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12.2010 Configuration
an
d Connection Examples
Siemens AG
6SE7087-6QX70 (Version AM)
SIMOVERT MASTERDRIVES
Compendium Motion Control
2-59
Fig. 2-21
Structure with program
mable safe logic
The safety functions are calculated in
a
similar manner to the examples
above with discrete safety relays.
86
88
Table of Contents
Guidelines for Start-Up
3
Definitions and Warnings
6
Register
12
Contents
14
1 System Description
25
1.1 Overview
25
1.2 System description
26
1.3 Construction sizes
27
1.4 Communication
28
2 Configuration and Connection Examples
29
2.1 Compact PLUS type units
29
2.1.1 Single-axis drive
29
2.1.2 Multi-axis drive up to 3 axes
29
2.1.3 Multi-axis drive
30
2.1.4 Configuration and connection examples (Compact PLUS)
33
2.2 Compact and chassis-type units
37
2.2.1 Water-cooled units
37
2.2.2 Single-axis drive with Compact or chassis-type units
37
2.2.3 Multi-axis drive with Compact or chassis-type units
37
2.2.4 Explanations relating to the configuration examples (Compact and chassis-type units)
41
2.3 Points to look out for when using certain option boards and CUPM
44
2.3.1 Encoder interface connections
44
2.3.2 TB boards
45
2.3.3 EB boards
45
2.4 Safe stop functions of electrical drive systems in accordance with DIN EN 61800-5-2
46
2.4.1 Reference documents
46
2.4.2 Overview
47
2.4.2.1 Safety function STO – Safe Torque Off
47
2.4.2.2 Safety function SS1 – Safe Stop 1 (time controlled)
47
2.4.3 General information about MASTERDRIVES
48
2.4.4 Safety functions
51
2.4.4.1 STO principle in a safety function
52
2.4.4.2 SS1 principle in a safety function
53
2.4.5 Application examples
54
2.4.5.1 Emergency Stop on a converter -> STO
54
2.4.5.2 Measures against common cause failure (CCF) of the safety function
59
2.4.5.3 Check of the PFH value of the safety function as a whole
60
2.4.6 Emergency Stop and protective door monitoring on a converter -> STO
60
2.4.6.1 Protective door safety function
63
2.4.6.2 Supplementary safety function Emergency Stop
68
2.4.7 Emergency Stop and protective door monitoring on a converter-> SS1
69
2.4.7.1 Protective door safety function
73
2.4.7.2 Supplementary safety function Emergency Stop
78
2.4.8 Emergency Stop and protective door monitoring on more than one converter -> STO
83
2.4.8.1 Protective door safety function
85
2.4.8.2 Emergency Stop safety function
85
2.4.9 Use of programmable safety components
86
3 Instructions for Design of Drives in Conformance with EMC Regulations
88
3.1 Foreword
88
3.2 Principles of EMC
89
3.2.1 What is EMC?
89
3.2.2 Noise emission and noise immunity
89
3.2.3 Industrial and domestic applications
90
3.2.4 Non-grounded systems
90
3.3 The frequency converter and its electromagnetic compatibility
91
3.3.1 The frequency converter as a noise source
91
3.3.2 The frequency converter as a noise receiver
94
3.4 EMC planning
95
3.4.1 The zone concept
97
3.4.2 Use of filters and coupling elements
99
3.5 Design of drives in conformance with EMC regulations
100
3.5.1 Basic EMC rules
100
3.5.2 Examples
106
3.6 Assignment of SIMOVERT MASTERDRIVES, radio interference suppression filters and line reactors
113
3.7 Specified standards
113
4 Function Blocks and Parameters
114
4.1 Function blocks
114
4.2 Connectors and binectors
115
4.3 Parameters
117
4.4 Connecting up function blocks (BICO system)
121
5 Parameterization
123
5.1 Parameter menus
123
5.2 Changeability of parameters
127
5.3 Parameter input via the PMU
128
5.4 Parameter input via the OP1S
133
5.4.1 General
133
5.4.2 Connecting, run-up
135
5.4.2.1 Connecting
135
5.4.2.2 Run-up
136
5.4.3 Operator control
138
5.4.3.1 Operator control elements
138
5.4.3.2 Operating display
139
5.4.3.3 Basic menu
140
5.4.3.4 Slave ID
141
5.4.3.5 OP: Upread
142
5.4.3.6 OP: Download
143
5.4.3.7 Delete data
144
5.4.3.8 Menu selection
145
5.4.3.9 Issuing commands via the OP1S
151
5.4.4 Bus operation
152
5.4.4.1 Configuring slaves
152
5.4.4.2 Changing slaves
153
5.4.5 Technical data
153
5.5 Parameter input with DriveMonitor
154
5.5.1 Installation and connection
154
5.5.1.1 Installation
154
5.5.1.2 Connection
154
5.5.2 Establishing the connection between DriveMonitor and the device
155
5.5.2.1 Setting the USS interface
155
5.5.2.2 Starting the USS bus scan
157
5.5.2.3 Creating a parameter set
158
5.5.3 Parameterization
160
5.5.3.1 Structure of the parameter lists, parameterization with DriveMonitor
160
5.5.3.2 General diagnostics
165
6 Parameterizing Steps
166
6.1 Parameter reset to factory setting
168
6.2 Detailed parameterization
170
6.2.1 Power section definition
170
6.2.2 Board configuration
176
6.2.3 Drive setting
180
6.2.4 Motor identification
187
6.2.5 Function adjustment
188
6.3 Quick parameterization procedures
189
6.3.1 Parameterizing with user settings
189
6.3.2 Parameterizing by loading parameter files (download P060 = 6)
190
6.3.3 Parameterizing with parameter modules ( quick parameterization, P060 = 3)
193
7 Functions
210
7.1 Basic functions
210
7.1.1 Time slots
210
7.1.1.1 Time slots T0 to T20
210
7.1.1.2 Processing sequence
212
7.1.1.3 Assignment of function blocks to time slots
213
7.1.2 Processing sequence of the function blocks
215
7.1.2.1 Time monitoring
216
7.1.2.2 Influencing the time response
217
7.2 Technology functions
219
7.2.1 Comfort ramp-function generator
219
7.2.2 Technology controller
220
7.2.3 Basic positioning
221
7.2.3.1 Functions
225
7.2.3.2 Normalization
233
7.2.3.3 Operating modes
237
7.2.3.4 Preprocessing of position setpoint
253
7.2.3.5 Application example
255
7.2.3.6 Change history
259
7.3 Converter functions
260
7.3.1 Friction characteristic function (function diagram 399)
260
7.3.1.1 Friction characteristic
260
7.3.1.2 Friction characteristic recording (automatic procedure)
260
7.3.2 Torque constant adaptation for synchronous motors ( function diagram 393)
262
7.3.3 Tr adaptation function (function diagram 394)
264
7.3.4 Position test function
265
7.3.5 Function "PRBS signal with recording" (function diagram 796)
268
7.3.6 Function "speed filter" (function diagram 361)
270
7.3.7 "Speed controller characteristic" function (function diagram 360)
274
7.3.8 "Field weakening for synchronous motor" function ( function diagram 389)
275
7.3.9 Vdmax closed-loop control (function diagram 610)
280
7.3.10 Harmonic compensation
281
7.4 Special functions
282
7.4.1 Loading firmware
282
8 Communication
287
8.1 Universal Serial lnterface (USS)
288
8.1.1 Protocol specification and bus structure
289
8.1.1.1 Protocol specification
289
8.1.1.2 Bus structure
294
8.1.2 The structure of net data
297
8.1.2.1 General structure of the net-data block
297
8.1.2.2 PKW area
298
8.1.2.3 Process-data area (PZD)
306
8.1.3 Interface overview
307
8.1.4 Connecting-up
310
8.1.4.1 Bus cable connection
310
8.1.4.2 Fitting the bus cable
311
8.1.4.3 EMC measures
312
8.1.4.4 Bus termination, USS protocol
315
8.1.5 Start-up
318
8.1.5.1 Parameterization of the USS protocol (1st step)
319
8.1.5.2 Parameterizing the parameterizing enable and process-data interconnections ( 2nd step)
323
8.2 PROFIBUS
331
8.2.1 Product description of the CBP communications board
331
8.2.2 Description of the CBP's functions on the PROFIBUS-DP
333
8.2.2.1 Cyclical data transmission
335
8.2.2.2 Acyclical data transfer
340
8.2.2.3 Acyclical master class 1, automation (PLC)
342
8.2.2.4 Acyclical master class 2 - Configuration (DriveES)
346
8.2.2.5 Acyclical master class 2 - Operator control (SIMATIC OP)
347
8.2.3 Mechanisms for processing parameters via the PROFIBUS
348
8.2.4 PROFIdrive V3: Acyclic parameter accessing with data block 47
356
8.2.4.1 Comparison between parameter tasks to PROFIdrive version 2 and 3
358
8.2.4.2 Example of "Request parameter value", simple
359
8.2.4.3 Example of "Change parameter value", simple
360
8.2.4.4 Example of "Request parameter value", more than one array element
361
8.2.4.5 Example of "Change parameter value", more than one array element
362
8.2.4.6 Example of "Request parameter value", multi-parameter
363
8.2.4.7 Example of "Change parameter value", multi-parameter
365
8.2.4.8 Request description, individual
367
8.2.4.9 Request description, total
368
8.2.4.10 Request text, individual
369
8.2.4.11 Coding in the parameter task according to PROFIdrive Version 3
370
8.2.5 Mounting methods / CBP slots
373
8.2.5.1 CBP mounting slots in MC Compact PLUS units
373
8.2.5.2 CBP slots in Compact units and chassis-type units with the CUs of function classes Motion Control Performance 2 ( CUPM), Motion Control ( CUMC) and Vector Control ( CUVC)
374
8.2.5.3 CBP slots in Compact and chassis-type units with the CUs of function classes FC ( CU1), VC ( CU2) or SC ( CU3)
376
8.2.6 Connecting up the CBP to the PROFIBUS
377
8.2.6.1 Assignment of plug-in connector X448
377
8.2.6.2 Connecting up the bus cable by means of the RS485 bus connecting system
377
8.2.6.3 Connecting the bus cable with the fiber-optic cable system
382
8.2.6.4 Shielding of the bus cable / EMC measures
384
8.2.7 Starting up the CBP
387
8.2.7.1 Basic parameterization
387
8.2.7.2 Process data interconnection in the units
392
8.2.7.3 Process data interconnection via standard telegrams
399
8.2.7.4 Process data monitoring
401
8.2.8 Settings for the PROFIBUS-DP master (Class 1)
403
8.2.8.1 Operating the CBP with a SIMATIC S5
405
8.2.8.2 Operating the CBP with a SIMATIC S7
407
8.2.8.3 Operating the CBP with a non-Siemens system
409
8.2.8.4 Operating the CBP2 with extended functions with a SIMATIC S7
410
8.2.8.5 CBP2 with cross traffic operated with a SIMATIC S7
411
8.2.8.6 CBP2 with clock synchronization operated with a SIMATIC S7
413
8.2.8.7 CBP2 with clock synchronization on a PROFIBUS master in accordance with PROFIdrive V3
416
8.2.9 MASTERDRIVES as PROFIdrive V3-Slave
418
8.2.9.1 Incorporation of drives in automation systems / plant characterization
420
8.2.9.2 Communication model
424
8.2.9.3 Drive control
425
8.2.9.4 Checkback messages (status words)
426
8.2.9.5 Setpoints / Actual values
427
8.2.9.6 Dynamic Servo Control (DSC)
428
8.2.9.7 Communication interface
436
8.2.9.8 Clock synchronous application
436
8.2.9.9 Encoder interface (from SW 1.6)
437
8.2.10 Diagnosis and troubleshooting
447
8.2.10.1 Evaluating the possibilities of hardware diagnosis
447
8.2.10.2 Fault and alarm display on the basic unit
449
8.2.10.3 Evaluating CBP diagnostic parameters
452
8.2.10.4 Meaning of information in the CBP diagnosis parameter r723
454
8.2.10.5 Additional methods of diagnosis for start-up personnel
458
8.2.10.6 CBP2 diagnostic parameters
464
8.2.10.7 Extended CBP2 diagnosis for start-up personnel
467
8.2.11 Appendix
470
8.3 SIMOLINK
472
8.3.1 General principles
472
8.3.2 Peer-to-peer functionality
476
8.3.3 Application with peer-to-peer functionality
477
8.3.4 Components of the peer-to-peer functionality
479
8.3.5 Parameterization of the peer-to-peer functionality
481
8.3.6 Diagnostics of the peer-to-peer functionality
485
8.3.7 Synchronization of the control circuits by means of the bus cycle time ( MC only)
487
8.3.8 Synchronization diagnostics (MC only)
489
8.3.9 Switchover of the synchronization source (MC only)
489
8.3.10 Special data and application flags
491
8.3.11 Configuration (example of peer-to-peer functionality)
492
8.3.12 Master/slave functionality
496
8.3.13 Application with master/slave functionality
497
8.4 CBC Communications Board
499
8.4.1 Product description
499
8.4.2 Mounting methods / CBC slots
502
8.4.2.1 Mounting positions of the CBC in MC Compact PLUS units
502
8.4.2.2 Mounting positions of the CBC in Compact and chassis units of function classes MC (CUPM, CUMC) and VC (CUVC)
503
8.4.2.3 Mounting positions of the CBC in Compact type and chassis type units with the CU of the function classes FC (CU1), VC (CU2) or SC (CU3)
504
8.4.2.4 Mounting positions of the CBC in VC Compact PLUS units
505
8.4.3 Connecting
506
8.4.3.1 Connection of the bus cable
507
8.4.3.2 EMC measures
508
8.4.3.3 Bus termination of the CAN bus (jumper S1.2)
511
8.4.3.4 Ground connection (jumper S1.1)
511
8.4.3.5 Interface X458 / X459 with jumper strip S1
512
8.4.3.6 Recommended circuits
513
8.4.4 Data transfer via the CAN bus
514
8.4.4.1 General
514
8.4.4.2 Parameter area (PKW)
515
8.4.4.3 Process data area (PZD)
522
8.4.5 Start-up of the CBC
529
8.4.5.1 Basic parameterization of the units
530
8.4.5.2 Process-data softwiring in the units
543
8.4.6 Diagnosis and troubleshooting
550
8.4.6.1 Evaluation of hardware diagnostics
550
8.4.6.2 Fault displays and alarms on the basic unit
552
8.4.6.3 Evaluation of the CBC diagnostic parameter
554
8.4.6.4 Meaning of CBC diagnosis
555
8.4.7 Appendix
558
8.5 CBC CANopen communication board
559
8.5.1 Object directory
563
8.5.2 Commissioning the CBC
574
8.5.2.1 General settings
574
8.5.2.2 NMT state
585
8.5.2.3 Relation between PDO/PZD and SDO/PKW
587
8.5.2.4 PDO mapping
592
8.5.3 Manufacturer-specific objects
606
8.5.3.1 Parameter editing
606
8.5.3.2 Example: Change parameter value with object 4001h
610
8.5.3.3 Setting factory values (defaults) via CANopen
611
8.5.3.4 Changing the baud rate and bus address (on MASTERDRIVES MC only)
612
8.5.4 Faults and alarms
613
8.5.4.1 Structure of object 1003h ( pre- defined error field)
613
8.5.4.2 Error codes
614
8.5.5 Life guarding / node guarding
617
8.5.6 The state machine
618
8.5.6.1 Control word
619
8.5.6.2 Status word
620
8.5.6.3 Modes of operation
622
8.5.7 Description of individual modes
623
8.5.7.1 Profile Position mode
623
8.5.7.2 Profile Velocity mode
626
8.5.7.3 Synchronous mode
628
8.5.7.4 Homing mode
629
8.5.7.5 Profile Torque mode
655
8.5.7.6 Setup mode
655
8.5.7.7 Automatic Position mode
656
8.5.7.8 Automatic Single Block mode
656
8.5.8 Diagnostics and troubleshooting
657
8.5.8.1 Error and alarm displays on basic unit
657
8.5.8.2 Evaluation of CBC diagnostic parameter
661
8.5.8.3 Meaning of CBC diagnostics
662
8.5.9 CANopen EDS
664
8.5.10 Parameterization
665
8.5.10.1 Parameterization for the CBC CANopen with MASTERDRIVES MC_F01 and MASTERDRIVES MC_ B- Pos
665
8.5.11 Logical interconnections for control and status words
666
8.5.12 General plans of interconnections in MASTERDRIVES MC
674
8.5.13 Terms and abbreviations
691
9 Technology Option F01
692
9.1 Enabling technology option F01
692
9.2 Overview of the documentation
692
9.3 Application areas
694
9.3.1 General functions
694
9.3.2 Positioning
696
9.3.3 Synchronization
698
9.3.4 Technology functions already included in the standard software
704
9.3.5 Seamless Integration in SIMATIC Automation Solutions
706
9.4 Brief description of the technology functions
707
9.4.1 Overview of the function diagrams
707
9.4.2 Integrating the technology into the basic unit [801]
708
9.4.3 General information on position encoder evaluation [230] ... [270]
708
9.4.4 Resolver evaluation [230]
710
9.4.5 Optical sin/cos encoder [240]
711
9.4.6 Multiturn encoder evaluation [260, 270]
713
9.4.7 Pulse encoder evaluation [250, 255]
723
9.4.8 Position sensing system for motor encoder [330]
726
9.4.9 Using absolute encoders for positioning of motors with load-side gearing and rotary axis
739
9.4.10 Linear axis with absolute encoder when the traversing range is greater than the display range of the encoder.
743
9.4.11 Position sensing system for external machine encoder [335]
744
9.4.12 Position control system [340]
745
9.4.13 Technology overview and mode manager [802]
748
9.4.14 Machine data [804]
750
9.4.15 Parameter download file POS_1_1 [806]
751
9.4.16 Positioning control signals [809]
752
9.4.17 Positioning status signals [811]
752
9.4.18 Digital I/Os for positioning [813]
753
9.4.19 Evaluation and control of the position sensing system, simulation mode [ 815]
753
9.4.20 Setpoint output and enabling [817]
754
9.4.21 Faults, warnings, diagnostics [818]
754
9.4.22 Setup mode [819] 819]
755
9.4.23 Homing mode [821]
756
9.4.23.1 Homing with homing switch only
759
9.4.23.2 Homing with encoder zero mark only
760
9.4.23.3 Use of a reversing switch during homing
760
9.4.24 MDI mode [823]
761
9.4.25 Control mode [825]
765
9.4.26 Automatic and automatic single-block mode [826, 828] 828]
766
9.4.27 Roll feed [830]
766
9.4.28 Synchronization mode - overview [831]
767
9.4.29 Virtual master axis [832]
775
9.4.30 Real master with deadtime compensation [833]
776
9.4.31 Engaging/disengaging cycle [834] 834]
777
9.4.32 Gearbox function [835]
782
9.4.33 Generation of the position setpoint [836]
783
9.4.34 Catch-up function [837]
783
9.4.35 Cam [839] 839]
784
9.4.36 Synchronization to master value [841]
790
9.4.37 Displacement angle setting [841]
791
9.4.38 Position correction [843]
792
9.4.39 Referencing "on the fly" for synchronization [843]
793
9.4.40 Docking point between basic positioner [789b] and synchronism [ 836]
794
9.4.41 Continue synchronism
800
9.5 Communication with the technology
801
9.5.1 Process data communication (PZD)
801
9.5.2 Parameter transfer (PKW)
804
9.5.3 Standard function blocks for PROFIBUS-DP and USS
805
9.5.4 Additionally available SIMATIC S7 software
806
9.5.5 USS interface
808
9.5.6 SIMOLINK
809
9.6 Configuration
811
9.6.1 Encoders for the position sensing system
811
9.6.2 Requirements of position encoders for rotary axes
812
9.6.3 Brake controller
813
9.7 Application examples
814
9.7.1 Positioning of a linear axis via PROFIBUS
814
9.7.2 Positioning and synchronization with virtual master axis ( suitable for self- study)
814
9.7.2.1 Task description
814
9.7.2.2 Overview diagram
815
9.7.2.3 Connection of digital inputs
818
9.7.2.4 Connection and parameters of the position sensing system
821
9.7.2.5 Velocity normalization P353 [20.5] and P205 [340.2]
822
9.7.2.6 Machine data input U501 and U502 [804]
823
9.7.2.7 Connecting the technology to the speed and position controllers
825
9.7.2.8 Setting the parameters for the positioning modes
826
9.7.2.9 Testing the positioning functions of the application example
827
9.7.2.10 Setting the parameters for the virtual master axis
828
9.7.2.11 Testing the virtual master axis
829
9.7.2.12 Configuring the synchronization function
829
9.7.2.13 Configuring the SIMOLINK master
830
9.7.2.14 Setting the parameters for drive 1 (SIMOLINK slave)
831
9.7.2.15 Testing the synchronization in the application example
831
9.7.3 Synchronism with the virtual master axis by means of clock-synchronized Profibus ( suitable for private study)
833
9.7.4 Roll feed
842
9.7.5 Application using the SIMATIC S7 GMC software
842
9.8 Commissioning the technology
842
9.8.1 Measurement and diagnostics resources
842
9.8.2 Commissioning the technology
843
9.8.3 Checking the speed/position controller
844
9.8.4 Defining the actual speed value normalization
845
9.8.5 Commissioning the MASTERDRIVES basic functions
846
9.8.6 Defining the length unit LU
846
9.8.7 Defining the actual value weighting factor (AVWF)
847
9.8.8 Defining the maximum traversing velocity
849
9.8.9 Procedure for using the "GMC-BASIC" S7 software
850
9.8.10 Defining the positioning input signals
851
9.8.11 Defining the positioning status signals
852
9.8.12 Connection and parameters of the position sensing system
853
9.8.13 Machine data input MD1...MD50
855
9.8.14 Connecting the technology to the speed and position controller
856
9.8.15 Setting the parameters for the positioning modes
857
9.8.16 Safety information, hardware limit switches
858
9.8.17 Commissioning the positioning modes
859
9.8.18 Configuring and testing the virtual master axis
861
9.8.19 Setting the parameters for the synchronization block
862
9.8.20 Configuring and testing the SIMOLINK drive connection
864
9.8.21 Testing the synchronization functions
864
9.8.22 Help, my axis won't start!
865
9.8.23 General commissioning information
866
9.9 Faults, warnings, diagnostics
868
9.10 Hardware and software replacement measures
869
9.11 Modification history of technology option F01
870
9.11.1 Software version V1.0
870
9.11.2 Software version V1.1
870
9.11.3 Software version V1.2
871
9.11.4 Software version V1.3
873
9.11.5 Software version V1.4
876
9.11.6 Software version V2.1
879
9.11.7 Software status V2.2
881
9.11.8 Software status V2.3
881
9.11.9 Software status V2.4
882
9.12 References, software products and accessories
884
10 Control Word and Status Word
887
10.1 Description of the control word bits
887
10.2 Description of the status word bits
895
11 Engineering Information
901
11.1 Clarification of the type of drive, technical data and other border conditions
902
11.2 Specification of the travel curve
903
11.3 Calculation of the maximum speed under load and the maximum load torque, selection of the gear
904
11.4 Selection of the motor
912
11.5 Selection of converters or inverters
917
11.6 Selection of the rectifier unit for multi-axis drives
919
11.7 Selection of the braking units and braking resistors
921
11.8 Selection of other components
922
11.9 Calculating example
925
11.9.1 Calculation of the x-axis as the travel gear
925
11.9.2 Calculating the y-axis as the travel gear
934
11.9.3 Calculating the z-axis as the lifting drive
935
11.9.4 Selection of the rectifier unit
943
11.9.5 Selection of the braking resistor
944
11.10 Power Extension PIN F02 (from firmware version 2.20 and higher)
945
Function Diagrams
947
Basic functions
948
Free blocks
1036
Supplementary boards
1087
Technology option
1112
Parameter Lists
1158
General parameter list
1160
Connector list
1416
Binector list
1446
List of function data set parameters
1466
List of binector data set parameters
1471
List of binector and connector parameters
1475
Faults and Alarms
1488
Faults
1488
Alarms
1500
Fatal errors (FF)
1522
Lists of Stored Motors
1523
Synchronous motors
1523
Torque motors
1529
Asynchronous motors
1531
Dimension Drawings
1534
Versions
1544
Other manuals for Siemens simovert masterdrives
Operating Instructions
120 pages
Configuration Manual
70 pages
5
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Siemens simovert masterdrives Specifications
General
Brand
Siemens
Model
simovert masterdrives
Category
DC Drives
Language
English
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