evaluated as an
active monitoring function and, after a STOP F, also results in a follow-up response STOP
B/STOP A.
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8.5 Safety Integrated Extended Functions
The following diagram shows the characteristic of the safe output signal SSM when the
hysteresis is active:
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Safe output signal for SSM with hysteresis
Note
When "hysteresis and filtering" is activated with output signal SSM, a time-delayed SSM
feedback signal occurs for the axes. This is a characteristic of the filter.
8.5.7.2
Safe Speed Monitor without encoder
Function
Set p9306 = p9506 = 1 or p9306 = p9506 = 3 (factory setting = 0) to activate Safety
Integrated functions without encoder. You can also make this setting by selecting "Without
encoder" on the Safety screen in STARTER.
Without an encoder, the "Safe Speed Monitor" essentially functions exactly the same as
described in the previous section under "Safe Speed Monitor with encoder".
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
Differences between Safe Speed Monitor with and without encoder
● For Safe Speed Monitor without encoder, after pulse suppression the drive is unable to
determine the current speed. Two responses can be selected for this operating state with
parameters p9309.0/p9509.0:
– p9309.0 = p9509.0 = 1
The status signal (SSM feedback signal) shows "0" (factory setting).
– p9309.0 = p9509.0 = 0
The status signal (SSM feedback signal) is frozen. "Safe Torque Off" (STO) is
selected internally.
● Due to the less precise speed recognition, "Safe Speed Monitor without encoder" requires
a larger hysteresis (p9347/p9547) and, where applicable, a filter time (p9345/p9545)
compared with the function with encoder.
Sequence diagram
The diagram below shows the signal characteristic for the case p9309.0 = p9509.0 = 0.
The speed remains below the limits of p9346/p9546 throughout the entire observation
period. The SSM feedback signal therefore remains r9722.15 = 1. Following the command
for pulse suppression, the motor speed drops. The internal STO is set when the speed drops
below the zero speed detection level.
The SSM monitoring remains active. The motor speed continues to be below the speed limit
p9346/p9546. The SSM feedback signal remains as 1, i.e. it is frozen.
To restart the motor safely, the STO must be selected manually and deselected once more.
After the STO has been deselected, a 5 second time window is opened. If the pulse enable
takes place within this time window, the motor starts. If the pulse enable does not take place
within this 5 second time window, the internal STO becomes active once more.
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8.5 Safety Integrated Extended Functions
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Safe Speed Monitor without encoder (p9309.0 = p9509.0 = 0)
If p9309.0 = p9509.0 = 1, the SSM monitoring is ended after the pulse suppression. The
feedback signal p9722.15 drops to 0. The SSM monitoring is only reactivated following a
new pulse enable.
8.5.7.3
Safe Speed Monitor restart
Restart after pulse cancellation for 9309.0 = p9509.0 = 0
If the drive pulses have been suppressed using OFF1/OFF2/STO, the following steps must
be carried out for a restart:
1. scenario:
● State after power-on:
– SSM active
– STO selected
– Pulse suppression active
● Deselect STO.
● A drive enable via a positive edge at OFF1 must occur within 5 seconds after deselection
of the STO, otherwise the drive will drop back into the STO state.
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
2. scenario
● Situation:
– SSM active
– Motor turning
– OFF1 triggered, pulses are suppressed
● Select STO
● Deselect STO.
STO activated internally via pulse suppression: This activation must be undone by
selection/deselection.
● A drive enable via a positive edge at OFF1 must occur within 5 seconds after deselection
of the STO, otherwise the drive will drop back into the STO state.
8.5.7.4
Overview of important parameters
Overview of important parameters (see SINAMICS S110 List Manual)
● p9301 SI Motion enable safety functions (CPU 2)
● p9501 SI Motion enable safety functions (CPU 1)
● p9306 SI Motion function specification (CPU 2)
● p9506 SI Motion function specification (CPU 1)
● p9309 SI Motion behavior during pulse suppression (CPU 2)
● p9509 SI Motion behavior during pulse suppression (CPU 1)
● p9345 SI Motion SSM (SGA n < nx) filter time (CPU 2)
● p9545 SI Motion SSM (SGA n < nx) filter time (CPU 1)
● p9346 SI Motion SSM speed limit (CPU 2)
● p9546 SI Motion SSM speed limit (CPU 1)
● p9347 SI Motion speed hysteresis (crosswise) (CPU 2)
● p9547 SI Motion speed hysteresis (crosswise) (CPU 1)
● r9722.0...15 CO/BO: SI Motion drive-integrated status signals
● p10042 SI F-DO 0 signal sources
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
8.5.8
Safe Acceleration Monitor (SAM)
Safe Acceleration Monitor with encoder
The "Safe Acceleration Monitor" (SAM) function is used for safe monitoring of drive
acceleration. It is part of the Safety Integrated Extended functions SS1 and SS2 (or STOP B
and STOP C).
Note
For reasons of clarity, the abbreviation for this function has been changed from "SBR" to
"SAM" This change has no impact on the functionality.
Functional features
A STOP A is generated if any drive acceleration within the ramp-down phase exceeds the
tolerance defined in p9348/p9548. The monitoring function is activated after SS1 (or STOP
B) and SS2 (or STOP C) are set and is deactivated after the speed drops below the value
set in p9346/p9546.
NOTICE
If 0 is entered for p9368/p9568, the speed limit of the SSM function (p9346/p9546) is also
used as minimum limit value for the SAM function (safe acceleration monitoring). The SAM
is deactivated if the speed is below this limit.
This means the effects of safe acceleration monitoring are greatly restricted if a relatively
high SSM/SAM speed limit is set when using the SS1 and SS2 stop functions.
Note
SAM is part of the Safety Integrated Extended Functions SS1 and SS2. SAM cannot be
selected individually.
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8.5 Safety Integrated Extended Functions
Calculating SAM tolerance of the actual speed
● The following rules are valid for the parameterization of the SAM tolerance:
– The maximum speed increase after SS1 / SS2 is triggered is derived from the
effective acceleration (a) and the duration of the acceleration phase.
– The duration of the acceleration phase is equivalent to one monitoring clock cycle (MC
p9300/p9500) (delay from detecting an SS1 / SS2 until nset = 0):
● SAM tolerance
Actual speed SAM = acceleration * acceleration duration
The following setup rule is derived thereof:
– For linear axes:
SAM tolerance [mm/min] = a [m/s2] * MC [s] * 1000 [mm/m] * 60 [s/min]
– For rotary axes:
SAM tolerance [rpm] = a [rev/s2] * MC [s] * 60 [s/min]
● Recommendation:
The SAM tolerance value entered should be approx. 20% higher than the calculated
value.
Responses
Speed limit violated (SAM):
● STOP A
● Safety message C01706/C30706
System errors:
● STOP F with subsequent STOP A
● Safety message C01711/C30711
Features
● Part of the Safety Integrated Extended functions SS1 and SS2
● Parameterizable minimum shutdown speed to be monitored (p9368/p9568)
Overview of important parameters (see SINAMICS S110 List Manual)
● p9346 SI Motion speed limit n_x (CPU 2)
● p9546 SI Motion speed limit n_x (CPU 1)
● p9348 SI Motion SAM actual speed tolerance (CPU 2)
● p9548 SI Motion SAM actual speed tolerance (CPU 1)
● p9368 SI Motion SAM speed limit (CPU 2)
● p9568 SI Motion SAM speed limit (CPU 1)
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8.5 Safety Integrated Extended Functions
8.5.9
Safe Brake Ramp (SBR)
The Safe Brake Ramp (SBR) function provides a safe method for monitoring the brake ramp.
The Safe Brake Ramp function is used to monitor braking when using the "SS1 without
encoder" and "SLS without encoder" functions.
Features
The motor is immediately decelerated along the OFF3 ramp as soon as SS1 or SLS is
triggered (if setpoint speed limitation is used). Monitoring of the brake ramp is activated once
the delay time in p9582/p9382 has elapsed. Monitoring ensures that the motor does not
exceed the set brake ramp (SBR) when braking. Deactivation of the safe monitoring of the
brake ramp occurs
● for SS1:
as soon as the speed drops below the shutdown speed (p9560/p9360).
● for SLS:
– as soon as the set brake ramp has reached the new SLS level
or
– as soon as the actual speed has fallen below the newly selected SLS level and has
remained there for the time parameterized in p9582/p9382.
Additional specific functions (e.g. STO, new SLS speed limit, etc.) are activated at this point,
depending on the Safety Integrated function used.
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PP
Safety Integrated Functions
8.5 Safety Integrated Extended Functions
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Safe Brake Ramp without encoder (for SLS)
Parameterization of the brake ramp
p9581/p9381 (SI Motion brake ramp reference value) and p9583/p9383 (SI Motion brake
ramp monitoring time) are used to set the steepness of the brake ramp. Parameters
p9581/p9381 determine the reference speed and parameters p9583/p9383 define the rampdown time. Parameters p9582/p9382 are used to set the time which passes after the
triggering of SS1, selection of SLS or SLS level changeover and the start of brake ramp
monitoring.
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8.5 Safety Integrated Extended Functions
Responses to brake ramp violations (SBR)
● Safety messages C01706 and C30706 (SI Motion: SAM/SBR limit exceeded)
● Drive stopped with STOP A
Features
● Part of the "SS1 without encoder" and "SLS without encoder" functions.
● Parameterizable safe brake ramp
Overview of important parameters (see SINAMICS S110 List Manual)
● p9360 SI Motion pulse suppression shutdown speed (CPU 2)
● p9560 SI Motion pulse suppression shutdown speed (CPU 1)
● p9381 SI Motion brake ramp reference value (CPU 2)
● p9581 SI Motion brake ramp reference value (CPU 1)
● p9382 SI Motion brake ramp delay time (CPU 2)
● p9582 SI Motion brake ramp delay time (CPU 1)
● p9383 SI Motion brake ramp monitoring time (CPU 2)
● p9583 SI Motion brake ramp monitoring time (CPU 1)
8.5.10
Safe Direction (SDI)
8.5.10.1
Safe Direction with encoder
The Safe Direction function (SDI) allows reliable monitoring of the direction of motion of the
drive. If this function is activated, the drive can only move in the enabled, safe direction.
Functional principle
After SDI has been selected via terminals or PROFIsafe, the delay time p9365/p9565 is
started. During this period, you have the option of ensuring that the drive is moving in the
enabled (safe) direction. After this, the Safe Direction function is active and the direction of
motion is monitored. If the drive now moves in the non-safe direction, messages
C01716/C30716 are output and the stop response defined in p9366/p9566 is initiated.
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
Functional features
● Parameters r9720.12/r9720.13 display whether the SDI function is selected.
● Parameters rr9722.12/r9722.13 display whether the SDI function is active.
● Parameters p9364/p9564 are used to set the tolerance within which a movement in a
non-enabled (non-safe) direction is tolerated.
● Parameters p9366/p9566 define the stop response in the case of a fault.
● For control via terminals, parameters p10030/p10130 are used to define the terminals for
SDI.
● Parameter p10042 is used to define whether the SDI status in the status display of the
F-DO is taken into account.
● If "SDI positive" is selected, the following value is set automatically:
– r9733[1] = 0 (setpoint limitation negative)
● If "SDI "negative" is selected, the following value is set automatically:
– r9733[0] = 0 (setpoint limitation positive)
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Functional principle SDI with encoder
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8.5 Safety Integrated Extended Functions
Enabling the Safe Direction function
The "Safe Direction" function is enabled via the following parameters:
● p9501.17 = 1, p9301.17 = 1
8.5.10.2
Safe Direction without encoder
Function
Set p9306 = p9506 = 1 or p9506 = p9306 = 3 (factory setting = 0) to activate Safety
Integrated functions without encoder. You can also make this setting by selecting "Without
encoder" on the STARTER safety screen.
Differences between Safe Direction with encoder and Safe Direction without encoder
● For Safe Direction without encoder, after pulse suppression the drive is unable to
determine the current speed. For this operating state, the behavior is defined with the
parameters p9309.8/p9509.8:
– p9309.8 = p9509.8 = 1
The status signal displays "inactive".
– p9309.8 = p9509.8 = 0
The status signal displays "active", and the drive takes on the state STO.
● Due to the less precise position recognition, "Safe Direction without encoder" requires a
larger tolerance (p9364/p9564) compared with the function with encoder.
Note
A change in the direction of rotation using parameter p1821 is not recognized by "SDI
without encoder". For this reason, the limitation of SDI from r9733 no longer functions.
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
8.5.10.3
SDI restart
Restart after pulse suppression
If the drive has been switched off via OFF2/STO, the following steps need to be carried out
before a restart can be performed:
1st scenario:
● State after power-on: SDI selected, STO selected, OFF2 active
● Deselect STO.
● The drive enable must be given within 5 seconds via a positive edge at OFF1, otherwise
STO is reactivated.
2nd scenario
● Situation: Run until standstill with SDI selected, then OFF2 activated
● Select STO
● Deselect STO.
STO activated internally via OFF2: This activation must be undone by
selection/deselection.
● The drive enable must be given within 5 seconds via a positive edge at OFF1, otherwise
STO is reactivated.
3rd scenario
● Situation: Run until standstill with SDI selected, then OFF2 activated
● Deselect SDI
● Select SDI
STO activated internally via OFF2: This activation must be undone by deselecting SDI.
● After this the drive enable must be given by a positive edge at OFF1.
4th scenario
● Situation: All Safety Integrated functions are deselected
● After this the drive enable must be given by a positive edge at OFF1.
Note
In the 4th scenario the motor is not reliably started.
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8.5 Safety Integrated Extended Functions
8.5.10.4
Overview of parameters and function diagrams
Function diagrams (see SINAMICS S110 List Manual)
● 2840 – Extended Functions, control word and status word
● 2855 – Extended Functions, control interface
● 2856 – Extended Functions, safe state selection
● 2857 – Extended Functions, assignment (F-DO 0)
Overview of important parameters (see SINAMICS S110 List Manual)
● p1821[0...n] Direction of rotation
● p9301.17 SI Motion enable safety functions (CPU 2): SDI enable
● p9306 SI Motion function specification (CPU 2)
● p9309 SI Motion behavior during pulse suppression (CPU 2)
● p9364 SI Motion SDI tolerance (CPU 2)
● p9365 SI Motion SDI delay time (CPU 2)
● p9366 SI Motion SDI stop response (CPU 2)
● p9501 SI Motion enable safety functions (CPU 1): SDI enable
● p9506 SI Motion function specification (CPU 1)
● p9509 SI Motion behavior during pulse suppression (CPU 1)
● p9564 SI Motion SDI tolerance (CPU 1)
● p9565 SI Motion SDI delay time (CPU 1)
● p9566 SI Motion SDI stop response (CPU 1)
● r9720 CO/BO: SI Motion drive-integrated control signals
● r9722 CO/BO: SI Motion drive-integrated status signals
● r9733[0...2] CO: SI Motion speed setpoint limit active
● p10002 SI discrepancy monitoring time
● p10017 SI digital inputs, debounce time
● p10030[0...3] SI SDI positive input terminal
● p10031[0...3] SI SDI negative input terminal
● p10039[0...3] SI Safe State signal selection
● p10042[0...5] SI F-DO 0 signal sources
● p10102 SI discrepancy monitoring time (CPU 2)
● p10117 SI digital input debounce time (CPU 2)
● p10130 SI SDI positive input terminal (CPU 2)
● p10131 SI SDI negative input terminal (CPU 2)
● p10139 SI Safe State signal selection (CPU 2)
● p10142[0...5] SI F-DO 0 signal sources (CPU 2)
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
8.5.11
Safety faults
8.5.11.1
Stop responses
Faults with Safety Integrated Extended Functions and violation of limits can trigger the
following stop response:
Table 8- 11
Stop response overview
Stop
response
Triggered ...
Action
Effect
STOP A
For all acknowledgeable safety
faults with pulse suppression.
Immediate pulse suppression
Drive coasts down
Immediate input of speed
setpoint = 0 and start of timer
tB
The drive brakes down along the
OFF3 ramp and then goes into STOP
A state
As a follow-up reaction of STOP
F.
STOP B
STOP C
Examples:
- Standstill tolerance
violated in p9330/p9530
(SOS).
- Configured subsequent stop
p9363/p9563 for SLS/SDI.
- When the SS2 function
is active STOP F results in
follow-up stop B.
Configured subsequent stop
p9363/p9563 with SLS/SDI.
When SLS is selected, the drive
is decelerated with STOP C.
STOP D
Configured subsequent stop
p9363/p9563 with SLS/SDI.
STOP A is triggered on
expiration of tB or if
nact < nshutdown.
Immediate input of speed
setpoint = 0 and start of timer
tC
The drive brakes down along the
OFF3 ramp, SOS is then activated
SOS is activated on expiration
of tC.
Timer tD starts
No drive-integrated response
SOS is activated on expiration
of tD.
The drive must be decelerated by the
higher-level control (within the drive
group)!
SOS is activated on expiration of the
time tD.
An automatic response is only
triggered if the standstill tolerance
window is violated in SOS.
STOP E
- Configured subsequent stop
p9563/p9363 for SLS
SOS triggered after the
expiration of p9554/p9354
- Configured subsequent stop
p9566/p9366 for SDI
STOP F
If a fault occurs in the crosswise
data comparison.
Follow-up response STOP B.
Timer tF1 (Basic Functions) or
tF2 (Extended Functions)
No drive response
If a safety function (SOS, SLS) has
been selected or if SSM with
hysteresis has been enabled,
transition to STOP A after tF1 (Basic
Functions) has elapsed or STOP B
after tF2 (Extended Functions) has
elapsed.
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8.5 Safety Integrated Extended Functions
Note
A delay time between STOP F and STOP B should only be set if an additional response is
initiated during this time when the "Internal Event" (r9722.7) message signal is evaluated.
A monitoring function should also always be active even in automatic mode (e.g. SLS with a
high limit speed) when the delay time is used.
An activated hysteresis for SSM should be regarded as an activated monitoring function.
On delays at the stop response transitions
● tB: p9356/p9556
● tC: p9352/p9552
● tD: p9353/p9553
● tF1: p9658/p9858
● tF2: p9355/p9555
● nshutdown: p9360/p9560
Description of faults and alarms
Note
The faults and alarms for SINAMICS Safety Integrated are described in the following
documentation:
References: SINAMICS S110 List Manual
8.5.11.2
Table 8- 12
Stop response priorities
Stop response priorities
Priority classes
Stop response
Highest priority
STOP A
.....
STOP B
...
STOP C
..
STOP D
..
STOP E
Lowest priority
STOP F
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8.5 Safety Integrated Extended Functions
Priorities of stop responses and Extended Functions
Table 8- 13
Priorities of stop responses and Extended Functions
Stop response /
Extended Function
Highest
priority
...
...
...
...
Lowest
priority
STOP A
STOP B
STOP C
STOP D
STOP E
STOP F
Highest
priority
STO
STOP A / STO STO
STO
STO
STO
STO
.....
SS1
STOP A
STOP B / SS1
SS1
SS1
SS1
SS1
...
SS2
STOP A
STOP B
STOP C / SS2 SS2
SS2
SS2 / STOP
B2)
..
SOS
STOP A1)
STOP B1)
SOS
SOS
SOS
STOP B2)
Lowest
priority
SLS
STOP A3)
STOP B3)
STOP C4)
STOP D4)
STOP E
STOP B2)
1) The SOS monitoring function remains active, although the fault response in the event of a fault can no longer be
triggered because it is already present.
2) STOP B is the subsequent stop of STOP F, which is activated after a parameterizable time. STOP F alone does not
have any effect; the active safety function is still present.
3) The SLS monitoring function remains active, although the fault response in the event of a fault can no longer be
triggered because it is already present.
4) SLS remains active during the braking phase, after which the system switches to SOS.
The table above specifies which stop response / safety function is set when a STOP is
triggered with a safety function active. The STOPs are arranged here from left to right in
descending order of priority (STOP A-D, F).
No overall priority is assigned in the individual safety functions. SOS remains active, for
example, even if STO is requested. The safety functions that cause the drive to decelerate
(STO, SS1, SS2) are specified from top to bottom in descending order of priority.
If a field contains two entries, the stop responses and safety functions have the same
priority. Explanation:
● STOP A corresponds to STO
● STOP B corresponds to SS1
● STOP C corresponds to SS2
● When the SS2 function is active, STOP F results in follow-up stop B. SS2 remains active.
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8.5 Safety Integrated Extended Functions
Examples for illustrating the information in the table:
1. Safety function SS1 has just been selected. STOP A remains active; a STOP B operation
that is currently in progress is not interrupted by this. The remaining STOP functions
(STOPs C to F) are replaced by SS1.
2. The SLS safety function is selected. This selection does not modify the function of STOP
A-D. STOP F now triggers a STOP B because a safety function has been activated.
3. Stop response, STOP C is selected. If the STO or SS1 safety functions are active, this
does not have any effect. If SS2 is active, this braking ramp is retained. If SOS is active,
SOS remains effective, which is also the end status of STOP C. When SLS is selected,
the drive is decelerated with STOP C.
8.5.11.3
Acknowledging the safety faults
NOTICE
Safety faults can also be acknowledged (as with all other faults) by switching the drive unit
off and then on again (POWER ON).
If this action has not eliminated the fault cause, the fault is displayed again immediately
after power up.
Acknowledgment via PROFIsafe
The higher-level controller sets the signal "Internal Event ACK" via the PROFIsafe telegram
(STW bit 7). A falling edge in this signal resets the status "Internal Event" and so
acknowledges the fault.
Acknowledgment via F-DI
If the signal "Internal Event ACK" is connected with an F-DI, a falling edge in this signal
resets the status "Internal Event" and so acknowledges the fault. For safety reasons, the
external signal on the F-DI with the "Internal Event ACK" function must not be set
continuously to the "1" level; for acknowledgment, it must first be set from the idle state "0" to
"1" and then back to "0" again.
Extended acknowledgment
If STO is selected/deselected (and p9307.0/p9507.0 = 1 are set), safety messages, in
addition to fault messages, are also canceled automatically.
If, in addition to the "Basic Functions via terminals", the "Extended Functions" are also
enabled, then acknowledgment is also possible by selecting/deselecting STO via PROFIsafe
or TM54F. Selecting/deselecting STO via terminals can, in this case however, only
acknowledge messages of stop responses STOP C, STOP D, STOP E and STOP F, as long
as STOP A or STOP B have not been triggered.
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8.5 Safety Integrated Extended Functions
8.5.12
Message buffer
In addition to the fault buffer for F... faults and the alarm buffer for A... alarms, a special
message buffer for C... safety messages is available for Safety Extended Functions.
The fault messages for the Safety Basic Functions are stored in the standard fault buffer
(see "Buffer for faults and alarms").
Note
Set parameter p3117 = 1 if you need to save both the Basic Functions messages and the
Extended Functions messages in the standard fault buffer.
The message buffer for safety messages is similar to the fault buffer for fault messages. The
message buffer comprises the message code, message value, and message time (received,
resolved), the component number for identifying the affected SINAMICS component and
diagnostics attributes. The following diagram shows how the message buffer is structured:
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8.5 Safety Integrated Extended Functions
When a safety message is present, bit r2139.5 is set to 1 ("safety message active"). The
entry in the message buffer is delayed. For this reason, the message buffer should not be
read until a change in the buffer (r9744) has been detected after "Safety message present"
is output.
The messages must be acknowledged via the failsafe inputs F-DI or via PROFIsafe.
Properties of the message buffer:
● A new message case comprises one or more messages and is entered in the "Current
message case".
● The entries appear in the buffer according to the time at which they occurred.
● If a new message case occurs, the message buffer is reorganized accordingly. The
history is recorded in the data records "Acknowledged message case" 1 to 7.
● If the cause of at least one message in "Current message case" is rectified and
acknowledged, the message buffer is reorganized accordingly. Messages that have not
been rectified remain in "Current message case".
● If "Current message case" contains 8 messages and a new message for the current
message case is output, the message in the current message case parameters is
overwritten with the new message in index 7.
● r9744 is incremented each time the message buffer changes.
● A message value (r9749, r9753) can be output for a message. The message value is
used to diagnose the message more accurately (refer to the message description for
more details).
Deleting the message buffer:
The message buffer can be deleted as follows: p9752 = 0.
Parameter p9752 (SI message cases, counter) is also reset to 0 during POWER ON.
Overview of important parameters (see SINAMICS S110 List Manual)
● r2139.0...8 CO/BO: Status word, faults/alarms 1
● r9744 SI message buffer changes, counter
● r9745[0...63] SI component number
● r9750[0...63] SI diagnostic attributes
● p9752 SI message cases, counter
● r9747[0...63] SI message code
● r9748[0...63] SI message time received in milliseconds
● r9749[0...63] SI message value
● r9753[0...63] SI message value for float values
● r9754[0...63] SI message time received in days
● r9755[0...63] SI message time removed in milliseconds
● r9756[0...63] SI message time removed in days
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
8.5.13
Safe actual value acquisition
8.5.13.1
Reliable actual value acquisition with the encoder system
Supported encoder systems
The Safety Functions used to monitor motion (e.g. SS1, SS2, SOS, SLS and SSM) require
reliable actual value acquisition.
For safe speed/position sensing for SINAMICS S110, only a single-encoder system may be
used.
Single-encoder system
Encoders within single-encoder systems are used to generate the failsafe actual values of
the drive. This motor encoder must be appropriately qualified (see encoder types). The
safety-relevant actual values are generated either directly in the encoder or in the Sensor
Module and are transferred to the Control Unit by way of failsafe communication via DRIVECLiQ.
For motors without a DRIVE-CLiQ interface, the connection is established by means of
additional Sensor Modules (SMC or SME).
NOTICE
When specifying the standstill tolerance window, you must remember that fail-safe position
monitoring can take place with a maximum of the precision displayed in r9731.
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Example of a single-encoder system
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8.5 Safety Integrated Extended Functions
Encoder types for a single-encoder system
In systems with encoders with SINAMICS Safety Integrated, for safe actual value acquisition
only encoders with sin/cos 1 Vpp signals are permitted at the SINAMICS Sensor Modules
SME20/25 and SMC20, which fulfill the following conditions:
1. The encoders must contain purely analog signal processing and creation. This is
necessary to be able to prevent the A/B track signals with valid levels from becoming
static ("freezing").
2. A failure modes and effects analysis (FMEA) must be carried out for the fixation of the
encoder onto the motor shaft. The result should incorporate exclusion of the failure
"Loosening of encoder fixation so that encoder no longer reports movement correctly"
(see IEC 61800-5-2, 2008, Table D.16).
It should be noted that the machine manufacturer has sole responsibility for the fulfillment of
the above-described requirements. Information on the internal realization of the encoder
must come from the encoder manufacturer. The FMEA must be created by the machine
manufacturer.
Certain Siemens motors with and without DRIVE-CLiQ connection can also be used for
Safety Integrated functions, see:
http://support.automation.siemens.com/WW/view/de/33512621
For these motors, the fault listed under 2. cannot occur.
NOTICE
Basic absolute encoders (e.g. ECI, EQI) that offer an EnDat interface with additional sin/cos
tracks, but operate according to an inductive measuring principle internally, are not
permitted until their suitability for SINAMICS Safety Integrated has been determined.
Safe motion monitoring
Two read parameters are available for safe motion monitoring:
r9730: SI Motion maximum velocity
Displays the maximum velocity (load side) permissible due to the acquisition of actual values
for safe motion monitoring functions. The maximum velocity for actual value acquisition
depends on the actual value update clock cycle (p9311/p9511). Parameter p9311/p9511 can
be used to set the clock cycle of actual value acquisition for safe motion monitoring.
A slower clock cycle reduces the maximum permissible velocity, but also reduces the load
on the Control Unit for safe actual value acquisition.
The maximum permissible velocity which, if overshot, can trigger faults in safe actual value
acquisition, is displayed in parameter r9730.
r9731: SI Motion safe position accuracy
Displays the maximum positioning accuracy (load side) that can be ensured due to the
acquisition of the actual value for the safe motion monitoring functions.
Both parameters r9730/r9731 depend on the relevant encoder type.
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
Overview of important parameters (see SINAMICS S110 List Manual)
● p9301.3 SI Motion enable safety functions (CPU 2), enable actual value synchronization
● p9501.3 SI Motion enable safety functions (CPU 1), enable actual value synchronization
● p9302 SI Motion axis type (CPU 2)
● p9502 SI Motion axis type (CPU 1)
● p9311 SI Motion clock cycle actual value acquisition (CPU 2)
● p9511 SI Motion clock cycle actual value acquisition (CPU 1)
● p9515 SI Motion encoder coarse position value configuration
● p9516 SI Motion encoder configuration safety functions (CPU 1)
● p9318 SI Motion encoder pulses per revolution (CPU 2)
● p9518 SI Motion encoder pulses per revolution (CPU 1)
● p9319 SI Motion fine resolution Gn_XIST1
● p9519 SI Motion fine resolution G1_XIST1 (CPU 1)
● p9320 SI Motion spindle pitch
● p9520 SI Motion spindle pitch (CPU 1)
● p9321[0...7] SI Motion gearbox encoder/load denominator (CPU 2)
● p9521[0...7] SI Motion gearbox encoder/load denominator (CPU 1)
● p9322[0...7] SI Motion gearbox encoder/load numerator (CPU 2)
● p9522[0...7] SI Motion gearbox encoder/load numerator (CPU 1)
● p9323 SI Motion significant bits POS2 (CPU 2)
● p9324 SI Motion fine resolution POS2 (CPU 2)
● p9325 SI Motion relevant bits POS2 (CPU 2)
● p9523 SI Motion significant bits POS2 (CPU 1)
● p9524 SI Motion fine resolution POS2 (CPU 1)
● p9525 SI Motion relevant bits POS2 (CPU 1)
● p9342 SI Motion actual value comparison tolerance (crosswise) (CPU 2)
● p9542 SI Motion actual value comparison tolerance (crosswise) (CPU 1)
● p9349 SI Motion slip speed tolerance (CPU 2)
● p9549 SI Motion slip speed tolerance (CPU 1)
● r9713[0...2] SI Motion diagnostics position actual value (MAKSIP)
● r9714[0...1] SI Motion diagnostics speed
● r9724 SI Motion crosswise comparison clock cycle
● r9730 SI Motion safe maximum speed
● r9731 SI Motion safe position accuracy
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8.5 Safety Integrated Extended Functions
8.5.13.2
Safe current actual value acquisition without encoder
Several parameters are available in order to guarantee safe motion monitoring for Safety
Extended functions without encoder depending on the situation in your particular application.
You define these parameters in the following STARTER dialog box:
Figure 8-16
Configuration, actual value acquisition without encoder
In most cases, you can work with the default values. If the converter outputs unnecessary
messages/signals – especially during the starting phase – then increase the value of the
selected parameter Delay time actual value acquisition (p9586/p9386).
Instructions to determine the correction value using the trace function are provided in the
"Reaction times" section. Alternatively, you can change the value of p9586/p9386 in small
steps and then monitor the system reaction. You have found a suitable value if unnecessary
messages/signals no longer occur.
Overview of important parameters (see SINAMICS S110 List Manual)
● p9386 SI Motion delay time of the evaluation, encoderless (processor 2)
● p9387 SI Motion actual value acquisition encoderless filter time (processor 2)
● p9388 SI Motion actual value acquisition encoderless minimum current (processor 2)
● p9389 SI Motion voltage tolerance acceleration (processor 2)
● p9586 SI Motion delay time of the evaluation, encoderless (CU)
● p9587 SI Motion actual value acquisition encoderless filter time (processor 1)
● p9588 SI Motion actual value acquisition encoderless minimum current (processor 1)
● p9589 SI Motion voltage tolerance acceleration (processor 1)
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
8.5.14
Forced dormant error detection
Forced dormant error detection and function test through test stop
The functions and switch-off signal paths must be tested at least once within a defined
period to establish whether they are working properly in order to meet the requirements of
EN ISO 13849-1 and IEC 61508 in terms of timely error detection.
The maximum permissible interval for forced dormant error detection with the Basic and
Extended Functions is 9000 hours or once a year.
This functionality must be implemented by means of test stop triggering either in cyclic
manual mode or by the automated process.
The test stop cycle is monitored. On expiration of the parameterized timer (also after
POWER ON / warm restart), the alarm A01697: "SI Motion: Test of motion monitoring
required" is generated and a status bit is set which can be transferred to an output or to a
PZD bit via BICO. This alarm does not affect machine operation.
The test stop must be initiated application-specific and be executed at a time which suits
application requirements. This functionality is implemented by means of a single-channel
parameter p9705 which can be wired via BICO either to an input terminal on the drive unit
(Control Unit), or to an IO-PZD in the drive telegram.
● p9559 SI Motion forced dormant error detection timer (CPU 1)
● p9705 BI: SI Motion Test stop signal source
● r9723.0 CO/BO: SI Motion PROFIsafe diagnostics signals, dynamic response required
A test stop does not require POWER ON. The acknowledgment is set by canceling the test
stop request.
When the appropriate safety devices are implemented (e.g. protective doors), it can be
assumed that running machinery will not pose any risk to personnel. For this reason, only an
alarm is output to inform the user that a forced dormant error detection run is due and to
request that this be carried out at the next available opportunity.
Examples of when to carry out forced dormant error detection:
● When the drives are at a standstill after the system has been switched on.
● Before the protective door is opened.
● At defined intervals (e.g. every 8 hours).
● In automatic mode (time and event dependent)
Note
STO is triggered when a test stop is carried out for the Safety functions.
STO must not be active before the test stop is selected.
The test stop must be triggered under controlled standstill conditions (speed setpoint
setting 0) (OFF2 must not be active).
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8.5 Safety Integrated Extended Functions
F-DI/F-DO forced dormant error detection
For forced dormant error detection of the F-DI, the level of the F-DI must be inverted, e.g. by
activating the appropriate switch or triggering the appropriate function in the connected
safety control. The correct reaction to the level change on the F-DI must be observed by the
person carrying out the operation.
If the F-DO is used, it must undergo forced dormant error detection by triggering the
appropriate functions in the drive and the resulting level changes on the F-DO.
The correct function of the F-DO must be checked by whoever carries out forced dormant
error detection or the test stop. The required format of the check is determined by the F-DO
interconnection.
The test stop must be executed at a suitable time. That is, it must be initiated specific to the
application. This functionality is implemented by means of a parameter p10007 which can be
wired via BICO either to an input terminal on the drive unit (Control Unit), or to an IO-PZD in
the drive telegram.
● F-DO at an F-DI of a safety device
(as illustrated in the section titled "Application examples/Input/output interconnections for
a safety switching device with CU305)
⇒ In the case of dormant error detection for the F-DO, its two output drivers are checked
by the F-DI of the connected safety device to ensure that they are functioning correctly.
● F-DO at two contactors with positively-driven auxiliary contacts
(see the section titled Application examples/Interconnection of F-DO with redundant
contactors)
⇒ The feedback contacts of both contactors have to be monitored by a controller or
another monitoring unit to ensure that they both close when the F-DO is switched off (see
Application examples (Page 455)).
● When connecting other loads, remember that the correct function of the two output
drivers has to be monitored separately where forced dormant error detection is
concerned.
You will find more instructions for carrying out test stops in the chapter Test stop (Page 440).
WARNING
For the SINAMICS S110 drive system, to perform a self test, a POWER OFF/POWER ON1)
must be performed for the Control Unit at least once a year. This also applies, if the forced
checking procedure of the safety functions takes place more frequently than once per year.
1) For
SINAMICS S110, the Control Unit can also be supplied from the line connection of the
Power Module. For SINAMICS S110, a POWER OFF/POWER ON means line supply off/on
for the Power Module and – if one is being used – also for the 24V power supply.
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Safety Integrated Functions
8.5 Safety Integrated Extended Functions
8.5.15
Safety Info Channel
The Safety Info Channel (SIC) enables Safety Integrated functionality status information of
the drive to be transmitted to the higher-level control.
Telegram 700
The predefined PROFIdrive telegram 700 is available for this transmission:
You can find further information on communication via PROFIdrive in the Manual
"S120 Drive Functions", section "Communication according to PROFIdrive"
Table 8- 14
Structure of telegram 700
Receive data
Send data
Parameter
PZD1
–
S_ZSW1B
r9734
PZD2
–
S_V_LIMIT_B
r9733.2
PZD3
–
Note
The transmit data S_ZSW1B and S_V_LIMIT_B are only updated if the Safety Integrated
Extended Functions are enabled.
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8.5 Safety Integrated Extended Functions
S_ZSW1B
Safety Info Channel: Status word
Table 8- 15
Description S_ZSW1B
Bit
0
Meaning
STO active
1
SS1 active
2
SS2 active
3
4
SOS active
SLS active
5
SOS selected
6
SLS selected
7
Internal event
8…11
12
13
14
15
Remarks
1
STO active
0
STO not active
1
SS1 active
0
SS1 not active
1
SS2 active
0
SS2 not active
1
SOS active
0
SOS not active
1
SLS active
0
SLS not active
1
SOS selected
0
SOS deactivated
1
SLS selected
0
SLS not selected
1
Internal event
0
No internal event
Parameter
r9734.0
r9734.1
r9734.2
r9734.3
r9734.4
r9734.5
r9734.6
r9734.7
Reserved
–
–
–
SDI positive selected
1
SDI positive selected
r9734.12
0
SDI positive not selected
1
SDI negative selected
0
SDI negative not selected
1
Emergency retraction requested
0
Emergency retraction not requested
1
Safety message effective
0
No Safety message effective
SDI negative selected
Emergency retraction requested
Safety message effective
r9734.13
r9734.14
r9734.15
S_V_LIMIT_B
SLS speed limit with a 32-bit resolution with sign bit.
● The SLS speed limit is available in r9733[2].
● Bit 31 determines the sign of the value:
– Bit = 0 → positive value
– Bit = 1 → negative value
● The SLS speed limit is standardized via p2000.
S_V_LIMIT_B = 4000 0000 hex ≐ speed in p2000
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Safety Integrated Functions
8.6 Controlling the safety functions
8.6
Controlling the safety functions
Safety Integrated functions can be controlled via on-board terminals or via a PROFIsafe
telegram using PROFIBUS or PROFINET. The Extended Functions can be controlled via onboard terminals or PROFIsafe, control of the Basic Functions can be selected via on-board
terminals (F-DI 0) or PROFIsafe and on-board terminals (F-DI 0).
NOTICE
PROFIsafe or terminals
With a Control Unit, control of the Extended Functions is only possible using PROFIsafe or
on-board terminals. Mixed operation is not permissible.
On-board terminals
The failsafe input and output terminals (F-DI and F-DO) act as an interface between the
internal Safety Integrated functionality and the process.
A dual channel signal applied to an F-DI (Failsafe Digital Input, safety-oriented digital input =
safe input terminal pair) controls the active monitoring of the activation/deactivation of safety
functions. This function also depends on the status of sensors (e.g. switches).
An F-DO (Failsafe Digital Output, safety-oriented digital output = safe output terminal pair)
delivers a dual channel signal representing feedback from the safety functions. It is also
suitable for the failsafe control of actuators (e.g. line contactor). Please also see diagram
"Internal connections of the DI/DO of the CU305 with Safety function".
Dual-channel processing of I/O signals
A dual-channel structure is realized for data input/output and for processing failsafe I/O
signals. All requests and feedback signals for failsafe functions should be entered or tapped
using both channels.
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8.6 Controlling the safety functions
8.6.1
Control of the Basic Functions via a safe input terminal pair
Features
● Only for the STO, SS1 (time-controlled), and SBC functions
● Dual-channel structure via two input terminals as a safe input terminal pair
● A debounce function can be applied to the terminals of the Control Unit and the Power
Module to prevent incorrect trips due to signal disturbances or asymmetrical test signals.
Parameters p9651 and p9851 are used to set filter times.
Overview of the safety function terminals for SINAMICS S110
The digital input terminals DI16 and DI17 are defined as F-DI0 for the control of the Basic
Functions, if these are enabled (see diagram "Internal connection of DI/DO of the CU305
with safety function"). Both terminals are processed securely by different signal evaluators in
two channels. Both terminals must be activated within a parameterized tolerance time,
otherwise a fault will be issued.
Simultaneity and tolerance time of the two monitoring channels
The "Safe Torque Off" function must be selected/deselected simultaneously in both
monitoring channels using the input terminals.
1 signal: Deselecting the function
0 signal: Selecting the function
"Simultaneously" means:
The changeover must be complete in both monitoring channels within the parameterized
tolerance time.
● p9650 SI SGE changeover tolerance time (CPU 1)
● p9850 SI SGE changeover tolerance time (CPU 2)
Note
To avoid incorrect triggering of fault messages, on these inputs the tolerance time must
always be set to be smaller than the shortest time between two switching events
(ON/OFF, OFF/ON).
If the STO is not selected by both channels within the tolerance time, this is detected by the
data cross-check and fault F01611 or F30611 (STOP F) is output. In this case, the pulses
have already been canceled as a result of the selection of "Safe Torque Off" on one channel.
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Safety Integrated Functions
8.6 Controlling the safety functions
8.6.2
Control of the Extended Functions using safe input terminals
General information
Control Unit CU305 has 6 digital inputs, which can be used as 3 safe input terminal pairs (FDI) for controlling the Extended Functions.
Furthermore, a single digital output on the CU305 can be extended as a safe output terminal
pair (F-DO) and used for the Extended Functions.
● F-DI 0 = DI16/DI17
● F-DI 1 = DI18/DI19
● F-DI 2 = DI20/DI21
● F-DO 0 = DO16+/DO16The signal states of the two digital inputs of the F-DI are frozen at logical 0 (safety function
selected) when different signal states are present within a failsafe F-DI, until a safe
acknowledgment has been carried out by means of an F-DI via parameter p10006 (SI
acknowledgment internal event input terminal) or the extended alarm acknowledgment has
been carried out.
The monitoring time (p10002) for the discrepancy of the two digital inputs of an F-DI may
have to be increased so that switching operations do not trigger an undesired response,
thereby necessitating a safe acknowledgment. The signal states at the two related digital
inputs (F-DI) will need to have the same state within this monitoring time or fault message
C01770/C30770 will be triggered. This requires safe acknowledgment.
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8.6 Controlling the safety functions
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Safety Integrated Functions
8.6 Controlling the safety functions
Description
Failsafe digital inputs (F-DI) consist of two digital inputs. The cathode of the optocoupler is
routed to the second digital input in order to allow the connection of an M-switching F-DO
output (the anode must be connected to 24 V DC).
Parameters p10040/p10140 are used to determine whether an F-DI is operated as NC/NC or
NC/NO contact. The status of each DI can be read at parameter r0722. The same bits of
both drive objects are logically linked by AND operation and return the status of the relevant
F-DI (r10051/r10151).
Test signals from controls can be filtered out using parameter p10017/p10117, so that faults
are not incorrectly interpreted.
Explanation of terms:
NC contact / NC contact: To select the safety function, a "zero level" must be present on
both inputs.
NC contact / NO contact: To select the safety function, a "zero level" at input 1 and a "1
level" at input 2 must be present.
The signal states at the two associated digital inputs (F-DI) must assume the same status
configured in p10040/p10140 within the monitoring time set in p10002/p10102.
Figure 8-18
Overview of F-DI 0 ... 2
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8.6 Controlling the safety functions
F-DI features
● Failsafe configuration with two digital inputs per F-DI
● Input filter for test signals with an adjustable gating time (p10017/p10117)
● Configurable connection of NC/NC or NC/NO contacts by means of parameter
p10040/p10140
● Status parameter r0722, r10051/r10151
● Adjustable time window for monitoring discrepancy at both digital inputs by means of
parameter p10002/p10102 for all F-DIs
Note
To avoid incorrect triggering of fault messages, on these inputs the discrepancy time
must always be set less than the shortest time between two switching events (ON/OFF,
OFF/ON).
● 2. Digital input with additional tap of the optocoupler cathode for connecting an Mswitching output of a failsafe controller.
WARNING
In contrast to mechanical switching contacts (e.g. Emergency Stop switches), leakage
currents can still flow in semiconductor switches such as those usually used at digital
outputs even when they have been switched off. This can lead to false switching states
if digital inputs are not connected correctly.
The conditions for digital inputs/outputs specified in the relevant manufacturer
documentation must be observed.
WARNING
In accordance with IEC 61131 Part 2, Chapter 5.2 (2008), only outputs that have a
maximum residual current of 0.5 mA when "OFF" can be used to connect CU305 digital
inputs with digital semiconductor outputs.
The inclusion of additional load resistors makes it possible to use digital outputs with
larger residual currents to connect CU305 inputs.
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Safety Integrated Functions
8.6 Controlling the safety functions
8.6.3
Note on F-DIs
Note
For enabled Extended Functions, you cannot use F-DIs which are not used for Extended
Functions, for other functions. Although you can connect the F-DIs, Safety Integrated returns
a discrepancy error message as soon as they are activated. This is because these F-DIs are
monitored for discrepancy even when no Safety functions are assigned to them.
Overview of important parameters (see SINAMICS S110 List Manual)
● r0722 CO/BO: CU digital inputs, status
● p10002 SI discrepancy monitoring time
● p10017 SI digital inputs debounce time
● p10040 SI F-DI input mode
● p10102 SI discrepancy monitoring time (2nd channel)
● p10117 SI digital inputs debounce time MM
● p10140 SI F-DI input mode (2nd channel)
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8.6 Controlling the safety functions
8.6.4
Overview of the F-DOs
Description
The failsafe digital output (F-DO) consists of two digital outputs. At the first digital output
DO16+ the 24 V potential connected to the terminal 24V1 is switched, and at the second
terminal the ground potential connected to terminal M1 is switched (see diagram below
"Overview F-DO").
To enable forced dormant error detection, the F-DO must be dynamized with the
parameterized function (p10047) (for additional information on forced dormant error
detection, see the corresponding function description in the "Extended Functions" section).
M1
24 V1
9
([WHUQ
0
Figure 8-19
X131.5
DO16+
F-DO 0
X131.6
DO16-
(2857.8)
X131.7
24 V1
X131.8
M1
+24 V1
M1
M
M
r0747.16 r10052.0
r10152.0
F-DO Overview
Signal sources of the F-DO
The following signals are available for outputs for the F-DO. Setting using parameter
p10042/p10142:
● STO active
● SS1 active
● SS2 active
● SOS active
● SLS active
● SSM feedback active
● Safestate
● SOS selected
● Internal event
● Active SLS level bit 0
● Active SLS level bit 1
● SDI positive active
● SDI negative active
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Safety Integrated Functions
8.6 Controlling the safety functions
The following signals can be called via p10039/p10139 to create the Safe State signal.
● Power_removed
● SS1_active
● SS2_active
● SOS_active
● SLS_active
● SDI_pos_active
● SDI_neg_active
Figure 8-20
Safe state selection
The different signals selected through p10039/p10139 are logically linked by means of OR
operation. Result of these logic operations is the "Safe State".
F-DO features
● Failsafe design with two digital outputs
● Status parameters r10052/r10152
Function diagrams (see SINAMICS S110 List Manual)
● 2853 Safety Integrated - Extended Functions (F-DO 0)
● 2856 Safety Integrated - Extended Functions, safe state selection
● 2857 Safety Integrated - Extended Functions, assignment F-DO 0
Overview of important parameters (see SINAMICS S110 List Manual)
● p10039 SI Safe State signal selection
● p10042[0..5] SI F-DO 0 signal sources
● r10052.0 CO/BO: SI Digital output status (CPU 1)
● p10139 SI Safe State signal selection (CPU 2)
● p10142[0...5] SI F-DO 0 signal sources (CPU 2)
● r10152.0 CO/BO: SI Digital output status (processor 2)
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8.6.5
Control by way of PROFIsafe
Safety Integrated functions
Safety Integrated functions can also be controlled via PROFIsafe, as opposed to control via
terminals. PROFIsafe telegram 30 is used for communication using PROFIBUS or
PROFINET.
Control via PROFIsafe is available for both Safety Integrated Basic Functions and Safety
Integrated Extended Functions.
The structure of the associated control and status words is described in more detail later in
this document (see the "Description of telegram 30" chapter).
8.6.5.1
Enabling of the control via PROFIsafe
SINAMICS devices require a PROFIBUS interface for PROFIsafe communication.
The drive with PROFIsafe configured in the drive unit is a PROFIsafe slave (F slave or F
Device) with failsafe communication to the F host via PROFIBUS and is assigned its own
PROFIsafe telegram.
In so doing, a PROFIsafe safety channel, a so-called safety-slot is created using the HW
Config tool from SIMATIC Manager Step 7. It is then possible to also control the Basic
Functions using PROFIsafe telegram 30. The structure of the associated control and status
words is described in more detail later in this document (see the "PROFIsafe STW" and
"PROFIsafe ZSW" tables). The PROFIsafe telegram 30 is placed in front of the standard
telegram for communication (e.g. telegram 2).
Enabling PROFIsafe
The Safety Integrated functions are enabled via PROFIsafe using parameters p9601 and
p9801:
● Basic Functions: p9601.2 = 0, p9801.2 = 0
Extended Functions: p9601.2 = 1, p9801.2 = 1
● p9601.3 = 1, p9801.3 = 1
Note
Licensing for Safety Integrated Basic Functions via PROFIsafe
No license is required to use Basic Functions. This also applies to control via PROFIsafe.
However, for Extended Functions, you require an appropriate license that will be charged
for.
All parameters involved in PROFIsafe communication are password protected against
undesirable changes and secured using a checksum. The telegrams are configured using a
configuration tool (e.g. SIMATIC Manager HW Config + F-Configuration Pack or SCOUT) on
the F host.
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8.6 Controlling the safety functions
Safety Integrated functions via PROFIsafe and terminals
The control of Safety Integrated functions via terminals (parameter p9601.0 = p9801.0 = 1)
may also be enabled. This means the STO and SS1 (time controlled) functions can be
selected in parallel via both PROFIsafe telegram 30 and the on-board terminal F-DI 0.
STO takes priority over SS1, i.e. STO is executed if SS1 and STO are triggered at the same
time.
8.6.5.2
Structure of telegram 30
Structure of telegram 30 (Basic Functions)
PROFIsafe control word (STW)
S_STW1, PZD1 in telegram 30, output signals
See function diagram [2840].
Table 8- 16
Description of the PROFIsafe STW
Bit
Meaning
0
STO
1
SS1
Remarks
1
Deselect STO
0
Select STO
1
Deselect SS1
0
Select SS1
2
SS2
0
–1)
3
SOS
0
–1)
4
SLS
0
–1)
5
Reserved
-
–
6
Reserved
-
–
7
Internal Event ACK
1/0
Acknowledgment
0
No acknowledgment
8
Reserved
-
–
9
Select SLS bit 0
-
–1)
10
Select SLS bit 1
-
11...15
Reserved
-
1) Signals
–
not relevant to Basic Functions should be set to "0".
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PROFIsafe status word (ZSW)
S_ZSW1, PZD1 in telegram 30, input signals
See function diagram [2840].
Table 8- 17
Description of the PROFIsafe status word (ZSW)
Bit
0
Meaning
STO active
Remarks
1
STO active
0
STO not active
SS1 active
1
SS1 active
1
0
SS1 not active
2
SS2 active
0
–1
3
SOS active
0
–1
4
SLS active
0
–1
5
Reserved
-
–
6
Reserved
-
–
7
Internal Event
1
Internal event
0
No internal event
8
Reserved
-
–
9
Active SLS level bit 0
-
–1
10
Active SLS level bit 1
-
11
SOS selected
0
–1
12...14
Reserved
-
–
15
SSM (speed)
0
–1
1 Signals
that are not relevant for Basic functions must not be evaluated.
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Structure of telegram 30 (Extended Functions)
PROFIsafe control word (STW)
S_STW1, PZD1 in telegram 30, output signals
See function diagram [2840].
Table 8- 18
Description of the PROFIsafe STW
Bit
0
Meaning
STO
1
SS1
2
SS2
3
4
SOS
SLS
Remarks
1
Deselect STO
0
Select STO
1
Deselect SS1
0
Select SS1
1
Deselect SS2
0
Select SS2
1
Deselect SOS
0
Select SOS
1
Deselect SLS
0
Select SLS
-
-
5
Reserved
6
Reserved
-
-
7
Internal Event ACK
1/0
Acknowledgment
8
Reserved
0
No acknowledgment
-
-
-
Selection of the speed limit for SLS (2 bits)
9
Select SLS bit 0
-
10
Select SLS bit 1
-
11
Reserved
-
-
12
SDI positive
1
Deselect SDI positive
0
Select SDI positive
1
Deselect SDI negative
0
Select SDI negative
-
-
13
14, 15
SDI negative
Reserved
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PROFIsafe status word (ZSW)
S_ZSW1, PZD1 in telegram 30, input signals
See function diagram [2840].
Table 8- 19
Description of the PROFIsafe status word (ZSW)
Bit
0
Meaning
STO active
1
SS1 active
2
SS2 active
3
4
SOS active
SLS active
Remarks
1
STO active
0
STO not active
1
SS1 active
0
SS1 not active
1
SS2 active
0
SS2 not active
1
SOS active
0
SOS not active
1
SLS active
0
SLS not active
-
-
5
Reserved
6
Reserved
-
-
7
Internal Event
1
Internal event
8
Reserved
0
No internal event
-
-
-
Display of the speed limit for SLS (2 bits)
9
Active SLS level bit 0
-
10
Active SLS level bit 1
-
11
SOS selected
1
SOS selected
0
SOS deactivated
12
SDI positive active
1
SDI positive active
13
SDI negative active
0
SDI positive not active
1
SDI negative active
0
SDI negative not active
14
Reserved
-
-
15
SSM (speed)
1
SSM (speed below limit value)
0
SSM (speed higher than/equal to limit)
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8.7
Commissioning
8.7.1
Safety Integrated firmware versions
General information
The Safety firmware on the CU305 Control Unit may have a different version number to the
overall firmware version.
The parameters listed below can be used to read the version IDs from the relevant hardware
components.
Read the overall firmware version via:
● r0018 Control Unit firmware version
The following firmware data can be read for the Basic Functions:
● r9770 SI version, drive-autonomous safety functions (CPU 1)
The following firmware data can be read for the Extended Functions:
● r9590 SI Motion version safe motion monitoring (CPU 1)
● r9890 SI version (Sensor Module)
Basic Functions and Extended Functions
During the acceptance test for Safety Integrated Basic Functions, the Safety firmware
versions must be read, logged, and checked against the list below.
During the acceptance test for the Safety Integrated Extended Functions, the Safety
firmware versions of the Control Unit and the Sensor Modules or motor with DRIVE-CLiQ
connection required for the safety functions are to be read, logged, and checked against the
list below.
When Extended Functions are used, the firmware requirements for Basic Functions must
also be fulfilled at all times.
The list of permissible Safety firmware version combinations which must be used as a
reference during the test, can be found under "Product Support" at the following address:
http://support.automation.siemens.com/WW/view/de/28554461
The procedure for checking is described in the following.
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Procedure for checking the Safety firmware version combinations
The document in the link provided contains tables listing the permissible Safety firmware
version combinations for the different Safety function classes (SINAMICS Basic Functions,
SINAMICS Extended Functions, SINUMERIK Safety Integrated).
The Safety firmware version relevant for the Safety function can be read from the Control
Unit. The row containing this version number specifies the associated, permissible Safety
firmware versions of the relevant drive components. These versions must be compatible with
the versions installed on your system.
8.7.2
Commissioning of Safety Integrated functions
8.7.2.1
General information
PROFIsafe commissioning with STARTER
1. The Safety Integrated Basic Functions can be commissioned using STARTER in three
ways:
– STO/SS1/SBC via terminals
– STO/SS1/SBC via PROFIsafe
– STO/SS1/SBC via PROFIsafe and terminals simultaneously
2. The Safety Integrated Extended Functions can be commissioned using STARTER in
three ways:
– Motion Monitoring via terminal
– Motion monitoring via PROFIsafe
– Motion monitoring via PROFIsafe and terminal simultaneously
There follows a brief overview of the STARTER functionality which enables Safety Integrated
Functions to be used by means of terminals, PROFIsafe, or a combination of the two.
Safety slot
In order to use Safety Integrated functions via PROFIBUS or PROFINET, a safety slot must
first be created using SIMATIC Manager Step 7 and HW Config. The procedure to do this
was described in the previous chapters.
Expert list
The Safety Integrated Basic Functions can be individually and manually set using the Expert
list; the settings using the STARTER screen forms, however, are more user-friendly and you
are less prone to making mistakes.
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Calling Safety Integrated in STARTER
● The STARTER screen form for "Safety Integrated" is called under Drives/Functions with a
double-click and can look like this (tree-type view depends on the specific project):
Figure 8-21
STARTER tree to call Safety Integrated
The password "0" is set by default.
● To use the full functionality of STARTER screens, there must be an online connection
between the drives, the control, and STARTER.
● Select the type of control for Safety Integrated from the Safety function selection list.
● Depending on the selection, different setting screens open for the above listed control
types.
NOTICE
For safety-relevant reasons, using the STARTER commissioning tool (or SCOUT) you can
only set the safety-relevant parameters of the Control Unit offline.
In order to set the Safety relevant parameters of the Power Module, place at tick in the
checkbox "Copy parameters after download" and then make an online connection to the
drive device. Or establish an online connection to the drive unit first and use the "Copy
parameters" button to copy the parameters to the configuration start screen.
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Note
For the encoder parameters (p9515 to p9529), which are used for safe motion monitoring,
then the following behavior applies when copying:
• The following applies to safety-related functions that have not been enabled (p9501 = 0):
– When powering up, the parameters are automatically set analog to the corresponding
encoder parameters (e.g. p0410, p0474, ...).
• The following applies to safety-related functions that have been enabled (p9501 > 0):
– The parameters are checked to ensure that they match the corresponding encoder
parameters (e.g. p0410, p0474, ...).
Please refer to the parameter descriptions in the SINAMICS S110 List Manual for additional
information.
Note
Activating changed Safety parameters
On exiting commissioning mode (p0010 = 0), most of the changed parameters become
active immediately. For some parameters, however, a POWER ON is required: If this is the
case, a STARTER message or an alarm from the drive will inform you about this.
When performing an acceptance test, a POWER ON is always required.
8.7.2.2
Prerequisites for commissioning the Safety Integrated functions
1. Commissioning of the drive must be complete.
2. A POWER ON (switching off/on) is carried out on the drive.
3. Non-safe pulse suppression must be present, e.g. via
OFF1 = "0" or OFF2 = "0".
If the motor holding brake is connected and parameterized, the holding brake is applied.
4. For operation with SBC, the following applies:
A motor with a motor holding brake must be connected to the appropriate terminal of the
module.
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8.7.2.3
Default settings for commissioning Safety Integrated functions without encoder
Additional default settings are required before commissioning Safety functions without an
encoder. Follow the steps below to start the ramp-function generator:
1. Activating the ramp-function generator: When offline, call the "Drive Navigator" in the
completed project, select the device configuration, and click "Perform drive configuration".
Select "Extended setpoint channel" from the function modules in the next window to
appear. Select "Continue" each time to carry on with the configuration and "Complete" to
finish. The ramp-function generator is now active and can be parameterized.
2. In the project window, open the ramp-function generator by double-clicking on <Drive
unit> → <Drive> → Setpoint channel → Ramp-function generator:
Figure 8-22
Ramp-function generator
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3. Click the button with the ramp to open the following window:
Figure 8-23
Drive-ramp
4. Enter data to define the drive-ramp in this window.
5. Then you must carry out the motor measurements: Start with static measurements and
then take rotating measurements.
Note
These measurements are no longer possible once you have activated the Safety
Integrated Extended Functions!
Activating Safety Integrated
1. Open the Safety Integrated selection window via <Drive
unit> → <Drive> → Functions → Safety Integrated and select the Safety function you
require.
2. Select "[1] Safety without encoder" in the pull-down menu below this.
3. Then open the configuration window and set the value for the current controller cycle as
the actual value acquisition clock cycle (p9511).
4. Click "Gear factor" and set the actual value tolerance (p9542) to a larger value (e.g. 10
mm/min or 10 rpm) and the number of motor revolutions to match the pole pair number
(r0313).
5. Open SS1 and set the shutdown speed > 0.
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6. Call Safely Limited Speed, change all stop responses to "[0]STOP A" or "[1]STOP B", and
close the window.
7. You will now be able to make user-specific safety settings.
8. Click "Copy parameters" and execute the command "Copy RAM to ROM".
9. Switch the drive off/on to accept the changes.
Note
If, during acceleration or deceleration, the drive outputs the message C01711/C30711
(message value 1041 to1043), this indicates problems, e.g. involving excessively high
values for acceleration/deceleration. You have the following options to remedy this:
• Reduce the ramp gradient.
• Use the extended ramp-function generator (with rounding) to set a more gentle ramp
up.
• Reduce the precontrol.
• Change the values of parameters p9586, p9587, p9588, p9589 and p9783 (see
specifications in the List Manual).
8.7.2.4
Information pertaining to series commissioning
Standard commissioning of the safety functions
1. A commissioned project that has been uploaded to STARTER can be transferred to
another drive unit keeping the existing Safety parameterization.
2. If the source and target devices have different software versions, the reference
checksums may have to be adapted. This is indicated by a fault:
Reference checksums
Error
p9729[0…2]
F01680 (fault value: 0…2)
p9399[0…1]
F30680 (fault value: 0…1)
p9799
F01650 (fault value: 1000)
p9899
F30650 (fault value: 1000)
Once the project has been downloaded to the target device, an acceptance test must be
carried out. This is also indicated by fault F01650 (fault value: 2004 or 2005).
WARNING
Before re-entering the danger area and before resuming operation, a simplified function test
must be carried out for the drive affected by the component exchange (see the
"Acceptance test" chapter).
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8.7.2.5
Setting the sampling times
Terminology
The software functions installed in the system are executed cyclically at different sampling
times.
Safety functions are executed within the monitoring clock cycle (p9300/p9500). The clock
cycle is displayed in r9780/r9880 for the Basic Functions.
Communication on PROFIBUS is handled cyclically by means of the communication clock
cycle.
During the PROFIsafe scan cycle, the PROFIsafe telegrams issued by the master are
evaluated.
Rules for setting the sampling times
● The monitoring clock cycle (p9300/p9500) can be set between 500 μs to 25 ms.
However, the calculation time required for the Extended Functions in the Control Unit
depends on the monitoring clock cycle, that is, shorter clock cycles extend the calculation
time. The availability of a specific monitoring clock cycle therefore depends on calculation
time resources of the Control Unit.
Calculation time resources on the Control Unit are affected primarily by the enabled
Extended Functions and the selected technological functions.
● The monitoring cycle (p9300/p9500) must be an integer multiple of the actual value
update clock cycle (p9311/p9511) or the communication clock cycle (if p9300/p9500 = 0).
● If Extended Safety Functions are being used, p9311/p9511 must be set ≥ 4 * current
controller cycle, however at least ≥ 2 ms.
Overview of important parameters (see SINAMICS S110 List Manual)
● p9300 SI Motion monitoring clock cycle (Power Module)
● p9311 SI Motion clock cycle actual value sensing (Power Module)
● p9500 SI Motion monitoring clock cycle (Control Unit)
● p9511 SI Motion clock cycle actual value sensing (Control Unit)
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8.7.3
Commissioning the safety terminals by means of STARTER/SCOUT
8.7.3.1
Basic sequence of commissioning
The following conditions must be met before you can configure the safety terminals:
● Concluded initial commissioning of the drive
● Measuring function (static or rotating measurement) completed
Table 8- 20
Configuration sequence
Step
Execution
1
Configuring safety terminals
2
Configure the inputs
3
Configure the output
4
Configuring Safety functions
5
Set the Safety password
6
Copy redundant parameters using "Copy parameters"
8
Activate the configuration by selecting "Activate settings"
9
Save the project in the drive by selecting "Copy RAM to ROM"
10
Load the project into the STARTER
11
Save the project in STARTER
12
Execute POWER ON
13
Carry out an acceptance test
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8.7.3.2
Configuration start screen
Description
The start screen helps you to start configuring the Safety Integrated functions. Depending on
whether you are using Basic Functions, Extended Functions with encoder or Extended
Functions without encoder, the setup options on this screen have different scopes.
Figure 8-24
Safety Integrated start screen (example Basic Functions)
● Copy parameters
Click this button to copy the redundant parameters from CPU 1 to CPU 2.
● Copying parameters after download (only available offline)
By activating this option, the configuration is automatically copied into the second
processor during download.
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● Change/activate settings
– Change settings
You can select this button and enter the password in order to edit the configuration
data. The button function changes to "Activate settings".
– Activate settings
This function accepts your parameter settings, calculates the actual CRC, and
transfers this to the target CRC.
The parameters are only activated after a restart.
Subsequently, a message is output prompting you to save the project and then restart
the system. An acceptance test is also required.
● Change password (p10061 ... p10063)
In order to change the password, enter the old password (factory setting: 0) and then
enter and confirm the new password.
● Restore Safety factory settings
Click this button and then enter the Safety password. The "Restore Safety factory
settings" dialog box opens.
Note
For complete details on the configuration screen, refer to the STARTER online help.
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8.7.3.3
Configuration of the Safety terminals (Extended Functions)
Configuration screen of the terminals for Safety Integrated
Figure 8-25
Configuring safety terminals
You can find this screen underSafety inputs/outputs > Configuration.
Functions of this screen:
● F-DI discrepancy time (p10002)
The signal states at the two terminals of an F-DI are monitored in order to determine
whether these have assumed the same logical state within the discrepancy time.
Note
The discrepancy time must be set so that it is always smaller than the smallest expected
switching interval of the signal to this F-DI.
● F-DI input filter (p10017)
Parameterization of the debounce time for the F-DIs. A rounded debounce time (to a full
ms) is accepted. The debounce time specifies the maximum time an interference pulse
can be present at an F-DI before being interpreted as a switching operation.
● F-DI selection (p10006 or extended alarm acknowledgment)
The Extended Functions enter a safety message in a special message buffer upon the
detection of internal errors or violations of limits. This alarm can only acknowledged
safely. You can assign an F-DI terminal pair for safe acknowledgment.
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● Signal source forced dormant error detection (p10007)
Selection of an input terminal for the start of the test stop: The test stop is initiated by a
0/1 signal from the input terminal and can only be performed when the drive is not in
commissioning mode.
● F-DO dynamization test cycle (p10003)
Failsafe I/O must be tested at defined intervals in order to validate their failsafe state (test
stop or forced dormant error detection). Control Unit 305 has a function block for this
purpose. When selected via a BICO source, it executes this forced dormant error
detection (e.g. switching the sensor power supply). Each selection triggers a timer in
order to monitor the test cycle. A message is set on expiration of the monitored time.
Note
For enabled Extended Functions, you cannot use F-DIs which are not used for Extended
Functions, for other functions. Although you can connect the F-DIs, Safety Integrated returns
a discrepancy error message as soon as they are activated. This is because these F-DIs are
monitored for discrepancy even when no Safety functions are assigned to them.
8.7.3.4
Test stop
Testing failsafe I/O
Failsafe I/O must be tested at defined intervals in order to validate their failsafe state (test
stop or forced dormant error detection). For this purpose, SINAMICS S110 contains a
function block which carries out this forced dormant error detection when selected via a
BICO source. A timer is started after every error-free test stop to monitor the time until the
next required test. After this time interval (p10003) has expired, and each time the Control
Unit is switched on, the user is notified via message A01774 that a test stop must be
performed for the F-DI/DO.
● Three test stop modes can be selected for testing the output (see following sections).
● The failsafe digital inputs must be checked by whoever carries out the forced dormant
error detection.
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Carrying out a test stop:
Proceed as follows to parameterize the test stop:
1. Determine the appropriate test stop mode for the circuits used in your application (see
diagrams in the following sections).
2. Set the test stop mode which is to be used via parameter p10047.
3. Use parameter p10046 to define whether the digital output F-DO 0 is to be tested.
4. Set the debounce time for the digital inputs using parameter p10017.
5. Use parameter p10001 to set the time within which the digital output signals to the
corresponding digital inputs or DIAG inputs must be recognized.
6. Use parameter p10003 to set the interval within which a test stop should be carried out.
After this time interval has expired, you will be notified via message A01774 that a test
stop must be performed for the F-DI/DO.
7. Set the signal source which triggers the start of the test stop using parameter p10007.
This can be, for example, a control signal or switch via a BICO switchable signal.
While the test stop is being carried out, the message A01772 (test stop failsafe inputs /
outputs active) appears. The messages A01772 and A01774 only disappear again after the
test stop has been performed. If an error is found during the test stop, fault F01773 is output.
Using the test sequence specified for each test stop mode, you can see which error has
occurred from the fault value of the test step.
Duration of test stop
You can calculate the duration of the test stop by using this formula:
TTest stop= 3 · p10000 + 2 · (3 ms + p10017) + 8 · p10000 + 6 · (p10001 + p10017)
Test of the
F-DIs
Evaluation of the
inactive F-DIs
Test of the
F-DO
Evaluation of the
active F-DIs
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Test stop mode 1
9H[W
&8
'2
$FWXDWRU
'2
',$*
'2
'2
0
Figure 8-26
F-DO circuit, test stop mode 1
Test step1)
DO+
DO-
DIAG signal expectation
0 ... 3
–
–
Synchronization
4
OFF
OFF
LOW
6
ON
ON
LOW
8
OFF
ON
LOW
10
ON
OFF
HIGH
12
OFF
OFF
LOW
Test sequence for test stop mode 1
1)
You can find a complete list of the steps in the SINAMICS S110 List Manual under message F01773.
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Test stop mode 2
9H[W
&8
'2
'2
',
',
'2
'2
0
Figure 8-27
F-DO circuit, test stop mode 2
Test step1)
DO+
DO-
DIAG signal expectation
0 ... 3
–
–
Synchronization
4
OFF
OFF
HIGH
6
ON
ON
LOW
8
OFF
ON
LOW
10
ON
OFF
LOW
12
OFF
OFF
HIGH
Test sequence for test stop mode 2
1)
You can find a complete list of the steps in the SINAMICS S110 List Manual under message F01773.
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Test stop mode 3
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1)
You can find a complete list of the steps in the SINAMICS S110 List Manual under message F01773.
Overview of important parameters (see SINAMICS S110 List Manual)
● p10001 SI wait time for test stop at DO
● p10003 SI forced dormant error detection timer
● p10007 BI: SI forced dormant error detection F-DO signal source
● p10017 SI digital inputs debounce time
● p10046 SI test sensor feedback signal
● p10047 SI selection of test mode for test stop
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8.7.3.5
F-DI/F-DO configuration
Inputs screen F-DI
Figure 8-29
Inputs screen
● NC/NO contact (p10040)
Terminal property F-DI 0-2 (p10040.0 = F-DI 0, ... p10040.2 = F-DI 2): Configure only the
property of the second (lower) digital input. Always connect an NC contact to digital input
1 (upper). Digital input 2 can be configured as NO contact.
● LED symbol in the F-DI screen
The LED symbol downstream of the AND element indicates the logical state (inactive:
gray, active: green, discrepancy error: red).
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F-DO output screen
Figure 8-30
Output screen
● Signal source for F-DO (p10042)
A six-way AND is connected downstream of the output terminal pair of the F-DO; the
signal sources for the inputs of the AND can be selected:
– No function (input set to logical HIGH; default)
If a signal source is not connected to an input, then the input is set to HIGH (default),
exception: If a signal source is not connected at any input, then the output signal = 0.
– Status signals of the drive
For additional information on status signals, see "F-DO overview" in the "Control
signals by way of terminals" chapter.
● Test selection F-DO (p10046, p10047)
At the F-DO, the test for the read-back cable can be activated during dormant error
detection and the test mode for the test stop can be selected (for further information, see
Extended Functions in the "Forced dormant error detection" chapter).
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● Waiting time for test
Enter a test time. The test time specifies the maximum waiting time for the transient
condition of an external actuator.
● LED symbol in the F-DO output screen
The LED symbol downstream of the AND element indicates the logical state (inactive:
gray, active: green).
8.7.3.6
Control interface
Control interface screen
Figure 8-31
Drive screen
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Functions of this screen:
● Selection of an F-DI for the STO, SS1, SS2, SOS and SLS functions and for SLS speed
limits (bit coded) (p10022 to p10028) and SDI.
An F-DI can be assigned several functions.
● Configuration of the "Safe State" signal (p10039)
A failsafe output signal "Safe State" is generated based on the following status signals:
– STO active (Power_removed)
– SS1 active
– SS2 active
– SOS active
– SLS active
– SDI positive
– SDI negative
The status signals of individual functions (PWR_removed, SS1 active etc.) are logically
linked by OR operation.
8.7.4
PROFIsafe configuration with STARTER
Activating PROFIsafe via the expert list
In order to activate Safety Integrated Functions via PROFIsafe, bit 3 of p9601 and p9801 in
the expert list must be set to "1" and bit 2 to "0". Bit 0 must be set to either "1" or "0",
depending on whether or not control via terminals is to be enabled in parallel to control via
PROFIsafe.
Saving and copying Safety Integrated Functions
After setting the specific parameters for Safety Integrated functions (e.g. the PROFIsafe
address), these must be copied from CPU 1 to CPU 2 using the "Copy parameters" button
and activated using the "Activate settings" button.
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8.7 Commissioning
Acceptance test
An acceptance test needs to be carried out once configuration and commissioning are
complete (see relevant chapter).
Note
If F parameters of the SINAMICS drive are changed in HW Config, the global signature of
the safety program in the SIMATIC F-CPU changes. This means the global signature can be
used to identify whether safety-related settings have changed in the F-CPU (F parameters of
the SINAMICS slave). However, this global signature does not include the safety-relevant
drive parameters so that their change cannot be checked in this way.
8.7.5
Procedure for configuring PROFIsafe communication
Example configuration
The next sections deal with a sample configuration of PROFIsafe communication between a
SINAMICS S110 drive unit and higher-level SIMATIC F-CPU operating as PROFIBUS
master.
The configuration and operation of failsafe communication (F communication) is based on
the following software and hardware requirements:
Required software packages:
● SIMATIC Manager STEP 7 V5.4 SP4 or higher
● S7 F Configuration Pack V5.5 SP51) or higher
● S7 Distributed Safety Programming V5.4 SP51) or higher
● STARTER V4.2 or SIMOTION SCOUT2) V4.2
● Drive ES Basic V5.4 SP4 1) or higher
1) If
using a SIMATIC F-CPU
2) If SIMOTION SCOUT is used however, SP6 cannot be used
Hardware:
● Safety CPU (F-CPU): e.g. SIMATIC CPU 317F-2
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8.7 Commissioning
Topology (network view of the project)
Components participating in F communication via PROFIBUS are basically wired as follows:
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Configuring PROFIsafe communication
The next sections describe the configuration of PROFIsafe communication between a
SIMATIC F-CPU and a drive unit.
Create an F-CPU such as CPU 317F-2 and a SINAMICS S110 in HW Config in accordance
with the hardware installed.
1. Set up SINAMICS S110 for operation as a DP slave and the connected F-CPU as
associated DP master.
2. In the DP slave properties, the PROFIsafe slot can be inserted by choosing "Insert object"
on the "Configuration" tab and configured under "PROFIsafe".
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3. The telegram configuration for F communication is displayed in the DP slave properties
(SINAMICS S110), "Configuration" tab.
Figure 8-33
Example: PROFIsafe configuration (HW Config)
4. Double-click the icon of the SINAMICS drive unit and select the "Details" tab in the
"Configuration" tab.
5. Click "PROFIsafe…" and then define the F parameters which are important to F
communication.
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Setting F parameters:
Figure 8-34
PROFIsafe properties (HW Config)
The top five failsafe parameters in this list are configured by default and cannot be edited.
The following range of values is valid for the two remaining parameters:
F_Dest_Add: 1-65534
F_Dest_Add determines the PROFIsafe destination address of the drive object.
Any value within the range is allowed, however, it must be entered once again in the safety
configuration of the drive in the SINAMICS drive unit. The F_Dest_Add value must be set in
p9610 (Control Unit) and in p9810 (Power Module). You can handle these settings quite
comfortably using the PROFIsafe STARTER screen (see the picture below). The PROFIsafe
target address must be entered in hexadecimal format (in example 008cH).
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Figure 8-35
STARTER: Configuration "Motion Monitoring via PROFIsafe"
F_WD_Time: 10- 65535
A valid current safety message frame must be received from the F-CPU within the
monitoring time. The drive will otherwise go into safe state.
Select a monitoring time of sufficient length to let the communication functions tolerate
telegram delays, however, make allowances for appropriate short fault reaction times (e.g. to
interruption of communications).
For additional information on failsafe parameters, refer to the online help of the "PROFIsafe
properties" dialog box ("Help" button).
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8.7 Commissioning
8.7.6
Information pertaining to component replacements
Replacing a component from the perspective of Safety Integrated
Note
When replacing certain components (Sensor Modules or motors with DRIVE-CLiQ interface),
this process must be acknowledged to safeguard the communication connections to be
renewed within the device. When replacing other components, no acknowledgment is
required since the communication connections to be renewed are saved automatically.
WARNING
Observe the instructions with regard to changing or replacing software components in the
chapter "Safety instructions".
1. The faulty component was replaced in accordance with safety regulations.
2. Make sure that everybody has cleared the danger zone and then power up the machine.
3. Implementation on the drive object corresponding to the appropriate drive:
– Fault C30711 with a fault value 1031 is output if a defect in a monitoring channel is
recognized after exchanging a Sensor Module.
– With STARTER/SCOUT:
- Click on "Acknowledge hardware replacement" in the start screen of the Safety
functions. The alarms F01650/F30650 (acceptance test required) are output.
– If you are working without STARTER for SINAMICS with BOP or for SIMOTION with
HMI:
- Start the copy function for node number (p9700 = 1D hex).
- Confirm the hardware cyclic redundancy check (p9701 = EC hex).
4. Back up all parameters on the memory card:
– With BOP: Set p0977 = 1.
– With STARTER: "Copy RAM to ROM" function.
5. Carry out a POWER ON (power off/on) for all components.
Note
In this case, the system will not notify you with a flashing LED that a POWER ON is
required.
6. Carry out an acceptance test and acceptance report according to Chapter "Acceptance
test and acceptance report" and table "Effect of the acceptance test for certain
measures".
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8.8 Application examples
WARNING
Before re-entering the danger area and before resuming operation, a (partial) acceptance
test must be carried out for all the drives affected by the component exchange (see the
"Acceptance test" chapter).
8.8
Application examples
8.8.1
Input/output interconnections for a safety switching device with CU305
Interconnecting an F-DO with a safe input of a safety device
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The external pull-up resistor is only required in exceptional circumstances, see design
example at the end of this section.
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8.8 Application examples
Interconnecting an F-DI with a plus-minus switching output on a safety device
WARNING
In contrast to mechanical switching contacts (e.g. Emergency Stop switches), leakage
currents can still flow in semiconductor switches such as those usually used at digital
outputs even when they have been switched off. This can lead to false switching states if
digital inputs are not connected correctly.
The conditions for digital inputs/outputs specified in the relevant manufacturer
documentation must be observed.
Note
F-DO test pulses
Some safety blocks have F-DOs which emit test pulses for self-test purposes and in order to
check the transmission path. These test pulses may trigger false alarms requiring a safe
acknowledgment. To avoid these false alarms, discrepancy time p10002 should be set at a
sufficiently high level to prevent any interference with the safety function itself. Our
experience has shown a setting of approx. 150 ms to be adequate, but it is essential to take
into account the description of functions for the F-DO test pulses of the safety control.
WARNING
In accordance with IEC 61131 Part 2, Chapter 5.2 (2008), only outputs that have a
maximum residual current of 0.5 mA when "OFF" can be used to connect CU305 digital
inputs with digital semiconductor outputs.
Debouncing
Parameter p10017 (SI digital inputs debounce time) can be used to filter out test signals from
controls. This avoids faults generated by misinterpretations.
If digital outputs from another device (e.g. F-DO of a safety PLC) with a residual current
greater than 0.5 mA in the "OFF" state are connected to the F-DIs of the CU305, then F-DI
load resistors should be connected in the appropriate channel.
The maximum permissible voltage for a CU305 F-DI when "OFF" is 5 V (in accordance with
IEC 61131-2, 2008).
The following two figures show exactly how the protective circuits for F-DIs with additional
load resistors are wired.
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8.8 Application examples
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8.9 Acceptance test and acceptance report
Dimensioning of load resistors - example 1:
According to manufacturer documentation, the leakage current of an F-DO on a safety PLC
is 1 mA for the P and F channel; in other words, it is 0.5 mA higher than is permissible for the
F-DI.
The necessary load resistance is therefore R = 5 V/0.5 mA = 10 kΩ.
At maximum supply voltage, the power loss for this resistor is:
P = (28.8 V)²/R = 83 mW. The resistor is to be permanently dimensioned for this power loss.
Dimensioning of load resistors - example 2:
If further conditions for the digital output (e.g. a minimum load or a maximum load
resistance) are specified in the manufacturer documentation, these must also be taken into
account.
For example, a load between 12 Ω and 1 kΩ is specified for the SIMATIC ET200S 4 F-DO
I/O module (6ES7138-4FB02-0AB0).
Therefore, two additional 1 kΩ load resistors and a continuous load capacity of at least P =
(28.8 V)²/R = 830 mW are required to connect an F-DO of this kind to a CU305 F-DI.
If a controlled 24 V power supply is used (e.g. SITOP), a resistor with a significantly lower
power loss is sufficient.
Note
Open-circuit detection for pull-up resistors
If the pull-up resistor has a resistance greater than 1 kΩ, open-circuit detection is no longer
reliable and has to be switched off.
8.9
Acceptance test and acceptance report
8.9.1
General information
The acceptance test requirements (configuration check) for electrical drive safety functions
emanate from DIN EN 61800-5-2, Chapter 7.1 Point f). The acceptance test "configuration
check" is named in this standard.
● Description of the application including a picture
● Description of the safety relevant components (including software versions) which are
used in the application
● List of the PDS(SR) [Power Drive System(Safety Related)] safety functions used
● Results of all tests of these safety functions, using the specified testing procedure
● List of all safety relevant parameters and their values in the PDS(SR)
● Checksum, test date and confirmation by testing personnel
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8.9 Acceptance test and acceptance report
The acceptance test for systems with Safety Integrated functions (SI functions) is focused on
validating the functionality of Safety Integrated monitoring and stop functions implemented in
the drive system. The test objective is to verify proper implementation of the defined safety
functions and of test mechanisms (forced dormant error detection measures) and to examine
the response of specific monitoring functions to the explicit input of values outside tolerance
limits. This has to be conducted for all drive-specific Safety Integrated motion monitoring
procedures.
WARNING
A new acceptance test must be carried out if any changes were made to SI function
parameters and must be logged in the acceptance report.
Note
The acceptance test is designed to ensure that the safety functions are correctly
parameterized. The measured values (e.g. distance, time) and the system behavior identified
(e.g. initiation of a specific stop) can be used for checking the plausibility of the configured
safety functions. The objective of an acceptance test is to identify potential configuration
errors and/or to document the correct function of the configuration. The measured values are
typical values (not worst case values). They represent the behavior of the machine at the
time of measurement. These measurements cannot be used, for example, to derive
maximum values for over-travel.
8.9.2
Acceptance test structure
Authorized person, acceptance report
The test of each SI function must be carried out by an authorized person and logged in the
acceptance report. The report must be signed by the person who carried out the acceptance
test. The acceptance report must be kept in the logbook of the relevant machine. Access
rights to SI parameters must be protected by a password. Only the procedure must be
documented in the acceptance report – the password itself must not appear there.
Authorized in this sense refers to a person who has the necessary technical training and
knowledge of the safety functions and is authorized by the machine manufacturer to carry
out the acceptance test.
Note
• Observe the information in the chapter "Procedures for initial commissioning".
• The acceptance report presented below is both an example and recommendation.
• An acceptance report template in electronic format is available at your local Siemens
sales office.
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8.9 Acceptance test and acceptance report
Necessity of an acceptance test
A complete acceptance test (as described in this chapter) is required after initial
commissioning of Safety Integrated functionality on a machine. Safety-related function
expansions, transfer of the commissioning settings to other series machines, hardware
changes, software upgrades or similar, permit the acceptance test to be performed with a
reduced scope if necessary. A summary of conditions which determine the necessary test
scope or proposals in this context is provided below.
In order to define a partial acceptance test, it is necessary in the first instance to specify the
acceptance test objects, and in the second instance to define logical groups which represent
the elements of the acceptance test. The acceptance test must be carried out separately for
each individual drive (as far as the machine allows).
Prerequisites for the acceptance test
● The machine is properly wired.
● All safety equipment such as protective door monitoring devices, light barriers or
emergency limit switches are connected and ready for operation.
● Commissioning of the open-loop and closed-loop control should be completed, as e.g.
the over-travel distance may otherwise change as a result of a changed dynamic
response of the drive control. These include, for example:
– Configuration of the setpoint channel
– Position control in the higher-level controller
– Drive control
Note on the acceptance test mode
The acceptance test mode can be activated for a definable period (p9358/p9558) by setting
the appropriate parameters (p9370/p9570). It tolerates specific limit violations during the
acceptance test. For instance, the setpoint speed limits are no longer active in the
acceptance test mode. To ensure that this state is not accidentally kept, the acceptance test
mode is automatically exited after the time set in p9358/p9558.
It is only worth activating acceptance test mode during the acceptance test for functions
SS2, SOS, SDI and SLS. It has no effect on other functions.
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Normally, SOS can be selected directly or via SS2. To be able to trigger violation of the SOS
standstill limits with acceptance test mode active (even in the "SS2 active" state) the setpoint
is enabled again by the acceptance test mode after deceleration and transition to SOS to
allow the motor to travel. When an SOS violation is acknowledged in the active acceptance
test mode, the current position is adopted as the new stop position so that an SOS violation
is not immediately identified again.
WARNING
If a speed setpoint other than zero is present, the active stop function SS2 is set, and the
motor is at a standstill (active SOS), the axis starts to move as soon as the acceptance test
is activated.
8.9.2.1
Content of the complete acceptance test
A) Documentation
Documentation of the machine and of safety functions
1. Machine description (with overview)
2. Specification of the controller (if this exists)
3. Configuration diagram
4. Function table:
– Active monitoring functions depending on the operating mode and the protective door,
– Other sensors with protective functions,
– The table is part or is the result of the configuring work.
5. SI functions for each drive
6. Information about safety equipment
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8.9 Acceptance test and acceptance report
B) Functional testing of safety functions
Detailed function test and evaluation of SI functions used. For some functions this contains
trace recordings of individual parameters. The procedure is described in detail in section
Acceptance tests.
1. Test of the SI function "Safe Torque Off" (STO)
– Required when used in Basic and/or Extended Functions
– This test is also required if you are not explicitly using STO, but just one function for
which STOP A occurs as an error response.
Alternatively, you can also carry out the quantitative test using STOP A yourself, if you
use the tables from sections Acceptance test Safe Torque Off (Basic Functions)
(Page 476) , Acceptance test Safe Torque Off with encoder (Extended Functions)
(Page 482) or Acceptance test Safe Torque Off without encoder (Extended Functions)
(Page 528).
– You do not need to prepare trace recording for this test.
2. Test of the SI function "Safe Stop 1" (SS1)
– Required when used in Basic and/or Extended Functions
– This test is also required if you are not explicitly using SS1, but just one function for
which STOP B occurs as an error response.
Alternatively, you can also carry out the quantitative test using STOP B yourself, if you
use the tables from sections Auto-Hotspot or Auto-Hotspot.
– Trace recording only required if Extended Functions are used
3. Test of the SI function "Safe Brake Control (SBC)"
– Required when using Basic and/or Extended Functions
– You do not need to prepare trace recording for this test.
4. Test of the SI function "Safe Stop 2" (SS2)
– Only required when used in Extended Functions
– This test is also required if you are not explicitly using SS2 but just one function for
which STOP C occurs as an error response.
Alternatively, you can also carry out the quantitative test using STOP C yourself, if you
use the table from section Auto-Hotspot.
– Trace recording is required
5. Test of the SI function "Safe Operating Stop" (SOS)
– Only required when used in Extended Functions
– This test is also required if you are not explicitly using SOS, but just one function for
which STOP D or STOP E occurs as an error response.
Alternatively, you can also carry out the qualitative test using STOP C, STOP D or
STOP E yourself, if you use the table from section Auto-Hotspot.
– Trace recording is required
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6. Test of the SI function "Safely Limited Speed" (SLS)
– Only required when used in Extended Functions
– Trace recordings are required for each SLS limit
7. Test of the SI function "Safe Direction" (SDI)
– Only required when used in Extended Functions
– Trace recordings are required for each stop response used
8. Test of the SI function "Safe Speed Monitor" (SSM)
– Only required when used in Extended Functions
– Trace recording is required
C) Functional testing of forced dormant error detection
Testing the forced dormant error detection of the safety functions for each control type.
1. Test of the forced dormant error detection of the safety function on the drive
– If you are using Basic Functions, you need to activate and then deactivate STO once
again.
– If you are using Extended Functions, you need to carry out a test stop.
D) Conclusion of the report
Report of the commissioning status tested and countersignatures
1. Inspection of SI parameters
2. Logging of checksums (for each drive)
3. Issuing of the Safety password and documenting this process (do not specify the Safety
password in the report!)
4. RAM to ROM backup, upload of project data to STARTER, and backup of the project
5. Countersignature
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8.9.2.2
Content of the partial acceptance test
A) Documentation
Documentation of the machine and of safety functions
1. Extending/changing the hardware data
2. Extending/changing the software data (specify version)
3. Extending/changing the configuration diagram
4. Extending/changing the function table:
– Active monitoring functions depending on the operating mode and the protective door
– Other sensors with protective functions
– The table is part or is the result of the configuring work
5. Extending/changing the SI functions per drive
6. Extending/changing the specifications of the safety equipment
B) Functional testing of safety functions
Detailed function test and evaluation of SI functions used. For some functions this contains
trace recordings of individual parameters. The procedure is described in detail in section
Acceptance tests.
The function test can be left out if no parameters of the individual safety functions have been
changed. In the case that only parameters of individual functions have been changed, only
these functions need to be tested anew.
1. Test of the SI function "Safe Torque Off" (STO)
– Required when used in Basic and/or Extended Functions
– This test is also required if you are not explicitly using STO, but just one function for
which STOP A occurs as an error response.
Alternatively, you can also carry out the quantitative test using STOP A yourself, if you
use the tables from sections Acceptance test Safe Torque Off (Basic Functions)
(Page 476) , Acceptance test Safe Torque Off with encoder (Extended Functions)
(Page 482) or Acceptance test Safe Torque Off without encoder (Extended Functions)
(Page 528).
– You do not need to prepare trace recording for this test.
2. Test of the SI function "Safe Stop 1" (SS1)
– Required when used in Basic and/or Extended Functions
– This test is also required if you are not explicitly using SS1, but just one function for
which STOP B occurs as an error response.
Alternatively, you can also carry out the quantitative test using STOP B yourself, if you
use the tables from sections Auto-Hotspot or Auto-Hotspot.
– Trace recording only required if Extended Functions are used
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3. Test of the SI function "Safe Brake Control (SBC)"
– Required when using Basic and/or Extended Functions
– You do not need to prepare trace recording for this test.
4. Test of the SI function "Safe Stop 2" (SS2)
– Only required when used in Extended Functions
– This test is also required if you are not explicitly using SS2 but just one function for
which STOP C occurs as an error response.
Alternatively, you can also carry out the quantitative test using STOP C yourself, if you
use the table from section Auto-Hotspot.
– Trace recording is required
5. Test of the SI function "Safe Operating Stop" (SOS)
– Only required when used in Extended Functions
– This test is also required if you are not explicitly using SOS, but just one function for
which STOP D or STOP E occurs as an error response.
Alternatively, you can also carry out the qualitative test using STOP C, STOP D or
STOP E yourself, if you use the table from section Auto-Hotspot.
– Trace recording is required
6. Test of the SI function "Safely Limited Speed" (SLS)
– Only required when used in Extended Functions
– A trace recording is required for each SLS limit
7. Test of the SI function "Safe Direction" (SDI)
– Only required when used in Extended Functions
– Trace recordings are required for each stop response used
8. Test of the SI function "Safe Speed Monitor" (SSM)
– Only required when used in Extended Functions
– Trace recording is required
C) Functional testing of forced dormant error detection
Testing the forced dormant error detection of the safety functions for each control type.
1. Test of the forced dormant error detection of the safety function on the drive
– If you are using Basic Functions, you need to activate and then deactivate STO once
again.
– If you are using Extended Functions, you need to carry out a test stop.
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D) Functional testing of actual value acquisition
1. General testing of actual value acquisition
– After exchanging a hardware component, initial activation and brief operation in both
directions.
WARNING
During this process, all personnel must keep out of the danger area.
2. Test of failsafe actual value acquisition
– Only necessary if Extended Functions are used
– If the motion monitoring functions are activated (e.g. SLS or SSM with hysteresis),
briefly operate the drive in both directions.
E) Conclusion of the report
Report of the commissioning status tested and countersignatures
1. Extension of checksums (for each drive)
2. Countersignature
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8.9.2.3
Table 8- 21
Test scope for specific measures
Scope of partial acceptance tests for specific measures
Measure
A) Documentation
B) Functional testing
of safety functions
C) Functional testing D) Functional
testing of actual
of forced dormant
value acquisition
error detection
E) Conclusion
of the report
Replacement of
the encoder
system
Yes, Points 1 and 2
No
No
Yes
Yes
Replacement of
an SMC/SME
Yes, Points 1 and 2
No
No
Yes
Yes
Replacement of
a motor with
DRIVE-CLiQ
Yes, Points 1 and 2
No
No
Yes
Yes
Replacement of
the Control Unit
/ power unit
hardware
Yes, Points 1 and 2
No
Yes, only Point 1
Yes, only Point 1
Yes
Replacement of
the Power
Module or Safe
Brake Relay
Yes, Points 1 and 2
Yes, Points 1 or 2
and 3
Yes, only Point 1
Yes, only Point 1
Yes
Firmware upgrade(CU/po
wer unit/ Sensor
Modules)
Yes, only Point 2
Yes, if new safety
functions are to be
used
Yes
Yes, only Point 1
Yes
Change to a
single
parameter of a
safety function
(e.g. SLS limit)
Yes, Points 4 and 5.
Yes, test the
appropriate function
No
Yes
Yes
Transfer of
project data to
other machines
(series
commissioning)
Yes
Yes, but only testing
Yes
of the selection of the
safety functions
Yes
Yes
Note
Forced dormant error detection functional testing (C) and actual value acquisition functional
testing (D) together represent the "simplified function test" mentioned in previous chapters.
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8.9.3
Safety logbook
The "Safety Logbook" function is used to detect changes to safety parameters that affect the
associated CRC sums. CRCs are only generated when p9601/p9801 (SI enable driveintegrated functions CPU 1/2) is > 0.
Data changes are detected when the CRCs of the SI parameters change. Each SI parameter
change that is to become active requires the reference CRC to be changed so that the drive
can be operated without SI fault messages. In addition to functional safety changes, safety
changes as a result of hardware being replaced can be detected when the CRC has
changed.
The following changes are recorded by the safety logbook:
● Functional changes are recorded in the checksum r9781[0]:
– Functional CRCs of the motion monitoring functions (p9729[0]), axial (Extended
Functions)
– Functional CRCs of the drive-integrated Basic Safety functions (p9799, SI setpoint
checksum SI parameters (Control Unit)), axial
– Enabling of functions integrated in the drive (p9601), axial (Basic and Extended
Functions)
● Hardware-dependent changes are recorded in the checksum r9781[1]:
– Hardware-dependent CRC of the motion monitoring functions (p9729[2]), axial
(Extended Functions)
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8.9.4
Acceptance reports
8.9.4.1
Plant description - Documentation part 1
Table 8- 22
Machine description and overview diagram
Designation
Type
Serial number
Manufacturer
End customer
Electrical drives
Other drives
Overview diagram of machine
Table 8- 23
Values of relevant parameters
Versions of the firmware and of Safety Integrated
Component
DO number
Parameters
Control Unit
Firmware version
SI version
r0018 =
r9590 =
r9770 =
Note: Parameters can be found in
the drive.
DO number
Parameter
Sensor Module
Firmware version
SI version
r0148 =
r9890 =
SI monitoring clock cycle
(Control Unit)
SI monitoring clock cycle (processor
2)
r9780 =
r9880 =
SI Motion monitoring clock cycle
(processor 1)
SI Motion monitoring clock cycle
(processor 2)
p9500 =
p9300 =
Monitoring clock cycles of Safety Integrated
DO number
Basic Functions
DO number
Extended
Functions
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8.9.4.2
Description of safety functions - Documentation Part 2
Introduction
Note
This description of a system is for illustration purposes only. In each case, the actual settings
for the system concerned will need to be modified as required.
Function table
Table 8- 24
Example table: Active monitoring functions depending on the operating mode, the
protective doors or other sensors
Mode of operation
Protective door
Drive
Status of monitoring
functions
Production
closed and locked
1
All deselected
Setup
...
unlocked
1
SOS selected
closed and locked
1
All deselected
unlocked
1
SLS 1 deselected
...
...
...
Safety Integrated functions used
Table 8- 25
Example: functional overview of the safety functions
Drive
SI function
Limit
Active if
1
SOS
100 mm
refer to the function table
2
...
SLS 1
200000 mm/min
refer to the function table
SOS
100 °
refer to the function table
SLS 1
50 rpm
refer to the function table
...
...
...
Comments:
The drive uses SI function SS1 for the EMERGENCY STOP functionality.
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Drive-specific Safety parameters
Table 8- 26
Drive-specific data
SI function
Parameter processor 2 /
processor 1
Value CPU 2 ≙ CPU 1
Enable safety functions
p9301 / p9501
0000 bin
Axis type
p9302 / p9502
0
Function specification
p9306 / p9506
0
Function configuration
p9307 / p9507
0000 bin
Behavior during pulse
cancellation
p9309 / p9509
0
Actual value acquisition clock
cycle
p9311 / p9511
0.0 ms
Coarse position value
configuration
p9315 / p9515
0000 bin
Encoder configuration, safety
functions
p9316 / p9516
0000 bin
Linear scale graduations
p9317 / p9517
10 nm
Encoder pulses per revolution
p9318 / p9518
2048
Fine resolution G1_XIST1
p9319 / p9519
11
Leadscrew pitch
p9320 / p9520
10 mm
Gearbox encoder (motor) /
load denominator
p9321[0] / p9521[0]
p9321[1] / p9521[1]
p9321[2] / p9521[2]
p9321[3] / p9521[3]
p9321[4] / p9521[4]
p9321[5] / p9521[5]
p9321[6] / p9521[6]
p9321[7] / p9521[7]
1
1
1
1
1
1
1
1
Gearbox encoder (motor) /
load numerator
p9322[0] / p9522[0]
p9322[1] / p9522[1]
p9322[2] / p9522[2]
p9322[3] / p9522[3]
p9322[4] / p9522[4]
p9322[5] / p9522[5]
p9322[6] / p9522[6]
p9322[7] / p9522[7]
1
1
1
1
1
1
1
1
Redundant coarse position
value valid bits
p9323 / p9523
9
Redundant coarse position
value fine resolution bits
p9324 / p9524
-2
Redundant coarse position
value relevant bits
p9325 / p9525
16
Encoder assignment
p9326 / p9526
1
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SI function
Parameter processor 2 /
processor 1
Value CPU 2 ≙ CPU 1
Sensor Module node identifier
p9328[0]
p9328[1]
p9328[2]
p9328[3]
p9328[4]
p9328[5]
p9328[6]
p9328[7]
p9328[8]
p9328[9]
p9328[10]
p9328[11]
0000 hex
0000 hex
0000 hex
0000 hex
0000 hex
0000 hex
0000 hex
0000 hex
0000 hex
0000 hex
0000 hex
0000 hex
SI Motion Gx_XIST1 coarse
position safety most significant
bit
p9329 / p9529
14
SOS standstill tolerance
p9330 / p9530
1.000°
PLC limit values
p9331[0] / p9531[0]
p9331[1] / p9531[1]
p9331[2] / p9531[2]
p9331[3] / p9531[3]
2000.00 mm/min
2000.00 mm/min
2000.00 mm/min
2000.00 mm/min
Actual value comparison
tolerance
p9342 / p9542
0.1000°
SSM Filter time
p9345 / p9545
0.0 ms
SSM speed limit
p9346 / p9546
20.00 mm/min
SSM speed hysteresis
p9347 / p9547
10 mm/min
SAM actual speed tolerance
p9348 / p9548
300.00 rpm
Slip speed tolerance
p9349 / p9549
6.0 rpm
SLS changeover delay time
p9351 / p9551
100.00 ms
STOP C -> SOS delay time
p9352 / p9552
100.00 ms
STOP D -> SOS delay time
p9353 / p9553
100.00 ms
STOP E -> SOS transition time
p9354 / p9554
100.00 μs
STOP F -> STOP B
delay time
p9355 / p9555
0.00 ms
Pulse cancelation delay time
p9356 / p9556
100.00 ms
Pulse suppression test time
p9357 / p9557
100.00 ms
Acceptance test mode time limit
p9358 / p9558
40000.00 ms
Pulse suppression shutdown
speed
p9360/p9560
0.0 rpm
PLC stop response
p9363[0] / p9563[0]
p9363[1] / p9563[1]
p9363[2] / p9563[2]
p9363[3] / p9563[3]
2
2
2
2
SDI tolerance
p9364 / p9564
0.1 mm
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SI function
Parameter processor 2 /
processor 1
Value CPU 2 ≙ CPU 1
SDI delay time
p9365 / p9565
10.00 μs
SDI stop response
p9366 / p9566
1
SAM speed limit
p9368 / p9568
0.0 mm/min
Forced dormant error detection
timer
p9559
8.00 h
Brakeramp reference value
p9381 / p9581
1500 rpm
Brake ramp delay time
p9382 / p9582
250 ms
Brake ramp monitoring time
p9383 / p9583
10.00 s
Evaluation delay time without
encoder
p9386 / p9586
100.00 ms
Actual value acquisition without
encoder filter time
p9387 / p9587
100.00 μs
Minimum current actual value
acquisition without encoder
p9388 / p9588
10.00 %
Acceleration voltage tolerance
p9389 / p9589
100.00 %
Test stop signal source
p9705
1:722:5
Enable drive-integrated
functions
p9801 / p9601
0000 bin
Enable safe brake control
p9802 / p9602
0
PROFIsafe address
p9810 / p9610
0000 hex
SGE changeover tolerance time
p9850 / p9650
500.00 ms
STO/SBC/SS1 debounce time
p9851 / p9651
0.00 ms
Safe Stop 1 delay time
p9852 / p9652
0.00 s
STOP F -> STOP A delay time
p9858 / p9658
0.00 μs
Forced dormant error detection
timer
p9659
8.00 h
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Safety equipment
Protective door
The protective door is unlocked by means of single-channel request key
Protective door switch
The protective door is equipped with a safety door switch. The safety door switch returns the dualchannel signal "Door closed and locked". Changeover and selection of safety functions in accordance
with the table shown above.
Mode selector switch
The "Production" and "Setup" modes are set by means of a mode selector switch. The key switch
features two contact levels. Changeover and selection of safety functions in accordance with the
table shown above.
EMERGENCY-STOP pushbutton
The dual-channel EMERGENCY-STOP pushbuttons are wired in series. The EMERGENCY STOP
signal activates SS1 for all drives. Then the external brakes and STO are activated.
Test stop
Activation by means of:
•
Machine power on
•
Unlocking the protective door
Control of SI functions via PROFIsafe
Documentation of the parameters
Table 8- 27
Functionality
Parameters for control by way of PROFIsafe
Parameters
Value
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8.9.5
Acceptance tests
8.9.5.1
Notes about the acceptance tests
Note
As far as possible, the acceptance tests are to be carried out at the maximum possible
machine speed and acceleration rates to determine the maximum braking distances and
braking times that can be expected.
Note
If Basic Functions and Extended Functions are combined, the acceptance test for both types
must be carried out for the functions used.
Note
For Extended Functions, the trace records are used to help evaluate more complex functions
in comparison to the Basic Functions, where no trace records are required. If necessary, you
can also use other trace options (e.g. using HMI).
Note
Non-critical alarms
When evaluating the alarm buffer you can tolerate the following alarms:
• A01697 SI Motion: Motion monitoring test required
• A01774 SI Motion CU: Test stop required
These alarms occur after every system startup and can be evaluated as non-critical.
• A01699 SI CU: Shutdown path test required
This alarm occurs after the time in p9659 has expired.
You do not need to include these alarms in the acceptance report.
Note
If the alarm A01796 is active, the pulses are safely canceled, and an acceptance test is not
possible.
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8.9.5.2
Acceptance tests – Basic Functions
Acceptance test Safe Torque Off (Basic Functions)
Table 8- 28
"Safe Torque Off" acceptance test
No.
Description
Status
Note:
The acceptance test must be individually conducted for each configured control.
The control can be realized via terminals and/or via PROFIsafe.
1.
2.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
STO function enabled (on-board terminals / PROFIsafe p9601.0 = 1 or p9601.3 = 1)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7]); see note "non-critical alarms" at
the beginning of section Acceptance tests".
•
r9772.17 = r9872.17 = 0 (STO deselection via terminals - DI CU / EP terminal Motor
Module); only relevant for STO via terminal
•
r9772.20 = r9872.20 = 0 (STO deselection via PROFIsafe); only relevant for STO via
PROFIsafe
•
r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1)
•
r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2)
•
r9773.0 = r9773.1 = 0 (STO deselected and inactive – P1 + P2)
Run the drive
•
Check whether the correct drive is operational
Select STO when you issue the traversing command and check the following:
•
The drive coasts to a standstill or is braked and stopped by the mechanical brake (if
available and configured (p1215, p9602, p9802)).
•
No Safety faults and alarms (r0945[0...7], r2122[0...7])
•
r9772.17 = r9872.17 = 1 (STO selection via terminal - DI CU / EP terminal Motor Module);
only relevant for STO via terminal
•
r9772.20 = r9872.20 = 1 (STO selection via PROFIsafe); only relevant for STO via
PROFIsafe
•
r9772.0 = r9772.1 = 1 (STO selected and active – P1)
•
r9872.0 = r9872.1 = 1 (STO selected and active – P2)
•
r9773.0 = r9773.1 = 1 (STO selected and active – P1 + P2)
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No.
3.
4.
Description
Status
Deselect STO and check the following:
•
No Safety faults and alarms (r0945[0..7], r2122[0..7])
•
r9772.17 = r9872.17 = 0 (STO deselection via terminals - DI CU / EP terminal Motor
Module); only relevant for STO via terminal
•
r9772.20 = r9872.20 = 0 (STO deselection via PROFIsafe); only relevant for STO via
PROFIsafe
•
r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1)
•
r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2)
•
r9773.0 = r9773.1 = 0 (STO deselected and inactive – P1 + P2)
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive. Check whether the correct drive is operational.
The following is tested:
•
Correct DRIVE-CLiQ wiring between Control Unit and Motor Modules
•
Correct assignment of drive No. – Motor Module – motor
•
The hardware is functioning properly
•
Correct wiring of the switch-off signal path (only via terminal)
•
Correct assignment of the terminals for STO on the Control Unit
•
Correct parameterization of the STO function
•
Forced dormant error detection of the switch-off signal paths
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Acceptance test for Safe Stop 1 (Basic Functions)
Table 8- 29
"Safe Stop 1" function
No.
Description
Status
Note:
The acceptance test must be individually conducted for each configured control.
The control can be realized via terminals and/or via PROFIsafe.
1.
2.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
STO function enabled (on-board terminals / PROFIsafe p9601.0 = 1 or p9601.3 = 1)
•
Enable SS1 function (p9652 > 0, p9852 > 0)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7]); see note "non-critical alarms" at
the beginning of section Acceptance tests".
•
r9772.22 = r9872.22 = 0 (SS1 deselection via terminals – DI CU / EP terminal Motor
Module); only relevant for SS1 via terminal
•
r9772.23 = r9872.23 = 0 (SS1 deselection via PROFIsafe); only relevant for SS1 via
PROFIsafe
•
r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1)
•
r9772.5 = r9772.6 = 0 (SS1 deselected and inactive – P1)
•
r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2)
•
r9872.5 = r9872.6 = 0 (SS1 deselected and inactive – P2)
•
r9773.0 = r9773.1 = 0 (STO deselected and inactive – P1 + P2)
•
r9773.5 = r9773.6 = 0 (SS1 deselected and inactive – P1 + P2)
Run the drive
Check whether the correct drive is operational
Select SS1 when you issue the traversing command and check the following:
•
The drive is braked along the OFF3 ramp (p1135)
Before the SS1 delay time (p9652, p9852) expires, the following applies:
•
r9772.22 = r9872.22 = 1 (SS1 selection via terminals – DI CU / EP terminal Motor
Module); only relevant for SS1 via terminal
•
r9772.23 = r9872.23 = 1 (SS1 selection via PROFIsafe); only relevant for SS1 via
PROFIsafe
•
r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1)
•
r9772.5 = r9772.6 = 1 (SS1 selected and active – P1)
•
r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2)
•
r9872.5 = r9872.6 = 1 (SS1 selected and active – P2)
•
r9773.0 = r9773.1 = 0 (STO deselected and inactive – P1 + P2)
•
r9773.5 = r9773.6 = 1 (SS1 selected and active – P1 + P2)
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No.
Description
Status
STO is initiated after the SS1 delay time expires (p9652, p9852).
3.
4.
•
No Safety faults and alarms (r0945[0...7], r2122[0...7])
•
r9772.0 = r9772.1 = 1 (STO selected and active – P1)
•
r9772.5 = r9772.6 = 1 (SS1 selected and active – P1)
•
r9872.0 = r9872.1 = 1 (STO selected and active – P2)
•
r9872.5 = r9872.6 = 1 (SS1 selected and active – P2)
•
r9773.0 = r9773.1 = 1 (STO selected and active – P1 + P2)
•
r9773.5 = r9773.6 = 1 (SS1 selected and active – P1 + P2)
Canceling SS1
•
No Safety faults and alarms (r0945[0...7], r2122[0...7])
•
r9772.22 = r9872.22 = 0 (SS1 deselection via terminals – DI CU / EP terminal Motor
Module); only relevant for SS1 via terminal
•
r9772.23 = r9872.23 = 0 (SS1 deselection via PROFIsafe); only relevant for SS1 via
PROFIsafe
•
r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1)
•
r9772.5 = r9772.6 = 0 (SS1 deselected and inactive – P1)
•
r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2)
•
r9872.5 = r9872.6 = 0 (SS1 deselected and inactive – P2)
•
r9773.0 = r9773.1 = 0 (STO deselected and inactive – P1 + P2)
•
r9773.5 = r9773.6 = 0 (SS1 deselected and inactive – P1 + P2)
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive. Check whether the correct drive is operational.
The following is tested:
•
Correct parameterization of the SS1 function
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Acceptance test for Safe Brake Control (Basic Functions)
Table 8- 30
"Safe Brake Control" function
No.
Description
Status
Note:
The acceptance test must be individually conducted for each configured control.
The control can be realized via terminals and/or via PROFIsafe.
1.
2.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
STO function enabled (on-board terminals / PROFIsafe p9601.0 = 1 or p9601.3 = 1)
•
Enable SBC function (p9602 = 1, p9802 = 1)
•
Brake as in sequence control or brake always released (p1215 = 1 or p1215 = 2)
•
No Safety faults and alarms (r0945, r2122); see note "Non-critical alarms" at the
beginning of section "Acceptance tests".
•
r9772.4 = r9872.4 = 0 (SBC not requested)
•
r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1)
•
r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2)
•
r9773.0 = r9773.1 = 0 (STO deselected and inactive – v)
Run drive (if applied, brake is released)
•
Check whether the correct drive is operational
Select STO/SS1 when you issue the traversing command and check the following:
3.
•
The brake is applied (for SS1 the drive is previously decelerated along the OFF3 ramp)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7])
•
r9772.4 = r9872.4 = 1 (SBC requested)
•
r9772.0 = r9772.1 = 1 (STO selected and active – P1)
•
r9872.0 = r9872.1 = 1 (STO selected and active – P2)
•
r9773.0 = r9773.1 = 1 (STO selected and active – P1 + P2)
Deselect STO/SS1 and check the following:
•
No Safety faults and alarms (r0945[0...7], r2122[0...7])
•
r9772.4 = r9872.4 = 0 (deselect SBC)
•
r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1)
•
r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2)
•
r9773.0 = r9773.1 = 0 (STO deselected and inactive – P1 + P2)
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
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No.
4.
Description
Status
Acknowledge switch-on inhibit and run the drive. Check whether the correct drive is operational.
The following is tested:
•
The brake is connected properly
•
The hardware is functioning properly
•
The SBC is parameterized correctly
•
Forced dormant error detection for the brake control
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8.9 Acceptance test and acceptance report
8.9.5.3
Acceptance tests for Extended Functions (with encoder)
Acceptance test Safe Torque Off with encoder (Extended Functions)
Table 8- 31
"Safe Torque Off" function
No.
Description
Status
Notes:
The acceptance test must be individually conducted for each configured control.
The control can be realized via terminals or via PROFIsafe.
1.
2.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Non-critical
alarms" at the beginning of the section "Acceptance test".
•
r9772.18 = r9872.18 = 0 (STO deselected via Safe Motion Monitoring)
•
r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1)
•
r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2)
•
r9773.0 = r9773.1 = 0 (STO deselected and inactive – P1 + P2)
•
r9720.0 = 1 (STO deselected)
•
r9722.0 = 0 (STO inactive)
Run the drive
•
Check whether the correct drive is operational
Select STO when you issue the traversing command and check the following:
•
The drive coasts to a standstill or is braked and stopped by the mechanical brake (if
available and configured (p1215, p9602, p9802)).
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r9772.18 = r9872.18 = 1 (STO selected via Safe Motion Monitoring)
•
r9772.0 = r9772.1 = 1 (STO selected and active – P1)
•
r9872.0 = r9872.1 = 1 (STO selected and active – P2)
•
r9773.0 = r9773.1 = 1 (STO selected and active – P1 + P2)
•
r9720.0 = 0 (STO selected)
•
r9722.0 = 1 (STO active)
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8.9 Acceptance test and acceptance report
No.
3.
4.
Description
Status
Deselect STO and check the following:
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r9772.18 = r9872.18 = 0 (STO deselected via Safe Motion Monitoring)
•
r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1)
•
r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2)
•
r9773.0 = r9773.1 = 0 (STO deselected and inactive – P1 + P2)
•
r9720.0 = 1 (STO deselected)
•
r9722.0 = 0 (STO inactive)
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive. Check whether the correct drive is operational.
The following is tested:
•
Correct DRIVE-CLiQ wiring between Control Unit and Motor Modules
•
Correct assignment of drive No. – Motor Module – motor
•
The hardware is functioning properly
•
Correct parameterization of the STO function
•
Forced dormant error detection of the switch-off signal paths
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Acceptance test for Safe Stop 1 with encoder (Extended Functions)
Table 8- 32
"Safe Stop 1" function
No.
Description
Status
Note:
The acceptance test must be individually conducted for each configured control.
The control can be realized via terminals or via PROFIsafe.
1.
2.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Non-critical
alarms" at the beginning of the section "Acceptance test".
Run the drive
•
3.
Check whether the correct drive is operational
Configure and activate trace recording.
•
Trigger: Trigger on variable - bit pattern (r9720.1 = 0)
•
Record the following values: r9714[0], r9714[1], r9720, r9722
•
Select the time interval and pretrigger so you can recognize the selection of SS1 and the
transition into the subsequent STO state
For better analysis, display the following bit values:
•
r9720.1 (deactivation SS1)
•
r9722.0 (STO active)
•
r9722.1 (SS1 active)
Select SS1 while the drive is moving
4.
•
The drive decelerates along the OFF3 ramp
•
Subsequent state STO is activated
Analyze trace:
•
The STO is triggered after the SS1 timer (p9356/9556) has expired or if the speed drops
below the shutdown speed (p9360/9560)
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SS1
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
Acknowledge switch-on inhibit and run the drive
•
Check whether the correct drive is operational
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Example trace: SS1 (with encoder)
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66DFWLYH
672DFWLYH
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Figure 8-39
Example trace: SS1 (with encoder)
Trace evaluation:
● SS1 function is selected (time axis 0 ms; see bit "deselection SS1")
● Response bit "SS1 active" is set (time axis approx 20 ms)
● The drive decelerates along the configured OFF3 ramp (p1135)
● Recording of Drive_1.r9714[0] shows whether the OFF3 ramp is active
● The STO is activated (time axis approx. 370 ms; see bit "STO active"); at this point the
speed falls below the shutdown speed SS1 (p9560/p9360) (drops below the shutdown
speed SS1 before SS1 timer p9556/p9356 has expired)
● A fault is generated if the envelope curve of function SAM (Drive_1.r9714[1]) is exceeded
by the actual speed (Drive_1.r9714[0])
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 36 ms)) are
caused by internal calculations and do not present a problem.
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Acceptance test for Safe Brake Control with encoder (Extended Functions)
Table 8- 33
"Safe Brake Control" function
No.
Description
Status
Note:
The acceptance test must be individually conducted for each configured control.
The control can be realized via terminals or via PROFIsafe.
1.
2.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
Enable SBC function (p9602 = 1, p9802 = 1)
•
Brake as in sequence control or brake always released (p1215 = 1 or p1215 = 2)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Non-critical
alarms" at the beginning of the section "Acceptance test".
•
r9772.18 = r9872.18 = 0 (STO deselected via Safe Motion Monitoring)
•
r9772.4 = r9872.4 = 0; r9773.4 = 0 (SBC not requested)
•
r9720.0 = 1 (STO deselected) or r9720.1 = 1 (SS1 deselected)
•
r9722.0 = 0 (STO inactive)
Run drive (if applied, brake is released)
•
Check whether the correct drive is operational
Select STO when you issue the traversing command and check the following:
3.
•
Brake is applied
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r9772.4 = r9872.4 = 1; r9773.4 = 1 (SBC requested)
•
r9772.18 = r9872.18 = 1 (STO selected via Safe Motion Monitoring)
•
r9720.0 = 0 (STO selected) or r9720.1 = 0 (SS1 selected)
•
r9722.0 = 1 (STO active)
•
r9772.4 = 1 (SLS selected)
Deselect STO and check the following:
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r9772.4 = r9872.4 = 0; r9773.4 = 0 (SBC deselected)
•
r9772.18 = r9872.18 = 0 (STO deselected via Safe Motion Monitoring)
•
r9720.0 = 1 (STO deselected) or r9720.1 = 1 (SS1 deselected)
•
r9722.0 = 0 (STO active)
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
No.
4.
Description
Status
Acknowledge switch-on inhibit and run the drive. Check whether the correct drive is operational.
The following is tested:
•
The brake is connected properly
•
The hardware is functioning properly
•
The SBC is parameterized correctly
•
Forced dormant error detection for the brake control
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Acceptance test for Safe Stop 2 (Extended Functions)
Table 8- 34
"Safe Stop 2" function
No.
Description
Status
Note:
The acceptance test must be individually performed for each configured control.
Control may be via terminals or PROFIsafe.
1.
2.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
SS2 deselected (r9720.2 = 1)
•
SS2 inactive (r9722.2 = 0)
•
SOS inactive (r9722.3 = 0)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
Run the drive
•
3.
Check whether the correct drive is operational
Configure and activate trace recording.
•
Trigger: Trigger on variable - bit pattern (r9720.2 = 0)
•
Record the following values: r9714[0], r9714[1], r9720, r9722
•
Select the time interval and pretrigger so you can recognize the selection of SS2 and
the transition into the subsequent SOS state
For better analysis, display the following bit values:
•
r9720.2 (deselection SS2)
•
r9722.2 (SS2 active)
•
r9722.3 (SOS active)
Select SS2 while the drive is moving
4.
•
The drive decelerates along the OFF3 ramp
•
Subsequent SOS state is activated
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
Analyze trace:
•
5.
SOS is triggered after the SS2 timer (p9352/9552) has expired.
Save/print the trace and add it to the acceptance report (refer to the example below)
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
No.
6.
Description
Status
Deselect SS2
•
Check whether the drive is operating with the setpoint again
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
Example trace: SS2 (with encoder)
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'ULYHBU>@6,0RWLRQGLDJQRVWLFVVSHHGFXUUHQW6%5VSHHGOLPLWRQ&RQWURO8QLW
%LWWUDFNV
626DFWLYH
66DFWLYH
'HVHOHFW66
Figure 8-40
Example trace: SS2 (with encoder)
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● SS2 function is selected (time axis 0 ms; see bit "deselection SS2")
● Response bit "SS2 active" is set (time axis approx 20 ms)
● The drive decelerates along the configured OFF3 ramp (p1135)
● Recording r9714[0] indicates whether the OFF3 ramp is active
● SOS is activated (time axis approx. 500 ms; see bit "SOS active"); at this point the SS2
timer (p9552/p9352) has expired
● A fault is generated if the envelope curve of function SAM/SBR (Drive_1.r9714[1]) is
exceeded by the actual speed (r9714[0])
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 36 ms)) are
caused by internal calculations and do not present a problem.
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Acceptance test for Safe Operating Stop (SOS)
Table 8- 35
"Safe Operating Stop" function
No.
Description
Status
Note:
The acceptance test must be individually conducted for each configured control.
The control can be realized via terminals or via PROFIsafe.
1.
2.
3.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
SOS inactive (r9722.3 = 0)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
•
It may be necessary to take measures in the higher-level control to be able to run the drive with activated
SOS.
•
Please note that the internal limits r9733.0 and r9733.1 are canceled by the selection "Start acceptance test".
Configure and activate trace recording.
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9713[0], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize start-up of the drive and
infringement of the SOS tolerance window (p9330/p9530)
For better analysis, display the following bit values:
•
r9720.3 (deselect SOS)
•
r9721.12 (STOP A or B active)
•
r9722.0 (STO active; set for STOP A)
•
r9722.1 (SS1 active; set for STOP B)
•
r9722.3 (SOS active)
•
r9722.7 (internal event; set when the first Safety message occurs)
Select SOS
Run the drive beyond the standstill limit set in p9330/p9530
•
Check whether the drive moves briefly and then decelerates back to a standstill
Check whether the following Safety messages are pending:
•
C01707, C30707 (Tolerance for safe operating stop exceeded)
•
C01701, C30701 (STOP B initiated)
•
C01700, C30700 (STOP A initiated)
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
No.
4.
Description
Status
Analyze trace:
•
As soon as r9713[0] leaves the tolerance window, a Safety message becomes active
(r9722.7 = 0)
•
As a consequence, the drive is brought to a standstill with STOP B and STOP A
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SOS and acknowledge Safety messages
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive
•
Check whether the drive is moving
Example trace: SOS
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%LWWUDFNV
,QWHUQDOHYHQW
626DFWLYH
66DFWLYH
672DFWLYH
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'HVHOHFW626
Figure 8-41
Example trace: SOS
Function Manual
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● SOS function is activated (see bits "deselect SOS" and "SOS active")
● The drive starts moving (time axis approx -100 ms)
● Exiting the SOS tolerance window is recognized (time axis approx 0 ms)
● Safety fault is initiated (time axis approx. 0 ms; bit "internal event" is set to 0)
● Fault response STOP B is initiated (see bit "STOP A or B active" and "SS1 active")
● The drive is braked to a standstill
● Standstill is reached (time axis approx. 200 ms)
● STOP A (as follow-up response to STOP B) is activated (see bit "STO active"); at this
point the speed falls below the shutdown speed SS1 (p9560/p9360) before the SS1 timer
(p9556/p9356) has expired (drops below the shutdown speed SS1 before SS1 timer
(p9556/p9356) has expired)
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 36 ms)) are
caused by internal calculations and do not present a problem.
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Acceptance tests for Safely Limited Speed with encoder (Extended Functions)
SLS with encoder with stop response "STOP A"
Table 8- 36
Function "Safely Limited Speed with encoder" with STOP A
No.
Description
Status
Note:
The acceptance test must be carried out separately for each configured control and each SLS speed limit used.
Control may be via terminals or PROFIsafe.
1.
2.
3.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
SLS inactive (r9722.4 = 0)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
•
It may be necessary to take measures in the higher-level control to be able to exceed the active speed limit.
•
Please note that the internal limits r9733.0 and r9733.1 are canceled by the selection "Start acceptance test".
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9714[0], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize when the active SLS
limit has been exceeded and the subsequent drive responses
For better analysis, display the following bit values:
•
r9722.4 (SLS active) and r9722.9/.10 (active SLS level)
•
r9722.7 (internal event; set when the first Safety message occurs)
•
r9722.0 (STO active; set for STOP A)
•
r9721.12 (STOP A or B active)
•
r9720.4 (deselection SLS) and r9720.9/.10 (selection SLS level)
Select SLS with level x
Switch on the drive and specify the setpoint above the SLS limit
•
Check whether the drive is moving, and after the SLS limit (p9331[x]/9531[x]) has
been exceeded, that it is coasting down or a configured holding brake is closed
Check whether the following Safety messages are pending:
•
C01714 (x00), C30714 (x00); x = 1...4 depending on the SLS level (safely limited
speed exceeded)
•
C01700, C30700 (STOP A initiated)
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
No.
4.
Description
Status
Analyze trace:
•
If r9714[0] exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes
active
•
STOP A is initiated as a consequence
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SLS and acknowledge Safety messages
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive
Check whether the drive is moving
Example trace: SLS (with encoder) with STOP A
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%LWWUDFNV
$FWLYH6/6OHYHOELW
$FWLYH6/6OHYHOELW
6/6DFWLYH
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6HOHFW6/6ELW
6HOHFW6/6ELW
'HVHOHFW6/6
Figure 8-42
Example trace: SLS (with encoder) with STOP A
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● SLS function with SLS level 1 is active (see bits "deselection SLS", "selection SLS bit 0",
"selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level
bit 1")
● Drive is accelerated beyond the SLS limit (time axis from approx. -400 ms)
● Exceeding the limit is recognized (time axis 0 ms)
● Safety fault is initiated (time axis 0 ms; bit "internal event" is set to 0)
● Fault response STOP A is initiated (time axis 0 ms; see bit "STOP A or B active" and
"STO active")
● Drive coasts down (see Drive_1.r9714[0])
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 36 ms)) are
caused by internal calculations and do not present a problem.
Function Manual
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
SLS with encoder with stop response "STOP B"
Table 8- 37
Function "Safely Limited Speed with encoder" with STOP B
No.
Description
Status
Note:
The acceptance test must be carried out separately for each configured control and each SLS speed limit used.
Control may be via terminals or PROFIsafe.
1.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
2.
It may be necessary to take measures in the higher-level control to be able to exceed the active speed limit.
3.
Configure and activate trace recording.
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9714[0], r9714[1], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize when the active SLS
limit has been exceeded and the subsequent drive responses
For better analysis, display the following bit values:
•
r9722.4 (SLS active) and r9722.9/.10 (active SLS level)
•
r9722.7 (internal event; set when the first Safety message occurs)
•
r9722.0 (STO active; set for STOP A)
•
r9722.1 (SS1 active; set for STOP B)
•
r9721.12 (STOP A or B active)
•
r9720.4 (deselection SLS) and r9720.9/.10 (selection SLS level)
Select SLS with level x
Switch on the drive and specify the setpoint above the SLS limit
•
Check whether the drive is moving, and after the SLS limit (p9331[x]/9531[x]) has
been exceeded that it is decelerated along the OFF3 ramp before STOP A
becomes active
Check whether the following Safety messages are pending:
•
C01714 (x00), C30714 (x00); x = 1...4 depending on the SLS level (safely limited
speed exceeded)
•
C01701, C30701 (STOP B initiated)
•
C01700, C30700 (STOP A initiated)
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
No.
4.
Description
Status
Analyze trace:
•
If r9714[0] exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes
active
•
A STOP B is initiated as a consequence (with subsequent stop STOP A)
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SLS and acknowledge Safety messages
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive
•
Check whether the drive is moving
Example trace: SLS (with encoder) with STOP B
'ULYHBU>@6,0RWLRQGLDJQRVWLFVVSHHGDFWXDOORDGVLGHVSHHGYDOXHRQ&RQWURO8QLW
'ULYHBU>@6,0RWLRQGLDJQRVWLFVVSHHGFXUUHQW6%5VSHHGOLPLWRQ&RQWURO8QLW
%LWWUDFNV
$FWLYH6/6OHYHOELW
$FWLYH6/6OHYHOELW
6/6DFWLYH
,QWHUQDOHYHQW
66DFWLYH
672DFWLYH
6723$RU%DFWLYH
6HOHFW6/6ELW
6HOHFW6/6ELW
'HVHOHFW6/6
Figure 8-43
Example trace: SLS (with encoder) with STOP B
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8.9 Acceptance test and acceptance report
Trace evaluation:
● SLS function with SLS level 2 is active (see bits "deselection SLS", "selection SLS bit 0",
"selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level
bit 1")
● Drive is accelerated beyond the SLS limit (time axis from approx. -400 ms)
● Exceeding the limit is recognized (time axis 0 ms)
● Safety fault is initiated (time axis 0 ms; bit "internal event" is set to 0)
● Fault response STOP B is initiated (time axis 0 ms; see bit "STOP A or B active" and
"SS1 active")
● Drive is decelerated to a standstill (see curve of Drive_1.r9714[0])
● Standstill reached (time axis from approx. 250 ms)
● STOP A (as follow-up response to STOP B) is activated (see bit "STO active"); at this
point the speed falls below the shutdown speed SS1 (p9560/p9360) (drops below the
shutdown speed SS1 before SS1 timer p9556/p9356 has expired)
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 36 ms)) are
caused by internal calculations and do not present a problem.
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
SLS with encoder with stop response "STOP C"
Table 8- 38
Function "Safely Limited Speed with encoder" with STOP C
No.
Description
Status
Note:
The acceptance test must be carried out separately for each configured control and each SLS speed limit used.
Control may be via terminals or PROFIsafe.
1.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
2.
It may be necessary to take measures in the higher-level control to be able to exceed the active speed limit
3.
Configure and activate trace recording.
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9714[0], r9714[1], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize when the active SLS
limit has been exceeded and the subsequent drive responses
For better analysis, display the following bit values:
•
r9720.4 (deselection SLS) and r9720.9/.10 (selection SLS level)
•
r9721.13 (STOP C active)
•
r9722.2 (SS2 active; set for STOP C)
•
r9722.3 (SOS active)
•
r9722.4 (SLS active) and r9722.9/.10 (active SLS level)
•
r9722.7 (internal event; set when the first Safety message occurs)
Select SLS with level x
Switch on the drive and specify the setpoint above the SLS limit
•
Check whether the drive is moving, and after the SLS limit (p9331[x]/9531[x]) has
been exceeded that it is decelerated to a standstill along the OFF3 ramp
Check whether the following Safety messages are pending:
•
C01714 (x00), C30714 (x00); x = 1...4 depending on the SLS level (safely limited
speed exceeded)
•
C01708, C30708 (STOP C initiated)
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8.9 Acceptance test and acceptance report
No.
4.
Description
Status
Analyze trace:
•
If r9714[0] exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes
active
•
STOP C is initiated as a consequence
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SLS and acknowledge Safety messages
•
Check whether the drive is operating with the setpoint again
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
Example trace: SLS (with encoder) with STOP C
'ULYHBU>@6,0RWLRQGLDJQRVWLFVVSHHGDFWXDOORDGVLGHVSHHGYDOXHRQ&RQWURO8QLW
'ULYHBU>@6,0RWLRQGLDJQRVWLFVVSHHGFXUUHQW6%5VSHHGOLPLWRQ&RQWURO8QLW
%LWWUDFNV
$FWLYH6/6OHYHOELW
$FWLYH6/6OHYHOELW
6/6DFWLYH
,QWHUQDOHYHQW
626DFWLYH
66DFWLYH
6723&DFWLYH
6HOHFW6/6ELW
6HOHFW6/6ELW
'HVHOHFW6/6
Figure 8-44
Example trace: SLS (with encoder) with STOP C
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● SLS function with SLS level 1 is active (see bits "deselection SLS", "selection SLS bit 0",
"selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level
bit 1")
● Drive is accelerated beyond the SLS limit (time axis from approx. -400 ms)
● Exceeding the limit is recognized (time axis 0 ms)
● Safety fault is initiated (time axis 0 ms; bit "internal event" is set to 0)
● Fault response STOP C is initiated (see bit "STOP C active" and "SS2 active")
● Drive is decelerated to a standstill (see curve of Drive_1.r9714[0])
● After the SS2 timer has expired the follow-up function SOS is activated (time axis 500
ms)
● The "SOS active" bit is set and "SLS active" is reset
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 36 ms)) are
caused by internal calculations and do not present a problem.
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8.9 Acceptance test and acceptance report
SLS with encoder with stop response "STOP D"
Table 8- 39
Function "Safely Limited Speed with encoder" with STOP D
No.
Description
Status
Note:
The acceptance test must be carried out separately for each configured control and each SLS speed limit used.
Control may be via terminals or PROFIsafe.
1.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
2.
It may be necessary to take measures in the higher-level control to be able to exceed the active speed limit
3.
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9714[0], r9720, r9721, r9722
•
Select the time interval and pretrigger so that the exceeding of the active SLS limit
and the subsequent drive responses can be recognized
For better analysis, display the following bit values:
•
r9720.4 (deselection SLS) and r9720.9/.10 (selection SLS level)
•
r9721.14 (STOP D active)
•
r9722.3 (SOS active)
•
r9722.4 (SLS active) and r9722.9/.10 (active SLS level)
•
r9722.7 (internal event; set when the first Safety message occurs)
Select SLS with level x
Switch on the drive and specify the setpoint above the SLS limit
•
Check whether the drive is moving, and after the SLS limit (p9331[x]/9531[x]) has
been exceeded and the SOS standstill tolerance window has been exited, that it is
decelerated along the OFF3 ramp before STOP A becomes active as a
consequence
Check whether the following Safety messages are pending:
•
C01714 (x00), C30714 (x00); x = 1...4 depending on the SLS level (safely limited
speed exceeded)
•
C01709, C30709 (STOP D initiated)
•
C01707, C30707 (Tolerance for safe operating stop exceeded)
•
C01701, C30701 (STOP B initiated)
•
C01700, C30700 (STOP A initiated)
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8.9 Acceptance test and acceptance report
No.
4.
Description
Status
Analyze trace:
•
If r9714[0] exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes
active
•
STOP D is initiated as a consequence.
•
As a consequence of STOP D (selection SOS) the above-described responses will
be triggered if the drive is not stopped by the higher-level control on activation of
STOP D
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SLS and acknowledge Safety messages
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive
•
Check whether the drive is moving
Example trace: SLS (with encoder) with STOP D
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%LWWUDFNV
$FWLYH6/6OHYHOELW
$FWLYH6/6OHYHOELW
6/6DFWLYH
,QWHUQDOHYHQW
626DFWLYH
66DFWLYH
672DFWLYH
6723'DFWLYH
6HOHFW6/6ELW
6HOHFW6/6ELW
'HVHOHFW6/6
Figure 8-45
Example trace: SLS (with encoder) with STOP D
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● SLS function with SLS level 2 is active (see bits "deselection SLS", "selection SLS bit 0",
"selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level
bit 1")
● Drive is accelerated beyond the SLS limit (time axis from approx. -400 ms)
● Exceeding the limit is recognized (time axis 0 ms)
● Safety fault is initiated (time axis 0 ms; bit "internal event" is set to 0)
● Fault response STOP D (corresponds to selection SOS) is initiated (see bit "STOP D
active")
● The standstill position is only safely monitored (time axis 100 ms; see bit "SOS active")
after the transition time STOP D to SOS (p9553/p9353) has expired
● However, as the axis continues to rotate, the standstill tolerance window is violated (time
axis approx. 120 ms)
● STOP B is initiated (see bit "SS1 active")
● The drive is braked to a standstill
● Standstill is reached (time axis approx. 500 ms)
● STOP A (as follow-up response to STOP B) is activated (see bit "STO active"); at this
point the speed falls below the shutdown speed SS1 (p9560/p9360) (drops below the
shutdown speed SS1 before SS1 timer p9556/p9356 has expired).
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 36 ms)) are
caused by internal calculations and do not present a problem.
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
SLS with encoder with stop response "STOP E"
Table 8- 40
Function "Safely-Limited Speed with encoder" with STOP E
No.
Description
Status
Note:
The acceptance test must be carried out separately for each configured control and each SLS speed limit used.
Control may be via terminals or PROFIsafe.
1.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
2.
It may be necessary to take measures in the higher-level control to be able to exceed the active speed limit
3.
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9714[0], r9720, r9721, r9722
•
Select the time interval and pretrigger so that the exceeding of the active SLS limit
and the subsequent drive responses can be recognized
For better analysis, display the following bit values:
•
r9720.4 (deselection SLS) and r9720.9/.10 (selection SLS level)
•
r9721.15 (STOP E active)
•
r9722.3 (SOS active)
•
r9722.4 (SLS active) and r9722.9/.10 (active SLS level)
•
r9722.7 (internal event; set when the first Safety message occurs)
Select SLS with level x
Switch on the drive and specify the setpoint above the SLS limit
•
Check whether the drive is moving, and after the SLS limit (p9331[x]/9531[x]) has
been exceeded and the SOS standstill tolerance window has been exited, that it is
decelerated along the OFF3 ramp before STOP A becomes active as a
consequence
Check whether the following Safety messages are pending:
•
C01714 (x00), C30714 (x00); x = 1...4 depending on the SLS level (safely limited
speed exceeded)
•
C01710, C30710 (STOP E initiated)
•
C01707, C30707 (Tolerance for safe operating stop exceeded)
•
C01701, C30701 (STOP B initiated)
•
C01700, C30700 (STOP A initiated)
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8.9 Acceptance test and acceptance report
No.
4.
Description
Status
Analyze trace:
•
If r9714[0] (unit [µm/min] or [m°/min]) exceeds the active SLS limit, a Safety
message (r9722.7 = 0) becomes active
•
STOP E is initiated as a consequence.
•
As a consequence of STOP E (selection SOS) the above-described responses will
be triggered if the drive is not stopped by the higher-level control on activation of
STOP E
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SLS and acknowledge Safety messages
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive
•
Check whether the drive is moving
Example trace: SLS (with encoder) with STOP E
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%LWWUDFNV
$FWLYH6/6OHYHOELW
$FWLYH6/6OHYHOELW
6/6DFWLYH
,QWHUQDOHYHQW
626DFWLYH
66DFWLYH
672DFWLYH
6723(DFWLYH
6HOHFW6/6ELW
6HOHFW6/6ELW
'HVHOHFW6/6
Figure 8-46
Example trace: SLS (with encoder) with STOP E
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● SLS function with SLS level 2 is active (see bits "deselection SLS", "selection SLS bit 0",
"selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level
bit 1")
● Drive is accelerated beyond the SLS limit (time axis from approx. -400 ms)
● Exceeding the limit is recognized (time axis 0 ms)
● Safety fault is initiated (time axis 0 ms; bit "internal event" is set to 0)
● Fault response STOP E (corresponds to selection SOS) is initiated (see bit "STOP E
active")
● The standstill position is only safely monitored (time axis 100 ms; see bit "SOS active")
after the transition time STOP E to SOS (p9553/p9353) has expired
● However, as the axis continues to rotate, the standstill tolerance window is violated (time
axis approx. 120 ms)
● STOP B is initiated (see bit "SS1 active")
● The drive is braked to a standstill
● Standstill is reached (time axis approx. 500 ms)
● STOP A (as follow-up response to STOP B) is activated (see bit "STO active"); at this
point the speed falls below the shutdown speed SS1 (p9560/p9360) (drops below the
shutdown speed SS1 before SS1 timer p9556/p9356 has expired).
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 36 ms)) are
caused by internal calculations and do not present a problem.
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8.9 Acceptance test and acceptance report
Acceptance test for Safe Speed Monitor with encoder (Extended Functions)
Table 8- 41
"Safe Speed Monitor" function
No.
1.
2.
Description
Status
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
No Safety message (r0945, r2122, r9747); see note "Non-critical alarms" at the
beginning of the section "Acceptance tests".
Switch off the drive or specify speed setpoint = 0
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.15 = 1)
•
Record the following values: r9714[0], r9722
•
Select the time interval and pretrigger so you can recognize when the level
exceeds the SSM limit (p9346/p9546) and subsequently falls below it again
For better analysis, display the following bit values:
•
r9722.15 (SSM (speed below the limit value))
Switch on the drive and specify the setpoint so that the level briefly exceeds the SSM limit and then drops below
it once more
•
3.
4.
Check whether the drive is turning
Analyze trace:
•
If r9714[0] exceeds the SSM limit p9346/p9546, r9722.15 = 0 applies
•
After the limit has been violated, r9722.15 = 1 is valid
•
If the hysteresis is active, r9722.15 only becomes 1 again if r9714[0] falls below the
limit p9346/p9546 minus hysteresis value p9347/p9547
Save/print the trace and add it to the acceptance report (refer to the example below)
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Example trace: SSM (with encoder) with hysteresis
'ULYHBU>@6,0RWLRQGLDJQRVWLFVVSHHGDFWXDOORDGVLGHVSHHGYDOXHRQ&RQWURO8QLW
%LWWUDFNV
660VSHHGEHORZOLPLWYDOXH
Figure 8-47
Example trace: SSM (with encoder) with hysteresis
Trace evaluation:
● Drive is accelerated (time axis from approx. -300 ms)
● SSM limit value (p9546/p9346) is exceeded (time axis 0 ms)
● Bit "SSM (speed below limit value)" is set to 0 (time axis 0 ms)
● Drive is decelerated again (time axis approx. 750 ms)
● Hysteresis active: The above named bit is only set to 1 once more if the speed falls below
the SSM limit value minus the hysteresis value (p9547/p9347) (time axis approx. 1080
ms)
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 36 ms)) are
caused by internal calculations and do not present a problem.
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8.9 Acceptance test and acceptance report
Acceptance test for Safe Direction with encoder
SDI positive/negative with encoder with stop response "STOP A"
Table 8- 42
"Safe Direction positive/negative with encoder" function with STOP A
No.
Description
Status
Note:
The acceptance test must be individually performed for each configured control and for both directions of rotation.
Control may be via terminals or PROFIsafe.
1.
2.
3.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
SDI enabled (p9501.17 = 1)
•
SDI positive deselected (r9720.12 = 1) and SDI negative deselected (r9720.13 = 1)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
•
It may be necessary to take measures in the higher-level control to be able to exceed the SDI tolerance.
•
Please note that the internal limits r9733.0 and r9733.1 are canceled by the selection "Start acceptance test".
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9713[0], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize when the active SDI
tolerance has been exceeded and the subsequent drive responses
For better analysis, display the following bit values:
•
r9720.12 (deselection SDI positive) or r9720.13 (deselection SDI negative)
•
r9721.2 (pulse enable)
•
r9722.0 (STO active; set for STOP A)
•
r9722.7 (internal event; set to 0 when the first Safety message occurs)
•
r9722.12 (SDI positive active) or r9722.13 (SDI negative active)
Select SDI positive or SDI negative
Switch-on the drive and traverse in the negative or positive direction of rotation
•
Check whether the drive is moving, and after the SDI tolerance (p9564/9364) has
been exceeded that it is coasting down or a configured holding brake is closed
Check whether the following Safety messages are pending:
•
C01716 (0), C30716 (0); tolerance for SDI exceeded in positive direction or
C01716 (1), C30716 (1); tolerance for SDI exceeded in negative direction
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
No.
Description
•
4.
Status
C01700, C30700 (STOP A initiated)
Analyze trace:
•
As soon as r9713[0] leaves the SDI tolerance window, a Safety message becomes
active (r9722.7 = 0).
•
As consequence, STOP A is initiated and the pulses are canceled (p9721.2 = 1).
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SDI and safely acknowledge Safety messages
•
No Safety faults, alarms and messages (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive
•
7.
Check whether the drive is moving
Repeat points 1 to 6 for the opposite direction.
Example trace: SDI (with encoder) with STOP A
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%LWWUDFNV
'HVHOHFW6',
SRVLWLYH
6',SRVLWLYHDFWLYH
,QWHUQDOHYHQW
672DFWLYH
3XOVHHQDEOH
Figure 8-48
Example trace: SDI (with encoder) with STOP A
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● Function SDI positive is activated (see bits "Deselect SDI positive" and "SDI positive
active")
● The drive starts moving (time axis approx -200 ms)
● Exiting the SDI tolerance window is detected (time axis 0 ms)
● Safety messages are initiated (time axis 0 ms; bit "internal event" is set to 0)
● Error response STOP A is initiated (time axis 0 ms; bits "STO active" and "Pulse enable"
are set to 1)
● The drive coasts to a standstill or a configured holding brake is closed
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 8 ms)) are
caused by internal calculations and do not present a problem.
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
SDI positive/negative with encoder and stop response "STOP B"
Table 8- 43
"Safe Direction positive/negative with encoder" function and STOP B
No.
Description
Status
Note:
The acceptance test must be individually performed for each configured control and for both directions of rotation.
Control may be via terminals or PROFIsafe.
1.
2.
3.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
SDI enabled (p9501.17 = 1)
•
SDI positive deselected (r9720.12 = 1) and SDI negative deselected (r9720.13 = 1)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
•
It may be necessary to take measures in the higher-level control to be able to exceed the SDI tolerance.
•
Please note that the internal limits r9733.0 and r9733.1 are canceled by the selection "Start acceptance test".
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9713[0], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize when the active SDI
tolerance has been exceeded and the subsequent drive responses
For better analysis, display the following bit values:
•
r9720.12 (deselection SDI positive) or r9720.13 (deselection SDI negative)
•
r9721.2 (pulse enable; this is set for STOP A)
•
r9722.0 (SS1 active; this is set for STOP B)
•
r9722.7 (internal event; set to 0 when the first Safety message occurs)
•
r9722.12 (SDI positive active) or r9722.13 (SDI negative active)
Select SDI positive or SDI negative
Switch-on the drive and traverse in the negative or positive direction of rotation
•
Check whether the drive is moving, and after the SDI tolerance (p9564/9364) has
been exceeded that it is decelerated along the OFF3 ramp before STOP A
becomes active
Check whether the following Safety messages are pending:
•
C01716 (0), C30716 (0); tolerance for SDI exceeded in positive direction or
C01716 (1), C30716 (1); tolerance for SDI exceeded in negative direction
•
C01701, C30701 (STOP B initiated)
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8.9 Acceptance test and acceptance report
No.
Description
•
4.
Status
C01700, C30700 (STOP A initiated)
Analyze trace:
•
As soon as r9713[0] leaves the SDI tolerance window, a Safety message becomes
active (r9722.7 = 0).
•
STOP B is initiated as a consequence (with subsequent stop STOP A)
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SDI and safely acknowledge Safety messages
•
No Safety faults, alarms and messages (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive
•
7.
Check whether the drive is moving
Repeat points 1 to 6 for the opposite direction.
Example trace: SDI (with encoder) with STOP B
'ULYHBU>@6,PRWLRQGLDJQRVWLFVSRVLWLRQDFWXDOYDOXHORDGVLGHORDGVLGHDFWXDOYDOXHRQWKH&RQWURO8QLW
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'HVHOHFW6',
SRVLWLYH
6',SRVLWLYHDFWLYH
,QWHUQDOHYHQW
66DFWLYH
3XOVHHQDEOH
Figure 8-49
Example trace: SDI (with encoder) with STOP B
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● Function SDI positive is activated (see bits "Deselect SDI positive" and "SDI positive
active")
● The drive starts moving (time axis approx -300 ms)
● Exiting the SDI tolerance window is detected (time axis 0 ms)
● Safety messages are initiated (time axis 0 ms; bit "internal event" is set to 0)
● Error response STOP B is triggered (time axis 0 ms; see bit "SS1 active")
● The drive is braked to a standstill
● Standstill reached (time axis from approx. 250 ms)
● STOP A (as follow-up response to STOP B) is activated (see bit "pulse enable" = 1); at
this point, the speed falls below the shutdown speed SS1 (p9560/p9360) (speed drops
below the shutdown speed SS1 before SS1 timer p9556/p9356 has expired)
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 6 ms)) are
caused by internal calculations and do not present a problem.
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8.9 Acceptance test and acceptance report
SDI positive/negative with encoder and stop response "STOP C"
Table 8- 44
"Safe Direction positive/negative with encoder" function and STOP C
No.
Description
Status
Note:
The acceptance test must be individually performed for each configured control and for both directions of rotation.
Control may be via terminals or PROFIsafe.
1.
2.
3.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
SDI enabled (p9501.17 = 1)
•
SDI positive deselected (r9720.12 = 1) and SDI negative deselected (r9720.13 = 1)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
•
It may be necessary to take measures in the higher-level control to be able to exceed the SDI tolerance.
•
Please note that the internal limits r9733.0 and r9733.1 are canceled by the selection "Start acceptance test".
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9713[0], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize when the active SDI
tolerance has been exceeded and the subsequent drive responses
For better analysis, display the following bit values:
•
r9720.12 (deselection SDI positive) or r9720.13 (deselection SDI negative)
•
r9721.1 (SOS active)
•
r9721.13 (STOP C active)
•
r9722.7 (internal event; set to 0 when the first Safety message occurs)
•
r9722.12 (SDI positive active) or r9722.13 (SDI negative active)
Select SDI positive or SDI negative
Switch-on the drive and traverse in the negative or positive direction of rotation
•
Check whether the drive is moving, and after the SDI tolerance (p9564/9364) has
been exceeded that it is decelerated to a standstill along the OFF3 ramp
Check whether the following Safety messages are pending:
•
C01716 (0), C30716 (0); tolerance for SDI exceeded in positive direction or
C01716 (1), C30716 (1); tolerance for SDI exceeded in negative direction
•
C01708, C30708 (STOP C initiated)
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
No.
4.
Description
Status
Analyze trace:
•
As soon as r9713[0] leaves the SDI tolerance window, a Safety message becomes
active (r9722.7 = 0).
•
STOP C is initiated as a consequence.
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SDI and safely acknowledge Safety messages
7.
•
Check whether the drive is running with the setpoint again
•
No Safety faults, alarms and messages (r0945[0...7], r2122[0...7], r9747[0...7])
Repeat points 1 to 6 for the opposite direction.
Example trace: SDI (with encoder) with STOP C
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%LWWUDFNV
'HVHOHFW6',
SRVLWLYH
6',SRVLWLYHDFWLYH
,QWHUQDOHYHQW
6723&DFWLYH
626DFWLYH
Figure 8-50
Example trace: SDI (with encoder) with STOP C
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8.9 Acceptance test and acceptance report
Trace evaluation:
● Function SDI positive is activated (see bits "Deselect SDI positive" and "SDI positive
active")
● The drive starts moving (time axis approx -300 ms)
● Exiting the SDI tolerance window is detected (time axis 0 ms)
● Safety messages are initiated (time axis 0 ms; bit "internal event" is set to 0)
● Error response STOP C is triggered (time axis 0 ms; see bit "STOP C active")
● The drive is braked to a standstill
● After the SS2 timer has expired the follow-up function SOS is activated (time axis 400
ms)
● The "SOS active" bit is set
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 6 ms)) are
caused by internal calculations and do not present a problem.
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
SDI positive/negative with encoder and stop response "STOP D"
Table 8- 45
"Safe Direction positive/negative with encoder" function and STOP D
No.
Description
Status
Note:
The acceptance test must be individually performed for each configured control and for both directions of rotation.
Control may be via terminals or PROFIsafe.
1.
2.
3.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
SDI enabled (p9501.17 = 1)
•
SDI positive deselected (r9720.12 = 1) and SDI negative deselected (r9720.13 = 1)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
•
It may be necessary to take measures in the higher-level control to be able to exceed the SDI tolerance.
•
Please note that the internal limits r9733.0 and r9733.1 are canceled by the selection "Start acceptance test".
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9713[0], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize when the active SDI
tolerance has been exceeded and the subsequent drive responses
For better analysis, display the following bit values:
•
r9720.12 (deselection SDI positive) or r9720.13 (deselection SDI negative)
•
r9721.2 (pulse enable; this is set for STOP A)
•
r9721.14 (STOP D active)
•
r9722.1 (SS1 active; set for STOP B)
•
r9722.3 (SOS active)
•
r9722.7 (internal event; set to 0 when the first Safety message occurs)
•
r9722.12 (SDI positive active) or r9722.13 (SDI negative active)
Select SDI positive or SDI negative
Switch-on the drive and traverse in the negative or positive direction of rotation
•
Check whether the drive moves and – after the SDI tolerance (p9564/9364) has
been exceeded as well as the standstill window for SOS exited – decelerates along
the OFF3 ramp before STOP A becomes active
Check whether the following Safety messages are pending:
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8.9 Acceptance test and acceptance report
No.
4.
Description
•
C01716 (0), C30716 (0); tolerance for SDI exceeded in positive direction or
C01716 (1), C30716 (1); tolerance for SDI exceeded in negative direction
•
C01709, C30709 (STOP D initiated)
•
C01707, C30707 (Tolerance for safe operating stop exceeded)
•
C01701, C30701 (STOP B initiated)
•
C01700, C30700 (STOP A initiated)
Status
Analyze trace:
•
As soon as r9713[0] leaves the SDI tolerance window, a Safety message becomes
active (r9722.7 = 0).
•
STOP D is initiated as a consequence.
•
As a consequence of STOP D (selection SOS) the above-described responses will
be triggered if the drive is not stopped by the higher-level control on activation of
STOP D
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SDI and safely acknowledge Safety messages
•
No Safety faults, alarms and messages (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive
•
7.
Check whether the drive is moving
Repeat points 1 to 6 for the opposite direction.
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Example trace: SDI positive (with encoder) with STOP D
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%LWWUDFNV
'HVHOHFW6',
SRVLWLYH
6',SRVLWLYHDFWLYH
,QWHUQDOHYHQW
626DFWLYH
66DFWLYH
6723'DFWLYH
3XOVHHQDEOH
Figure 8-51
Example trace: SDI positive (with encoder) with STOP D
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● Function SDI positive is activated (see bits "Deselect SDI positive" and "SDI positive
active")
● The drive starts moving (time axis approx -300 ms)
● Exiting the SDI tolerance window is detected (time axis 0 ms)
● Safety messages are initiated (time axis 0 ms; bit "internal event" is set to 0)
● Fault response STOP D (corresponds to selecting SOS) is initiated (time axis 0 ms; see
bit "STOP D active")
● The standstill position is only safely monitored (time axis 300 ms; see bit "SOS active")
after the transition time STOP E to SOS (p9553/p9353) has expired
● However, as the axis continues to rotate, the standstill tolerance window is violated (time
axis approx. 600 ms)
● STOP B is initiated (see bit "SS1 active")
● The drive is braked to a standstill
● Standstill is reached (time axis approx. 650 ms)
● STOP A (as follow-up response to STOP B) is activated (see bit "STO active"); at this
point the speed falls below the shutdown speed SS1 (p9560/p9360) (drops below the
shutdown speed SS1 before SS1 timer p9556/p9356 has expired).
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 6 ms)) are
caused by internal calculations and do not present a problem.
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
SDI positive/negative with encoder and stop response "STOP E"
Table 8- 46
"Safe Direction positive/negative with encoder" function and STOP E
No.
Description
Status
Note:
The acceptance test must be individually performed for each configured control and for both directions of rotation.
Control may be via terminals or PROFIsafe.
1.
2.
3.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured with encoder (p9506 = 0)
•
SDI enabled (p9501.17 = 1)
•
SDI positive deselected (r9720.12 = 1) and SDI negative deselected (r9720.13 = 1)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
•
It may be necessary to take measures in the higher-level control to be able to exceed the SDI tolerance.
•
Please note that the internal limits r9733.0 and r9733.1 are canceled by the selection "Start acceptance test".
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9713[0], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize when the active SDI
tolerance has been exceeded and the subsequent drive responses
For better analysis, display the following bit values:
•
r9720.12 (deselection SDI positive) or r9720.13 (deselection SDI negative)
•
r9721.2 (pulse enable; this is set for STOP A)
•
r9721.15 (STOP E active)
•
r9722.1 (SS1 active; set for STOP B)
•
r9722.3 (SOS active)
•
r9722.7 (internal event; set to 0 when the first Safety message occurs)
•
r9722.12 (SDI positive active) or r9722.13 (SDI negative active)
Select SDI positive or SDI negative
Switch-on the drive and traverse in the negative or positive direction of rotation
•
Check whether the drive moves and – after the SDI tolerance (p9564/9364) has
been exceeded as well as the standstill window for SOS exited – decelerates along
the OFF3 ramp before STOP A becomes active
Check whether the following Safety messages are pending:
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8.9 Acceptance test and acceptance report
No.
4.
Description
•
C01716 (0), C30716 (0); tolerance for SDI exceeded in positive direction or
C01716 (1), C30716 (1); tolerance for SDI exceeded in negative direction
•
C01710, C30710 (STOP E initiated)
•
C01707, C30707 (Tolerance for safe operating stop exceeded)
•
C01701, C30701 (STOP B initiated)
•
C01700, C30700 (STOP A initiated)
Status
Analyze trace:
•
As soon as r9713[0] leaves the SDI tolerance window, a Safety message becomes
active (r9722.7 = 0).
•
STOP E is initiated as a consequence.
•
As a consequence of STOP E (selection SOS) the above-described responses will
be triggered if the drive is not stopped by the higher-level control on activation of
STOP E
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SDI and safely acknowledge Safety messages
•
No Safety faults, alarms and messages (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive
•
7.
Check whether the drive is moving
Repeat points 1 to 6 for the opposite direction.
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Example trace: SDI positive (with encoder) with STOP E
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'HVHOHFW6',
SRVLWLYH
6',SRVLWLYHDFWLYH
,QWHUQDOHYHQW
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66DFWLYH
6723(DFWLYH
3XOVHHQDEOH
Figure 8-52
Example trace: SDI positive (with encoder) with STOP E
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● Function SDI positive is activated (see bits "Deselect SDI positive" and "SDI positive
active")
● The drive starts moving (time axis approx -300 ms)
● Exiting the SDI tolerance window is detected (time axis 0 ms)
● Safety messages are initiated (time axis 0 ms; bit "internal event" is set to 0)
● Fault response STOP E (corresponds to selecting SOS) is initiated (time axis 0 ms; see
bit "STOP E active")
● The standstill position is only safely monitored (time axis 500 ms; see bit "SOS active")
after the transition time STOP E to SOS (p9554/p9354) has expired
● However, as the axis continues to rotate, the standstill tolerance window is violated (time
axis approx. 800 ms)
● STOP B is initiated (see bit "SS1 active")
● The drive is braked to a standstill
● Standstill is reached (time axis approx. 850 ms)
● STOP A (as follow-up response to STOP B) is activated (see bit "STO active"); at this
point the speed falls below the shutdown speed SS1 (p9560/p9360) (drops below the
shutdown speed SS1 before SS1 timer p9556/p9356 has expired).
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 6 ms)) are
caused by internal calculations and do not present a problem.
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
8.9.5.4
Acceptance tests for Extended Functions (without encoder)
Acceptance test Safe Torque Off without encoder (Extended Functions)
Table 8- 47
Function "Safe Torque Off without encoder"
No.
Description
Status
Notes:
The acceptance test must be individually conducted for each configured control.
The control can be realized via terminals or via PROFIsafe.
1.
2.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured without encoder (p9506 = 1 or p9506 = 3)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Non-critical
alarms" at the beginning of the section "Acceptance test".
•
r9772.18 = r9872.18 = 0 (STO deselected via Safe Motion Monitoring)
•
r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1)
•
r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2)
•
r9773.0 = r9773.1 = 0 (STO deselected and inactive – P1 + P2)
•
r9720.0 = 1 (STO deselected)
•
r9722.0 = 0 (STO inactive)
Run the drive
•
Check whether the correct drive is operational
Select STO when you issue the traversing command and check the following:
•
The drive coasts to a standstill or is braked and stopped by the mechanical brake (if
available and configured (p1215, p9602, p9802)).
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r9772.18 = r9872.18 = 1 (STO selected via Safe Motion Monitoring)
•
r9772.0 = r9772.1 = 1 (STO selected and active – P1)
•
r9872.0 = r9872.1 = 1 (STO selected and active – P2)
•
r9773.0 = r9773.1 = 1 (STO selected and active – P1 + P2)
•
r9720.0 = 0 (STO selected)
•
r9722.0 = 1 (STO active)
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8.9 Acceptance test and acceptance report
No.
3.
4.
Description
Status
Deselect STO and check the following:
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r9772.18 = r9872.18 = 0 (STO deselected via Safe Motion Monitoring)
•
r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1)
•
r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2)
•
r9773.0 = r9773.1 = 0 (STO deselected and inactive – P1 + P2)
•
r9720.0 = 1 (STO deselected)
•
r9722.0 = 0 (STO inactive)
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive. Check whether the correct drive is operational.
The following is tested:
•
Correct DRIVE-CLiQ wiring between Control Unit and Motor Module
•
Correct assignment of drive No. – Motor Module – motor
•
The hardware is functioning properly
•
Correct parameterization of the STO function
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Acceptance test for Safe Stop 1 without encoder (Extended Functions)
Table 8- 48
Function "Safe Stop 1 without encoder"
No.
Description
Status
Note:
The acceptance test must be individually conducted for each configured control.
The control can be realized via terminals or via PROFIsafe.
1.
2.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured without encoder (p9506 = 1 or p9506 = 3)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Non-critical
alarms" at the beginning of the section "Acceptance test".
Run the drive
•
3.
Check whether the correct drive is operational
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9720.1 = 0)
•
Record the following values: r9714[0], r9714[1], r9720, r9722
•
Select the time interval and pretrigger so you can recognize the selection of SS1 and the
transition into the subsequent STO state
For better analysis, display the following bit values:
•
r9720.1 (deactivation SS1)
•
r9722.0 (STO active)
•
r9722.1 (SS1 active)
Select SS1 while the drive is moving
•
The drive decelerates along the OFF3 ramp
•
Subsequent state STO is activated
For better analysis, display the following bit values:
4.
•
r9720.1 (deactivation SS1)
•
r9722.0 (STO active)
•
r9722.1 (SS1 active)
Analyze trace:
•
5.
STO is triggered if the speed drops below the shutdown speed (p9360/9560)
Save/print the trace and add it to the acceptance report (refer to the example below)
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8.9 Acceptance test and acceptance report
No.
6.
Description
Status
Canceling SS1
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
Acknowledge switch-on inhibit and run the drive
•
Check whether the correct drive is operational
Example trace: SS1 (without encoder)
'ULYHBU>@6,0RWLRQGLDJQRVWLFVVSHHGDFWXDOORDGVLGHVSHHGYDOXHRQ&RQWURO8QLW
'ULYHBU>@6,0RWLRQGLDJQRVWLFVVSHHGFXUUHQW6%5VSHHGOLPLWRQ&RQWURO8QLW
%LWWUDFNV
66DFWLYH
672DFWLYH
'HVHOHFW66
Figure 8-53
Example trace: SS1 (without encoder)
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● SS1 function is selected (time axis 0 ms; see bit "deselection SS1")
● Response bit "SS1 active" is set (time axis approx 20 ms)
● The drive decelerates along the configured OFF3 ramp (p1135)
● Recording r9714[0] indicates whether the OFF3 ramp is active
● STO is activated (time axis approx. 720 ms; see bit "STO active"); at this point the speed
falls below the shutdown speed SS1 (p9560/p9360)
● A fault is generated if the envelope curve of function SAM (Drive_1.r9714[1]) is exceeded
by the actual speed (r9714[0])
In contrast to SAM for Safety with encoder, this curve is not tracked according to actual
speed but calculated using Safety parameters. Furthermore, this monitoring only
becomes active after a configurable time has elapsed (in this case the time is 250 ms).
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 36 ms)) are
caused by internal calculations and do not present a problem.
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8.9 Acceptance test and acceptance report
Acceptance test for Safe Brake Control without encoder (Extended Functions)
Table 8- 49
Acceptance test "Safe Brake Control without encoder"
No.
Description
Status
Note:
The acceptance test must be individually conducted for each configured control.
The control can be realized via terminals or via PROFIsafe.
1.
2.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured without encoder (p9506 = 1 or p9506 = 3)
•
Enable SBC function (p9602 = 1, p9802 = 1)
•
Brake as in sequence control or brake always released (p1215 = 1 or p1215 = 2)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Non-critical
alarms" at the beginning of the section "Acceptance test".
•
r9772.18 = r9872.18 = 0 (STO deselected via Safe Motion Monitoring)
•
r9772.4 = r9872.4 = 0; r9773.4 = 0 (SBC not requested)
•
r9720.0 = 1 (STO deselected) or r9720.1 = 1 (SS1 deselected)
•
r9722.0 = 0 (STO inactive)
Run drive (if applied, brake is released)
•
Check whether the correct drive is operational
Select STO when you issue the traversing command and check the following:
3.
•
Brake is applied
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r9772.4 = r9872.4 = 1; r9773.4 = 1 (SBC requested)
•
r9772.18 = r9872.18 = 1 (STO selected via Safe Motion Monitoring)
•
r9720.0 = 0 (STO selected) or r9720.1 = 0 (SS1 selected)
•
r9722.0 = 1 (STO active)
Deselect STO and check the following:
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r9772.4 = r9872.4 = 0; r9773.4 = 0 (SBC deselected)
•
r9772.18 = r9872.18 = 0 (STO deselected via Safe Motion Monitoring)
•
r9720.0 = 1 (STO deselected) or r9720.1 = 1 (SS1 deselected)
•
r9722.0 = 0 (STO inactive)
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
No.
4.
Description
Status
Acknowledge switch-on inhibit and run the drive. Check whether the correct drive is operational.
The following is tested:
•
The brake is connected properly
•
The hardware is functioning properly
•
The SBC is parameterized correctly
•
Forced dormant error detection for the brake control
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8.9 Acceptance test and acceptance report
Acceptance test for Safely Limited Speed without encoder (Extended Functions)
SLS without encoder with stop response "STOP A"
Table 8- 50
Function "Safely Limited Speed without encoder" with "STOP A"
No.
Description
Status
Note:
The acceptance test must be carried out separately for each configured control and each SLS speed limit used.
Control may be via terminals or PROFIsafe.
1.
2.
3.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured without encoder (p9506 = 1 or p9506 = 3)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
•
It may be necessary to take measures in the higher-level control to be able to exceed the active speed limit.
•
Please note that the internal limits r9733.0 and r9733.1 are canceled by the selection "Start acceptance test".
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9714[0], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize when the active SLS
limit has been exceeded and the subsequent drive responses
For better analysis, display the following bit values:
•
r9720.4 (deselection SLS) and r9720.9/.10 (selection SLS level)
•
r9721.12 (STOP A or B active)
•
r9722.0 (STO active; set for STOP A)
•
r9722.4 (SLS active) and r9722.9/.10 (active SLS level)
•
r9722.7 (internal event; set when the first Safety message occurs)
Select SLS with level x
Switch on the drive and specify the setpoint above the SLS limit
•
Check whether the drive is moving, and after the SLS limit (p9331[x]/9531[x]) has
been exceeded, that it is coasting down or a configured holding brake is closed
Check whether the following Safety messages are pending:
•
C01714 (x00), C30714 (x00); x = 1...4 depending on the SLS level (safely limited
speed exceeded)
•
C01700, C30700 (STOP A initiated)
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
No.
4.
Description
Status
Analyze trace:
•
If r9714[0] exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes
active
•
STOP A is initiated as a consequence
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SLS and acknowledge Safety messages.
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive
•
Check whether the drive is moving
Example trace: SLS (without encoder) with STOP A
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%LWWUDFNV
$FWLYH6/6OHYHOELW
$FWLYH6/6OHYHOELW
6/6DFWLYH
,QWHUQDOHYHQW
672DFWLYH
6723$RU%DFWLYH
6HOHFW6/6ELW
6HOHFW6/6ELW
'HVHOHFW6/6
Figure 8-54
Example trace: SLS (without encoder) with STOP A
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8.9 Acceptance test and acceptance report
Trace evaluation:
● SLS function with SLS level 1 is active (see bits "deselection SLS", "selection SLS bit 0",
"selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level
bit 1")
● Drive is accelerated beyond the SLS limit (time axis from approx. -800 ms)
● Exceeding the limit is recognized (time axis 0 ms)
● Safety fault is initiated (time axis 0 ms; bit "internal event" is set to 0)
● Fault response STOP A is initiated (time axis 0 ms; see bit "STOP A or B active" and
"STO active")
● Drive coasts (see red curve of r9714[0])
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 36 ms)) are
caused by internal calculations and do not present a problem.
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
SLS without encoder with stop response "STOP B"
Table 8- 51
Function "Safely Limited Speed without encoder" with "STOP B"
No.
Description
Status
Note:
The acceptance test must be carried out separately for each configured control and each SLS speed limit used.
Control may be via terminals or PROFIsafe.
1.
2.
3.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured without encoder (p9506 = 1 or p9506 = 3)
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
•
It may be necessary to take measures in the higher-level control to be able to exceed the active speed limit.
•
Please note that the internal limits r9733.0 and r9733.1 are canceled by the selection "Start acceptance test".
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9714[0], r9714[1], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize when the active SLS
limit has been exceeded and the subsequent drive responses
For better analysis, display the following bit values:
•
r9720.4 (deselection SLS) and r9720.9/.10 (selection SLS level)
•
r9721.12 (STOP A or B active)
•
r9722.0 (STO active; set for STOP A)
•
r9722.1 (SS1 active; set for STOP B)
•
r9722.4 (SLS active) and r9722.9/.10 (active SLS level)
•
r9722.7 (internal event; set when the first Safety message occurs)
Select SLS with level x
Switch on the drive and specify the setpoint above the SLS limit
•
Check whether the drive is moving, and after the SLS limit (p9331[x]/9531[x]) has
been exceeded that it is decelerated along the OFF3 ramp before STOP A
becomes active
Check whether the following Safety messages are pending:
4.
•
C01714 (x00), C30714 (x00); x = 1...4 depending on the SLS level (safely limited
speed exceeded)
•
C01701, C30701 (STOP B initiated)
•
C01700, C30700 (STOP A initiated)
Analyze trace:
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8.9 Acceptance test and acceptance report
No.
Description
•
If r9714[0] exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes
active
•
A STOP B is initiated as a consequence (with subsequent stop STOP A)
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SLS and acknowledge Safety messages
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Status
Acknowledge switch-on inhibit and run the drive
•
Check whether the drive is moving
Example trace: SLS (without encoder) with STOP B
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'ULYHBU>@6,0RWLRQGLDJQRVWLFVVSHHGFXUUHQW6%5VSHHGOLPLWRQ&RQWURO8QLW
%LWWUDFNV
$FWLYH6/6OHYHOELW
$FWLYH6/6OHYHOELW
6/6DFWLYH
,QWHUQDOHYHQW
66DFWLYH
672DFWLYH
6723$RU%DFWLYH
6HOHFW6/6ELW
6HOHFW6/6ELW
'HVHOHFW6/6
Figure 8-55
Example trace: SLS (without encoder) with STOP B
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● SLS function with SLS level 1 is active (see bits "deselection SLS", "selection SLS bit 0",
"selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level
bit 1")
● Drive is accelerated beyond the SLS limit (time axis from approx. -800 ms)
● Exceeding the limit is recognized (time axis 0 ms)
● Safety fault is initiated (time axis 0 ms; bit "internal event" is set to 0)
● Fault response STOP B is initiated (time axis 0 ms; see bit "STOP A or B active" and
"SS1 active")
● Drive is decelerated to a standstill (see orange curve of r9714[0])
● Standstill reached (time axis from approx. 600 ms)
● STOP A (as follow-up response to STOP B) is activated (see bit "STO active"); at this
point the speed falls below the shutdown speed SS1 (p9560/p9360)
● SBR monitoring is activated after 250 ms
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 36 ms)) are
caused by internal calculations and do not present a problem.
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8.9 Acceptance test and acceptance report
Acceptance test for Safe Speed Monitor without encoder (Extended Functions)
Table 8- 52
"Safe Speed Monitor without encoder" function
No.
1.
2.
Description
Status
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured without encoder (p9506 = 1 or p9506 = 3)
•
Please note:
With active safety functions and for "SSM active" feedback signal with a pulse
inhibit (p9509.0 = 1), the drive enable must be issued within 5 seconds after STO
deselection using a positive edge at OFF1, otherwise STO becomes active again.
•
No Safety faults, alarms and messages (r0945[0...7], r2122[0...7], r9747[0...7]); see
note "Non-critical alarms" at the beginning of the section "Acceptance test".
•
No Safety faults and alarms at the TM54F master and slave module (r0945[0...7],
r2122[0...7]); see note "Non-critical alarms" at the beginning of the section
"Acceptance test".
Switch off the drive or specify speed setpoint = 0
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.15 = 1)
•
Record the following values: r9714[0], r9722
•
Select the time interval and pretrigger so you can recognize when the level
exceeds the SSM limit (p9346/p9546) and subsequently falls below it again
For better analysis, display the following bit values:
•
r9722.15 (SSM speed under the limit value)
Switch on the drive and specify the setpoint so that the level briefly exceeds the SSM limit and then drops below
it once more
•
3.
4.
Check whether the drive is turning
Analyze trace:
•
If r9714[0] exceeds the SSM limit p9346/p9546, r9722.15 = 0 applies
•
If the hysteresis is active, then r9722.15 only becomes 1 again if r9714[0] falls
below the limit p9346/p9546 minus hysteresis value p9347/p9547.
Save/print the trace and add it to the acceptance report (refer to the example below)
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Example trace: SSM (without encoder) with hysteresis
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660VSHHGEHORZOLPLWYDOXH
Figure 8-56
Example trace: SSM (without encoder) with hysteresis
Trace evaluation:
● Drive is accelerated (time axis from approx. -150 ms)
● SSM limit value (p9546/p9346) is exceeded (time axis 0 ms)
● Bit "SSM (speed below limit value)" is set to 0 (time axis 0 ms)
● Drive is decelerated again (time axis approx. 470 ms)
● Hysteresis active: The above named bit is only set to 1 once more if the speed falls below
the SSM limit value minus the hysteresis value (p9547/p9347) (time axis approx. 670 ms)
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here, approx. 7 ms)) are
caused by internal calculations and do not present a problem.
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8.9 Acceptance test and acceptance report
Acceptance test for Safe Direction without encoder
SDI positive/negative without encoder with stop response "STOP A"
Table 8- 53
"Safe Direction positive/negative without encoder" function with STOP A
No.
Description
Status
Note:
The acceptance test must be individually performed for each configured control and for both directions of rotation.
Control may be via terminals or PROFIsafe.
1.
2.
3.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured without encoder (p9506 = 1 or p9506 = 3)
•
SDI enabled (p9501.17 = 1)
•
No safety function selected
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
•
It may be necessary to take measures in the higher-level control to be able to exceed the SDI tolerance.
•
Please note that the internal limits r9733.0 and r9733.1 are canceled by the selection "Start acceptance test".
•
Please note:
With active safety functions and for SSM active feedback signal with a pulse inhibit (p9509.0 = 1), within 5
seconds after STO deselection, the drive enable must be issued using a positive edge at OFF1, otherwise
STO becomes active again.
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9713[0], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize when the active SDI
tolerance has been exceeded and the subsequent drive responses
For better analysis, display the following bit values:
•
r9720.12 (deselection SDI positive) or r9720.13 (deselection SDI negative)
•
r9721.2 (pulse enable)
•
r9722.0 (STO active; set for STOP A)
•
r9722.7 (internal event; set to 0 when the first Safety message occurs)
•
r9722.12 (SDI positive active) or r9722.13 (SDI negative active)
Select SDI positive or SDI negative
Switch-on the drive and traverse in the negative or positive direction of rotation
•
Check whether the drive is moving, and after the SDI tolerance (p9564/9364) has
been exceeded that it is coasting down or a configured holding brake is closed
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
No.
Description
Status
Check whether the following Safety messages are pending:
4.
•
C01716 (0), C30716 (0); tolerance for SDI exceeded in positive direction or
C01716 (1), C30716 (1); tolerance for SDI exceeded in negative direction
•
C01700, C30700 (STOP A initiated)
Analyze trace:
•
As soon as r9713[0] leaves the SDI tolerance window, a Safety message becomes
active (r9722.7 = 0).
•
As consequence, STOP A is initiated and the pulses are canceled (p9721.2 = 1).
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SDI and safely acknowledge Safety messages
•
No Safety faults, alarms and messages (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive
•
7.
Check whether the drive is moving
Repeat points 1 to 6 for the opposite direction.
Example trace: SDI negative (without encoder) with STOP A
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,QWHUQDOHYHQW
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Figure 8-57
Example trace: SDI negative (without encoder) with STOP A
Function Manual
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● Function SDI negative is activated (see bits "Deselect SDI negative " and "SDI negative
active")
● The drive starts moving (time axis approx -220 ms)
● Exiting the SDI tolerance window is detected (time axis 0 ms)
● Safety messages are initiated (time axis 0 ms; bit "internal event" is set to 0)
● Error response STOP A is initiated (time axis 0 ms; bits "STO active" and "Pulse enable"
are set to 1)
● The drive coasts to a standstill or a configured holding brake is closed
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 7 ms)) are
caused by internal calculations and do not present a problem.
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545
Safety Integrated Functions
8.9 Acceptance test and acceptance report
SDI positive/negative without encoder and stop response "STOP B"
Table 8- 54
"Safe Direction positive/negative without encoder" function and STOP B
No.
Description
Status
Note:
The acceptance test must be individually performed for each configured control and for both directions of rotation.
Control may be via terminals or PROFIsafe.
1.
2.
3.
Initial state
•
Drive in the "Ready" state (p0010 = 0)
•
Safety Integrated Extended Functions enabled (p9601.2 = 1)
•
Safety functions enabled (p9501.0 = 1)
•
Safety configured without encoder (p9506 = 1 or p9506 = 3)
•
SDI enabled (p9501.17 = 1)
•
No safety function selected.
•
No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]); see note "Noncritical alarms" at the beginning of the section "Acceptance test".
•
It may be necessary to take measures in the higher-level control to be able to exceed the SDI tolerance.
•
Please note that the internal limits r9733.0 and r9733.1 are canceled by the selection "Start acceptance test".
•
Please note:
With active safety functions and for "SSM active" feedback signal with a pulse inhibit (p9509.0 = 1), the drive
enable must be issued within 5 seconds after STO deselection using a positive edge at OFF1, otherwise STO
becomes active again.
Configure and activate trace recording
•
Trigger: Trigger on variable - bit pattern (r9722.7 = 0)
•
Record the following values: r9713[0], r9720, r9721, r9722
•
Select the time interval and pretrigger so you can recognize when the active SDI
tolerance has been exceeded and the subsequent drive responses
For better analysis, display the following bit values:
•
r9720.12 (deselection SDI positive) or r9720.13 (deselection SDI negative)
•
r9721.2 (pulse enable; this is set for STOP A)
•
r9722.1 (SS1 active; set for STOP B)
•
r9722.7 (internal event; set to 0 when the first Safety message occurs)
•
r9722.12 (SDI positive active) or r9722.13 (SDI negative active)
Select SDI positive or SDI negative
Switch-on the drive and traverse in the negative or positive direction of rotation
•
Check whether the drive is moving, and after the SDI tolerance (p9564/9364) has
been exceeded that it is decelerated along the OFF3 ramp before STOP A
becomes active
Check whether the following Safety messages are pending:
Function Manual
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8.9 Acceptance test and acceptance report
No.
4.
Description
•
C01716 (0), C30716 (0); tolerance for SDI exceeded in positive direction or
C01716 (1), C30716 (1); tolerance for SDI exceeded in negative direction
•
C01701, C30701 (STOP B initiated)
•
C01700, C30700 (STOP A initiated)
Status
Analyze trace:
•
As soon as r9713[0] leaves the SDI tolerance window, a Safety message becomes
active (r9722.7 = 0).
•
STOP B is initiated as a consequence (with subsequent stop STOP A)
5.
Save/print the trace and add it to the acceptance report (refer to the example below)
6.
Deselect SDI and safely acknowledge Safety messages
•
No Safety faults, alarms and messages (r0945[0...7], r2122[0...7], r9747[0...7])
•
r0046.0 = 1 (drive in "switch-on inhibited" state)
Acknowledge switch-on inhibit and run the drive
•
7.
Check whether the drive is moving
Repeat points 1 to 6 for the opposite direction.
Example trace: SDI negative (without encoder) with STOP B
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%LWWUDFNV
'HVHOHFW6',
QHJDWLYH
6',QHJDWLYHDFWLYH
,QWHUQDOHYHQW
66DFWLYH
3XOVHHQDEOH
Figure 8-58
Example trace: SDI negative (without encoder) with STOP B
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547
Safety Integrated Functions
8.9 Acceptance test and acceptance report
Trace evaluation:
● Function "SDI negative" is activated (see bits "Deselect SDI negative " and "SDI negative
active")
● The drive starts moving (time axis approx -220 ms)
● Exiting the SDI tolerance window is detected (time axis 0 ms)
● Safety messages are initiated (time axis 0 ms; bit "internal event" is set to 0)
● Error response STOP B is triggered (time axis 0 ms; see bit "SS1 active")
● The drive is braked to a standstill
● Shutdown speed is detected (time axis from approx. 25 ms)
● STOP A (as follow-up response to STOP B) is activated (see bit "pulse enable" = 1); at
this point, the speed falls below the shutdown speed SS1 (p9560/p9360) (speed drops
below the shutdown speed SS1 before SS1 timer p9556/p9356 has expired)
Note
Small time differences (of the order of 2 to 3 Safety clock cycles (here up to 7 ms)) are
caused by internal calculations and do not present a problem.
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8.9 Acceptance test and acceptance report
8.9.6
Completion of certificate
SI parameters
Specified values checked? (check)
Yes
No
Processor 1
Processor 2
Checksums
Basic Functions + Extended Functions
Drive name
Drive number
SI reference checksum SI
parameters (Control Unit)
SI reference checksum SI
parameters (processor 2)
p9799 =
p9899 =
Safety logbook
Functional1)
Checksum for functional tracking of changes
r9781[0] =
Checksum for hardware dependent tracking of changes
r9781[1] =
Time stamp for functional tracking of changes
r9782[0] =
Time stamp for hardware dependent tracking of changes
r9782[1] =
1) These parameters can be found in the expert list of the Control Unit.
Data backup
Storage location
Storage medium
Type
Designation
Date
Parameter
PLC program
Circuit diagrams
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Safety Integrated Functions
8.9 Acceptance test and acceptance report
Countersignatures
Commissioning engineer
This confirms that the tests and checks have been carried out properly.
Date
Name
Company/dept.
Signature
Machine manufacturer
This confirms that the parameters recorded above are correct.
Date
Name
Company/dept.
Signature
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9.1
9
Fieldbus configuration
Fieldbus configuration
As an alternative, you can switch the fieldbus interface to communication via PROFIBUS or
USS protocol.
Note
The PROFIdrive configuration is not active if you have set USS.
Configuration in STARTER
To configure the fieldbus interface in STARTER, proceed as follows:
1. Select STARTER → Communication → Fieldbus.
Figure 9-1
Fieldbus protocol selection
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Communication
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2. Select one of the following options from this dialog:
– No protocol
– USS
Then define the basic settings for the USS interface in this dialog. Next, select
STARTER → <drive> → Communication to define the data for the send/receive
directions, etc. (see "Communication using USS" (Page 676)).
– PROFIBUS
Click Telegram configuration to define the length of the PZD telegram and specify
additional data for send/receive directions, etc. (see "Communication via PROFIBUS
DP" (Page 624)).
9.2
Communication according to PROFIdrive
9.2.1
General information about PROFIdrive for SINAMICS
General information
PROFIdrive V4.1 is the PROFIBUS profile for drive technology with a wide range of
applications in production and process automation systems.
Note
PROFIdrive for drive technology is standardized and described in the following document:
References: /P5/ PROFIdrive Profile Drive Technology
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9.2 Communication according to PROFIdrive
Controller, Supervisor, and Drive Unit
● Properties of the Controller, Supervisor, and Drive Unit
Table 9- 1
Properties of the Controller, Supervisor, and Drive Unit
Properties
Controller, Supervisor
Drive Unit
As bus node
Active
Passive
Send messages
Permitted without external
request
Only possible on request by
master
Receive messages
Possible with no restrictions
Only receive and acknowledge
permitted
● Controller (PROFIBUS: Master Class 1)
This is typically a higher-level control in which the automation program runs.
Example: SIMATIC S7 and SIMOTION
● Supervisor (PROFIBUS: Master Class 2)
Devices for configuration, commissioning, operator control and monitoring during bus
operation. Devices that only non-cyclically exchange data with Drive Units and
Controllers.
Examples: Programming devices, human machine interfaces
● Drive Unit (PROFIBUS: slave)
The SINAMICS drive unit is with reference to PROFIdrive, a Drive Unit.
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Communication
9.2 Communication according to PROFIdrive
9.2.2
Application classes
Description
There are different application classes for PROFIdrive, depending on the scope and type of
the application processes. There are a total of 6 application classes in PROFIdrive, of which
4 are discussed here.
Application class 1 (standard drive)
In the most basic case, the drive is controlled via a speed setpoint by means of PROFIBUS.
In this case, speed control is fully handled in the drive controller. Typical application
examples are basic frequency converters. Pump and fan control.
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9.2 Communication according to PROFIdrive
Application class 2 (standard drive with technology function)
The total process is subdivided into a number of small subprocesses and distributed among
the drives. This means that the automation functions no longer reside exclusively in the
central automation device but are also distributed in the drive controllers.
Of course, this distribution assumes that communication is possible in every direction, i.e.
also cross-communication between the technology functions of the individual drive
controllers. Specific applications include e.g. setpoint cascades, winders and speed
synchronization applications for continuous processes with a continuous web.
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Communication
9.2 Communication according to PROFIdrive
Application class 3 (positioning drive)
In addition to the drive control, the drive also includes a positioning control, so that the drive
operates as an autonomous basic positioning drive, while the higher-level technological
processes are executed on the controller. Positioning requests are transmitted to the drive
controller via PROFIBUS and launched. Positioning drives have a very wide range of
applications, e.g. the screwing and unscrewing of caps in a bottle filling plant or the
positioning of cutters on a film cutting machine.
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9.2 Communication according to PROFIdrive
Application class 4 (central motion control)
This application class defines a speed setpoint interface with execution of the speed control
on the drive and of the positioning control in the controller, such as is required for robotics
and machine tool applications with coordinated motions on multiple drives.
Motion control is primarily implemented by means of a central numerical controller (CNC).
The position control loop is closed via the bus. The synchronization of the position control
cycles in the control and in the closed-loop controllers in the drive requires a clock
synchronization of the kind provided by PROFIBUS DP.
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Application class 4
Dynamic Servo Control (DSC)
The PFOFIdrive profile contains the "Dynamic Servo Control" control concept. This can be
used to significantly increase the dynamic stability of the position control loop in application
class 4 with simple means.
For this purpose, the deadtime that is typical for a speed setpoint interface is minimized by
an additional measure (see also chapter "Dynamic Servo Control").
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9.2 Communication according to PROFIdrive
Selection of telegrams as a function of the application class
The telegrams listed in the table below (see also chapter "Telegrams and process data") can
be used in the following application classes:
Table 9- 2
Selection of telegrams as a function of the application class
Telegram
(p0922 = x)
Description
Class 1
Class 2
Class 3
Class 4
1
Speed setpoint, 16 bit
x
x
2
Speed setpoint, 32 bit
x
x
3
Speed setpoint, 32 bit with 1 position encoder
4
Speed setpoint, 32 bit with 2 position encoders
7
Positioning, telegram 7 (basic positioner)
x
9
Positioning, telegram 9 (basic positioner with direct input)
x
102
Speed setpoint, 32 bit with 1 position encoder and torque
reduction
x
103
Speed setpoint, 32 bit with 2 position encoders and torque
reduction
x
110
Basic positioner with MDI, override and XIST_A
111
Basic positioner in MDI mode
390
Control Unit with digital inputs/outputs
x
x
x
x
391
Control Unit with digital inputs/outputs and 2 measuring
probes
x
x
x
x
392
Control Unit with digital inputs/outputs and 4 measuring
probes
x
x
x
x
393
Control Unit with digital inputs/outputs, analog input and 4
measuring probes
x
x
x
x
394
Control Unit with digital inputs/outputs
x
x
x
x
999
Free telegrams
x
x
x
x
x
x
x
x
x
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9.2 Communication according to PROFIdrive
9.2.3
Cyclic communication
Cyclic communication is used to exchange time-critical process data.
9.2.3.1
Telegrams and process data
General information
The selection of a telegram via p0922 determines which data on the drive unit side (Control
Unit) will be transferred.
From the perspective of the drive unit, the received process data comprises the receive
words and the process data to be sent the send words.
The receive and send words comprise the following elements:
● Receive words: Control words or setpoints
● Send words: Status words or actual values
What telegrams are available?
1. Standard telegrams
The standard telegrams are structured in accordance with the PROFIdrive Profile. The
internal process data links are set up automatically in accordance with the telegram
number setting.
The following standard telegrams can be set via p0922:
– 1 Speed setpoint, 16 bit
– 2 Speed setpoint, 32 bit
– 3 Speed setpoint, 32 bit with 1 position encoder
– 4 Speed setpoint, 32 bit with 2 position encoders
– 7 Positioning, telegram 7 (basic positioner)
– 9 Positioning, telegram 9 (basic positioner with direct input)
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2. Manufacturer-specific telegrams
The manufacturer-specific telegrams are structured in accordance with internal company
specifications. The internal process data links are set up automatically in accordance with
the telegram number setting.
The following vendor-specific telegrams can be set via p0922:
– 102 Speed setpoint, 32 bit with 1 position encoder and torque reduction
– 103 Speed setpoint, 32 bit with 2 position encoders and torque reduction
– 110 Positioning, telegram 10 (basic positioner with MDI, override and XIST_A)
– 111 Positioning, telegram 11 (basic positioner in MDI mode)
– 390 Control Unit with digital inputs/outputs
– 391 Control Unit with digital inputs/outputs and 2 measuring probes
– 392 Control Unit with digital inputs/outputs and 4 measuring probes
– 393 Control Unit with digital inputs/outputs, analog input and 4 measuring probes
– 394 Control Unit with digital inputs/outputs
3. Free telegrams (p0922 = 999)
The send and receive telegrams can be configured as required by using BICO technology
to interconnect the send and receive process data.
SERVO
CU_S110
DWORD
connector output
r2060[0 ... 14] 1)
-
WORD connector
output
r2050[0 ... 15] 1)
r2050[0 ... 4]
r2090.0 ... 15
r2091.0 ... 15
r2092.0 ... 15
r2093.0 ... 15
r2090.0 ... 15
r2091.0 ... 15
Binector output
Free binectorconnector
converter
p2080[0 ... 15], p2081[0 ... 15], p2082[0 ... 15], r2089[0 ... 4]
DWORD
connector input
p2061[0 ... 14]
WORD connector
input
p2051[0 ... 18]
p2051[0 ... 14]
1) Each PZD word can be assigned a word or a double word. Only one of the two interconnection
parameters r2050 or r2060 can have a value ≠ 0 for a PZD word.
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9.2 Communication according to PROFIdrive
Telegram interconnections
When you change p0922 = 999 (factory setting) to p0922 ≠ 999, the telegrams are
interconnected and blocked automatically.
Note
Telegram 111 is the exception: Here, PZD12 in the transmit telegram or PZD12 in the
receive telegram can be interconnected as required.
When you change p0922 ≠ 999 to p0922 = 999, the previous telegram interconnection is
retained and can be changed.
Note
If p0922 = 999, a telegram can be selected in p2079. A telegram interconnection is
automatically made and blocked. The telegram can also be extended.
This is an easy method of creating extended telegram interconnections on the basis of
existing telegrams.
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The telegram structure
The parameter p0978 contains the sequence of DOs that use a cyclic PZD exchange. A zero
delimits the DOs that do not exchange any PZDs.
If the value 255 is written to p0978, the drive unit emulates an empty drive object that is
visible to the PROFIdrive Master. This permits cyclic communication of a PROFIdrive Master
● with unchanged configuration to drive units that have a different number of drive objects.
● with deactivated DOs without having to change the project.
Note
• The following must apply to ensure conformity with the PROFIdrive profile:
– Interconnect PZD receive word 1 as control word 1 (STW1).
– Interconnect PZD send word 1 as status word 1 (STW1).
Use WORD format for PZD1.
• One PZD = one word.
Only one of the interconnection parameters (p2051 or p2061) can have the value ≠ 0
for a PZD word.
• Physical word and double word values are inserted in the telegram as referenced
variables.
p200x are relevant as reference values (telegram contents = 4000 hex or
4000 0000 hex for double words if the input variable has a value of p200x).
Structure of the telegrams
You can find an overview of the structure of telegrams in function diagrams 2420, 2422, and
2423 in the SINAMICS S110 List Manual.
Depending on the drive object, only certain telegrams can be used:
Drive object
Telegrams (p0922)
SERVO
1, 2, 3, 4, 102, 103, 999
SERVO (EPOS)
7, 9, 110, 111, 999
CU_S110
390, 391, 392, 393, 394, 999
Depending on the drive object, the following maximum number of process data items can be
transmitted for user-defined telegram structures:
Drive object
Max. number of PZD for sending / receiving
• SERVO
Send 19, receive 16
• CU_S110
Send 15, receive 5
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9.2 Communication according to PROFIdrive
Interface Mode
Interface Mode is used for adjusting the assignment of the control and status words in line
with other drive systems and standardized interfaces.
The mode can be set as follows:
Value
Interface Mode
p2038 = 0
SINAMICS (factory setting)
p2038 = 1
SIMODRIVE 611 universal
Procedure:
1. Set p0922 ≠ 999.
2. p2038 = set required interface mode.
If you set telegrams 102 and 103, Interface Mode is set by default (p2038 = 1) and cannot be
changed.
Interface Mode is also set by default with positioning telegrams (7, 9, 110, and 111) and
cannot be changed (p2038 = 0 set).
When a telegram that specifies the Interface Mode (e.g. p0922 = 102) is changed to a
different telegram (e.g. p0922 = 3), the setting in p2038 is retained.
Function diagrams (see SINAMICS S110 List Manual)
● 2410 PROFIBUS address, diagnostic
● ...
● 2498 E_DIGITAL interconnection
9.2.3.2
Description of control words and setpoints
Note
This chapter describes the assignment and meaning of the process data in SINAMICS
interface mode (p2038 = 0).
The reference parameter is also specified for the relevant process data. The process data
are generally normalized in accordance with parameters p2000 to r2004.
The following scalings apply:
A temperature of 100°C = 100% and 0°C = 0%
An electrical angle of 90° = 100 % and 0° = 0%.
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Overview of control words and setpoints
Table 9- 3
Overview of control words and setpoints, profile-specific
Abbreviation
Name
Signal
Signal
number
Data type 1)
Interconnection
parameters
STW1
Control word 1
1
U16
(bit-serial)2)
STW2
Control word 2
3
U16
(bit-serial)2)
NSOLL_A
Speed setpoint A (16-bit)
5
I16
p1155
p1070(ext.setp.)
NSOLL_B
Speed setpoint B (32-bit)
7
I32
p1155
p1070(ext.setp.)
G1_STW
Encoder 1 control word
9
U16
p0480[0]
G2_STW
Encoder 2 control word
13
U16
p0480[1]
A_DIGITAL
Digital output (16 bits)
22
U16
(bit-serial)
A_DIGITAL_1
Digital output (16 bits)
23
U16
(bit-serial)
SATZANW
EPOS block selection
32
I32
(bit-serial)
MDI_TARPOS
MDI position
34
I32
p2642
MDI_VELOCITY
MDI velocity
35
I32
p2643
MDI_ACC
MDI acceleration
36
I16
p2644
MDI_DEC
MDI delay
37
I16
p2645
MDI_MOD
MDI mode specification
38
U16
(bit-serial)
Signal
number
Data type 1)
Torque reduction
101
I16
p1542
MT_STW
Probe control word
130
U16
P0682
POS_STW
Positioning control word
203
U16
(bit-serial)
OVERRIDE
Override in positioning mode
205
I16
p2646
POS_STW1
Positioning control word 1
220
U16
(bit-serial)
POS_STW2
Positioning control word 2
222
U16
(bit-serial)
MDI_MODE
MDI mode
229
U16
p2654
CU_STW1
Control word for Control Unit (CU)
500
U16
(bit-serial)
1) Data type according to PROFIdrive profile V4:
I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32
2) Bit-serial interconnection: refer to the following pages
Table 9- 4
Overview of control words and setpoints, manufacturer-specific
Abbreviation
MOMRED
Name
Interconnection
parameters
1) Data type according to PROFIdrive profile V4:
I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32
2) Bit-serial interconnection: Refer to the following pages
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STW1 (control word 1)
See function diagram [2442]
Table 9- 5
Description of STW1 (control word 1)
Bit
0
1
Meaning
ON/OFF1
OFF2
Remarks
0/1
ON
Pulse enable possible
0
OFF1
Braking with the ramp-function generator, then
pulse suppression and switching on inhibited.
1
No OFF2
Enable possible
0
Immediate pulse suppression and switching on
inhibited
Parameter
BI: p0840
BI: p0844
Note:
Control signal OFF2 is generated by ANDing BI: p0844 and BI: p0845.
2
OFF3
1
No OFF3
Enable possible
0
Quick stop (OFF3)
Braking with OFF3 ramp p1135, then pulse
suppression and switching on inhibited.
BI: p0848
Note:
Control signal OFF3 is generated by ANDing BI: p0848 and BI: p0849.
3
4
5
Enable operation
Enable ramp-function generator
Restart ramp-function generator
1
Enable operation
Pulse enable possible
0
Disable operation
Cancel pulses
1
Operating condition
Ramp-function generator enable possible
0
Inhibit ramp-function generator
Set ramp-function generator output to zero
1
Restart ramp-function generator
0
Freeze ramp-function generator
BI: p0852,
p1224.1
(with
extended
brake
control only)
BI: p1140
BI: p1141
Note:
The ramp-function generator cannot be frozen via p1141 in jog mode (r0046.31 = 1).
6
7
Enable speed setpoint
Acknowledge fault
1
Enable setpoint
0
Inhibit setpoint
Set ramp-function generator input to zero
0/1
Acknowledge fault
0
No effect
BI: p1142
BI: p2103
Note:
Faults are acknowledged at a 0/1 edge via BI: p2103.
8..9
Reserved
-
-
-
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Bit
10
Meaning
Master control by PLC
Remarks
1
Master control by PLC
Parameter
BI: p0854
This signal must be set so that the process data
transferred via PROFIdrive are accepted and
become effective.
0
PLC has no master control
Process data transferred via PROFIdrive are
rejected - i.e. assumed to be zero.
Note:
This bit should not be set to "1" until the PROFIdrive has returned an appropriate status via ZSW1.9 = "1".
11
BI: p1113
Setpoint inversion
1
Setpoint inversion
(Only with "extended setpoint channel"
and "extended ramp-function
generator")
0
No setpoint inversion
12
Reserved
-
-
-
13
Motorized potentiometer, setpoint, raise
1
Motorized potentiometer, setpoint, raise
BI: p1035
(Only with "extended setpoint channel"
and "extended ramp-function
generator")
0
Motorized potentiometer setpoint raise not
selected
14
15
Motorized potentiometer, setpoint, lower
1
Motorized potentiometer, setpoint, lower
(Only with "extended setpoint channel"
and "extended ramp-function
generator")
0
Motorized potentiometer setpoint lower not
selected
Reserved
-
-
BI: p1036
-
STW1 (control word 1), positioning mode, p0108.4 = 1
See function diagram [2475]
Table 9- 6
Description of STW1 (control word 1), positioning mode
Bit
0
1
Meaning
ON/OFF1
OFF2
Remarks
0/1
ON
Pulse enable possible
0
OFF1
Braking with the ramp-function generator, then
pulse suppression and switching on inhibited
1
No OFF2
Enable possible
0
OFF2
Immediate pulse suppression and switching on
inhibited
Parameter
BI: p0840
BI: p0844
Note:
Control signal OFF2 is generated by ANDing BI: p0844 and BI: p0845.
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Bit
2
Meaning
OFF3
Remarks
1
No OFF3
Enable possible
0
Quick stop (OFF3)
Braking with OFF3 ramp p1135, then pulse
suppression and "switching-on inhibited"
Parameter
BI: p0848
Note:
Control signal OFF3 is generated by ANDing BI: p0848 and BI: p0849.
3
Enable operation
1
Enable operation
Pulse enable possible
0
Disable operation
Cancel pulses
Do not reject traversing task
BI: p0852
4
Reject traversing task
1
BI: p1140
0
Reject traversing task
5
Intermediate stop
1
No intermediate stop
0
Intermediate stop
6
Activate traversing task
0/1
Enable setpoint
0
No effect
BI: p2631,
p2650
Acknowledge fault
BI: p2103
BI: p2640
Note:
The interconnection p2649 = 0 is also made.
7
Acknowledge fault
0/1
0
No effect
8
Jog 1
1
Jog 1 ON
See also SINAMICS S110 List Manual, function
diagram 3610
0
No effect
1
Jog 2 ON
See also SINAMICS S110 List Manual, function
diagram 3610
0
No effect
1
Control by PLC
This signal must be set so that the process data
transferred via PROFIdrive are accepted and
become effective.
0
No control by PLC
Process data transferred via PROFIdrive are
rejected - i.e. assumed to be zero.
9
10
Jog 2
Master control by PLC
BI: p2589
BI: p2590
BI: p0854
Note:
This bit should not be set to "1" until the PROFIdrive has returned an appropriate status via ZSW1.9 = "1".
11
Start referencing
12
Reserved
13
External block change
1
Start referencing
BI: p2595
0
Stop referencing
-
-
-
0/1
External set change is initiated
BI: 2632
0
No effect
14
Reserved
-
-
-
15
Reserved
-
-
-
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9.2 Communication according to PROFIdrive
STW2 (control word 2)
See function diagram [2444]
Table 9- 7
Description of STW2 (control word 2)
Bit
0
1...6
7
8
Meaning
Parameter
Drive data set selection DDS bit 0
-
Drive data set selection
(5 bit counter)
BI: p0820[0]
Reserved
-
-
-
Parking axis
1
Request parking axis (handshake with ZSW2 bit
7)
BI: p0897
0
No request
1
Select "Travel to fixed stop"
The signal must be set before the fixed stop is
reached.
1/0
Deselect "Travel to fixed stop"
The signal must be set before the fixed stop is
reached
-
-
BI: p0828[0]
Travel to fixed stop
(not with telegrams 9, 110)
9..10 Reserved
11
Remarks
Motor changeover
0/1
Motor changeover complete
0
No effect
User data integrity (4-bit counter)
12
Master sign-of-life bit 0
-
13
Master sign-of-life bit 1
-
14
Master sign-of-life bit 2
-
15
Master sign-of-life bit 3
-
BI: p1545
CI: p2045
NSET_A (speed setpoint A (16-bit))
● Speed setpoint with a 16-bit resolution with sign bit.
● Bit 15 determines the sign of the setpoint:
– Bit = 0 → Positive setpoint
– Bit = 1 → Negative setpoint
● The speed is normalized via p2000.
NSET_A = 4000 hex or 16384 dec ≐ speed in p2000
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9.2 Communication according to PROFIdrive
NSET_B (speed setpoint B (32-bit))
● Speed setpoint with a 32-bit resolution with sign bit.
● Bit 31 determines the sign of the setpoint:
– Bit = 0 → Positive setpoint
– Bit = 1 → Negative setpoint
● The speed is normalized via p2000.
NSET_B = 4000 0000 hex or 1 073 741 824 dec ≐ speed in p2000
Q
S
KH[
KH[
Figure 9-6
162//B$
162//B%
Normalization of speed
Note
Operation of motors in the field-weakening range
If the motors are to be operated in the field-weakening range > 2:1, the value of parameter
p2000 must be set ≤ 1/2 x maximum speed of the drive object.
Gn_STW (encoder n control word)
This process data belongs to the encoder interface.
A_DIGITAL
MT_STW
CU_STW1
These process data are part of the central process data.
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9.2 Communication according to PROFIdrive
MOMRED (torque reduction)
This setpoint can be used to reduce the torque limit currently active on the drive.
When you use manufacturer-specific PROFIdrive telegrams with the MOMRED control word,
the signal flow is automatically interconnected up to the point where the torque limit is
scaled.
0BOLPLWB
S
S
S
S!
6FDOLQJ
+H[
S
>@
S[
S
S
WR
0205(' >@
HJE\
0BOLPLWB
S
S!
S
>@
Figure 9-7
S
S
S[
6FDOLQJ
+H[
S
S
WR
MOMRED setpoint
MOMRED specifies the percentage by which the torque limit is to be reduced. This value is
converted internally to the amount by which the torque is to be reduced and normalized via
p1544.
SATZANW (positioning mode, p0108.4 =1)
See function diagram [2476]
Table 9- 8
Description of BLOCKSEL (positioning mode, p0108.4 =1)
Bit
Meaning
Remarks
Block selection
Traversing block 0 to 63
Parameter
0
1 = block selection, bit 0 (20)
BI: p2625
1
1 = block selection, bit 1 (21)
2
1 = block selection, bit 2
(22)
BI: p2627
3
1 = block selection, bit 3 (23)
BI: p2628
4
1 = block selection, bit 4
(24)
BI: p2629
5
1 = block selection, bit 5 (25)
BI: p2630
6
...
14
Reserved
-
-
-
15
Activate MDI
1
Activate MDI
p2647
0
Deactivate MDI
BI: p2626
Note:
See also: Basic positioner section
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POS_STW (positioning mode, p0108.4 =1)
See function diagram [2462].
Table 9- 9
Description of POS_STW (positioning mode, p0108.4 = 1)
Bit
0
Meaning
Tracking mode
Remarks
1
Activate tracking mode
0
Tracking mode deactivated
Set reference point
1
Set reference point
1
0
Do not set reference point
2
Reference cam
1
Reference cam active
0
Reference cam not active
3, 4
Parameter
BI: 2655
BI: 2596
BI: 2612
Reserved
-
-
-
5
Incremental jog
1
Incremental jog active
BI: 2591
0
Jog velocity active
6
...
15
Reserved
-
-
-
Note:
See also: Basic positioner chapter
POS_STW1 (control word 1, positioning mode, r0108.4 = 1)
See function diagram [2463].
Table 9- 10
Description of POS_STW1 (control word 1)
Bit
Meaning
Remarks
Parameter
0
EPOS traversing block selection bit 0
1
EPOS traversing block selection bit 1
BI: p2626
2
EPOS traversing block selection bit 2
BI: p2627
3
EPOS traversing block selection bit 3
BI: p2628
4
EPOS traversing block selection bit 4
BI: p2629
5
6...7
8
Traversing block selection
EPOS traversing block selection bit 5
BI: p2625
BI: p2630
Reserved
-
-
-
EPOS direct setpoint input/MDI
positioning type
1
Absolute positioning is selected.
BI: p2648
0
Relative positioning is selected.
Set the signal source for the positioning
type in mode "Direct setpoint input/MDI".
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9.2 Communication according to PROFIdrive
Bit
Meaning
9
EPOS direct setpoint input/MDI, positive
direction selection
10
EPOS direct setpoint input/MDI,
negative direction selection
Remarks
0/0
1/0
0/1
1/1
During "set-up":
If both directions (p2651, p2652) are
selected or deselected, the axis remains
stationary.
During "positioning":
BI: p2651 / BI: p2652
Position absolutely via shortest route.
Position absolutely in the positive direction.
Position absolutely in the negative direction.
Position absolutely via shortest route.
Parameter
BI: p2651
BI: p2652
11
Reserved
-
-
-
12
EPOS direct setpoint input/MDI,
acceptance method selection
1
Continuous acceptance of values
BI: p2649
Set the signal source for the method of
accepting values in mode "Direct
setpoint input/MDI".
0
Values are only accepted when
BI: p2650 = 0/1 signal (rising edge).
13
Reserved
-
-
-
14
EPOS direct setpoint input/MDI, setup
selection
1
Set-up selected.
BI: p2653
0
Positioning selected.
-
-
Set the signal source for set-up in mode
"Direct setpoint input/MDI".
15
EPOS direct setpoint input/MDI
selection
BI: p2647
Set the signal source for the selection of
mode "Direct setpoint input/MDI".
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POS_STW2 (control word 2, positioning mode, p0108.4 =1)
See function diagram [2464].
Table 9- 11
Description of POS_STW2 (control word 2, positioning mode, p0108.4 = 1)
Bit
0
Meaning
Tracking mode
1
Set reference point
2
Reference cam
3..4
5
Remarks
1
Activate tracking mode
0
Tracking mode deactivated
1
Set reference point
0
Do not set reference point
1
Reference cam active
0
Reference cam not active
Parameter
BI: p2655
BI: p2596
BI: p2612
Reserved
-
-
-
Incremental jog
1
Incremental jog active
BI: p2591
0
Jog velocity active
Reserved
-
-
-
8
Reference type selection
1
Flying referencing
BI: p2597
0
Reference point approach
9
Reference point approach start
direction
1
Start in negative direction
0
Start in positive direction
10
LR measuring probe evaluation,
selection
1
Measuring probe 2 is activated when BI: p2509 = BI: p2510
0/1 edge activated.
Set the signal source for selection
of the measuring probe.
0
Measuring probe 1 is activated when BI: p2509 =
0/1 edge activated.
6..7
11
12...13
14
LR measuring probe evaluation edge 1
Set the signal source for edge
evaluation of the measuring probe.
0
Rising edge of measuring probe (p2510) is
activated when BI: p2509 = 0/1 edge activated.
Reserved
-
-
EPOS software limit switch activation 1
Set the signal source for activation of
"Software limit switches".
15
Falling edge of measuring probe (p2510) is
activated when BI: p2509 = 0/1 edge activated.
EPOS STOP cam activation
Set the signal source for activation of
"STOP cams".
BI: p2604
BI: p2511
-
Axis is referenced (r2684.11 = 1) and BI: p2582 = BI: p2582
1 signal.
0
Software limit switches inoperative:
- Modulo offset active (BI: p2577 = 1 signal).
- Reference point approach is executed.
1
BI: p2568 = 1 signal → Evaluation of the STOP
cam minus (BI: p2569) and STOP cam plus (BI:
p2570) is active.
0
Evaluation of STOP cams is not active
BI: p2568
Note:
See also: Basic positioner chapter
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9.2 Communication according to PROFIdrive
OVERRIDE (Pos Velocity Override)
This process data defines the percentage for the velocity override.
Normalization: 4000 hex (16384 dec) = 100 %
Range of values: 0 ... 7FFF hex
Values outside this range are interpreted as 0%.
MDI_TARPOS (MDI position)
This process data defines the position for MDI sets.
Normalization: 1 corresponds to 1 LU
MDI_VELOCITY (MDI velocity)
This process data defines the velocity for MDI sets.
Normalization: 1 corresponds to 1000 LU/min
MDI_ACC (MDI acceleration)
This process data defines the acceleration for MDI sets.
Normalization: 4000 hex (16384 dec) = 100 %
The value is restricted to 0.1 ... 100% internally.
MDI_DEC (MDI deceleration override)
This process data defines the percentage for the deceleration override for MDI sets.
Normalization: 4000 hex (16384 dec) = 100 %
The value is restricted to 0.1 ... 100% internally.
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MDI_MOD
For a detailed table see function diagram [2480].
Table 9- 12
Bit
0
Signal targets for MDI_MOD (positioning mode, r0108.4 = 1)
Meaning
Interconnection
parameter
0 = Relative positioning is selected
p2648 = r2094.0
1 = Absolute positioning is selected
1
0 = Absolute positioning through the shortest distance
p2651 = r2094.1
2
1 = Absolute positioning in the positive direction
p2652 = r2094.2
2 = Absolute positioning in the negative direction
3 = Absolute positioning through the shortest distance
3...15
Reserved
-
-
-
-
MDI_MODE
This process data defines the mode for MDI sets.
Precondition: p2654 > 0
MDI_MODE = xx0x hex → Absolute
MDI_MODE = xx1x hex → Relative
MDI_MODE = xx2x hex → Abs_pos (only for modulo correction)
MDI_MODE = xx3x hex → Abs_neg (only for modulo correction)
9.2.3.3
Description of status words and actual values
Description of status words and actual values
Note
This chapter describes the assignment and meaning of the process data in SINAMICS
interface mode (p2038 = 0).
The reference parameter is also specified for the relevant process data. The process data
are generally normalized in accordance with parameters p2000 to r2004.
The following scalings also apply:
A temperature of 100°C = 100%
An electrical angle of 90° also = 100%.
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Overview of status words and actual values
Table 9- 13
Overview of status words and actual values, profile-specific
Abbreviation
Name
Signal
number
Data type 1)
Interconnection
parameters
ZSW1
Status word 1
2
U16
r2089[0]
ZSW2
Status word 2
4
U16
r2089[1]
NACT_A
Speed setpoint A (16 bit)
6
I16
r0063
NACT_B
Speed setpoint B (32 bit)
8
I32
r0063
G1_ZSW
Encoder 1 status word
10
U16
r0481[0]
G1_XIST1
Encoder 1 actual position value 1
11
U32
r0482[0]
G1_XIST2
Encoder 1 actual position value 2
12
U32
r0483[0]
G2_ZSW
Encoder 2 status word
14
U16
r0481[1]
G2_XIST1
Encoder 2 actual position value 1
15
U32
r0482[1]
G2_XIST2
Encoder 2 actual position value 2
16
U32
r0483[1]
E_DIGITAL
Digital inputs (16 bits)
21
U16
r2089[2]
XIST_A
Pos position actual value
28
I32
r2521[0]
AKTSATZ
Pos selected block
33
U16
r2670
1) Data type according to PROFIdrive profile V4:
I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32
2) Bit-serial interconnection: Refer to the following pages, r2089 via binector-connector converter
Table 9- 14
Overview of status words and actual values, manufacturer-specific
Abbreviation
Name
Signal
number
Data type 1)
102
U16
Interconnection
parameters
MELDW
Message word
r2089[2]
MT_ZSW
Probe status word
131
U16
r0688
MT1_ZS_F
Probe 1 time stamp falling edge
132
U16
r0687[0]
MT1_ZS_S
Probe 1 time stamp rising edge
133
U16
r0686[0]
MT2_ZS_F
Probe 2 time stamp falling edge
134
U16
r0687[1]
MT2_ZS_S
Probe 2 time stamp rising edge
135
U16
r0686[1]
POS_ZSW
Positioning status word
204
U16
r2683
POS_ZSW1
Positioning status word 1
221
U16
r2089[3]
POS_ZSW2
Positioning status word 2
223
U16
r2089[4]
FAULT_CODE
Fault code
301
U16
r2131
WARN_CODE
Alarm code
303
U16
r2132
CU_ZSW1
Status word for Control Unit (CU)
501
U16
r2089[1]
1) Data type according to PROFIdrive profile V4:
I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32
2) Bit-serial interconnection: Refer to the following pages, r2089 via binector-connector converter
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9.2 Communication according to PROFIdrive
ZSW1 (status word 1)
See function diagram [2452]
Table 9- 15
Description of ZSW1 (status word 1)
Bit
0
1
2
3
4
5
6
7
Meaning
Ready for switching on
Ready for operation
Operation enabled
Fault active
Coasting down active (OFF2)
Quick stop active (OFF3)
Switching on inhibited
Alarm active
Remarks
1
Ready for switching on
Power supply on, electronics initialized, line
contactor released if necessary, pulses inhibited.
0
Not ready for switching on
1
Ready for operation
Voltage at Line Module (i.e. line contactor closed (if
used)), field being built up.
0
Not ready for operation
Reason: No ON command present
1
Operation enabled
Enable electronics and pulses, then ramp up to
active setpoint.
0
Operation inhibited
1
Fault active
The drive is faulty and, therefore, out of service.
The drive switches to "switching on inhibited" once
the fault has been acknowledged and the cause
has been remedied.
The active faults are stored in the fault buffer.
0
No fault active
No active fault in the fault buffer.
1
No OFF2 active
0
Coasting down active (OFF2)
An OFF2 command is active.
1
No OFF3 active
0
Quick stop active (OFF3)
An OFF3 command is active.
1
Switching on inhibited
A restart is only possible by means of OFF1 and
then ON.
0
No "switching on inhibited"
Switching on is possible.
1
Alarm active
The drive is operational again. No
acknowledgement necessary.
The active alarms are stored in the alarm buffer.
0
No alarm active
No active alarm in the alarm buffer.
Parameter
BO: r0899.0
BO: r0899.1
BO: r0899.2
BO: r2139.3
BO: r0899.4
BO: r0899.5
BO: r0899.6
BO: r2139.7
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Bit
8
9
10
Meaning
Speed
setpoint-actual value deviation
within the tolerance bandwidth
Control request to PLC
f or n comparison value reached or
exceeded
Remarks
1
Parameter
Setpoint/actual value monitoring within tolerance
band
BO: r2197.7
Actual value within a tolerance band; dynamic
overshoot or undershoot for t < tmax permissible,
e.g.
n = nset±
f = fset±, etc.,
tmax can be parameterized
0
Setpoint/actual value monitoring not within
tolerance band
1
Control requested
The PLC is requested to assume control. Condition
for applications with isochronous mode: Drive
synchronized with PLC system.
0
Local operation
Control only possible on device
1
f or n comparison value reached or exceeded.
0
f or n comparison value not reached.
BO: r0899.9
BO: r2199.1
Note:
The message is parameterized as follows:
p2141 Threshold value
p2142 Hysteresis
11
I, M or P limit reached or exceeded 1
0
12
Holding brake open
13
No motor overtemperature alarm
14
n_act >= 0
15
Alarm, drive converter thermal
overload
I, M or P limit not reached
BO: r1407.7
I, M or P limit reached or exceeded
1
Holding brake opened
0
Holding brake closed
BO: r0899.12
1
Motor overtemperature alarm not active
0
Motor overtemperature alarm active
1
Actual speed > = 0
0
Actual speed < 0
BO: r2135.14
BO: r2197.3
1
No alarm active
0
Alarm, converter thermal overload
The overtemperature alarm for the converter is
active.
BO: r2135.15
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9.2 Communication according to PROFIdrive
ZSW1 (status word 1, positioning mode, r0108.4 = 1)
See function diagram [2479]
*Valid for p0922 = 111 (telegram 111).
For p0922 = 110 (telegram 110): Bits 14 and 15 reserved.
Table 9- 16
Description of ZSW1 (status word 1, positioning mode)
Bit
0
1
2
Meaning
Ready for switching on
Ready for operation
Operation enabled
Remarks
1
Ready for switching on
Power supply on, electronics initialized, line
contactor released if necessary, pulses inhibited.
0
Not ready for switching on
1
Ready for operation
Voltage at Line Module (i.e. line contactor closed (if
used)), field being built up.
0
Not ready for operation
Reason: No ON command present
1
Operation enabled
Parameter
BO: r0899.0
BO: r0899.1
BO: r0899.2
Enable electronics and pulses, then ramp up to
active setpoint.
3
Fault active
0
Operation inhibited
1
Fault active
The drive is faulty and, therefore, out of service.
The drive switches to "switching on inhibited" once
the fault has been acknowledged and the cause
has been remedied.
BO: r2139.3
The active faults are stored in the fault buffer.
4
5
6
7
Coasting down active (OFF2)
Quick stop active (OFF3)
Switching on inhibited
Alarm active
0
No fault active
No active fault in the fault buffer.
1
No OFF2 active
0
Coasting down active (OFF2)
An OFF2 command is active.
1
No OFF3 active
0
Quick stop active (OFF3)
An OFF3 command is active.
1
Switching on inhibited
A restart is only possible by means of OFF1 and
then ON.
0
No "switching on inhibited"
Switching on is possible.
1
Alarm active
The drive is operational again. No
acknowledgement necessary.
BO: r0899.4
BO: r0899.5
BO: r0899.6
BO: r2139.7
The active alarms are stored in the alarm buffer.
0
No alarm active
No active alarm in the alarm buffer.
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9.2 Communication according to PROFIdrive
Bit
8
Meaning
Remarks
Following error within the tolerance 1
range
Parameter
Setpoint/actual value monitoring within tolerance
band
BO: r2684.8
Actual value within a tolerance bandwidth;
The tolerance bandwidth can be parameterized.
9
Control request to PLC
10
Target position reached
11
Reference point set
12
0
Setpoint/actual value monitoring not within
tolerance band
1
Control requested
The PLC is requested to assume control. Condition
for applications with isochronous mode: Drive
synchronized with PLC system.
0
Local operation
Control only possible on device
1
Target position reached
0
Target position not reached
1
Reference point set
0
Reference point not set
BO: r0899.9
BO: r2684.10
BO: r2684.11
Acknowledgement, traversing
block activated
0/1
Acknowledgement, traversing block
0
No effect
13
Drive at standstill
1
Drive at standstill
0
Drive not at standstill
14*
Axis accelerating
(telegram 111)
1
Axis is accelerating.
0
Axis is not accelerating.
15*
Axis decelerating
(telegram 111)
1
Axis is decelerating.
0
Axis is not decelerating.
BO: r2684.12
BO: r2199.0
BO: r2684.4
BO: r2684.5
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9.2 Communication according to PROFIdrive
ZSW2 (status word 2)
See function diagram [2454]
Table 9- 17
Description of ZSW2 (status word 2)
Bit
Meaning
Remarks
Drive data set effective (2-bit counter)
Parameter
0
DDS eff., bit 0
–
1
DDS eff., bit 1
–
Reserved
–
–
–
5
Alarm class bit 0
–
Alarm class bit 1
–
Bits 5-6: Alarm stage of SINAMICS drives,
transferred as attribute in alarm message
value = 0: Alarm (previous alarm stage)
value = 1: Alarm class A
value = 2: Alarm class B
value = 3: Alarm class C
BO: r2139.11
6
7
Parking axis
1
Axis parking active
BO: r0896.0
8
Travel to fixed stop
9
Reserved
10
Pulses enabled
11
Data set changeover
2...4
BO: r0051.0
BO: r0051.1
BO: r2139.12
0
Axis parking not active
1
Travel to fixed stop
0
No travel to fixed stop
–
–
–
1
Pulses enabled
BO: r0899.11
0
Pulses not enabled
1
Data record changeover active
0
No data set changeover active
User data integrity (4-bit counter)
12
Slave sign-of-life bit 0
–
13
Slave sign-of-life bit 1
–
14
Slave sign-of-life bit 2
–
15
Slave sign-of-life bit 3
–
BO: r1406.8
BO: r0835.0
Implicitly
interconnected
NACT_A (Speed setpoint A (16 bit))
● Actual speed value with 16-bit resolution.
● The speed actual value is normalized in the same way as the setpoint (see NSOLL_A).
NACT_B (Speed setpoint B (32 bit))
● Actual speed value with 32-bit resolution.
● The speed actual value is normalized in the same way as the setpoint (see NSOLL_B).
Gn_ZSW (encoder n status word)
Gn_XIST1 (encoder n position actual value 1)
Gn_XIST2 (encoder n position actual value 2)
This process data belongs to the encoder interface.
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9.2 Communication according to PROFIdrive
E_DIGITAL
MT_ZSW
MTn_ZS_F/MTn_ZS_S
CU_ZSW1
These process data are part of the central process data.
MELDW (message word)
See function diagram [2456]
Table 9- 18
Description of MELDW (message word)
Bit
Meaning
0
Ramp-up/ramp-down
completed/ramp-function generator
active
Remarks
1
•
1/0
Parameter
Ramp-up/ramp-down completed.
BO: r2199.5
The ramp-up procedure is completed once the
speed setpoint has been changed.
Ramp-up starts.
The start of the ramp-up procedure is detected as
follows:
•
The speed setpoint changes,
and
•
0
Ramp-function generator active
•
0/1
The defined tolerance bandwidth (p2164) is
exited.
The ramp-up procedure is still active once the
speed setpoint has been changed.
Ramp-up ends.
The end of the ramp-up procedure is detected as
follows:
•
The speed setpoint is constant,
and
•
The actual speed value is within the tolerance
bandwidth and has reached the speed setpoint,
and
•
The delay time (p2166) has elapsed.
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9.2 Communication according to PROFIdrive
Bit
1
Meaning
Torque utilization < p2194
Remarks
1
0
Torque utilization < p2194
•
The current torque utilization is less than the set
torque utilization threshold (p2194),
or
•
Ramp-up is not yet complete.
Parameter
BO: r2199.11
Torque utilization > p2194
•
The current torque utilization is greater than the
set torque utilization threshold (p2194).
Application:
This message indicates that the motor is overloaded and appropriate measures need to be taken to rectify the
situation (e.g. stop the motor or reduce the load).
2
|n_act| < p2161
1
|n_act| < p2161
BO: r2199.0
The absolute actual speed value is less than the set
threshold value (p2161).
0
|n_act| ≥ p2161
The absolute actual speed value is greater than or
the same as the set threshold value (p2161).
Note:
The message is parameterized as follows:
p2161 Threshold value
p2150 Hysteresis
Application:
To protect the mechanics, the gear stages are not switched mechanically until the speed is less than the set
threshold value.
3
|n_act| ≤ p2155
1
|n_act| ≤ p2155
The absolute actual speed value is less than or the
same as the set threshold value (p2155).
0
|n_act| > p2155
The absolute actual speed value is greater than the
set threshold value (p2155).
BO: r2197.1
Note:
The message is parameterized as follows:
p2155 Threshold value
p2140 Hysteresis
Application:
Speed monitoring.
4
Reserved
–
–
–
5
Variable signaling function
1
The monitored signal of a SERVO axis has
exceeded the specified threshold value.
BO: r3294
0
The monitored signal of a SERVO axis is within the
specified threshold value or the signaling function is
not active
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Communication
9.2 Communication according to PROFIdrive
Bit
6
Meaning
Remarks
No motor overtemperature alarm
Parameter
1
No motor overtemperature alarm
The temperature of the motor is within the
permissible range.
0
Alarm, motor overtemperature
The temperature of the motor is greater than the set
motor temperature threshold (p0604).
BO: r2135.14
Note:
•
When the motor temperature threshold is exceeded, only an alarm is output initially to warn you of this. The
alarm is canceled automatically when the temperature no longer exceeds the alarm threshold.
•
If the overtemperature is present for longer than the value set via p0606, a fault is output to warn you of this.
• Motor temperature monitoring can be switched out via p0600 = 0.
Application:
The user can respond to this message by reducing the load. thereby preventing the motor from shutting down with
the "Motor temperature exceeded" fault after the set time has elapsed.
7
No thermal overload in power unit
alarm
1
No thermal overload in power unit alarm
BO: r2135.15
The temperature of the heat sink in the power unit is
within the permissible range.
0
Thermal overload in power unit alarm
The temperature of the heat sink in the power unit is
outside the permissible range.
If the overtemperature remains, the drive switches
itself off after approx. 20 s.
8
9,10
11
Speed setp - act val deviation in
tolerance t_on
1
The speed setpoint/actual value is within the
tolerance p2163: The signal is switched on after the
delay specified in p2167 has elapsed.
BO: r2199.4
0
The speed setpoint/actual value is outside the
tolerance.
Reserved
-
-
-
Controller enable
1
Controller enable
BO: r0899.8
12
Drive ready
1
Drive ready
BO: r0899.7
13
Pulses enabled
1
Pulses enabled
BO: r0899.11
The pulses for activating the motor are enabled.
0
Pulses inhibited
Application:
Armature short-circuit protection must only be switched on when the pulses are inhibited.
This signal can be evaluated as one of many conditions when armature short-circuit protection is activated.
14,
15
Reserved
-
-
-
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9.2 Communication according to PROFIdrive
AKTSATZ
See function diagram [3650].
Table 9- 19
Description of AKTSATZ (active traversing block/MDI active)
Bit
Meaning
Remarks
Parameter
0
Active traversing block, bit 0
–
1
Active traversing block, bit 1
–
BO: r2670.1
2
Active traversing block, bit 2
–
BO: r2670.2
3
Active traversing block, bit 3
–
BO: r2670.3
4
Active traversing block, bit 4
–
BO: r2670.4
5
Active traversing block, bit 5
–
BO: r2670.5
Active traversing block (6-bit counter)
BO: r2670.0
6 ... 14
Reserved
–
–
–
15
MDI active
1
MDI active
BO: r2670.15
0
MDI not active
POS_ZSW
See function diagram [3645].
Table 9- 20
Description of POS_ZSW (status word, positioning mode)
Bit
Meaning
0
Tracking mode active
1
Velocity limiting active
2
3
Setpoint static
Position setpoint reached
4
Axis moves forwards
5
Axis moves backwards
6
7
Minus software limit switch
actuated
Plus software limit switch actuated
Remarks
1
Tracking mode active
0
Tracking mode not active
1
Active
0
Not active
1
Setpoint static
0
Setpoint not static
1
Position setpoint reached
0
Position setpoint not reached
1
Axis moves forwards
0
Axis stationary or moves backwards
1
Axis moves backwards
0
Axis stationary or moves forwards
1
Minus SW limit switch actuated
0
Minus SW limit switch not actuated
1
Plus SW limit switch actuated
0
Plus SW limit switch not actuated
8
Position actual value ⇐ cam
switching position 1
1
Position actual value ⇐ cam switching position 1
0
Cam switching position 1 passed
9
Position actual value ⇐ cam
switching position 2
1
Position actual value ⇐ cam switching position 2
0
Cam switching position 2 passed
Parameter
BO: r2683.0
BO: r2683.1
BO: r2683.2
BO: r2683.3
BO: r2683.4
BO: r2683.5
BO: r2683.6
BO: r2683.7
BO: r2683.8
BO: r2683.9
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Communication
9.2 Communication according to PROFIdrive
Bit
10
11
12
Meaning
Remarks
Parameter
Direct output 1 via the traversing
block
1
Direct output 1 active
BO: r2683.10
0
Direct output 1 not active
Direct output 2 via the traversing
block
1
Direct output 1 active
0
Direct output 1 not active
Fixed stop reached
1
Fixed stop reached
0
Fixed stop is not reached
Fixed stop clamping torque reached
BO: r2683.11
BO: r2683.12
13
Fixed stop clamping torque
reached
1
0
Fixed stop clamping torque is not reached
14
Travel to fixed stop active
1
Travel to fixed stop active
0
Travel to fixed stop not active
–
–
15
Reserved
BO: r2683.13
BO: r2683.14
–
POS_ZSW1 (status word 1, positioning mode, r0108.4 = 1)
See function diagram [2466].
Table 9- 21
Description of POS_ZSW1 (status word 1, positioning mode, r0108.4 = 1)
Bit
Meaning
Remarks
Parameter
0
Active traversing block, bit 0
–
1
Active traversing block, bit 1
–
BO: r2670.1
2
Active traversing block, bit 2
–
BO: r2670.2
3
Active traversing block, bit 3
–
BO: r2670.3
4
Active traversing block, bit 4
–
BO: r2670.4
5
Active traversing block, bit 5
–
BO: r2670.5
6
Reserved
–
–
–
7
Reserved
–
–
–
8
STOP cam minus active
1
–
BO: r2684.13
9
STOP cam plus active
1
–
BO: r2684.14
10
Jog active
1
Jog active
0
Jog not active
BO: r2094.0
BO: r2669.0
11
Reference point approach active
1
Reference point approach active
0
Reference point approach not active
BO: r2094.1
BO: r2669.1
1
Flying referencing
BO: r2684.1
0
Flying referencing not active
1
Traversing blocks active
0
Traversing blocks not active
Set-up active
12
13
Flying referencing
Traversing blocks active
Active traversing block (6-bit counter)
BO: r2670.0
BO: r2094.2
BO: r2669.2
14
Set-up active
1
0
Set-up not active
BO: r2094.3
BO: r2669.4
15
MDI active
1
MDI active
BO: r2670.15
0
MDI not active
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9.2 Communication according to PROFIdrive
XIST_A
Actual position value is displayed
Normalization: 1 corresponds to 1 LU
S_ZSW1B
Safety Info Channel: Status word
Table 9- 22
Description S_ZSW1B
Bit
0
Meaning
STO active
1
SS1 active
2
SS2 active
3
4
SOS active
SLS active
5
SOS selected
6
SLS selected
7
Internal event
8…11
12
13
14
15
Remarks
1
STO active
0
STO not active
1
SS1 active
0
SS1 not active
1
SS2 active
0
SS2 not active
1
SOS active
0
SOS not active
1
SLS active
0
SLS not active
1
SOS selected
0
SOS deactivated
1
SLS selected
0
SLS not selected
1
Internal event
0
No internal event
Parameter
r9734.0
r9734.1
r9734.2
r9734.3
r9734.4
r9734.5
r9734.6
r9734.7
Reserved
–
–
–
SDI positive selected
1
SDI positive selected
r9734.12
0
SDI positive not selected
1
SDI negative selected
0
SDI negative not selected
1
Emergency retraction requested
0
Emergency retraction not requested
1
Safety message effective
0
No Safety message effective
SDI negative selected
Emergency retraction requested
Safety message effective
r9734.13
r9734.14
r9734.15
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Communication
9.2 Communication according to PROFIdrive
S_V_LIMIT_B
SLS speed limit with a 32-bit resolution with sign bit.
● The SLS speed limit is available in r9733[2].
● Bit 31 determines the sign of the value:
– Bit = 0 → positive value
– Bit = 1 → negative value
● The SLS speed limit is standardized via p2000.
S_V_LIMIT_B = 4000 0000 hex ≐ speed in p2000
WARN_CODE
Display of the alarm code (see function diagram 8065).
FAULT_CODE
Display of the fault code (see function diagram 8060).
POS_ZSW2 (status word 2, positioning mode, r0108.4 = 1)
See function diagram [2467].
Table 9- 23
Bit
0
1
2
Description of POS_ZSW2 (status word 2, positioning mode, r0108.4 = 1)
Meaning
Tracking mode active
Velocity limiting active
Setpoint static
3
Print index outside outer window
4
Axis moves forwards
5
Tracking mode active
0
Tracking mode not active
1
Active
0
Not active
Parameter
BO: r2683.0
BO: r2683.1
1
Setpoint static
0
Setpoint not static
BO: r2683.2
1
Flying / passive referencing not active
0
Flying / passive referencing active
1
Axis moves forwards
0
Axis stationary or moves backwards
BO: r2684.3
BO: r2683.4
1
Axis moves backwards
0
Axis stationary or moves forwards
Minus software limit switch
actuated
1
Minus SW limit switch actuated
0
Minus SW limit switch not actuated
7
Plus software limit switch actuated
1
Plus SW limit switch actuated
0
Plus SW limit switch not actuated
8
Position actual value ⇐ cam
switching position 1
1
Position actual value ⇐ cam switching position 1
0
Cam switching position 1 passed
6
Axis moves backwards
Remarks
1
BO: r2683.5
BO: r2683.6
BO: r2683.7
BO: r2683.8
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Communication
9.2 Communication according to PROFIdrive
Bit
9
Meaning
Remarks
Position actual value ⇐ cam
switching position 2
1
Position actual value ⇐ cam switching position 2
0
Cam switching position 2 passed
Direct output 1 via the traversing
block
1
Direct output 1 active
0
Direct output 1 not active
Direct output 2 via the traversing
block
1
Direct output 1 active
0
Direct output 1 not active
12
Fixed stop reached
1
Fixed stop reached
0
Fixed stop is not reached
13
Fixed stop clamping torque
reached
1
Fixed stop clamping torque reached
0
Fixed stop clamping torque is not reached
Travel to fixed stop active
1
Travel to fixed stop active
0
Travel to fixed stop not active
10
11
14
15
Traversing command active
9.2.3.4
1
Axis traversing
0
Axis stationary
Parameter
BO: r2683.9
BO: r2683.10
BO: r2683.11
BO: r2683.12
BO: r2683.13
BO: r2683.14
BO: r2684.15
Control and status words for encoder
Description
The process data for the encoders is available in various telegrams. For example, telegram 3
is provided for speed control with 1 position encoder and transmits the process data of
encoder 1.
The following process data is available for the encoders:
● Gn_STW encoder n control word (n = 1, 2)
● Gn_ZSW encoder n status word
● Gn_XIST1 encoder n act. pos. value 1
● Gn_XIST2 encoder n act. pos. value 2
Note
Encoder 1: Motor encoder
Encoder 2: Direct measuring system
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Communication
9.2 Communication according to PROFIdrive
Example of encoder interface
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Example of encoder interface (encoder-1: two actual values, encoder -2: one actual
value)
Encoder n control word (Gn_STW, n = 1, 2)
The encoder control word controls the encoder functions.
Table 9- 24
Bit
0
1
2
3
Description of the individual signals in Gn_STW
Name
Find reference
mark or flying
measurement
Functions
Signal status, description
If bit 7 = 0, then find reference mark request applies:
Bit
Meaning
0
Function 1
Reference mark 1
1
Function 2
Reference mark 2
2
Function 3
Reference mark 3
3
Function 4
Reference mark 4
If bit 7 = 1, then find flying measurement request applies:
0
Function 1
Probe 1 rising edge
1
Function 2
Probe 2 falling edge
2
Function 3
Probe 3 rising edge
3
Function 4
Probe 4 falling edge
Note:
Request function
Do not request function
•
Bit x = 1
Bit x = 0
•
The following applies if more than 1 function is activated:
The values for all functions cannot be read until each activated function
has terminated and this has been confirmed in the corresponding status
bit (ZSW.0/.1/.2/.3 "0" signal again).
•
Find reference mark
It is possible to search for a reference mark.
•
Equivalent zero mark
•
Flying measurement
Positive and negative edge can be activated simultaneously.
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Communication
9.2 Communication according to PROFIdrive
Bit
Name
Signal status, description
Command
4
Bit 6, 5, 4
Meaning
5
000
6
001
Activate function x
010
Read value x
011
Terminate function
–
(x: function selected via bit 0-3)
7
8...12
13
Mode
1
Flying measurement (fine resolution via p0418)
0
Find reference mark (fine resolution via p0418)
Reserved
–
Request cyclic absolute value
1
Request cyclic transmission of the absolute position actual value in
Gn_XIST2.
Used for (e.g.):
14
15
Parking encoder
Acknowledge encoder error
•
Additional measuring system monitoring
•
Synchronization during ramp-up
0
No request
1
Request parking encoder (handshake with Gn_ZSW bit 14)
0
No request
0/1
Request to reset encoder errors
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No request
Example 1: Find reference mark
Assumptions for the example:
● Distance-coded reference mark
● Two reference marks (function 1/function 2)
● Position control with encoder 1
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Communication
9.2 Communication according to PROFIdrive
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Sequence chart for "Find reference mark"
Function Manual
592
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Communication
9.2 Communication according to PROFIdrive
Example 2: Flying measurement
Assumptions for the example:
● Measuring probe with rising edge (function 1)
● Position control with encoder 1
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Figure 9-10
Sequence chart for "Flying measurement"
Encoder 2 control word (G2_STW)
● see G1_STW
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593
Communication
9.2 Communication according to PROFIdrive
Encoder n status word (Gn_ZSW, n = 1, 2)
The encoder status word is used to display states, errors and acknowledgements.
Table 9- 25
Bit
0
1
2
3
Description of the individual signals in Gn_ZSW
Name
"Find
reference
mark" or
"Flying
measurement
"
Signal status, description
Status:
Function 1 - 4
active
Valid for "Find reference mark" and "Flying measurement"
Bit
Meaning
0
Function 1
Reference mark 1
Probe 1 rising edge
1
Function 2
Reference mark 2
Probe 1 falling edge
2
Function 3
Reference mark 3
Probe 2 rising edge
3
Function 4
Reference mark 4
Probe 2 falling edge
Note:
•
Status:
Value 1 - 4
available
4
5
6
Bit x = 1 function active
Bit x = 0 function inactive
Valid for "Find reference mark" and "Flying measurement"
Bit
Meaning
4
Value 1
Reference mark 1
Probe 1 rising edge
5
Value 2
Probe 1 falling edge
6
Value 3
Probe 2 rising edge
7
Value 4
Probe 2 falling edge
7
Note:
•
Bit x = 1 value available
Bit x = 0 value not available
•
Only one value can be fetched at a time.
Reason: There is only one common status word Gn_XIST2 to read the values.
•
8
9
Probe 1
deflected
Probe 2 deflected
10
Reserved
11
Encoder fault acknowledge
active
The probe must be configured to a "high-speed input" of the Control Unit.
1
Probe deflected (high signal)
0
Probe not deflected (low signal)
1
Probe deflected (high signal)
0
Probe not deflected (low signal)
1
Encoder fault acknowledge active
Note:
See under STW.15 (acknowledge encoder error)
0
No acknowledgement active
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Communication
9.2 Communication according to PROFIdrive
Bit
Name
Signal status, description
12
Reserved
-
13
Transmit absolute value
cyclically
1
Acknowledgement for Gn_STW.13 (request absolute value cyclically)
Note:
Cyclic transmission of the absolute value can be interrupted by a function
with higher priority.
•
0
14
15
Parking encoder
Encoder fault
See Gn_XIST2
No acknowledgement
1
Parking encoder active (i.e. parking encoder switched off)
0
No active parking encoder
1
Error from encoder or actual-value sensing is active.
Note:
The error code is stored in Gn_XIST2.
0
No error is active.
Encoder 1 actual position value 1 (G1_XIST1)
● Resolution: Encoder lines ∙ 2n
n: fine resolution, no. of bits for internal multiplication
The fine resolution is specified via p0418.
● Used to transmit the cyclic actual position value to the controller.
● The transmitted value is a relative, free-running actual value.
● Any overflows must be evaluated by the master controller.
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Subdivision and settings for Gx_XIST1
● Encoder lines of incremental encoder
– For encoders with sin/cos 1Vpp:
Encoder lines = no. of sinusoidal signal periods
● After power-up: Gx_XIST1 = 0
● An overflow in Gx_XIST1 must be viewed by the master controller.
● There is no modulo interpretation of Gx_XIST1 in the drive.
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Communication
9.2 Communication according to PROFIdrive
Encoder 1 actual position value 2 (G1_XIST2)
Different values are entered in Gx_XIST2 depending on the function.
● Priorities for Gx_XIST2
The following priorities should be considered for values in Gx_XIST2:
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Priorities for functions and Gx_XIST2
Function Manual
596
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Communication
9.2 Communication according to PROFIdrive
● Resolution: Encoder pulses ∙ 2n
n: fine resolution, no. of bits for internal multiplication
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Subdivision and settings for Gx_XIST2
● Encoder lines of incremental encoder
– For encoders with sin/cos 1Vpp:
Encoder lines = no. of sinusoidal signal periods
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Communication
9.2 Communication according to PROFIdrive
Error code in Gn_XIST2
Table 9- 26
n_XIST2
Error code in Gn_XIST2
Meaning
Possible causes / description
1
Encoder error
One or more existing encoder faults.
Detailed information in accordance with drive messages.
2
Zero marker monitoring
–
3
Abort parking sensor
•
Parking drive object already selected.
4
Abort find reference mark
•
A fault exists (Gn_ZSW.15 = 1)
•
Encoder has no zero marker (reference mark)
•
reference mark 2, 3 or 4 is requested
•
Switchover to "Flying measurement" during search for reference mark
•
Command "Read value x" set during search for reference mark
•
Inconsistent position measured value with distance-coded reference marks.
•
More than four values requested
•
No value requested
•
Requested value not available
5
6
7
8
3841
Abort, retrieve reference
value
Abort flying measurement •
No probe configured p0488, p0489
•
Switch over to "reference mark search" during flying measurement
•
Command "Read value x" set during flying measurement
Abort get measured value •
More than one value requested
•
No value requested.
•
Requested value not available
•
Parking encoder active
•
Parking drive object active
Abort absolute value
transmission on
•
Absolute encoder not available
•
Alarm bit absolute value protocol set
Function not supported
–
Encoder 2 status word (G2_ZSW)
● See G1_ZSW (table 4-20)
Encoder 2 actual position value 1 (G2_XIST1)
● See G1_XIST1
Encoder 2 actual position value 2 (G2_XIST2)
● See G1_XIST2
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Function diagrams (see SINAMICS S110 List Manual)
● 4720 Encoder interface, receive signals, encoders n
● 4730 Encoder interface, send signals, encoders n
● 4735 Find reference mark with equivalent zero mark, encoders n
● 4740 Measuring probe evaluation, measured value memory, encoders n
Overview of important parameters (see SINAMICS S110 List Manual)
Adjustable parameter drive, CU_S parameter is marked
● p0418[0...15] Fine resolution Gx_XIST1
● p0419[0...15] Fine resolution Gx_XIST2
● p0480[0...2] CI: Signal source for encoder control word Gn_STW
● p0488[0...2] Measuring probe 1 input terminal
● p0489[0...2] Measuring probe 2 input terminal
● p0490 Invert measuring probe (CU_S)
Display parameters drive
● r0481[0...2] CO: Encoder status word Gn_ZSW
● r0482[0...2] CO: Encoder position actual value Gn_XIST1
● r0483[0...2] CO: Encoder position actual value Gn_XIST2
● r0487[0...2] CO: Diagnostic encoder control word Gn_STW
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9.2.3.5
Central control and status words
Description
The central process data exists for different telegrams. For example, telegram 391 is used
for transferring measuring times and digital inputs/outputs.
The following central process data are available:
Receive signals:
● CU_STW1 Control Unit control word
● A_DIGITAL digital outputs
● MT_STW probe control word
Transmit signals:
● CU_ZSW1 Control Unit status word
● E_DIGITAL digital inputs
● MT_ZSW Probe status word
● MTn_ZS_F Probe n measuring time, falling edge (n = 1, 2)
● MTn_ZS_S Probe n measuring time, rising edge (n = 1, 2)
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CU_STW1 (control word for Control Unit, CU)
See function diagram [2495].
Table 9- 27
Description of CU_STW1 (control word for Control Unit)
Bit
Meaning
Remarks
Parameter
0
Synchronization flag
–
This signal is used to synchronize the joint system time between the
controller and drive unit.
BI: p0681[0]
1
RTC PING
–
This signal is used to set the UTC time using the PING event.
BI: p3104
2...6
Reserved
–
–
–
Acknowledging faults
0/1
Acknowledging faults
BI: p2103
Reserved
–
–
–
Control taken over
0
External controller has no control via the CU
p3116
7
8...9
10
Once the prevailing faults on all DOs have been acknowledged, the
fault is also acknowledged implicitly on DO1 (CU).
1
External controller has control via the CU
The prevailing faults have to be acknowledged on all DOs and also
explicitly on DO1 (CU).
11
Reserved
–
–
–
12
Controller sign-of-life
bit 0
–
Controller sign-of-life
CI: p2045
13
Controller sign-of-life
bit 1
–
14
Controller sign-of-life
bit 2
–
15
Controller sign-of-life
bit 3
–
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A_DIGITAL (digital outputs)
This process data can be used to control the Control Unit outputs.
See function diagram [2497]
Table 9- 28
Bit
Description of A_DIGITAL (digital outputs)
Meaning
Remarks
Parameter
0
Digital input/output 8
(DI/DO 8)
–
DI/DO 8 on the Control Unit must be parameterized as an output
(p0728.8 = 1).
BI: p0738
1
Digital input/output 9
(DI/DO 9)
–
DI/DO 9 on the Control Unit must be parameterized as an output
(p0728.9 = 1).
BI: p0739
2
Digital input/output 10
(DI/DO 10)
–
DI/DO 10 on the Control Unit must be parameterized as an output
(p0728.10 = 1).
BI: p0740
3
Digital input/output 11
(DI/DO 11)
–
DI/DO 11 on the Control Unit must be parameterized as an output
(p0728.11 = 1).
BI: p0741
Reserved
–
–
–
4...15
Note:
The bidirectional digital inputs/outputs (DI/DO) can be connected as either an input or an output (see also transmit signal
E_DIGITAL).
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MT_STW
Control word for the "central probe" function. Display via r0685.
Table 9- 29
Description of MT_STW (control word for Control Unit)
Bit
Meaning
0
Falling edge probe 1
–
1
Falling edge probe 2
–
2
Falling edge probe 3
–
3
Falling edge probe 4
–
4
Falling edge probe 5
–
5
Falling edge probe 6
–
6...7
Remarks
Activation of measuring time determination with the next falling edge CI: p0682
Reserved
–
–
8
Rising edge probe 1
–
Activation of measuring time determination with the next rising edge
9
Rising edge probe 2
–
10
Rising edge probe 3
–
11
Rising edge probe 4
–
12
Rising edge probe 5
–
13
Rising edge probe 6
–
Reserved
–
14...15
Parameter
–
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CU_ZSW1 (status word of the DO1 telegram (telegrams 39x))
See function diagram [2496].
Table 9- 30
Description of CU_ZSW1 (status word of the CU)
Bit
0...3
3
Meaning
Remarks
Parameter
Reserved
–
–
–
Fault active
1
Fault active.
BO: r2139.3
The active faults are stored in the fault buffer.
0
No fault active.
There is no active fault in the fault buffer.
4...5
Reserved
–
–
–
6
Reserved
0
–
–
7
Alarm active
1
Alarm active.
BO: 2139.7
The active alarms are stored in the alarm buffer.
0
No alarm active.
–
–
–
1
No group bit for module line-up alarm.
BO: r3114.9
0
Group bit for alarm is active, ORed across all DOs
including the CU of the module line-up.
No active alarm is present in the alarm buffer.
8
Synchronization (SYNC)
9
Alarm pending
10
11
12
Fault pending
Safety signal pending
Slave sign-of-life bit 0
1
No group bit for module line-up fault.
0
Group bit for fault is active, ORed across all DOs
including the CU of the module line-up, plus
propagations.
1
No safety signal pending
0
Safety signal pending
1-15
0
13
Slave sign-of-life bit 1
1-15
14
Slave sign-of-life bit 2
1-15
15
Slave sign-of-life bit 3
1-15
BO: r3114.10
BO: r3114.11
Cyclic advance
Initialization, no sign of life available
Implicitly
interconnected
0
0
0
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9.2 Communication according to PROFIdrive
E_DIGITAL (digital inputs)
See function diagram [2498].
Table 9- 31
Description of E_DIGITAL (digital inputs)
Bit
Meaning
Remarks
Parameter
0
Digital input/output 8
(DI/DO = 8)
–
DI/DO 8 on the Control Unit must be parameterized as an input
(p0728.8 = 0).
BO: p0722.8
1
Digital input/output 9
(DI/DO = 9)
–
DI/DO 9 on the Control Unit must be parameterized as an input
(p0728.9 = 0).
BO: p0722.9
2
Digital input/output 10
(DI/DO = 10)
–
DI/DO 10 on the Control Unit must be parameterized as an input
(p0728.10 = 0).
BO:
p0722.10
3
Digital input/output 11
(DI/DO = 11)
–
DI/DO 11 on the Control Unit must be parameterized as an input
(p0728.11 = 0).
BO:
p0722.11
Reserved
–
–
–
8
Digital input 0 (DI 0)
–
Digital input DI 0 on the Control Unit
BO: r0722.0
4...7
9
Digital input 1 (DI 1)
–
Digital input DI 1 on the Control Unit
BO: r0722.1
10
Digital input 2 (DI 2)
–
Digital input DI 2 on the Control Unit
BO: r0722.2
11
Digital input 3 (DI 3)
–
Digital input DI 3 on the Control Unit
BO: r0722.3
–
–
–
12...1 Reserved
5
Note:
The bidirectional digital inputs/outputs (DI/DO) can be connected as either an input or an output (see also receive signal
A_DIGITAL).
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9.2 Communication according to PROFIdrive
MT_ZSW
Status word for the "central probe" function.
Table 9- 32
Description of MT_ZSW (status word for the "central probe" function)
Bit
Meaning
Remarks
0
Digital input probe 1
–
1
Digital input probe 2
–
2
Digital input probe 3
–
3
Digital input probe 4
–
4
Digital input probe 5
–
5
Digital input probe 6
–
6...7
Reserved
–
–
Sub-sampling probe 1
–
Not yet carried out.
9
Sub-sampling probe 2
–
10
Sub-sampling probe 3
–
11
Sub-sampling probe 4
–
12
Sub-sampling probe 5
–
13
Sub-sampling probe 6
–
14... Reserved
15
–
CO: r0688
Digital input display
8
Parameter
–
MTn_ZS_F and MTn_ZS_S
Display of the measuring time determined
The measuring time is specified as a 16-bit value with a resolution of 0.25 μs.
Features of the central probe
● The time stamps from probes in more than one drive can be transferred simultaneously in
a single telegram.
● The time in the controller and drive unit is synchronized via CU_STW1 and the
CU_ZSW1.
Note: The controller must support time synchronization!
● A higher-level controller can then use the time stamp to determine the actual position
value of more than one drive.
● The system outputs a message if the measuring time determination function in the probe
is already in use (see also p0488, p0489, and p0580).
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9.2 Communication according to PROFIdrive
Example: central probe
Assumptions for the example:
● Determination of the time stamp MT1_ZS_S by evaluating the rising edge of probe 1
● Determination of the time stamp MT2_ZS_S and MT2_ZS_F by evaluating the rising and
falling edge of probe 2
● Probe 1 on DI/DO 9 of the Control Unit (p0680[0] = 1)
● Probe 2 on DI/DO 10 of the Control Unit (p0680[1] = 2)
● Manufacturer-specific telegram p0922 = 391 is set.
07B67:
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07B=6B6
07B67:
07B67:
3UREH
9DOXHDYDLODEOH
07B=6B6
9DOXHDYDLODEOH
07B=6B)
Figure 9-14
9.2.3.6
Sequence chart for central probe example
Motion Control with PROFIdrive
The "Motion Control with PROFIBUS" or "Motion Control with PROFINET" function can be
used to implement an isochronous drive link between a master and one or more slaves via
the PROFIBUS field bus or an isochronous drive link via PROFINET.
Note
The isochronous drive link is defined in the following documentation:
Reference: /P5/ PROFIdrive Profile Drive Technology
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Communication
9.2 Communication according to PROFIdrive
Properties
● No additional parameters need to be entered in addition to the bus configuration in order
to activate this function, the master and slave must only be preset for this function
(PROFIBUS).
● The master-side default setting is made via the hardware configuration, e.g. B. HWConfig
with SIMATIC S7. The slave-side default setting is made via the parameterization
telegram when the bus is ramping up.
● Fixed sampling times are used for all data communication.
● The Global Control (GC) clock information on PROFIBUS is transmitted before the
beginning of each cycle.
● The length of the clock cycle depends on the bus configuration. When the clock cycle is
selected, the bus configuration tool (e.g. HWConfig) supports:
– High number of drives per slave/drive unit → longer cycle
– Large number of slaves/drive units → longer cycle
● A sign-of-life counter is used to monitor user data transfer and clock pulse failures.
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9.2 Communication according to PROFIdrive
Overview of closed-loop control
● Sensing of the actual position value on the slave can be performed using:
– Indirect measuring system (motor encoder)
– Additional direct measuring system
● The encoder interface must be configured in the process data.
● The control loop is closed via the PROFIBUS.
● The position controller is located on the master.
● The current and speed control systems and actual value sensing (encoder interface) are
located on the slave.
● The position controller clock cycle is transmitted across the field bus to the slaves.
● The slaves synchronize their speed and/or current controller cycle with the position
controller cycle on the master.
● The speed setpoint is specified by the master.
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Overview of "Motion Control with PROFIBUS" (example: master and 3 slaves)
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Communication
9.2 Communication according to PROFIdrive
Structure of the data cycle
The data cycle comprises the following elements:
1. Global Control telegram (PROFIBUS only)
2. Cyclic part
– Setpoints and actual values
3. Acyclic part
– Parameters and diagnostic data
4. Reserve (PROFIBUS only)
– Token passing (Token Holding Time, TTH).
– For searching for a new node in the drive line-up (GAP)
– Waiting time until next cycle
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Isochronous drive link/Motion Control with PROFIdrive
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9.2 Communication according to PROFIdrive
9.2.4
Acyclic communication
9.2.4.1
General information about acyclic communication
Description
With acyclic communication, as opposed to cyclic communication, data transfer takes place
only when an explicit request is made (e.g. in order to read and write parameters).
The read data set/write data set services are available for acyclic communication.
The following options are available for reading and writing parameters:
● S7 protocol
This protocol uses the STARTER commissioning tool, for example, in online mode via
PROFIBUS.
● PROFIdrive parameter channel with the following data set:
– PROFIBUS: Data block 47 (0x002F)
The DPV1 services are available for master class 1 and class 2.
Note
Please refer to the following documentation for a detailed description of acyclic
communication:
Reference: PROFIdrive Profile V4.1, May 2006, Order No: 3.172
Addressing:
PROFIBUS DP, the addressing can either take the form of the logical address or the
diagnostics address.
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9.2 Communication according to PROFIdrive
Characteristics of the parameter channel
● One 16-bit address each for parameter number and subindex.
● Concurrent access by several PROFIBUS masters (master class 2).
● Transfer of different parameters in one access (multiple parameter request).
● Transfer of complete arrays or part of an array possible.
● Only one parameter request is processed at a time (no pipelining).
● A parameter request/response must fit into a data set (max. 240 bytes).
● The task or response header are user data.
9.2.4.2
Structure of orders and responses
Structure of parameter request and parameter response
Parameter request
Values for
write access
only
Job header
1. parameter address
Offset
Request reference
Request ID
0
Axis
No. of parameters
2
Attribute
No. of elements
4
Parameter number
6
Subindex
8
...
nth parameter address
Attribute
No. of elements
Parameter number
Subindex
1. parameter value(s)
Format
No. of values
Values
...
...
nth parameter value(s)
Format
No. of values
Values
...
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Parameter response
Values for
read access
only
Offset
Response header
Error values
for negative
response only
1. parameter value(s)
Request reference mirrored
Response ID
0
Axis mirrored
No. of parameters
2
Format
No. of values
4
Values or error values
6
...
...
nth parameter value(s)
Format
No. of values
Values or error values
...
Description of fields in DPV1 parameter request and response
Field
Request reference
Data type
Unsigned8
Values
Remark
0x01 ... 0xFF
Unique identification of the request/response pair for the master. The master changes the
request reference with each new request. The slave mirrors the request reference in its
response.
Request ID
Unsigned8
0x01
0x02
Read request
Write request
Specifies the type of request.
In the case of a write request, the changes are made in a volatile memory (RAM). A save
operation is needed in order to transfer the data to the non-volatile memory (p0977).
Response ID
Unsigned8
0x01
0x02
0x81
0x82
Read request (+)
Write request (+)
Read request (-)
Write request (-)
Mirrors the request identifier and specifies whether request execution was positive or
negative.
Negative means:
Cannot execute part or all of request.
The error values are transferred instead of the values for each subresponse.
Drive object
number
Unsigned8
No. of parameters
Unsigned8
0x00 ... 0xFF
Number
Setting for the drive object number of a drive unit with more than one drive object. Different
drive objects with separate parameter number ranges can be accessed over the same
DPV1 connection.
0x01 ... 0x27
No. 1 ... 39
Limited by DPV1 telegram length
Defines the number of adjoining areas for the parameter address and/or parameter value
for multi-parameter requests.
The number of parameters = 1 for single requests.
Attribute
Unsigned8
0x10
0x20
0x30
Value
Description
Text (not implemented)
Type of parameter element accessed.
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9.2 Communication according to PROFIdrive
Field
No. of elements
Data type
Unsigned8
Values
Remark
0x00
0x01 ... 0x75
Special function
No. 1 ... 117
Limited by DPV1 telegram length
Number of array elements accessed.
Parameter number
Unsigned16
Subindex
Unsigned16
0x0001 ... 0xFFFF
No. 1 ... 65535
Addresses the parameter accessed.
0x0000 ... 0xFFFF
No. 0 ... 65535
Addresses the first array element of the parameter to be accessed.
Format
Unsigned8
0x02
0x03
0x04
0x05
0x06
0x07
0x08
Other values
Data type integer8
Data type integer16
Data type integer32
Data type unsigned8
Data type unsigned16
Data type unsigned32
Data type floating point
See PROFIdrive profile V3.1
0x40
Zero (without values as a positive
subresponse to a write request)
Byte
Word
Double word
Error
0x41
0x42
0x43
0x44
The format and number specify the adjoining space containing values in the telegram.
Data types in conformity with PROFIdrive Profile shall be preferred for write access. Bytes,
words and double words are also possible as a substitute.
No. of values
Unsigned8
Error values
Unsigned16
0x00 ... 0xEA
No. 0 ... 234
Limited by DPV1 telegram length
Specifies the number of subsequent values.
0x0000 ... 0x00FF
Meaning of error values
→ see table below
The error values in the event of a negative response.
If the values make up an odd number of bytes, a zero byte is appended. This ensures the
integrity of the word structure of the telegram.
Values
Unsigned16
0x0000 ... 0x00FF
The values of the parameter for read or write access.
If the values make up an odd number of bytes, a zero byte is appended. This ensures the
integrity of the word structure of the telegram.
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Error values in DPV1 parameter responses
Table 9- 33
Error values in DPV1 parameter responses
Error
value
Meaning
Remark
Additional
info
0x00
Illegal parameter number
Access to a parameter which does not exist.
–
0x01
Parameter value cannot be changed
Modification access to a parameter value which cannot be
changed.
Subindex
0x02
Lower or upper value limit exceeded
Modification access with value outside value limits.
Subindex
0x03
Invalid subindex
Access to a subindex which does not exist.
Subindex
–
0x04
No array
Access with subindex to an unindexed parameter.
0x05
Wrong data type
Modification access with a value which does not match the –
data type of the parameter.
0x06
Illegal set operation (only reset
allowed)
Modification access with a value not equal to 0 in a case
where this is not allowed.
Subindex
0x07
Description element cannot be
changed
Modification access to a description element which cannot
be changed.
Subindex
0x09
No description data
Access to a description which does not exist (the
parameter value exists).
–
0x0B
No operating priority
Modification access with no operating priority.
–
0x0F
No text array exists
Access to a text array which does not exist (the parameter
value exists).
–
0x11
Request cannot be executed due to
operating status
Access is not possible temporarily for unspecified reasons. –
0x14
Illegal value
Modification access with a value which is within the limits
but which is illegal for other permanent reasons
(parameter with defined individual values).
Subindex
0x15
Response too long
The length of the present response exceeds the maximum
transfer length.
–
0x16
Illegal parameter address
Impermissible or unsupported value for attribute, number
of elements, parameter number, subindex or a
combination of these.
–
0x17
Illegal format
Write request: illegal or unsupported parameter data
format
–
0x18
No. of values inconsistent
Write request: a mismatch exists between the number of
values in the parameter data and the number of elements
in the parameter address.
–
0x19
Drive object does not exist
You have attempted to access a drive object that does not
exist.
–
0x65
Presently deactivated.
You have tried to access a parameter that, although
available, does not currently perform a function
(e.g. n control set and access to a V/f control parameter).
–
0x6B
Parameter %s [%s]: no write access
for the enabled controller
–
–
0x6C
Parameter %s [%s]: unit unknown
–
–
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9.2 Communication according to PROFIdrive
Error
value
Meaning
Remark
Additional
info
0x6D
Parameter %s [%s]: Write access
only in the commissioning state,
encoder (p0010 = 4).
–
–
0x6E
Parameter %s [%s]: Write access
only in the commissioning state,
motor (p0010 = 3).
–
–
0x6F
Parameter %s [%s]: Write access
only in the commissioning state,
power unit (p0010 = 2).
–
–
0x70
Parameter %s [%s]: Write access
only in the quick commissioning
mode (p0010 = 1).
–
–
0x71
Parameter %s [%s]: Write access
only in the ready mode (p0010 = 0).
–
–
0x72
Parameter %s [%s]: Write access
only in the commissioning state,
parameter reset (p0010 = 30).
–
–
0x73
Parameter %s [%s]: Write access
only in the commissioning state,
Safety (p0010 = 95).
–
–
0x74
Parameter %s [%s]: Write access
–
only in the commissioning state, tech.
application/units (p0010 = 5).
–
0x75
Parameter %s [%s]: Write access
only in the commissioning state
(p0010 not equal to 0).
–
–
0x76
Parameter %s [%s]: Write access
only in the commissioning state,
download (p0010 = 29).
–
–
0x77
Parameter %s [%s] may not be
written in download.
–
–
0x78
Parameter %s [%s]: Write access
–
only in the commissioning state, drive
configuration (device: p0009 = 3).
–
0x79
Parameter %s [%s]: Write access
only in the commissioning state,
define drive type (device: p0009 = 2).
–
–
0x7A
Parameter %s [%s]: Write access
only in the commissioning state, data
set basis configuration
(device: p0009 = 4)
–
–
0x7B
Parameter %s [%s]: Write access
only in the commissioning state,
device configuration
(device: p0009 = 1).
–
–
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Error
value
Meaning
Remark
Additional
info
0x7C
Parameter %s [%s]: Write access
only in the commissioning state,
device download
(device: p0009 = 29).
–
–
0x7D
Parameter %s [%s]: Write access
only in the commissioning state,
device parameter reset
(device: p0009 = 30).
–
–
0x7E
Parameter %s [%s]: Write access
only in the commissioning state,
device ready (device: p0009 = 0).
–
–
0x7F
Parameter %s [%s]: Write access
only in the commissioning state,
device (device: p0009 not 0).
–
–
0x81
Parameter %s [%s] may not be
written in download.
–
–
0x82
Transfer of the control authority
(master) is inhibited by BI: p0806.
–
–
0x83
Parameter %s [%s]: requested BICO
interconnection not possible
BICO output does not supply float values. The BICO input, –
however, requires a float value.
0x84
Parameter %s [%s]: parameter
change inhibited
(refer to p0300, p0400, p0922)
–
–
0x85
Parameter %s [%s]: access method
not defined.
–
–
0xC8
Below the valid values.
Modification request for a value that, although within
"absolute" limits, is below the currently valid lower limit.
–
0xC9
Above the valid values.
Modification request for a value that, although within
"absolute" limits, is below the currently valid lower limit
(e.g. governed by the current converter rating).
–
0xCC
Write access not permitted.
Write access is not permitted because an access key is
not available.
–
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9.2 Communication according to PROFIdrive
9.2.4.3
Determining the drive object numbers
Further information about the drive system (e.g. drive object numbers) can be determined as
follows using parameters p0101 and r0102:
1. The value of parameter r0102 ("Number of drive objects") for drive object/axis 1 is read
via a read request.
Drive object 1 is the Control Unit (CU), which is a minimum requirement for each drive
system.
2. Depending on the result of the initial read request, further read requests for drive object 1
are used to read the indices for parameter p0101 ("Drive object numbers"), as specified
by parameter r0102.
Example:
If the number of drive objects is "5", the values for indices 0 to 4 for parameter p0101 are
read. Of course, the relevant indexes can also be read at once.
9.2.4.4
Example 1: read parameters
Requirements
1. The PROFIdrive controller has been commissioned and is fully operational.
2. PROFIdrive communication between the controller and the device is operational.
3. The controller can read and write data sets in conformance with PROFIdrive DPV1.
Task description
Following the occurrence of at least one fault (ZSW1.3 = "1") on drive 2 (also drive object
number 2), the active fault codes must be read from the fault buffer r0945[0] ... r0945[7].
The request is to be handled using a request and response data block.
Basic procedure
1. Create a request to read the parameters.
2. Invoke the request.
3. Evaluate the response.
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9.2 Communication according to PROFIdrive
Activity
1. Create the request.
Parameter request
Request header
parameter address
Offset
Request reference = 25 hex Request ID = 01 hex
0+1
Axis = 02 hex
No. of parameters = 01 hex
2+3
Attribute = 10 hex
No. of elements = 08 hex
4+5
Parameter no. = 945 dec
6
Subindex = 0 dec
8
Information about the parameter request:
● Request reference:
The value is selected at random from the valid value range. The request reference
establishes the relationship between request and response.
● Request ID:
01 hex → This identifier is required for a read request.
● Axis:
02 hex → Drive 2, fault buffer with drive- and device-specific faults
● No. of parameters:
01 hex → One parameter is read.
● Attribute:
10 hex → The parameter values are read.
● No. of elements:
08 hex → The actual fault incident with 8 faults is to be read.
● Parameter number:
945 dec → p0945 (fault code) is read.
● Subindex:
0 dec → Reading starts at index 0.
1. Initiate parameter request.
If ZSW1.3 = "1" → Initiate parameter request
2. Evaluate the parameter response.
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Parameter response
Offset
Response header
Request reference mirrored
= 25 hex
Response ID = 01 hex
0+1
Parameter value
Axis mirrored = 02 hex
No. of parameters = 01 hex
2+3
Format = 06 hex
No. of values = 08 hex
4+5
1. value = 1355 dec
6
2. value = 0 dec
8
...
...
8. value = 0 dec
20
Information about the parameter response:
● Request reference mirrored:
This response belongs to the request with request reference 25.
● Response ID:
01 hex → Read request positive, values stored as of 1st value
● Axis mirrored, no. of parameters:
The values correspond to the values from the request.
● Format:
06 hex → Parameter values are in the Unsigned16 format.
● No. of values:
08 hex → 8 parameter values are available.
● 1. value ... 8th value
A fault is only entered in value 1 of the fault buffer for drive 2.
9.2.4.5
Example 2: write parameters (multi-parameter request)
Requirements
1. The PROFIdrive controller has been commissioned and is fully operational.
2. PROFIdrive communication between the controller and the device is operational.
3. The controller can read and write data sets in conformance with PROFIdrive DPV1.
Special requirements for this example:
4. Control type: Servo with activated "Extended setpoint channel" function module
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Task description
Jog 1 and 2 are to be set up for drive 2 (also drive object number 2) via the input terminals of
the Control Unit. A parameter request is to be used to write the corresponding parameters as
follows:
• BI: p1055 = r0722.3
Jog bit 0
• BI: p1056 = r0722.4
Jog bit 1
• p1058 = 300 1/min
Jog 1 speed setpoint
• p1059 = 600 1/min
Jog 2 speed setpoint
The request is to be handled using a request and response data block.
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Task description for multi-parameter request (example)
Basic procedure
1. Create a request to write the parameters.
2. Invoke the request.
3. Evaluate the response.
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9.2 Communication according to PROFIdrive
Activity
1. Create the request.
Parameter request
Request header
1st parameter
address
Offset
Request reference = 40
hex
Request ID = 02 hex
0+1
Axis = 02 hex
No. of parameters = 04 hex
2+3
Attribute = 10 hex
No. of elements = 01 hex
4+5
Parameter no. = 1055 dec
6
Subindex = 0 dec
2nd parameter
address
3rd parameter
address
4th parameter
address
4th parameter
address
4th parameter
address
Attribute = 10 hex
8
No. of elements = 01 hex
Parameter no. = 1056 dec
12
Subindex = 0 dec
14
Attribute = 10 hex
No. of elements = 01 hex
18
Subindex = 0 dec
20
Attribute = 10 hex
No. of elements = 01 hex
24
Subindex = 0 dec
26
Attribute = 10 hex
No. of elements = 01 hex
4th parameter
value(s)
22 + 23
Parameter no. = 1059 dec
24
Subindex = 0 dec
26
Attribute = 10 hex
No. of elements = 01 hex
Parameter no. = 1059 dec
Format = 07 hex
26
No. of values = 01 hex
Value = 02D2 hex
Format = 07 hex
28 + 29
30
32
No. of values = 01 hex
Value = 02D2 hex
Format = 08 hex
22 + 23
24
34 + 35
36
Value = 0405 hex
3rd parameter
value(s)
22 + 23
Parameter no. = 1059 dec
Value = 0404 hex
2nd parameter
value(s)
16 + 17
Parameter no. = 1058 dec
Subindex = 0 dec
1st parameter
value(s)
10 + 11
38
No. of values = 01 hex
40 + 41
Value = 4396 hex
42
Value = 0000 hex
44
Format = 08 hex
No. of values = 01 hex
46 + 47
Value = 4416 hex
48
Value = 0000 hex
50
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Information about the parameter request:
● Request reference:
The value is selected at random from the valid value range. The request reference
establishes the relationship between request and response.
● Request ID:
02 hex → This identifier is required for a write request.
● Axis:
02 hex → The parameters are written to drive 2.
● No. of parameters
04 hex → The multi-parameter request comprises 4 individual parameter requests.
1st parameter address ... 4th parameter address
● Attribute:
10 hex → The parameter values are to be written.
● No. of elements
01 hex → 1 array element is written.
● Parameter number
Specifies the number of the parameter to be written (p1055, p1056, p1058, p1059).
● Subindex:
0 dec → ID for the first array element.
1st parameter value ... 4th parameter value
● Format:
07 hex → Data type Unsigned32
08 hex → Data type FloatingPoint
● No. of values:
01 hex → A value is written to each parameter in the specified format.
● Value:
BICO input parameter: enter signal source.
Adjustable parameter: enter value
2. Invoke the parameter request.
3. Evaluate the parameter response.
Parameter response
Response header
Offset
Request reference mirrored
= 40 hex
Response ID = 02 hex
0
Axis mirrored = 02 hex
No. of parameters = 04 hex
2
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9.3 Communication via PROFIBUS DP
Information about the parameter response:
● Request reference mirrored:
This response belongs to the request with request reference 40.
● Response ID:
02 hex → Write request positive
● Axis mirrored:
02 hex → The value matches the value from the request.
● No. of parameters:
04 hex → The value matches the value from the request.
9.3
Communication via PROFIBUS DP
9.3.1
General information about PROFIBUS
General information
PROFIBUS is an open international field bus standard for a wide range of production and
process automation applications.
The following standards ensure open, multi-vendor systems:
● International standard EN 50170
● International standard IEC 61158
PROFIBUS is optimized for high-speed, time-critical data communication at field level.
Note
PROFIBUS for drive technology is standardized and described in the following document:
Reference: /P5/ PROFIdrive Profile Drive Technology
CAUTION
Before synchronizing to the isochronous PROFIBUS, all of the pulses of the drive objects
must be inhibited - also for those drives that are not controlled via PROFIBUS.
CAUTION
No CAN cables must be connected to interface X126. If CAN cables are connected, the
CU305 and other CAN bus nodes could be seriously damaged.
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Master and slave
● Master and slave properties
Table 9- 34
Master and slave properties
Properties
Master
Slave
As bus node
Active
Passive
Send messages
Permitted without external
request
Only possible on request by
master
Receive messages
Possible with no restrictions
Only receive and acknowledge
permitted
● Master
Masters are categorized into the following classes:
– Master class 1 (DPMC1):
Central automation stations that exchange data with the slaves in cyclic and acyclic
mode. Communication between the masters is also possible.
Examples: SIMATIC S7, SIMOTION
– Master class 2 (DPMC2):
Devices for configuration, commissioning, operator control and monitoring during bus
operation. Devices that only exchange data with the slaves in acyclic mode.
Examples: Programming devices, human machine interfaces
● Slaves
With respect to PROFIBUS, the SINAMICS drive unit is a slave.
Bus access method
PROFIBUS uses the token passing method, i.e. the active stations (masters) are arranged in
a logical ring in which the authorization to send is received within a defined time frame.
Within this time frame, the master with authorization to send can communicate with other
masters or handle communication with the assigned slaves in a master/slave procedure.
PROFIBUS telegram for cyclic data transmission and acyclic services
Each drive unit that supports cyclic process data exchange uses a telegram to send and
receive all the process data. A separate telegram is sent in order to perform all the acyclic
services (read/write parameters) under a single PROFIBUS address. The acyclic data is
transmitted with a lower priority after cyclic data transmission.
The overall length of the telegram increases with the number of drive objects that are
involved in exchanging process data.
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9.3.2
Commissioning PROFIBUS
9.3.2.1
General information about commissioning
Interfaces and diagnostic LED
A PROFIBUS interface with LEDs and address switches is available on the Control Unit.
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Interfaces and diagnostic LED
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● PROFIBUS interface
The PROFIBUS interface is described in the following documentation:
References: SINAMICS S110 Equipment Manual
● PROFIBUS diagnostic LED
Note
A teleservice adapter can be connected to the PROFIBUS interface (X126) for remote
diagnostics purposes.
Setting the PROFIBUS address
Two methods are available for setting the PROFIBUS address:
1. Via the PROFIBUS address switches on the Control Unit
– In this case, p0918 is read-only and simply displays the set address.
– A change is not effective until POWER ON.
2. Via p0918
– You can only use this method when all the PROFIBUS address switches from S1 to
S7 are set to ON or OFF.
– Address changes made via parameters must be saved in a non-volatile memory using
the "Copy from RAM to ROM" function.
– A change is not effective until POWER ON.
Example:
Setting the PROFIBUS address using the PROFIBUS address switches on the Control Unit.
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Note
The factory settings are "ON" or "OFF" for all switches. With these two settings, the
PROFIBUS address is set by parameterization.
Parameter p0918 is unique to the Control Unit (see Control Unit). The factory setting is 126.
Address 126 is used for commissioning. Permitted PROFIBUS addresses are 1 ... 126.
If more than one CU is connected to a PROFIBUS line, the address settings must differ from
the factory settings. Note that each address can only be assigned once on a PROFIBUS
line. This can be achieved using the address switch or by adjustable parameter p0918
accordingly. The setting can be made by connecting the 24 V supply step by step and
resetting p0918, for example.
The address setting on the switch is displayed in r2057.
Each change made to the bus address is not effective until POWER ON.
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Device master file
A device master file provides a full and clear description of the features of a PROFIBUS
slave.
The GSD files can be found at the following locations:
● On the CD for the STARTER commissioning tool
Order no. 6SL3072-0AA00-0AGx
Figure 9-21
Hardware catalog of the generic station description file with slave-to-slave
communication functionality
The "SINAMICS S110 CU305 V4.3" GSD file contains standard telegrams, free telegrams
and slave-to-slave telegrams for configuring slave-to-slave communication. The user must
take these telegram parts and an axis separator after each drive object (DO) to compose a
telegram for the drive unit.
Processing a GSD file in HW Config is covered in the SIMATIC documentation.
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Device identification
An identification parameter for individual slaves facilitates diagnostics and provides an
overview of the nodes on the PROFIBUS.
The information for each slave is stored in the following CU-specific parameter:
r0964[0...6] device identification
Bus terminating resistor and shielding
Reliable data transmission via PROFIBUS depends, amongst other things, on the setting for
the bus terminating resistors and the shielding for the PROFIBUS cables.
● Bus terminating resistor
The bus terminating resistors in the PROFIBUS plugs must be set as follows:
– First and last nodes in the line: switch on terminating resistor
– Other nodes in the line: switch off terminating resistor
● Shielding for the PROFIBUS cables
The cable shield in the plug must be connected at both ends with the greatest possible
surface area.
References: SINAMICS S110 Equipment Manual
9.3.2.2
Commissioning procedure
Preconditions and assumptions for commissioning
PROFIBUS slave
● The PROFIBUS address to be set for the application is known.
● The telegram type for each drive object is known by the application.
PROFIBUS master
● The communication properties of the SINAMICS S110 slave must be available in the
master (GSD file or Drive ES slave OM).
Commissioning steps (example with SIMATIC S7)
1. Set the PROFIBUS address on the slave.
2. Set the telegram type on the slave.
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3. Carry out the following in HWConfig:
– Connect the drive to PROFIBUS and assign an address.
– Set the telegram type.
The same telegram type as on the slave should be set for every drive object
exchanging process data via PROFIBUS.
The master can send more process data than the slave uses. A telegram with a larger
PZD number than is assigned for the drive object STARTER can be configured on the
master. The PZDs not supplied by the drive object are filled with zeros.
The setting "without PZD" can also be defined on a node or object.
4. The I/O addresses must be assigned in accordance with the user program.
9.3.2.3
Diagnostics options
The standard slave diagnostics can be read online in the HW config.
9.3.2.4
SIMATIC HMI addressing
You can use a SIMATIC HMI as a PROFIBUS master (master class 2) to access SINAMICS
directly. With respect to SIMATIC HMI, SINAMICS behaves like a SIMATIC S7. For
accessing drive parameters, the following simple rule applies:
● Parameter number = data block number
● Parameter sub-index = bit 0 ... 9 of data block offset
● Drive object number = bit 10 ... 15 of data block offset
Pro Tool and WinCC flexible
The SIMATIC HMI can be configured flexibly with "Pro Tool" or "WinCC flexible".
The following specific settings for drives must be observed when configuration is carried out
with Pro Tool or WinCC flexible.
Controllers: Protocol always "SIMATIC S7 - 300/400"
Table 9- 35
Other parameters
Field
Value
Network parameter profile
DP
Network parameter baud rate
Any
Communication partner address
PROFIBUS address of the drive unit
Communication partner
slot/subrack
don’t care, 0
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Table 9- 36
Tags: "General" tab
Field
Value
Name
Any
Control
Any
Type
Depending on the addressed parameter value,
e.g.:
INT: for integer 16
DINT: for integer 32
WORD: for unsigned 16
REAL: for float
Area
DB
DB
(data block number)
Parameter number
1 ... 65535
DBB, DBW, DBD
(data block offset)
Drive object No. and sub-index
bit 15 ... 10: Drive object No. 0 ... 63
bit 9 ... 0: Sub-index 0 ... 1023
or expressed differently
DBW = 1024 * drive object No. + sub-index
Length
Not activated
Acquisition cycle
Any
No. of elements
1
Decimal places
Any
Note
• You can operate a SIMATIC HMI together with a drive unit independently of an existing
control.
A basic "point-to-point" connection can only be established between two nodes (devices).
• The "variable" HMI functions can be used for drive units. Other functions cannot be used
(e.g. "messages" or "recipes").
• Individual parameter values can be accessed. Entire arrays, descriptions, or texts cannot
be accessed.
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9.3.2.5
Monitoring: telegram failure
Description
When monitoring telegram failure, SINAMICS differentiates between two cases:
1. Telegram failure with a bus fault
After a telegram failure and the additional monitoring time has elapsed (p2047), bit
r2043.0 is set to "1" and alarm A01920 is output. Binector output r2043.0 can be used for
an emergency stop, for example.
Once the delay time (p2044) has elapsed, fault F01910 is output. Fault F01910 triggers
fault response OFF2 (pulse inhibit) for the infeed and OFF3 (emergency stop) for
SERVO/VECTOR. If no OFF response is to be triggered, the fault response can be
reparameterized accordingly.
Fault F01910 can be acknowledged immediately. The drive can then be operated even
without PROFIdrive.
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Monitoring telegram failure with a bus fault
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9.3 Communication via PROFIBUS DP
2. Telegram failure with a CPU stop
After telegram failure, bit r2043.0 is set to "1". Binector output r2043.0 can be used for an
emergency stop, for example.
Once the delay time (p2044) has elapsed, fault F01910 is output. Fault F01910 triggers
fault response OFF2 (pulse inhibit) for the infeed and OFF3 (emergency stop) for
SERVO/VECTOR. If no OFF response is to be triggered, the fault response can be
reparameterized accordingly.
Fault F01910 can be acknowledged immediately. The drive can then be operated even
without PROFIdrive.
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Note
The additional monitoring time parameter p2047 is only useful for cyclic communication.
During isochronous communication, a telegram failure should be recorded without delay,
in order to respond as quickly as possible.
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9.3.3
Motion Control with PROFIBUS
Motion Control /Isochronous drive link with PROFIBUS
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Motion Control/Isochronous drive link with PROFIBUS, optimized cycle with TMAPC = 2 ∙ TDP
Sequence of data transfer to closed-loop control system
1. Position actual value G1_XIST1 is read into the telegram image at time TI before the start
of each cycle and transferred to the master in the next cycle.
2. Closed-loop control on the master starts at time TM after each position controller cycle
and uses the current actual values read previously from the slaves.
3. In the next cycle, the master transmits the calculated setpoints to the telegram image of
the slaves. The speed setpoint command NSOLL_B is issued to the closed-loop control
system at time TO after the beginning of the cycle.
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Designations and descriptions for Motion Control
Table 9- 37
Time settings and meanings
Name
Limit
Description
TBASE_DP
250 µs
Time basis for TDP
TDP
TDP ≥ TDP_MIN
DP cycle time
TDP_MIN ≤ TDP ≤ TDP_MAX
TDP = Dx + MSG + RES + GC
TDP = multiple integer ∙ TBASE_DP
TDP_MIN = 1 ms
TDP_MAX =32 ms
TMAPC
Master application cycle time
This is the time frame in which the master application generates new
setpoints (e.g. in the position controller cycle).
TMAPC = integer multiple * TDP
TBASE_IO
250 µs
Time basis for TI, TO
TI
TI_MIN ≤ TI < TDP
Time of actual-value sensing
This is the time at which the actual position value is captured before the
start of each cycle.
TI = integer multiple of TBASE_IO
TI_MIN corresponds to the current controller clock cycle of the drive object
(servo) in the drive unit (= 250 µs).
TO
TDX + TO_MIN≤ TO ≤ TDP
Time of setpoint transfer
This is the time at which the transferred setpoints (speed setpoint) are
accepted by the closed-loop control system after the start of the cycle.
TO = integer multiple of TBASE_IO
TO_MIN corresponds to the speed controller cycle of the drive object
(servo) in the drive unit (= 250 µs).
TDX
TDX < TDP
Data exchange time
This is the time required within one cycle for transferring process data to
all available slaves.
TPLL_W
-
PLL window
TPLL_D
-
PLL delay time
GC
Global Control Telegram (Broadcast Telegram)
Dx
Data_Exchange
This service is used to implement user data exchange between master
and slave 1 - n.
MSG
Acyclic service
This service is used to implement user data exchange between master
and slave 1 - n on an acyclical basis.
RES
Reserve: "Active pause" until the isochronous cycle has expired
R
Calculation time for speed or position controller in the master or slave
TM
Master time
Start of closed-loop master control
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Setting criteria for times
● Cycle (TDP)
– TDP must be set to the same value for all bus nodes.
– TDP > TDX and TDP > TO
TDP is thus large enough to enable communication with all bus nodes.
NOTICE
After TDP has been changed on the PROFIBUS master, the drive system must be
switched on (POWER ON) or parameter p0972 = 1 (reset drive unit) must be set.
● TI and TO
– Setting the times in TI and TO to be as short as possible reduces the dead time in the
position control loop.
– TO > TDX + TOmin
● A tool can be used for settings and optimization (e.g. HW Config in SIMATIC S7).
Minimum times for reserves
Table 9- 38
Minimum times for reserves
Data
Time required [µs]
Base load
300
Per slave
20
Per byte of user data
1,5
One additional class 2 master
500
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User data integrity
User data integrity is verified in both transfer directions (master ↔ slave) by a sign of life (4bit counter).
The sign of life counters are incremented from 1 to 15 and then start again at 1.
● Master sign of life
– STW2.12 ... STW2.15 are used for the master sign of life.
– The master sign of life counter is incremented in each master application cycle
(TMAPC).
– The number of sign-of-life errors tolerated can be set via p0925.
– p0925 = 65535 deactivates sign-of-life monitoring on the slave.
– Monitoring
The master sign of life is monitored on the slave and any sign-of-life errors are
evaluated accordingly.
The maximum number of tolerated master sign-of-life errors with no history can be set
via p0925.
If the number of tolerated sign-of-life errors set in p0925 is exceeded, the response is
as follows:
– A corresponding message is output.
– The value zero is output as the slave sign of life.
– Synchronization with the master sign of life is started.
● Slave sign of life
– ZSW2.12 ... ZSW2.15 are used for the slave sign of life.
– The slave sign of life counter is incremented in each DP cycle (TDP).
9.3.4
Slave-to-slave communication
9.3.4.1
General information
For PROFIBUS DP, the master addresses all of the slaves one after the other in a DP cycle.
In this case, the master transfers its output data (setpoints) to the particular slave and
receives as response the input data (actual values). Fast, distributed data transfer between
drives (slaves) is possible using the "slave-to-slave communication" function without direct
involvement from the master.
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The following terms are used for the functions described here:
● Slave-to-slave communication
● Data Exchange Broadcast (DXB.req)
● Slave-to-slave communication (is used in the following)
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Publisher
With the "slave-to-slave communication" function, at least one slave must act as the
publisher.
The publisher is addressed by the master when the output data are transferred with a
modified layer 2 function code (DXB.req). The publisher then sends its input data to the
master with a broadcast telegram to all bus nodes.
Subscriber
The subscribers evaluate the broadcast telegrams, sent from the publishers, and use the
data which has been received as setpoints. The setpoints are used, in addition to the
setpoints received from the master, corresponding to the configured telegram structure
(p0922).
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Links and taps
The links configured in the subscriber (connections to publisher) contain the following
information:
● From which publisher is input data received?
● Which input data are there?
● Where are the additional setpoints received?
Several taps are possible within a link. Several input data or input data areas, which are not
associated with one another, can be used as setpoint via a tap.
Prerequisites and supplementary conditions
The following supplementary conditions should be observed for the "slave-to-slave
communication" function:
● STARTER Version 4.2 or higher
● Drive ES Basic version 5.3 SP3 or higher
● Firmware version 4.3 or higher
● The maximum number of process data per drive can be identified from the value in r2050
– minus the resources that have already been used
● 4 links to publishers
Applications
For example, the following applications can be implemented using the "slave-to-slave
communication" function:
● Axis couplings (this is practical for isochronous mode)
● Specifying binector connections from another slave
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9.3.4.2
Setpoint assignment in the subscriber
Information about setpoints
● Number of setpoint
When bus communication is being established, the master signals the slave the number
of setpoints (process data) to be transferred using the configuring telegram (ChkCfg).
● Contents of the setpoints
The structure and contents of the data are determined using the local process data
configuration for the "SINAMICS slave".
● Operation as "standard" slave
The drive unit (slave) only receives its setpoints as output data from the master.
● Operation as subscriber
When a slave is operated as a subscriber, some of the setpoints are defined by one or
more publishers rather than by the master.
The slave is informed of the assignment via the parameterization and configuration
telegram when bus communication is being established.
9.3.4.3
Activating/parameterizing slave-to-slave communication
The "slave-to-slave communication" function must be activated both in the publishers as well
as in the subscribers, whereby only the subscriber is to be configured. The publisher is
automatically activated during bus startup.
Activation in the Publisher
The master is informed abut which slaves are to be addressed as publishers with a modified
layer 2 function code (DXB req) via the configuration of the subscriber links.
The publisher then sends its input data not only to the master but also as a broadcast
telegram to all bus nodes.
These settings are made automatically using the bus configuration tool (e.g. HW Config).
Activation in the Subscriber
The slave, which is to be used as Subscriber, requires a filter table. The slave must know
which setpoints are received from the master and which are received from a publisher.
The filter table is created automatically via the bus configuration tool (e.g. HW Config).
The following diagram shows the information contained in the filter table.
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Parameterizing telegram (SetPrm)
The filter table is transferred, as dedicated block from the master to the slave with the
parameterizing telegram when a bus communication is established.
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Configuration telegram (ChkCfg)
Using the configuration telegram, a slave knows how many setpoints are to be received from
the master and how many actual values are to be sent to the master.
For slave-to-slave communication, a special space ID is required for each tap. The
PROFIBUS configuration tool (e.g. HW Config) generates this ID. The ID is then transferred
with the ChkCfg into the drive devices that operate as subscribers.
9.3.4.4
Commissioning of the PROFIBUS slave-to-slave communication
The commissioning of slave-to-slave communication between two SINAMICS drive devices
using the additional Drive ES package is described below in an example.
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Settings in HW Config
The project below is used to describe the settings in HW Config, using the example
"Standard telegrams".
Figure 9-27
Example project of a PROFIBUS network in HW Config
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Procedure
1. Select a slave (e.g. SINAMICS S) and use its properties to configure the telegram for the
connected drive object.
2. Select a SINAMICS S as a slave and use its properties dialog to configure the telegram
portions for the individual drive objects.
Figure 9-28
Telegram selection for drive object
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3. Then go to the detail view.
Slots 4/5 contain the actual values and setpoints for the first drive object, e.g. SERVO.
Slots 7/8 are the telegram portion for the actual and setpoint values for the second drive
object, e.g. CU.
Figure 9-29
Detail view of slave configuration
4. The "Insert slot" button is used to create a new setpoint slot for the first drive object
behind the existing setpoint slot.
Figure 9-30
Insert new slot
5. Assign the setpoint slot the type "slave-to-slave communication".
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6. In the column, select the PROFIBUS DP address of the publisher.
This displays all PROFIBUS DP slaves from which actual value data can be requested. It
also provides the possibility of sharing data via slave-to-slave communication within the
same drive device.
7. The "I/O address" column displays the start address for every drive object.
Select the start address of the data of the drive object to be read. This is 268 in the
example.
If the complete data of the Publisher are not read, set this via the "Length" column. You
may also offset the start address for the request, so that data can be read out in the
middle of the drive object telegram portion.
Figure 9-31
Configuring the slave-to-slave communication nodes
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8. The "Data Exchange Broadcast - Overview" tab shows you the configured slave-to-slave
communication relationships which correspond to the current status of the configuration
in HW Config.
Figure 9-32
Data Exchange Broadcast - Overview
9. After the slave-to-slave communication link has been created, instead of showing
"Standard telegram 2" for the drive object, "User-defined" appears in the configuration
overview.
Figure 9-33
Telegram assignment for slave-to-slave communication
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10.The details after creation of the slave-to-slave communication link for a drive object of the
SINAMICS S drive device are as follows:
Figure 9-34
Details after the creation of the slave-to-slave communication link
11.You need to adjust the telegrams accordingly for each drive object of the selected drive
device which is to actively participate in slave-to-slave communication.
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Commissioning in STARTER
Slave-to-slave communication is configured in HWConfig and is simply an extension of an
existing telegram. Telegrams can be extended in STARTER (p0922 = 999).
Figure 9-35
Configuring the slave-to-slave communication links in STARTER
To complete the configuration of slave-to-slave communication for the drive objects, the
telegram portions of the drive objects in STARTER must be matched to those in the HW
Config and extended. The configuration is made centrally via the configuration of the
respective drive device.
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Procedure
1. In the overview for the PROFIBUS telegram, you can access the telegram portions of the
drive objects, here SERVO_01. Select the telegram type "Free telegram configuration
with BICO" for the configuration.
2. Enter the telegram lengths for the input data and output data according to the settings in
HW Config. For slave-to-slave communication links, the input data consists of the
telegram portion of the master and the slave-to-slave communication data.
3. Then, in the telegram selection, set the telegram portion to the "Standard telegram" (in
the example: Standard telegram 2), which results in a split display of the telegram types
(standard telegram + telegram extension). The telegram extension represents the
telegram portion of slave-to-slave communication.
Figure 9-36
Display of the telegram extension
By selecting the item "Communication → PROFIBUS" for the drive object "SERVO_01" in the
project navigator, you get the structure of the PROFIBUS telegram in the receive and send
direction.
The telegram extension from PZD5 is the portion for slave-to-slave communication.
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Figure 9-37
Configuring the PROFIBUS slave-to-slave communication in STARTER
To connect the drive objects to the process data which is received via slave-to-slave
communication, you also need to connect the appropriate connectors to the corresponding
signal sinks. A list for the connector shows all signals that are available for interconnection.
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Figure 9-38
Linking the PZDs for slave-to-slave communication with external signals
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9.3.4.5
Diagnosing the PROFIBUS slave-to-slave communication in STARTER
Since the PROFIBUS slave-to-slave communication is implemented on the basis of a
broadcast telegram, only the subscriber can detect connection or data faults, e.g. via the
Publisher data length (see "Configuration telegram").
The Publisher can only detect and report an interruption of the cyclic connection to the DP
master (A01920, F01910). The broadcast telegram to the subscriber will not provide any
feedback. A fault of a subscriber must be fed back via slave-to-slave communication. In case
of a "master drive" 1:n, however, the limited quantity framework (see "Links and requests")
should be observed. It is not possible to have n subscribers report their status via slave-toslave communication directly to the "master drive" (Publisher)!
For diagnostic purposes, there are the diagnostic parameters r2075 ("PROFIBUS
diagnostics, receive telegram offset PZD") and r2076 ("PROFIBUS diagnostics, send
telegram offset PZD"). The parameter r2074 ("PROFIBUS diagnostics, receive bus address
PZD") displays the DP address of the setpoint source of the respective PZD.
r2074 and r2075 enable the source of a slave-to-slave communication relationship to be
verified in the Subscriber.
Note
The Subscribers do not monitor the existence of an isochronous Publisher sign of life.
Faults and alarms with PROFIBUS slave-to-slave communication
The alarm A01945 signals that the connection to a least one Publisher of the drive device is
missing or has failed. Any interruption to the Publisher is also reported by the fault F01946 at
the affected drive object. A failure of the Publisher will therefore only affect the respective
drive objects.
More detailed information on the messages can be found in
References: SINAMICS S120/150 List Manual
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9.4
Communication via PROFINET IO
9.4.1
General information about PROFINET IO
9.4.1.1
Real-time (RT) and isochronous real-time (IRT) communication
Real-time communication
When communication takes place via TCP/IP, the resultant transmission times may be too
long and non-deterministic to meet production automation requirements. When
communicating time-critical IO user data, PROFINET IO therefore uses its own real-time
channel, rather than TCP/IP.
Determinism
Determinism means that a system will react in a predictable ("deterministic") manner.
With PROFINET IO, it is possible to precisely determine (predict) transmission times.
PROFINET IO with RT (Real Time)
Real time means that a system processes external events over a defined period.
Process data and alarms are always transmitted in real time (RT) within the PROFINET IO
system. RT communication provides the basis for data exchange with PROFINET IO. Realtime data are treated as a higher priority than TCP(UDP)/IP data. Transmission of timecritical data takes place at guaranteed time intervals.
PROFINET IO with IRT (Isochronous Real Time)
Isochronous Real Time Ethernet: Real time property of PROFINET IO where IRT telegrams
are transmitted deterministically via planned communication paths in a defined sequence to
achieve the best possible synchronism and performance between the IO controller and IO
device (drive unit). This is also known as time-scheduled communication whereby
knowledge about the network structure is utilized. IRT requires special network components
that support planned data transfer.
Cycle times of minimum 500 μs and a jitter accuracy of less than 1 μs can be achieved when
this transmission method is implemented.
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Data transfer
Properties
The PROFINET interface on a drive unit supports the simultaneous operation of:
● IRT – isochronous real-time Ethernet
● RT – real-time Ethernet
● Standard Ethernet services (TCP/IP, LLDP, UDP and DCP)
PROFIdrive telegram for cyclic data transmission, acyclic services
Telegrams to send and receive process data are available for each drive object of a drive
unit with cyclic process data exchange.
In addition to cyclic data transfer, acyclic services can also be used for parameterizing and
configuring the drive unit. These acyclic services can be utilized by the IO supervisor or IO
controller.
Sequence of drive objects in cyclic data transmission
The sequence of drive objects is displayed via a list in p0978[0...15] where it can also be
changed.
Note
The sequence of drive objects in HW Config must be the same as that in the drive (p0978).
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9.4.1.3
General information about PROFINET IO for SINAMICS
General information
PROFINET IO is an open Industrial Ethernet standard for a wide range of production and
process automation applications. PROFINET IO is based on Industrial Ethernet and
observes TCP/IP and IT standards.
Signal processing in real time and determinism is important in industrial networks.
PROFINET IO satisfies these requirements.
The following standards ensure open, multi-vendor systems:
● International standard IEC 61158
PROFINET IO is optimized for high-speed, time-critical data transfers at field level.
PROFINET IO
Within the context of Totally Integrated Automation (TIA), PROFINET IO is the systematic
development of the following systems:
● PROFIBUS DP, the established field bus,
and
● Industrial Ethernet, the communications bus for the cell level.
Experience gained from both systems was and is being integrated into PROFINET IO. As an
Ethernet-based automation standard defined by PROFIBUS International (PROFIBUS user
organization), PROFINET IO is a manufacturer-independent communication and engineering
model.
PROFINET IO defines every aspect of the data exchange between IO controllers (devices
with so-called "master functionality" and the IO devices (those with so-called "slave
functionality") as well as parameterization and diagnostic processes. An IO system is
configured by virtually the same method used for PROFIBUS.
A PROFINET IO system is assembled from the following devices:
● The IO controller controls automation tasks.
● An IO device is controlled and monitored by an IO controller. An IO device consists of
several modules and submodules.
● IO supervisor is an engineering tool typically based on a PC that is used to parameterize
and diagnose individual IO devices (drive units).
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IO device: Drive units with PROFINET interface
● SINAMICS S120 with CU320-2 DP and inserted CBE20
● SINAMICS S120 with CU320-2 PN
● SINAMICS S120 with CU310-2 PN
Cycle communication using PROFINET IO with IRT or using RT is possible on all drive units
equipped with a PROFINET interface. This means that problem-free communication using
other standard protocols is guaranteed within the same network.
Note
PROFINET for drive technology is standardized and described in the following document:
PROFIBUS Profile PROFIdrive – Profile Drive Technology
Version V4.1, May 2006,
PROFIBUS User Organization e. V.
Haid-und-Neu-Straße 7,
D-76131 Karlsruhe
http://www.profibus.com,
Order no. 3.172, spec. Chapter 6
• IEC 61800-7
CAUTION
The cyclic PZD channel for PROFIBUS DP is initially deactivated when the CBE20 is
plugged in and for the CU320 2 DP. It can however be activated again with parameter
(p8839) (see chapter "Parallel operation of communication interfaces").
9.4.1.4
Addresses
MAC address
Each PROFINET interface is assigned a worldwide unique device identifier in the factory.
This 6-byte long device identifier is the MAC address. The MAC address is divided up as
follows:
● 3 bytes manufacturer's ID and
● 3 bytes device identifier (consecutive number).
The MAC address is on the corresponding rating plate (CU305-PN).
e.g.: 08-00-06-6B-80-C0
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IP address
To allow a PROFINET device to be addressed as a node on Industrial Ethernet, this device
also requires an IP address that is unique within the network. The IP address is made up of
4 decimal numbers with a range of values from 0 through 255. The decimal numbers are
separated by a period. The IP address is made up of
● The address of the (sub-) network and
● The address of the node (generally called the host or network node)
IP address assignment
The TCP/IP protocol is a prerequisite for establishing a connection and parameterization.
This is the reason that an IP address is required.
The IP addresses of IO devices can be assigned by the IO controller and always have the
same sub-network mask as the IO controller. In this case, the IP address is not stored
permanently. The IP address entry is lost after POWER ON/OFF. If the IP address is to be
stored in a non-volatile memory, the address must be assigned using the Primary Setup Tool
(PST).
This can also be performed with HW Config of STEP 7, where the function is called "Edit
Ethernet node".
Note
If the network is part of an existing Ethernet company network, obtain the information (IP
address) from your network administrator.
Device name (NameOfStation)
When it is shipped, an IO device does not have a device name. An IO device can only be
addressed by an IO controller, for example, for the transfer of project engineering data
(including the IP address) during startup or for user data exchange in cyclic operation, after it
has been assigned a device name with the IO supervisor.
NOTICE
The device name must be stored retentively using either the Primary Setup Tool (PST) or
with HW Config of STEP 7.
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Replacing the Control Unit CU305-DP (IO device)
If the IP address and device name are stored in non-volatile memory on a suitable memory
card, this data is also forwarded with the Control Unit memory card.
If a complete Control Unit needs to be replaced due to a device or module defect, the new
Control Unit automatically parameterizes and configures using the data on the memory card.
Following this, cyclic exchange of user data are restarted. The memory card allows module
exchange without an IO supervisor when a fault occurs in a PROFINET device.
9.4.1.5
PROFINET: Address parameters
Overview of important parameters (see SINAMICS S110 List Manual)
For integrated PROFINET interface
● p8920[0...239] PN Name of station
● p8921[0...3] PN IP Address of station
● p8922[0...3] PN Default gateway of station
● p8923[0...3] PN Subnet mask of station
● p8925 PN interface configuration
● p8929 PN Number of remote controllers
● r8930[0...239] PN Name of station active
● r8931[0...3] PN IP Address of station active
● r8932[0...3] PN Default gateway of station active
● r8933[0...3] PN Subnet mask of station active
● r8935[0...5] PN MAC address of station
● r8936[0...1] PN State of the cyclical connections
● r8937[0...5] PN Diagnostics
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9.4.2
Hardware setup
9.4.2.1
Structuring CU305 with PROFINET
PROFINET interface for CU305 PN
A PROFINET interface with 2 ports is integrated in the CU305 PN module.
Note
The ports must not be interconnected in such a way that a ring topology is created.
References
● The PROFINET interface on the CU305 PN unit is described in the document: SINAMICS
S110 Manual.
Clock generation via PROFINET IO (isochronous communication)
The SINAMICS S110 with CU305 PN can only assume the role of a synchronization slave
within a PROFINET IO network.
The following applies for a CU305 PN:
● Transmission type IRT, IO device is synchronization slave and isochronous, send clock
cycle is applied to bus: Control Unit synchronizes with the bus and the send clock cycle
becomes the cycle for the Control Unit.
● RT or IRT (option drive unit "not isochronous") has been configured. The SINAMICS does
not use a local clock (clock configured in SINAMICS).
Telegrams
PROFIdrive telegrams are available for implementing cyclic communication via PROFINET
IO (see section "Communication according to PROFIdrive", cyclic communication).
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9.4 Communication via PROFINET IO
DCP flashing
This function is used to check the correct assignment to a module and its interfaces. This
function is supported by SINAMICS S110 with CU305 PN.
1. In HW Config or STEP7 Manager, select the menu item "Target system" > "Ethernet" >
"Edit Ethernet node".
2. The "Edit Ethernet node" dialog box opens.
3. Click on the "Browse" button.
4. The "Browse Network" dialog box opens and displays the connected nodes.
5. After the SINAMICS S110 with CU305 PN has been selected as a node, activate the
"DCP flashing" function by means of the "Flash" button.
The "DCP flashing" function is activated on the RDY (READY LED 2 Hz, green/orange or
red/orange) LED display on the CU305PN.
The LED will continue to flash as long as the dialog is open. When the dialog is closed, the
LED will go out automatically. The function is available as of STEP7 V5.3 SP1 via Ethernet.
STEP 7 Routing
The CU305 does not support STEP 7 routing between PROFIBUS and PROFINET IO.
Connecting the IO supervisor
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Connecting the IO supervisor
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661
Communication
9.4 Communication via PROFINET IO
9.4.3
RT classes for PROFINET IO
PROFINET IO is a scalable realtime communication system based on Ethernet technology.
The scalable approach is expressed with three realtime classes.
RT
RT communication is based on standard Ethernet. The data are transferred via prioritized
Ethernet telegrams. Because standard Ethernet does not support any synchronization
mechanisms, isochronous operation is not possible with PROFINET IO with RT! The realtime capability is comparable with the present PROFIBUS DP solutions with 12 MBaud, i.e. a
sufficiently large bandwidth portion is available for the parallel transmission of IT services on
the same line.
The real update cycle in which cyclic data are exchanged depends on the bus load, the
devices used and the quantity framework of the I/O data. The update cycle is a multiple of
the send cycle.
IRT
Two options are available with this RT class:
● IRT "high flexibility"
● IRT "high performance".
Software preconditions for configuring IRT:
● STEP 7 5.4 SP4 (HW Config)
Note
For further information about configuring the PROFINET interface for the I/O controller
and I/O device, please refer to the following document: SIMOTION SCOUT
Communication System Manual.
IRT "high flexibility"
The telegrams are sent cyclically in a deterministic cycle (Isochronous Real Time). The
telegrams are exchanged in a bandwidth reserved by the hardware. One IRT time interval
and one standard Ethernet time interval are created for each cycle.
Note
IRT "high flexibility" cannot be used for isochronous applications.
Function Manual
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Communication
9.4 Communication via PROFINET IO
IRT "high performance"
In addition to the bandwidth reservation, the telegram traffic can be further optimized by
configuring the topology. This enhances the performance during data exchange and the
deterministic behavior. The IRT time interval can thus be further optimized or minimized with
respect to IRT "high flexibility".
In addition to the isochronous data transfer provided by IRT, even the application itself
(position control cycle, IPO cycle) can be isochronous in the devices. This is an essential
requirement for closed-loop axis control and synchronization via the bus. Isochronous data
transfer with cycle times well below one millisecond and with a deviation in the cycle start
(jitter) of less than a microsecond provide sufficient performance reserves for demanding
motion control applications.
The RT classes IRT "high flexibility" and IRT "high performance" can be selected as options
in the synchronization settings configuration area of HW Config. In the description below,
both these classes are simply referred to as "IRT".
In contrast to standard Ethernet and PROFINET IO with RT, the telegrams for PROFINET IO
with IRT are transmitted according to a schedule.
Comparison between RT and IRT
Table 9- 39
Comparison between RT and IRT
RT class
RT
IRT "high flexibility"
IRT "high performance"
Transfer mode
Switching based on the MAC
address; prioritization of the
RT telegrams possible using
Ethernet-Prio (VLAN tag)
Switching using the MAC
address;
bandwidth reservation by
reserving an IRT "high
flexibility" interval in which
only IRT "high flexibility"
frames are transferred but,
for example, no TCP/IP
frames
Path-based switching
according to a topologybased plan; no transmission
of TCP/IP frames and IRT
"high flexibility" frames in the
IRT "high performance"
interval.
Isochronous application
in the IO controller
No
No
Yes
Determinism
Variance of the transmission
duration by started TCP/IP
telegrams
Guaranteed transmission of
the IRT "high flexibility"
telegrams in the current
cycle by the reserved
bandwidth.
Exactly planned transfer;
times for transmission and
receiving are guaranteed for
any topologies.
Reload the network
configuration after a change
Not relevant
Only when the size of the
IRT "high flexibility" interval
needs to be modified
(reservation of position is
possible)
Whenever the topology or
the communication
relationships
change
Maximum switching depth
(number of switches in one
line)
10 at 1 ms
61
32
For possible send cycles, see subitem "Send cycles and update cycles for RT classes" in table "Adjustable send cycles
and update cycles"
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Communication
9.4 Communication via PROFINET IO
Set the RT class
The RT class is set by means of the properties of the controller interface of the IO controller.
If RT class IRT "high performance" is set, it is not possible to operate any IRT "high
flexibility" devices on the IO controller and vice versa. IO devices with RT can always be
operated, regardless of the IRT class setting.
You can set the RT class in the HW Config for the associated PROFINET device.
1. In HW Config, double-click on item PROFINET interface in the module.
The "Properties" dialog box is opened.
2. Select the RT class under RT class on the "Synchronization" tab.
3. Once you have selected "IRT", you can also choose between option "high flexibility" and
"high performance".
4. Confirm with "OK".
Synchronization domain
The sum of all devices to be synchronized form a synchronization domain. The whole
domain must be set to a single, specific RT class (real-time class) for synchronization,
Different synchronization domains can communicate with one another via RT.
For IRT, all IO devices and IO controllers must be synchronized with a common
synchronization master.
RT allows an IO controller to communicate with a drive unit outside a synchronization
domain or "through" another synchronization domain. As of version 5.4 SP1, STEP 7
supports multiple synchronization domains on a single Ethernet subnet.
Example:
● Synchronization domain IRT : SIMOTION2 with SINAMICS
● SINAMICS, which is assigned to the IO system of SIMOTION1, is arranged in the
topology in such a way that its RT communication must be established