Page 1 ___________________ SINAMICS V90, SIMOTICS S-1FL6 Preface Fundamental safety ___________________ instructions ___________________ SINAMICS/SIMOTICS General information ___________________ Mounting SINAMICS V90, SIMOTICS S-1FL6 ___________________ Connecting ___________________ Commissioning Operating Instructions ___________________ Basic operator panel (BOP) ___________________ Control functions ___________________ Safety Integrated function ___________________ Tuning...
Page 2 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.
Page 3: Preface
Describes how to perform fast commissioning and diagnos- tics for the SINAMICS V90 drives via the SINAMICS V- ASSISTANT engineering tool. Target group This manual provides information about the SINAMICS V90 servo system for planners, operators, mechanical engineers, electrical engineers, commissioning engineers, and service engineers. Technical support...
Page 4 This document contains recommendations relating to third-party products. Siemens accepts the fundamental suitability of these third-party products. You can use equivalent products from other manufacturers. Siemens does not accept any warranty for the properties of third-party products. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 5: Table Of Contents
Line supply - L1, L2, L3......................84 4.2.2 Motor power - U, V, W ......................86 Control/status interface - X8 ....................88 4.3.1 Digital inputs/outputs (DIs/DOs) ..................... 89 4.3.1.1 DIs ............................90 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 6 Searching parameters in "P ALL" menu ................150 Auxiliary functions ........................ 151 6.5.1 JOG ............................151 6.5.2 Saving parameters (RAM to ROM) ..................153 6.5.3 Setting parameters to default ....................153 6.5.4 Transferring data (drive to SD) .................... 154 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 7 Zero speed clamp ......................... 201 7.5.6 Ramp-function generator ...................... 202 Torque control (T) ......................... 203 7.6.1 300% overload capacity ......................203 7.6.2 Torque setpoint ........................204 7.6.2.1 Torque control with external analog torque setpoint ............. 204 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 8 8.3.6 Residual risk ......................... 253 Safety Integrated basic functions ..................253 8.4.1 Safe Torque Off (STO) ......................253 8.4.2 Forced dormant error detection ................... 255 Tuning ..............................257 Controller overview ......................257 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 9 Assembly of cable connectors on the motor side ..............352 Motor selection ........................356 A.3.1 Selection procedure ......................356 A.3.2 Parameter description ......................357 A.3.3 Selection examples ....................... 359 Replacing fans ........................360 Index..............................361 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 10 Table of contents SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 11: Fundamental Safety Instructions
Touching live components can result in death or severe injury. • Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV- (Protective Extra Low Voltage) output voltages for all connections and terminals of the electronics modules. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 12 • Tighten all power connections with the specified tightening torques, e.g. line supply connection, motor connection, DC link connections. • Check all power connections at regular intervals. This applies in particular after transport. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 13 This can cause severe injury or even death. This can also result in increased downtime and reduced service lives for devices/systems. • Ensure compliance with the specified minimum clearance as ventilation clearance for the respective component. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 14 Note Important safety notices for Safety Integrated functions If you want to use Safety Integrated functions, you must observe the safety notices in the Safety Integrated manuals. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 15 Inadequate cooling can cause overheating resulting in death or severe injury as a result of smoke and fire. This can also result in increased failures and reduced service lives of motors. • Comply with the specified coolant requirements for the motor. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 16 People with pacemakers or implants are at a special risk in the immediate vicinity of these devices/systems. • Ensure that the persons involved are the necessary distance away (minimum 2 m). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 17: Handling Electrostatic Sensitive Devices (Esd)
Siemens recommends strongly that you regularly check for product updates. For the secure operation of Siemens products and solutions, it is necessary to take suitable preventive action (e.g. cell protection concept) and integrate each component into a holistic, state-of-the-art industrial security concept.
Page 18 As a result of incorrect parameterization, machines can malfunction, which in turn can lead to injuries or death. • Protect files stored on exchangeable storage media from malicious software by taking suitable protection measures, e.g. virus scanners. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 19: Residual Risks Of Power Drive Systems
5. Release of environmental pollutants or emissions as a result of improper operation of the system and/or failure to dispose of components safely and correctly For more information about the residual risks of the drive system components, see the relevant sections in the technical user documentation. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 20 Fundamental safety instructions 1.4 Residual risks of power drive systems SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 21: General Information
General information The SINAMICS V90 drives are available in two variants, 400 V variant and 200 V variant. The 200 V variant is available in four frame sizes: FSA, FSB, FSC, and FSD. Frame sizes A, B, and C are used on the single phase or three phase power network while frame size D is used on the three phase power network only.
Page 22 User documentation Information Guide English-Chinese bilingual version * You can obtain the connectors for SINAMICS V90 400V servo drives of FSB and FSC from the connector kits for SINAMICS V90 400V servo drives of FSAA or FSA. SINAMICS V90, SIMOTICS S-1FL6...
Page 23 General information 2.1 Deliverables Drive rating plate (example) ① ⑤ Drive name Order number ② ⑥ Power input Product serial number ③ ⑦ Power output Part number ④ Rated motor power SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 24: Motor Components
Rated power (kW) Shaft height (mm) Order number SIMOTICS S-1FL6, 0.4/0.75 1FL6042-1AF61-0❑❑1 high inertia 1FL6044-1AF61-0❑❑1 0.75/1.0/1.5/1.75/2.0 1FL6061-1AC61-0❑❑1 1FL6062-1AC61-0❑❑1 1FL6064-1AC61-0❑❑1 1FL6066-1AC61-0❑❑1 1FL6067-1AC61-0❑❑1 2.5/3.5/5.0/7.0 1FL6090-1AC61-0❑❑1 1FL6092-1AC61-0❑❑1 1FL6094-1AC61-0❑❑1 1FL6096-1AC61-0❑❑1 User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 25 Thermal class Motor ID ④ ⑩ ⑯ Rated torque Degree of protection Weight ⑤ ⑪ ⑰ Stall torque Motor operating mode Maximum speed ⑥ ⑫ ⑱ Rated voltage Stall current Rated speed SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 26: Device Combination
(10 m) (10 m) CK31-1CA0 BL02-1CA0 10-1CA0 (20 m) (20 m) (20 m) Incremental encoder TTL 2500 ppr Incremental encoder TTL 2500 ppr Absolute encoder single-turn 21-bit Absolute encoder single- turn 21-bit SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 27 96-1AC61-0 ❑ ❑1 FE17-0UA0 CL11-1BF0 (15 m) CL11-1CA0 (20 m) Incremental encoder TTL 2500 ppr Incremental encoder TTL 2500 ppr Absolute encoder 20-bit + 12-bit multi-turn Absolute encoder 20-bit + 12-bit multi-turn SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 28: Product Overview
General information 2.3 Product overview Product overview SINAMICS V90 servo drives ● SINAMICS V90 200 V variant FSA and FSB FSC and FSD SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 29 General information 2.3 Product overview ● SINAMICS V90 400V variant FSAA and FSA FSB and FSC SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 30 General information 2.3 Product overview SIMOTICS S-1FL6 servo motors ● Low inertia motors Shaft-height: 20 mm, 30 mm, and 40 mm Shaft-height: 50 mm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 31: System Configuration
The SINAMICS V90 servo drive is integrated with digital input/output interface, pulse train interface and analog interface. It can be connected either to a Siemens controller like S7-200, S7-1200 or S7-200 SMART, or to a third-party controller. Absolute position information can be read from the servo drive by the PLC via RS485 port.
Page 32 General information 2.4 System configuration SINAMICS V90 200 V variant The configuration for FSB when used on the single phase power network: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 33 General information 2.4 System configuration The illustration below takes the connection between FSD and low inertia servo motor of 50 mm shaft-height when used on the three phase power network for an example. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 34 General information 2.4 System configuration SINAMICS V90 400 V variant SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 35: Accessories
0SL12 con- mental tal encod- 2CT20-1AF0 nector encoder 10 m 2CT20-1BA0 cable connector 20 m 2CT20-1CA0 Abso- 2DB20-1AD0 Absolute 0DB12 lute encoder 2DB20-1AF0 encoder connector 10 m 2DB20-1BA0 cable 20 m 2DB20-1CA0 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 36 7 m * 2DB10-1AH0 cable 10 m 2DB10-1BA0 15 m * 2DB10-1BF0 20 m 2DB10-1CA0 * The cables with lengths of 7 m and 15 m are only supplied for high inertia motors. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 37 National Electrical Code and any additional local codes. Refer to the table below for the selection of fuses and Type-E motor controllers: SINAMICS V90 200 V variant SINAMICS V90 Recommended fuse Type-E combination motor controller...
Page 38 25 A 10 to 16 230/240 3RV 2011-4AA10 The above types for Type-E combination motor controllers are listed in compliance with both CE and UL/cUL standards. SINAMICS V90 400 V variant SINAMICS V90 Recommended fuse type Type-E combination motor controller Power...
Page 39 General information 2.5 Accessories Braking resistor The SINAMICS V90 has a built-in braking resistor. The table below shows the information of the built-in resistor: SINAMICS V90 Resistance (Ω) Max. power Rated power (W) Max. energy (kJ) (kW) Power Frame size...
Page 40 2.5 Accessories Filter Siemens recommends you to use a line filter to protect the system from high frequency noise. The line filter restricts the conductive interference emitted from the SINAMICS V90 to the permissible values. The SINAMICS V90 drives with these external line filters have been tested in accordance with the emission requirements of the Category C2 environment.
Page 41 Three phase 380 VAC to 480 VAC (-15% to +15%) Line frequency 50/60 Hz (-10% to +10%) Product standard IEC 61800-5-1 Insertion loss Parameter Description Rated current Noise frequency 0.15 (MHz) CM (dB) DM (dB) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 42 18 A Noise frequency 0.15 (MHz) CM (dB) DM (dB) Rated current 20 A Noise frequency 0.15 (MHz) CM (dB) DM (dB) Connecting (example) Filter used on the single phase power network SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 43 General information 2.5 Accessories SINAMICS V90 200 V Rated Screw driver Max. tightening Wire gauge Stripping length current (A) torque (Nm) (AWG) L (mm) 6SL3210-5FB10-1UA0 18 Cross-tip 22 to 20 screw (M4) 6SL3210-5FB10-2UA0 Cross-tip 22 to 20 screw (M4) 6SL3210-5FB10-4UA1...
Page 44 For the servo drives with earlier firmware version, you can select high quality micro SD cards/SD cards with a maximum capacity of 2 GB from manufacturers such as KINGMAX, Kingston or SanDisk. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 45: Function List
General information 2.6 Function list Replacement fans The table below lists the replacement fans for SINAMICS V90 servo drives. SINAMICS V90 Order number Power supply Frame size 3-phase, 200 VAC to 6SL3200-0WF00-0AA0 240 VAC 3-phase, 380 VAC to 6SL3200-0WF00-0AA0 480 VAC...
Page 46 2.6 Function list Function Description Control mode Cyclic communication (Page 214) Supports the communication between the SINAMICS V90 PTI, IPos, S, T servo drive and PLC with the standard Modbus communica- tion protocol One-button auto tuning (Page 260) Estimates the machine characteristic and sets the closed...
Page 47: Technical Data
Set through a parameter or the analog input command (0 VDC to +10 mode VDC/max. rated speed) Environ- Surrounding air Operation 0 °C to 45 °C: without power derating mental temperature 45 °C to 55 °C: with power derating SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 48 Certifica- tions When SINAMICS V90 works with a motor with a brake, the voltage tolerance of 24 VDC power supply must be -10% to +10% to meet the voltage requirement of the brake. Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes.
Page 49 General information 2.7 Technical data Specific technical data SINAMICS V90 200 V variant Order No. 6SL3210-5FB... 10-1UA0 10-2UA0 10-4UA1 10-8UA0 11-0UA1 11-5UA0 12-0UA0 Frame size Rated output current (A) 10.6 11.6 Max. output current (A) 14.1 18.9 31.8 34.8 Max. supported motor power (kW) 0.75...
Page 50 General information 2.7 Technical data SINAMICS V90 400 V variant Order No. 6SL3210-5FE... 4UA0 8UA0 0UA0 5UA0 0UA0 5UA0 0UA0 0UA0 Frame size FSAA Rated output current (A) 11.0 12.6 13.2 Max. output current (A) 13.8 23.4 33.0 37.8 39.6 Max.
Page 51: Technical Data - Servo Motors
3000 Maximum speed [rpm] 5000 Rated frequency [Hz] Rated current [A] 10.6 11.6 Maximum current [A] 14.2 18.9 31.8 34.8 Moment of inertia [10 0.031 0.052 0.214 0.351 0.897 1.15 2.04 2.62 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 52 This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is 30 °C, the encoder lifetime can be ensured. Note The data of rated torque, rated power, maximum torque, and armature resistance in the above table allows a tolerance of 10%. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 53 General information 2.7 Technical data Torque-Speed characteristics SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 54 • The feature in short-term operating area varies with power supply voltages. • The continuous operating area becomes smaller and the voltage consumptions on the cables grow larger when the cables in the major loop exceed 20 m. Permissible radial and axial forces SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 55 This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is 30 °C, the encoder lifetime can be ensured. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 56 0.89 0.84 2000 1.00 0.94 0.90 0.86 0.82 2500 0.96 0.90 0.86 0.83 0.78 3000 0.92 0.86 0.82 0.79 0.75 3500 0.88 0.82 0.79 0.75 0.71 4000 0.82 0.77 0.74 0.71 0.67 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 57 General information 2.7 Technical data Torque-Speed characteristics SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 58 1FL604❑ and 1FL609❑ have a 5 mm of shaft sheltered in sleeves, and 1FL606❑ has an 8 mm of shaft in sleeves. Therefore, the distances to flange in the above three figures begin respectively from 5 mm, 8mm, and 5 mm. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 59: Technical Data - Cables
0.4 kW to 1 kW: 4 x 1.5 For low inertia motor of 1.5 kW to 2 kW and high inertia motor 1.5 kW to 7 kW: 4 x 2.5 Rated voltage (V) 600/1000 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 60: Address Of Ce-Authorized Manufacturer
Maximum acceleration 3 m/s , maximum speed 40 m/min: 1000000 2.7.4 Address of CE-authorized manufacturer The address of CE-authorized manufacturer is as follows: Siemens AG Digital Factory Motion Control Frauenauracher Straße 80 DE-91056 Erlangen Germany SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 61: Mounting
During operation and for a short time after switching-off the drive, the surfaces of the drive can reach a high temperature. Avoid coming into direct contact with the drive surface. For mounting conditions, see Technical data - servo drives (Page 47). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 62: Mounting Orientation And Clearance
10 mm. In this case, the minimum mounting clearance should not be less than 5 mm. • The surrounding temperature is 45 °C to 55 °C. In this case, the minimum mounting clearance should not be less than 20 mm. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 63: Drill Patterns And Outline Dimensions
Mounting 3.1 Mounting the drive 3.1.2 Drill patterns and outline dimensions SINAMICS V90 200 V variant (unit: mm) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 64 Mounting 3.1 Mounting the drive SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 65 Mounting 3.1 Mounting the drive SINAMICS V90 400 V variant (unit: mm) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 66 Mounting 3.1 Mounting the drive SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 67: Mounting The Drive
1 m. • The harmonic current value of SINAMICS V90 exceed the class A limit of IEC 61000-3-2, but the SINAMICS V90 system installed within the Category C2 First Environment require supply authority acceptance for connection to the public low-voltage power supply network.
Page 68: Mounting The Motor
Note When configuring the IM V3 type of construction, pay particular attention to the permissible axial force (weight force of the drive elements) and the necessary degree of protection. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 69 Rated torque 0.05 kW 0.16 Nm 38.5 0.1 kW 0.32 Nm 38.5 Shaft height 30 mm Rated power Rated torque 0.2 kW 0.64 Nm 39.5 132.5 0.4 kW 1.27 Nm 39.5 157.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 70 0.75 kW 2.39 Nm 178.3 1.0 kW 3.18 Nm 158.8 198.1 Shaft height 50 mm Rated power Rated torque a 1.5 kW 4.78 Nm 143.5 177.5 2.0 kW 6.37 Nm 167.5 201.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 71 154.5 169.5 61.5 0.75 kW 2.39 Nm 201.5 216.5 Shaft height 45 mm, with the absolute encoder Rated power Rated torque 0.4 kW 1.27 Nm 203.5 61.5 0.75 kW 2.39 Nm 250.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 72 Shaft height 65 mm, with the absolute encoder Rated power Rated torque 0.75 kW 3.58 Nm 205.5 69.5 1.0 kW 4.78 Nm 238.5 1.5 kW 7.16 Nm 238.5 1.75 kW 8.36 Nm 271.5 2.0 kW 9.55 Nm 304.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 73 33.4 Nm 289.5 314.5 Shaft height 90 mm, with the absolute encoder Rated power Rated torque 2.5 kW 11.9 Nm 98.5 3.5 kW 16.7 Nm 5.0 kW 23.9 Nm 7.0 kW 33.4 Nm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 74: Mounting The Motor
The 1FL609❑ motor (90 mm shaft height) has two M8 screw holes for screwing in two eyebolts. Lift the 1FL609❑ motor only at the eyebolts. Eyebolts that have been screwed in must be either tightened or removed after mounting. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 75 270 x 270 x 10 (mm) 8 Nm Aluminum alloy 1FL606❑ 4 x M8 390 x 390 x 15 (mm) 20 Nm 1FL609❑ 4 x M12 420 x 420 x 20 (mm) 85 Nm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 76 Mounting 3.2 Mounting the motor SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 77: Connecting
Connecting System connection The SINAMICS V90 servo system is connected as follows: SINAMICS V90 200 V variant Connection diagram for FSB on the single phase power network: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 78 Connecting 4.1 System connection Connection diagram for FSD on the three phase power network: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 79 Connecting 4.1 System connection SINAMICS V90 400 V variant SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 80 Exercise caution when connecting the shielding cable to the setpoint connector. You can see the assembly method of encoder connector in Section "Assembly of cable terminals on the drive side (Page 349)" for reference. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 81 For low inertia motors with shaft-heights of 20 mm, 30 mm and 40 mm, the encoder cable connectors may only be accessible to electrically skilled personnel. Note The mini-USB interface of the SINAMICS V90 is used for fast commissioning and diagnostics with SINAMICS V-ASSISTANT installed in the PC. Do not use it for long monitoring.
Page 82 To achieve EMC-compliant installation of the drive, use the shielding plate that is shipped with the drive to connect the cable shields. See the following example for steps to connect cable shields with the shielding plate: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 83 Note Rotating the connectors All the three motor-side connectors can be rotated only within 360°. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 84: Main Circuit Wirings
The procedure of assembling a line supply cable terminal is the same as that for a power cable terminal on the drive side. For more information, see Section "Assembly of cable terminals on the drive side (Page 349)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 85 The FSB and FSC servo drives are equipped with barrier terminals for line supply connection. You can fix the line supply cable on the servo drives by using the M4 screws with a tightening torque of 2.25 Nm (19.91 lb.in). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 86: Motor Power - U, V, W
Yellow-green Protective earthing Low inertia motor, shaft-height: 50 mm High inertia motor, shaft-height: 45 mm, 60 mm, and 90 mm Black Phase U Brown Phase V Gray Phase W Yellow-green Protective earthing SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 87 • Make sure you first fix the motor power connector on the drive, and then attach the cable to the connector. 200 V variant ● For FSA and FSB ● For FSC and FSD SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 88: Control/Status Interface - X8
24 V pulse train input A, positive PTOZ+ High-speed 5 V differential pulse train encoder output Z (+) PTIA_2 24 V pulse train input A, ground PTOZ- High-speed 5 V differential pulse train encoder output Z (-) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 89: Digital Inputs/Outputs (Dis/Dos)
Reserved 4.3.1 Digital inputs/outputs (DIs/DOs) SINAMICS V90 supports free assignment of signals to the following digital input and output terminals depending on the control mode selected: DI1 to DI8 -- Assignable with parameters p29301 to p29308 DO1 to DO6 -- Assignable with parameters p29330 to p29335...
Page 90: Dis
DO1 to DO6 by setting the bit 0 to bit 5 of parameter p0748. 4.3.1.1 You can assign a maximum of 28 internal digital input signals to the SINAMICS V90 servo drive. For detailed information about these signals, see the table below:...
Page 91 1 : 0: internal torque limit 2 • 1 : 1: internal torque limit 3 • Level Enable clockwise rotations. ✓ ✓ 1: Enable clockwise rotation, ramp up • 0: Disable clockwise rotation, ramp down • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 92 1 : 0: internal speed limit 2 • 1 : 1: internal speed limit 2 • POS1 Level Select position setpoint. ✓ A combination of the signals POS1 to POS3 can se- POS2 Level SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 93 SINAMICS V-ASSISTANT, some DI signals are invalid: • During referencing via SINAMICS V-ASSISTANT, DI signal SREF is invalid. • During a trial run test, DI signal SON is invalid; meanwhile, DI7 and DI8 are occupied by SINAMICS V-ASSISTANT. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 94 The bit 6 of p29300 is used for emergency stop. You are not allowed to modify it when the drive is in "S ON" state. Wiring The digital inputs support both PNP and NPN types of wirings. You can find detailed information from the following diagrams: NPN wiring PNP wiring SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 95: Dos
Connecting 4.3 Control/status interface - X8 4.3.1.2 You can assign a maximum of 14 internal digital output signals to the SINAMICS V90 servo drive. For detailed information about these signals, see the table below: Name Descriptions Control mode IPos Servo ready ✓...
Page 96 Overload protection: load factor is 85% of or above the motor utiliza- tion. Braking resistor: capacity of the braking resistor is 85% of or above the resistor power rating. Fan alarm: fan has stopped for 1 second or longer. Encoder alarm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 97: Pulse Train Inputs/Encoder Outputs (Ptis/Ptos)
Pulse train inputs/encoder outputs (PTIs/PTOs) 4.3.2.1 PTIs Two channels of pulse train input are available for the SINAMICS V90 servo drive: ● 24 V single end pulse train input ● High-speed 5 V differential pulse train input (RS485) SINAMICS V90, SIMOTICS S-1FL6...
Page 98: Ptos
Note Only one channel can be used. The 24 V single end PTI is the factory setting of the SINAMICS V90 servo drives. When you choose to use the high-speed 5 V differential PTI (RS485), you must change the value of parameter p29014 from 1 to 0. Refer to "Selecting a setpoint pulse train input channel (Page 168)".
Page 99: Analog Inputs/Outputs (Ais/Aos)
Connecting 4.3 Control/status interface - X8 4.3.3 Analog inputs/outputs (AIs/AOs) 4.3.3.1 SINAMICS V90 has two analog input terminals. The input voltage at each analog input varies with control modes. Pin No. Analog input Input voltage Control mode Function 19, 20...
Page 100 Remaining number of pulses (reference 100 k) Pulse input frequency (reference 1 k) Remaining number of pulses (reference 1000 k) Pulse input frequency (reference 10 k) Wiring Do wiring of analog outputs as follows: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 101: Standard Application Wirings (Factory Setting)
Digital inputs, supporting both PNP and NPN types. The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.
Page 102: Internal Position Control (Ipos)
Digital inputs, supporting both PNP and NPN types. The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.
Page 103: Speed Control (S)
Digital inputs, supporting both PNP and NPN types. The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.
Page 104: Torque Control (T)
Digital inputs, supporting both PNP and NPN types. The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.
Page 105: Connection Examples With Plcs
You can assign different digital inputs/outputs based on your actual requirement. 4.3.5.1 SIMATIC S7-200 SMART Pulse train input position control (PTI) When connecting to different axes, the outputs are different. The diagram below takes the connection with axis 0 for example. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 106 The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the zero position exceeds 300 rpm. The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if the PTI input frequency exceeds 100 KHz. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 107 Connecting 4.3 Control/status interface - X8 Internal position control (IPos) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 108 Connecting 4.3 Control/status interface - X8 Speed control (S) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 109 Connecting 4.3 Control/status interface - X8 Torque control (T) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 110: Simatic S7-200
The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the zero position exceeds 300 rpm. The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if the PTI input frequency exceeds 100 KHz. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 111 Connecting 4.3 Control/status interface - X8 Internal position control (IPos) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 112 Connecting 4.3 Control/status interface - X8 Speed control (S) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 113 Connecting 4.3 Control/status interface - X8 Torque control (T) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 114: Simatic S7-1200
The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the zero position exceeds 300 rpm. The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if the PTI input frequency exceeds 100 KHz. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 115 Connecting 4.3 Control/status interface - X8 Internal position control (IPos) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 116 Connecting 4.3 Control/status interface - X8 Speed control (S) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 117 Connecting 4.3 Control/status interface - X8 Torque control (T) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 118: Power Supply/Sto
2). If you do not need to use it any more, you must reinsert the short-circuit stick; otherwise, the motor will not run. For detailed information about the STO function, refer to "Safety Integrated basic functions (Page 253)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 119: Encoder Interface - X9
(Page 349)". Plugging the 24 V power supply and STO cables Encoder interface - X9 The SINAMICS V90 200V variant servo drive supports two kinds of encoders: ● Incremental encoder TTL 2500 ppr ● Absolute encoder single-turn 21-bit The SINAMICS V90 400V variant servo drive supports two kinds of encoders: ●...
Page 120 Encoder B phase negative signal Encoder B phase positive signal Encoder A phase negative signal Encoder A phase positive signal Screw type: UNC 4-40 (plug-in terminal block) Tightening torque: 0.5 Nm to 0.6 Nm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 121 Power supply 0 V Phase A+ n. c. Not connected Phase A- Clock_N Inverted clock Phase B+ Data_P Data Phase B- Clock_P Clock Phase R+ n. c. Not connected Phase R- Data_N Inverted data SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 122 4.5 Encoder interface - X9 Wiring Low inertia motor, shaft-height: 20 mm, 30 mm and 40 mm Low inertia motor, shaft-height: 50 mm High inertia motor, shaft-height: 45 mm, 65 mm, and 90 mm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 123: External Braking Resistor - Dcp, R1
External braking resistor - DCP, R1 The SINAMICS V90 has been designed with an internal braking resistor to absorb regenerative energy from the motor. When the internal braking resistor cannot meet the braking requirements (e.g.
Page 124 Low inertia motor, shaft-height: 20 mm, 30 mm and 40 mm Brake+ Phase Brake+ Brake- Phase Brake- Low inertia motor, shaft-height: 50 mm High inertia motor, shaft-height: 45 mm, 65 mm, and 90 mm Brake+ Phase Brake+ Brake- Phase Brake- SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 125 Assignment of digital output 5 p29335 1 to 14 8 (MBR) Assignment of digital output 6 Note Refer to Section "Digital inputs/outputs (DIs/DOs) (Page 89)" for detailed information about the digital outputs. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 126 ON/OFF action of the relay (RY). When you use a diode, the time period from brake release to brake engagement is longer than the case when you use a surge absorber. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 127 Maximum operating DC volt- 26 V Average power dissipation 0.2 W Voltage at 1 mA 33 V±10% Clamping voltage at 20 A 65 V (8/20 μs) Energy absorption (2 ms) at a 18 J time SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 128 Note For SINAMICS V90 200 V variant servo drives, the actual motor holding brake time consists of the time delay of the motor brake and the time delay of the current amplifying component (a relay in the example above); therefore, you can set the values of p1216 and p1217 as...
Page 129 The start of the closing time for the brake depends on the expiration of the shorter of p1227 (zero speed detection monitoring time) and p1228 (pulse suppression delay time). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 130: Rs485 Interface - X12
Connecting 4.8 RS485 interface - X12 RS485 interface - X12 The SINAMICS V90 servo drives support communication with the PLCs through the RS485 interface over the USS or Modbus protocol. Pin assignment Illustration Signal name Description Reserved Do not use...
Page 131: Commissioning
Before starting up the drive with a micro SD card/SD card, check whether the micro SD card/SD card contains user setting data. Otherwise, the existing data on the drive may be overwritten. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 132: Initial Commissioning In Jog Mode
SINAMICS V-ASSISTANT is a software tool that can be installed on a PC and runs on the Windows operating system. It communicates with the SINAMICS V90 servo drive with a USB cable (To ensure the stability of online commissioning, Siemens recommends you to use a shielded USB cable of no longer than 3 m with ferrite cores on both ends.).
Page 133 When you run the servo motor with an incremental encoder in JOG mode, the servo motor makes a short buzzing sound indicating that it is identifying the magnetic pole position of the rotor. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 134: Commissioning In Pulse Train Position Control Mode (Pti)
Check the current control mode by viewing value of the Refer to "Compound controls (Page 159)". parameter p29003. Pulse train input position control mode (p29003=0) is the factory setting of SINAMICS V90 servo drives. Save the parameter and restart the servo drive to apply the setting of the pulse train input position control mode.
Page 135 Calculate the electronic gear ratio by selecting • mechanical structure. – For more information, see SINAMICS V90 V- ASSISTANT Online Help. Refer to "Electronic gear ratio (Page 170)". Set the torque limitation and speed limitation. Refer to "Torque control (T) (Page 203)" and "Speed control (S) (Page 198)".
Page 136: Commissioning In Internal Position Control Mode (Ipos)
Refer to "Setting fixed position setpoint (Page 183)". and p2618[0] to p2618[7]) according to mechanism. Set the torque limitation and speed limitation. Refer to "Torque limit (Page 196)" and "Speed limit (Page 196)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 137 (Page 196)". The system commissioning in internal position control mode You can check the system performance. If it is not ends. satisfied, you can adjust it. Refer to "Tuning (Page 257)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 138: Commissioning In Speed Control Mode (S)
If the external analog speed setpoint is used, configure the maximum analog speed setpoint corresponding to 10 V by setting parameter p29060. Set the torque limitation and speed limitation. Refer to "Torque limit (Page 201)" and "Speed limit (Page 201)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 139: Commissioning In Torque Control Mode (T)
Switch to the torque control mode by setting p29003=3. Refer to "Compound controls (Page 159)". Save the parameter and restart the servo drive to apply the setting of the torque control mode. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 140 Refer to "Actual status display (Page 146)". The system commissioning in torque control mode ends. You can check the system performance. If it is not satisfied, you can adjust it. Refer to "Tuning (Page 257)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 141: Basic Operator Panel (Bop)
Basic operator panel (BOP) BOP overview The SINAMICS V90 servo drive is designed with a Basic Operator Panel (BOP) on the front panel of the servo drive: You can use the BOP for the following operations: ● Standalone commissioning ● Diagnosis ●...
Page 142 3. P0C: speed control 4. P0D: torque control 5. P0E: position control 6. P0F: I/O Data Read-only parameter group Refer to "Viewing parameters (Page 150)". Func Function group Refer to "Auxiliary functions (Page 151)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 143 The motor is running The communication between the SINAMICS V-ASSISTANT and the servo drive is established. In this case, the BOP is protected from any operations except clear- ing alarms and acknowledging faults. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 144: Control Buttons
Moves current display to the left page when is displayed at the upper right corner, for example Moves current display to the right page when is displayed at the lower right corner, for example SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 145: Parameter Structure
Basic operator panel (BOP) 6.2 Parameter structure Parameter structure The overall parameter structure of the SINAMICS V90 BOP is designed as follows: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 146: Actual Status Display
With p29002, you define which of the following drive operating status data is to be displayed on the BOP.: Parameter Value Meaning p29002 0 (default) Actual speed DC voltage Actual torque Actual position Position following error Note Make sure you save p29002 after modification. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 147: Basic Operations
● Method 1: change the value directly with the UP or DOWN button ● Method 2: move the cursor to a digit with the SHIFT button, then change the digit value with the UP or DOWN button SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 148 Basic operator panel (BOP) 6.4 Basic operations Method 1 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 149 Basic operator panel (BOP) 6.4 Basic operations Method 2 Note The parameters p1414 and p1656 cannot be changed using the SHIFT button. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 150: Viewing Parameters
If you do not know which group that a parameter belongs to, you can search for in the "P ALL" menu. Note Invalid parameter number If the input parameter number is unavailable, the nearest parameter number to the input value is displayed. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 151: Auxiliary Functions
The digital signal EMGS must be kept at high level (1) to ensure normal operation. With the Jog function, you can run the connected motor and view Jog speed or Jog torque. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 152 To run the connected motor with the Jog function and view the Jog torque, proceed as follows: Jog in torque (example) NOTICE Exit the Jog mode after completing Jog run. The servo motor cannot run if the servo drive is in the Jog mode. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 153: Saving Parameters (Ram To Rom)
Editing parameters (Page 147) 6.5.3 Setting parameters to default This function is used to reset all parameters to their default values. To reset the parameters to their default values, proceed as follows: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 154: Transferring Data (Drive To Sd)
You can save the parameter set from the drive ROM to a micro SD card/SD card with the BOP. To do this, proceed as follows: Note Data transfer between the drive and the SD card is possible only when the drive is in "S OFF" state. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 155: Transferring Data (Sd To Drive)
Do not plug or unplug the micro SD card/SD card during transferring; otherwise, the transferring operation will fail. Note Write protection function is not supported by SINAMICS V90. Data in the micro SD card/SD card will be overwritten even if the write protection function of the micro SD card/SD card is enabled.
Page 156: Updating Firmware
Note Update the firmware by restarting the drive. After inserting the micro SD card/SD card with proper firmware files, you can also update the firmware by restarting the drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 157: Adjusting Ai Offsets
Refer to section "Analog inputs (Page 99)". With the BOP function menu "A OFF1" or "A OFF2", AI offset can be adjusted automatically. Proceed as follows to adjust AI offset: ● Adjust AI1 offset ● Adjust AI2 offset SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 158: Adjusting An Absolute Encoder
With the BOP function menu "ABS", you can set the current position of an absolute encoder to the zero position. To do this, proceed as follows: Note Save parameter The position value is set in parameter p2525. You must save the parameters after setting the zero position. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 159: Control Functions
Control functions Compound controls Control modes Nine control modes are available for the SINAMICS V90 servo drive: Control modes Abbreviation Basic control modes Pulse train input position control mode (PTI) Internal position control mode (IPos) IPos Speed control mode (S)
Page 160 INP (in position) signal is at high level. For the switching from S or T to PTI or IPos, you can perform control mode switching only after the motor speed is lower than 30 rpm. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 161: General Functions
Function behavior in PTI control mode You can configure the function of travelling to fixed stop by setting the following parameter: Parameter Value Description p29045 Travel to fixed stop is active. Travel to fixed stop is inactive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 162 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. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 163: Servo On
• After the drive is powered on, it will be set to "S ON" state automatically. • After a fault is acknowledged, the drive will be set to "S ON" state automatically. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 164: Motor Direction Of Rotation
Analog monitoring: • • PTO: • PTO: • Note After modifying parameter p29001, the reference point will lost. When the drive is working in IPos control mode, you must perform referencing again. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 165: Over-Travel
• In PTI or IPos control mode, the motor cannot rotate with F7491/F7492 being triggered again, if you only acknowledge the fault without returning the axis to a position within the valid traversing range. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 166: Stopping Method At Servo Off
Stopping method at servo OFF You can select a stopping method when the drive is in "S OFF" state. The following stopping methods are available: ● Ramp-down (OFF1) ● Coast-down (OFF2) ● Emergency stop (OFF3) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 167: Pulse Train Input Position Control (Pti)
Pulse train input position control (PTI) 7.3.1 Sequence of SON When the SINAMICS V90 servo drive operates in pulse train input position control mode (PTI), the pulse train setpoint must be send out after the RDY signal is ok. SINAMICS V90, SIMOTICS S-1FL6...
Page 168: Selecting A Setpoint Pulse Train Input Channel
Timing diagram 7.3.2 Selecting a setpoint pulse train input channel As mentioned before, the SINAMICS V90 servo drive supports two channels for the setpoint pulse train input: ● 24 V single end pulse train input ● High-speed 5 V differential pulse train input (RS485)
Page 169: In Position (Inp)
INP (in position) is output. Parameter settings Parameter Value range Setting Unit Description value p2544 0 to 40 (default) Position window (in-position range) 2147483647 p29332 1 to 13 Digital output 3 assignment SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 170: Smoothing Function
Factory setting Unit Description p2533 0 to 1000 Smoothes the parameter in response to a sudden posi- tion setpoint 7.3.6 Electronic gear ratio Encoder specifications The encoder specifications are shown as follows: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 171 With electronic gear Required number of setpoint pulses: Required number of setpoint pulses: 2500 ppr × 4 × (10 mm/6 mm) = 16666 (10 mm × 1000) / 1 LU = 10000 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 172 The range of electronic gear ratio is from 0.02 to 200. The electronic gear ratio can be set only at SERVO OFF state. After the setting, you need to reference the drive again. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 173 Calculate the electronic (1/6000) / (1/1) × 10000 = 10000/6000 (1/36000) / (1/3) × 10000 = 10000/12000 gear ratio Set param- p29012/p = 10000/6000 = 5/3 = 10000/12000 = 5/6 eters 29013 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 174: Inhibiting Pulse Train Input Setpoint (P-Trg)
• The signal P-TRG is active only when the digital input signal SON is in OFF state. • When the signal P-TRG is active in the PTI mode or a compound mode with PTI, the alarm A7585 occurs. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 175: Speed Limit
The overall speed limit can be configured by setting the following parameters: Parameter Value range Default Unit Description p1083 0 to 210000 210000 Overall speed limit (positive) p1086 -210000 to 0 -210000 Overall speed limit (negative) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 176: Torque Limit
TLIM1 and TLIM2: Digital signal Torque limit TLIM2 TLIM1 Internal torque limit 1 External torque limit (analog input 2) Internal torque limit 2 Internal torque limit 3 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 177 Internal torque limit 3 (positive) p29051[0] -300 to 150 -300 Internal torque limit 1 (negative) p29051[1] -300 to 150 -300 Internal torque limit 2 (negative) p29051[2] -300 to 150 -300 Internal torque limit 3 (negative) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 178 Torque limit reached (TLR) When the generated torque has nearly (internal hysteresis) reached the value of the positive torque limit, negative torque limit or analog torque limit, the signal TLR is output. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 179: Clearing Droop Pulses (Clr)
You can clear the droop pulses with the DI signal CLR after p29242 is set. The signal CLR is the factory setting of pin 11 (DI7) on the control/status interface. p29242 = 0 p29242 = 1 p29242 = 2 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 180: Referencing (Only For Absolute Encoder)
The electronic gear ratio is a multiplier factor to the PTO to a controller. It is realized with a numerator and a denominator. One numerator (p29031) and one denominator (p29032) are used for the PTO electronic gear ratio: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 181 When you use the PTO electronic gear ratio function, zero mark will not be generated. PTO zero mark Make the servo motor rotate for more than one revolution before using PTO's zero mark for referencing. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 182: Internal Position Control (Ipos)
N times accordingly. Otherwise, the fault F7450 or F7452 occurs. Relevant parameters Parameter Range Factory setting Unit Description p29247 1 to 2147483647 10000 LU per load revolution p29248 1 to 1048576 Load revolutions p29249 1 to 1048576 Motor revolutions SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 183: Setting Fixed Position Setpoint
Speed of fixed position setpoint 4 (P_pos_spd4) p2572 IPos maximum acceleration p2573 IPos maximum deceleration Fixed position setpoint 5 p2617[4] Fixed position setpoint 5 (P_pos5) p2618[4] Speed of fixed position setpoint 5 (P_pos_spd5) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 184 When the motor is working in the IPos control mode, you need to check that whether the values of the parameters p2542, p2544, p2546, p2547 and p2573 are your desired values. The values are set automatically by the drive based on the encoder resolution. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 185: Selecting A Positioning Mode - Absolute/Incremental
• the axis has been referenced for incremental measuring system. Refer to Section "Referencing (Page 187)" for detailed information about referencing. • the axis has been adjusted for absolute measuring system. Refer to Section "Adjusting an absolute encoder (Page 158)" for reference. Example SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 186: Configuring The Linear/Modular Axis
You can choose to use a linear axis or a modular axis depending on your actual application. The linear axis has a restricted traversing range, which is the factory setting of the SINAMICS V90 servo drive. The modular axis has an unrestricted traversing range. The value range of the position repeats itself after a value is specified in p29245.
Page 187: Referencing
1 (default) External reference cam (signal REF) and encoder zero mark Encoder zero mark only External reference cam (signal CCWL) and encoder zero mark External reference cam (signal CWL) and encoder zero mark SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 188 The current position is set to zero at a rising edge of the signal REF and the servo drive is referenced: CAUTION The referencing point may not be fixed during referencing. The servo motor must be in "S ON" state so that the referencing point is fixed during referencing. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 189 When the servo motor reaches the reference point (p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing finishes successfully. The whole process is shown in the diagram below: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 190 When the servo motor reaches the reference point (p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing finishes successfully. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 191 Speed for searching zero mark LU/min p2609 0 to 2147482647 20000 Maximum distance for searching the zero mark p2611 1 to 40000000 1000 Speed for searching reference point LU/min 2. Configure the signal SREF. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 192 When the servo motor reaches the reference point (p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing finishes successfully. The whole process is shown in the diagram below: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 193 During the referencing, if SREF is OFF, the referencing stops. 4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output. 5. Switch off the signal SREF, and the referencing finishes successfully. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 194 • For the safety purpose, the maximum distance for searching the cam (p2606) and the maximum distance for searching the zero mark (p2609) must be set. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 195: Software Position Limit
● negative position limit The function of software position limit only becomes active after going to reference. When the actual position reaches one of the above-mentioned software position limits, motor speed decelerates to 0. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 196: Speed Limit
Select one of the eight fixed position setpoints with the co-settings of signals POS1, POS2 and POS3: Fixed position setpoint Signal POS3 POS2 POS1 Fixed position setpoint 1 Fixed position setpoint 2 Fixed position setpoint 3 Fixed position setpoint 4 Fixed position setpoint 5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 197 Setting Description name ment P-TRG X8-10 (factory 0→1 Starts positioning according to selected setting) fixed position setpoint The timing diagram for starting positioning with the trigger signal P-TRG is shown as follows: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 198: Speed Control (S)
Fixed speed setpoint 4 (p1004) Fixed speed setpoint 5 (p1005) Fixed speed setpoint 6 (p1006) Fixed speed setpoint 7 (p1007) Refer to "DIs (Page 90)" for more information about the digital signals SPD1, SPD2 and SPD3. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 199: Speed Control With External Analog Speed Setpoint
● Automatic adjustment with BOP function: refer to "Adjusting AI offsets (Page 157)" for details. ● Manual input of an offset value (p29061) Parameter Range Factory set- Unit Description ting p29061 -0.5000 to 0.0000 Offset adjustment for analog input 1 (speed 0.5000 setpoint) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 200: Speed Control With Fixed Speed Setpoint
-210000 to Fixed speed setpoint 7 210000 7.5.2 Direction and stop Two digital input signals are used to control motor direction and run/stop. ● CWE: clockwise enable ● CCWE: counter-clockwise enable SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 201: Speed Limit
ZSCLAMP is logic "1", the motor is locked. Drive exits from clamping state either when the motor speed setpoint is above the threshold level or when the signal ZSCLAMP is logic "0". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 202: Ramp-Function Generator
This allows a smoothed transition in the event of setpoint changes. The maximum speed p1082 is used as the reference value for calculating the ramp-up and ramp-down times. You can see the properties of the ramp-function generator from the diagram below: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 203: Torque Control (T)
Ramp-function generator final rounding-off time Torque control (T) 7.6.1 300% overload capacity SINAMICS V90 servo drives can work with 300% overload capacity for a specific time period. The following diagrams show in details: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 204: Torque Setpoint
Control functions 7.6 Torque control (T) SINAMICS V90 200 V servo drive Without load With load SINAMICS V90 400 V servo drive Without load With load 7.6.2 Torque setpoint Two sources are available for torque setpoint: ● External setpoint: analog input 2 ●...
Page 205: Torque Control With Fixed Torque Setpoint
- 0.50 to Offset adjustment for analog input 2 (torque 0.50 setpoint) 7.6.2.2 Torque control with fixed torque setpoint Parameter settings Parameter Range Factory setting Unit Description p29043 -100 to 100 Fixed torque setpoint SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 206: Direction And Stop
Refer to "Speed limit (Page 175)" for details. Communicating with the PLC The SINAMICS V90 supports communication with the PLC on the RS485 interface. You can parameterize whether the RS485 interface applies USS or Modbus RTU protocol. USS is the default bus setting.
Page 207 The RS485 bus is used to transfer current absolute position of Configure the RS485 bus address by parameter p29004. the servo drive to the upper controller/PLC. You can configure the slaver address from 1 to 31. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 208: Modbus Communication
7.7.2.1 Overview The SINAMICS V90 servo drive can communicate with the PLC through an RS485 cable with the standard Modbus communication protocol. There are two ways of sending a message to a slave. One is unicast mode (addresses 1 to 31), where the master addresses the slave directly;...
Page 209 Modbus function code FC6 (single register) or FC16 (multiple registers). Supported function codes The SINAMICS V90 supports only three function codes. If a request with an unknown function code is received, an error message will be returned. FC3 - Read holding registers...
Page 210 Control functions 7.7 Communicating with the PLC Mapping table The SINAMICS V90 servo drive supports the following registers. "R", "W", "R/W" in the column access stand for read, write, read/write. Modbus register Description Modbus Unit Scaling factor Range or Data/parameter...
Page 211 Failure number, index 2 R 0 to 65535 40403 Failure number, index 3 R 0 to 65535 40404 Failure number, index 4 R 0 to 65535 40405 Failure number, index 5 R 0 to 65535 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 212 40880/40881 IPos maximum acceler- 1000 1 to 2000000 p2572 ation LU/s 40882/40883 IPos maximum deceler- 1000 1 to 2000000 p2573 ation LU/s 40884/40885 IPos jerk limiting 1000 1 to 100000000 p2574 LU/s SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 213 This is done by scaling, so that a parameter, which has a position after decimal point, is multiplied by a factor, to get rid of the fractional part. The scaling factor is as defined in the above table. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 214: Cyclic Communication
For unicast mode, you need to set the desired target slave address on the PLC side. For example, if you want to send the message to slave 1, you need to set the slave address to 1 on the PLC side. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 215 Save the parameters and restart the drive. Configure the PLC parameters. Note: Keep the PLC baud rate the same as the drive setting. Set even parity check for the PLC (parity = 2). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 216 You can calculate the actual speed value with the scale factor. Value 0x4000 repre- sents the value of 100% × motor rated speed. Therefore, 0x2000 represents half of the motor rated speed. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 217 1. Note: If you want to send the message to all slaves, you need to set the slave address to 0 to use the broadcast mode. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 218 • p29008 = 1 Set the transmission baud rate by p29009. • p29009 = 8 (38400 baud) Set the drive work mode to IPos control mode. Save the parameters and restart the drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 219 For example, we write 0x46E to the register 40100 firstly and then write 0x46F to the register. The motor now is in SON status. You can check the control word definition table below to see the meaning of "0x46E" and "0x46F". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 220 OFF2 1: No OFF2 (enable is possible) OFF2 1: No OFF2 (enable is possible) 0: OFF2 (immediate pulse cancelation 0: OFF2 (immediate pulse cancelation and power on inhibit) and power on inhibit) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 221 0: Inhibit operation (cancel pulses) EN_RAMP 1: Operating condition (the ramp function Reserved generator can be enabled) 0: Inhibit ramp function generator (set the ramp function generator output to zero) Reserved Reserved SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 222 Modbus, you can select the MDI direction with parameter p29230. Note In T control mode, the motor cannot be stopped with OFF1 via Modbus. Note All the reserved bits in register 40100 must be set to 0. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 223 40283 to enable the DI signal. For example, if you have set bit 0 = 1 for register 40281, to enable signal DI1, you need to set the trigger condition (rising edge or high level) for bit 0 of register 40283. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 224: Acyclic Communication
The motor is now in "S ON" state. 7.7.2.3 Acyclic communication The SINAMICS V90 servo drive supports acyclic communication via data set 47. The maximum data length per request is 240 bytes. Note Values in italics Values in italics in the following tables mean that you have to adjust these values for a specific request.
Page 225 Value of the 1st Index or - for a negative response- Error value 1 You can find the error values in the table at the end of this section. … … Values, parameter 2 … … … Values, parameter m … SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 226 Bytes n + 1 Header Reference (identical to a change request) 02 hex (change request successful) 02 hex (ID of drive objects, at V90 always = 2) Number of parameters (identical to a change request) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 227 Response too long (the length of the actual response exceeds the maximum transfer length) 16 hex Illegal parameter address (illegal or unsupported value for attribute, number of elements, parameter number, subindex or a combination of these) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 228 Register 40604 contains the number of the drive object (for V90 always 2) and the number of parameters that are read out or written to. Register 40605 contains the attribute (for V90 always 0x10). In the number of elements you specify how many indices are read. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 229 40608: Attribute, number of elements of the second parame- 0000 h 25,26 40609: Second paramter number = p1120 40610: Second parameter subindex = 0 Write the PLC command from registers 40601 to 40610: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 230 40601: Check value 1 = request is processed 2F00 h 40602: Function 2F h(47), response length 0 (fault) 0004 h 40603: Error code: 0004 Response Not Ready (response has still not been issued) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 231 40613: First parameter value 0301 h 33,34 40614: Format, number of values of the second parameter 0002 h 35,36 40615: Second parameter value 2 Write the PLC command from registers 40601 to 40615: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 232 40601: DS47 Control = 1 (request is processed) 2F00 h 40602: Function 2F h(47), response length 0 (fault) 0004 h 40603: Error code: 0004 Response Not Ready (response has still not been issued) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 233: Absolute Position System
7.8.1 Overview When the SINAMICS V90 servo drive uses a servo motor with an absolute encoder. the current absolute position can be detected and transmitted to the controller. With this function of the absolute position system, you can perform motion control task immediately after the servo system is powered on, which means you do not have to carry out referencing or zero position operation beforehand.
Page 234: Transmitting Sequence For The Absolute Position Data
The servo motor has been changed. • An alarm occurs. • ⑤ Select a communication protocol with p29007. Set value for p29007. 0: no protocol • 1: USS protocol • 2: Modbus protocol • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 235 1), the PLC sends a data request to the drive through the RS485 cable. 2. In response to the data request from the PLC, the servo drive transmits the absolute position data (r2521) to the PLC. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 236 Control functions 7.8 Absolute position system SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 237: Safety Integrated Function
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). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 238: Functional Safety
Machinery Directive and the Low-Voltage Directive apply). 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. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 239: Harmonized European Standards
● 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). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 240: Standards For Implementing Safety-Related Controllers
EC Machinery Directive are fulfilled. These standards ensure that the relevant safety requirements of the Machinery Directive are fulfilled. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 241: Din En Iso 13849-1 (Replaces En 954-1)
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 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 242: En 62061
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 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 243 Details of simple sub-systems that have been implemented and integrated are now available as "functional examples". Note EN 62061 and machinery directive IEC 62061 has been ratified as EN 62061 in Europe and harmonized as part of the Machinery Directive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 244: Series Of Standards En 61508 (Vde 0803)
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. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 245 EN ISO 13849-1. For electrical and electronic controllers, EN 62061 can be used as an alternative to EN ISO 13849-1. Electronic controllers and bus systems must also comply with IEC/EN 61508. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 246: Risk Reduction
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 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 247: Nrtl Listing
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) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 248: Ansi B11
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 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 249: Machine Safety In Japan
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. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 250: General Information About Sinamics Safety Integrated
● Performance Level (PL) d to ISO 13849-1:2006 ● Safety integrity level 2 (SIL 2) to IEC 61508 In addition, the safety function of SINAMICS V90 has been certified by independent institutes. An up-to-date list of certified components is available on request from your local Siemens office.
Page 251: Safety Instructions
When the safety function is 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. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 252: Probability Of Failure Of The Safety Function
Hardware fault tolerance (HFT) The HFT value of SINAMICS V90 drive system is one. It means that the system can handle one fault without brake down. SINAMICS V90 STO function is a subsystem from type A, and only the discrete components are involved in the STO function.
Page 253: Residual Risk
● This function is integrated in the drive; this means that a higher-level controller is not required. ● The function is drive-specific, i.e. it is available for each drive and must be individually commissioned. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 254 High level Safe The servo motor can normally run when you power on the servo drive. Low level Low level Safe The servo drive starts up normally but the servo motor cannot run. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 255: Forced Dormant Error Detection
This functionality must be implemented by means of forced dormant error detection function, triggered either in manual mode or by the automated process. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 256 The forced dormant error detection procedure of Safety Function (STO) always has to be executed through the terminals. The mission time of the devices is 40000 hours. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 257: Tuning
Current loop > speed loop > position loop Since the current loop of SINAMICS V90 servo drive already has a perfect frequency width, it is only necessary for you to adjust the speed loop gain and the position loop gain.
Page 258 You can slowly adjust the position loop feed forward gain. The effect of feed forward function is not obvious if the position loop gain is too big. Parameter Value range Default value Unit Description p29111 0.00 to 200.00 Position loop feed forward gain SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 259: Tuning Mode
The tuning function only uses the first group of servo gains (position loop gain 1, speed loop gain 1 and speed loop integral time 1). The following tuning functions are available for the SINAMICS V90 servo drive. Select a tuning mode by setting the parameter p29021:...
Page 260: One-Button Auto Tuning
– For the motor with an absolute encoder: position limitation is defined by p29027 – For the motor with an incremental encoder: the motor must be allowed to rotate freely about two rounds when tuning starts SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 261 Tuning 9.3 One-button auto tuning One-button auto tuning procedure Proceed as follows to perform one-button auto tuning for the SINAMICS V90 servo drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 262 Higher dynamic factor means higher tracking ability and shorter settling time but also higher possibility of resonance. You should find a desired dynamic factor within a resonance-free range. A total of 35 dynamic factors are available for the SINAMICS V90 servo drive: Dynamic factor (p29020) Machine rigidity ↑...
Page 263 Speed setpoint filter 1 numerator damping p1441 0 to 50 Actual speed smoothing time p1656 0 to 15 Activates current setpoint filter p1658 0.5 to 16000 1999 Current setpoint filter 1 denominator natural frequen- SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 264 One-button auto tuning may cause some changes of the control parameters. When the system rigidity is low, this may lead to a situation that when you set EMGS = 0, the motor needs take long time to emergency stop. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 265: Real-Time Auto Tuning
● Make sure that the motor has multiple accelerations and decelerations. Step command is recommended. ● Machine resonance frequency changes when the machine is running. Real-time auto tuning procedure Proceed as follows to perform real-time auto tuning for the SINAMICS V90 servo drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 266 Higher dynamic factor means higher tracking ability and shorter settling time but also higher possibility of resonance. You should find a desired dynamic factor within a resonance-free range. 35 dynamic factors are available for the SINAMICS V90 servo drive: Dynamic factor (p29020) Machine rigidity ↑...
Page 267 After the tuning is completed, the host controller can run the motor. Note After the real-time auto tuning is activated, do not change other auto tuning related control/filter parameters since these parameters can be set automatically and your changes will not be accepted. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 268: Manual Tuning
● p29021=5: auto tuning function is disabled and all control parameters are reset to tuning default values. ● p29021=0: auto tuning function is disabled without changing control parameters. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 269 9.5 Manual tuning Procedure for manual tuning Follow the procedure below to perform manual tuning: Note Resonance suppression For detailed information about the resonance suppression, refer to Section "Resonance suppression (Page 270)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 270: Resonance Suppression
Now four current setpoint filters are available for the V90 servo drive. Filter 1 is lowpass filter. Filter 2, filter 3 and filter 4 are band damp filters. The gain decreasing frequency, width as well as depth can be set by setting the notch filter: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 271 Notch filter remains active when the resonance suppression function is activated automatically. After one-button tuning is completed, four filters can be activated at most. You can deactivate the notch filters by setting the parameter p1656. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 272 , notch width is f , and notch depth is K, then the filter parameters can be calculated as follows: p1663=p1665=f p1664=f / (2 × f p1666=(f × 10 )/ (2 × f (k/20) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 273: Low Frequency Vibration Suppression
Set the control mode for the drive by p29003. ⑥ Enable the vibration suppression function by Set p29035 = 1 to activate the function. p29035. ⑦ Set the drive to "S ON" state. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 274: Gain Switching
In the speed control mode, gain switching can be decided by actual speed. If the actual speed is below preset value; otherwise, the second one is selected. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 275: Gain Switching Using An External Digital Input Signal (G-Change)
Speed loop integral time 2 p29139 8 to 1000 Time constant to smooth the switching between gain sets Timing diagram Note If the pulse duration is shorter than 10 ms, there is no reaction. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 276: Gain Switching Using Position Deviation
Nms/rad Speed loop gain 1 p29120[1] 0 to 999999 Nms/rad Speed loop gain 2 p29121[0] 0 to 100000 Speed loop integral time 1 p29121[1] 0 to 100000 Speed loop integral time 2 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 277: Gain Switching Using Actual Speed
0 to 100000 Speed loop integral time 2 p29133 0 to 2147000064 100 Speed threshold for automatically triggering gain switching p29139 8 to 1000 Time constant to smooth the switching between gain sets SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 278: Pi/P Switching
Five switching modes in total are available for PI/P switching: ● using torque setpoint ● using an external digital input signal (G-CHANGE) ● using speed setpoint ● using acceleration setpoint ● using pulse deviation SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 279 The mode switching function suppresses torque saturation and eliminates the over- shooting or undershooting of the motor speed. Example 2: The function of PI/P switching can be used to suppress overshooting and undershooting when speed loop gain is increased SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 280: Pi/P Switching Using Torque Setpoint
PI/P switching using an external digital input signal (G-CHANGE) DI settings ● Position control mode Signal Pin assignment Setting Description G-CHANGE X8-9 (factory The first group of gains is selected. setting) The second group of gains is selected. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 281: Pi/P Switching Using Speed Setpoint
0.3 (default) Nms/rad Speed loop gain 1 p29121[0] 0 to 100000 15 (default) Speed loop integral time 1 Note For detailed information about speed setpoint, refer to "Configuring speed setpoint (Page 198)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 282: Pi/P Switching Using Acceleration Setpoint
For detailed information about speed setpoint, refer to "Configuring speed setpoint (Page 198)". Acceleration For detailed information about acceleration, refer to "Setting fixed position setpoint (Page 183)" of the internal position control mode. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 283: Pi/P Switching Using Pulse Deviation
Nms/rad Speed loop gain 1 p29121[0] 0 to 100000 15 (default) Speed loop integral time 1 Note Speed setpoint For detailed information about speed setpoint, refer to "Configuring speed setpoint (Page 198)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 284 Tuning 9.9 PI/P switching SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 285: Parameters
Parameters 10.1 Overview The section below lists all the parameters of the SINAMICS V90 servo drive. Parameter number Numbers prefixed with an "r" indicate that parameter is a read-only parameter. Numbers prefixed with a "P" indicate that the parameter is an editable parameter.
Page 286: Parameter List
Parameters 10.2 Parameter list Parameter groups The SINAMICS V90 parameters are divided into the following groups: Parameter group Available parameters Parameter group display on the BOP Basic parameters p290xx Gain adjustment parameters p291xx Speed control parameters p10xx to p14xx, p21xx...
Page 287 Note: The parameter values displayed on the BOP are integers. p1082 * Maximum speed 0.000 210000.000 1500.00 Float Description: Sets the highest possible speed. Notice: After the value has been modified, no further parameter modifications can be made. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 288 Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system. p1215 * Motor holding brake con- figuration Description: Sets the holding brake configuration. Dependency: Refer to p1216, p1217, p1226, p1227, p1228 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 289 - The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired. The actual value sensing is subject to measuring noise. For this reason, standstill cannot be detected if the speed threshold is too low. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 290 Speed setpoint filter 1 T, U type Description: Sets the type for speed setpoint filter 1. Dependency: PT1 low pass: p1416 PT2 low pass: p1417, p1418 General filter: p1417 ... p1420 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 291 Description: Sets the time constant for the speed setpoint filter 2 (PT1). Dependency: Refer to p1414, p1421 Note: This parameter is only effective if the speed filter is set as a PT1 low pass. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 292 Danger: Positive values when setting the lower torque limit (p1521 > 0) can result in the motor accelerating in an uncontrollable fashion. Notice: The maximum value depends on the maximum torque of the connected motor. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 293 10.000 0.300 Float T, U denominator damping Description: Sets the denominator damping for current setpoint filter 3. Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 294 Description: Sets the speed threshold value for the signal that indicates the axis is stationary. p2162 * Hysteresis speed n_act > 0.00 60000.00 0.00 Float T, U n_max Description: Sets the hysteresis speed (bandwidth) for the signal "n_act > n_max". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 295 After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint and actual position is located within the standstill window and, if required, an appropriate fault is output. Dependency: Refer to: p2542, p2545, and F07450 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 296 The maximum velocity for the basic positioner should be aligned with the maximum speed/velocity of the speed/velocity controller. p2572 ** IPos maximum accelera- 2000000 Motor tion pendent LU/s ² Description: Sets the maximum acceleration for the "basic positioner" function (IPos). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 297 Dependency: Refer to p2581, p2582 p2581 EPOS software limit -2147482648 214748264 214748 T, U switch plus 2647 Description: Sets the software limit switch in the positive direction of travel. Dependency: Refer to p2580, p2582 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 298 214748264 T, U coordinate value Description: Sets the position value for the reference point coordinate. This value is set as the actual axis position after referencing or adjustment. Dependency: Refer to p2525 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 299 EPOS search for refer- 214748264 20000 T, U ence max. distance ref. cam and zero mark Description: Sets the maximum distance after leaving the reference cam when traversing to the zero mark. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 300 Note: The percentage value refers to the maximum acceleration (p2572). p2693 MDI deceleration over- 0.100 100.000 100.000 % Float T, U ride, fixed setpoint Description: Sets a fixed setpoint for the deceleration override. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 301 Note: Changes only become effective after power on. The parameter isn't influenced by default function. p29005 Braking resistor capacity Float percentage alarm thresh- Description: Alarm triggering threshold for the capacity of the internal braking resistor. Alarm number: A52901 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 302 A7461 will remind user to referencing again. 0: Pulse + direction, positive logic • 1: AB phase, positive logic • 2: Pulse + direction, negative logic • 3: AB phase, negative logic • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 303 Four numerators in total are available. You can select one of the numerators by configuring the digital input signal EGEAR. For detailed information about the calculation of a numerator, refer to the SINAMICS V90 Operating Instruc- tions or use SINAMICS V-ASSISTANT to do the calculation.
Page 304 Bit 4: Activates the torque pre-control for the position controller. • Bit 5: Adapts acceleration limit. • p29026 Tuning: Test signal dura- 5000 2000 tion Description: The duration time of the one-button auto tuning test signal. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 305 Description: The numerator of the electronic gear ratio for the output pulses. For detailed information about the calculation of a numerator, refer to the SINAMICS V90 Operating Instruc- tions or use the SINAMICS V-ASSISTANT to do the calculation.
Page 306 With this parameter, you can specify the speed setpoint corresponding to full analog input (10 V). p29061 Offset adjustment for -0.5000 0.5000 0.0000 Float analog input 1 Description: Offset adjustment for the analog input 1. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 307 Dependency: The parameter value will be set to default after configuring a new motor ID (p29000). p29111 Speed pre-control factor 0.00 200.00 0.00 Float T, U (feed forward) Description: Setting to activate and weight the speed pre-control value. Value = 0%: The pre-control is deactivated. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 308 Switch from the first group of control parameters to the second group when the position deviation is larger • than the threshold. Switch from the second group of control parameters to the first group when the position deviation is small- • er than the threshold. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 309 Switch from the PI control to the P control when the actual torque is larger than the threshold. • Switch from the P control to the PI control when the actual torque is smaller than the threshold. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 310 4: Referencing with external reference cam (CWL) and zero mark • p29241 Positioning mode selec- tion Description: Moves mode set for IPos: 0: Means relative moving • 1: Means abs moving • 2: POS Mod • 3: NEG Mod • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 311 * Mechanical gear: denom- 1048576 inator Description: (Load/Motor) Motor revolutions. p29250 PTI absolute position mode enable Description: Absolute position mode enable. 1: Enable Absolute Mode • 0: Disable Absolute Mode • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 312 TSET 18 • SLIMT1 19 • SLIMT2 20 • POS1 21 • POS2 22 • POS3 23 • REF 24 • SREF 25 • STEPF 26 • STEPB 27 • STEPH 28 • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 313 [2]: DI5 for control mode 2 • [3]: DI5 for control mode 3 • p29306[0.. Digital input 6 assignment 0 [0] 6; [1] 6; [2] 13; [3] Description: Defines the function of digital input signal DI6 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 314 4: ZSP • 5: SPDR • 6: TLR • 7: SPLR • 8: MBR • 9: OLL • 10: WARNING1 • 11: WARNING2 • 12: REFOK • 13: CM_STA • 14: RDY_ON • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 315 • 4: Encoder warning • 5: Motor overtemperature warning: 85% of overtemperature threshold has been reached. • 6: Capacitor service life warning: The capacitor has reached its expiry, so replace it. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 316 1: The sensitive VIBSUP filter has a higher sensitivity to frequency offsets compared with the rugged filter • type, but results in a lower delay of the motion sequence. The total motion sequence is extended by half the time period T /2 (T = 1/f SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 317 The signal is not suitable as a process quantity and may only be used as a display quantity. The field-generating current actual value is available smoothed (r0029) and unsmoothed. r0030 Current actual value torque-generating smoothed Arms Float Description: Displays the smoothed torque-generating actual current. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 318 Motor utilization thermal Float Description: Displays the motor utilization from motor temperature model 1 (I t) or 3. r0037[0...1 Power unit temperatures °C Float Description: Displays the temperatures in the power unit. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 319 • [19]: Cooling unit liquid intake • Dependency: Refer to A01009 Notice: Only for internal Siemens troubleshooting. Note: The value of -200 indicates that there is no measuring signal. r0037[0]: Maximum value of the inverter temperatures (r0037[5...10]). • r0037[1]: Maximum value of the depletion layer temperatures (r0037[13...18]).
Page 320 The drive unit displays the value in hex format. You can convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin). r0747 CU digital outputs status Description: Displays the status of digital outputs. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 321 If the value of the bit equals to 0, it means the function of this bit is deactivated. If the value of the bit equals to 1, it means the function of this bit is activated. r2122[0...6 Alarm code Description: Displays the number of faults that have occurred. Dependency: Refer to r2124 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 322 EPOS position setpoint Description: Displays the actual absolute position setpoint. r29015 PTI: Pulse input frequency Float Description: Displays the PTI input pulse frequency. r29018[0... OA version Float Description: Displays the OA version. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 323 Bit 11: REFOK • Bit 12: CM_STA • Bit 13: RDY_ON • r29979 Index of actual electronic gear Description: Displays the status of position loop. Bit 0 to Bit 1: Actual EGear index • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 324 Parameters 10.2 Parameter list SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 325: Diagnostics
● General properties of faults and alarms – Triggering on selected messages possible. – Contain the component number for identifying the affected SINAMICS component. – Contain diagnostic information on the relevant message. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 326 Non-first alarm in the case of multiple alarms NOTICE Faults have higher display priority than alarms In the case that both faults and alarms occur, only faults are displayed until they have been acknowledged. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 327 BOP operations for faults and alarms To view faults or alarms, proceed as follows: ● Faults ● Alarms To exit from fault or alarm display, proceed as follows: ● Faults ● Alarms SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 328 24 V control board power supply is missing Green Continuously lit The drive is in "S ON" state Continuously lit The drive is in "S OFF" state or in startup state Flash at 1 Hz Alarms or faults occurs SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 329: List Of Faults And Alarms
An internal software error has occurred. Carry out a POWER ON (power off/on) for • Reaction: OFF2 all components. Acknowledgement: POWER Upgrade firmware to the latest version. • Contact the Hotline. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 330 As a result of other parameters, they • Acknowledgement: have exceeded the dynamic limits. IMMEDIATELY They cannot be used due to the fact • that the hardware detected not having certain features. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 331 Reaction: OFF2 Check the DC link voltage. • Motor not connected or motor contactor • Acknowledgement: Check the Motor Module. • open. IMMEDIATELY No DC link voltage present. • Motor Module defective. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 332 Do not attempt to change over to encoder- • coderless operation not pos- verter cannot change over to encoderless less operation. sible operation. Check the encoder cable connection. • Reaction: OFF2 Acknowledgement: POWER SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 333 Acknowledgement: IMMEDIATELY small (p2544). Position monitoring time parameterized • too short (p2545). Position loop gain is too low. • Position loop gain is too high (instabil- • ity/oscillation). Drive mechanically locked. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 334 Check the traversing block and where rele- block is inconsistent information. vant, take into consideration alarms that are present. Reaction: OFF1 (OFF2, Alarm value: OFF3) Number of the traversing block with invaild Acknowledgement: information. IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 335 (p2634). F7488: EPOS: Relative posi- In the mode "direct setpoint input/MDI", for Check the control. tioning not possible continuous transfer relative positioning was selected. Reaction: OFF1 (OFF2, OFF3) Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 336 IPos: p29247 * p29248 * 4096 / p29249 – PTI: 1048576 * p29012[X] * 4096 / p29013 For singleturn encoders: • – IPos: p29247 * p29248 / p29249 – PTI: 1048576 * p29012[X] / p29013 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 337 Acknowledgement: Replace the associated infeed or drive of • IMMEDIATELY DC link voltage is not present. the signaling component. • Associated infeed or drive of the signal- • ing component is defective. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 338 Check the length of the power cables. • permissible length. Replace power unit. • Power unit defective. • Check the line supply phases. • Line phase interrupted. • Check the external braking resistor con- • nection. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 339 A line phase has failed. • The 3 line phases are inadmissibly • unsymmetrical. The fuse of a phase of a main circuit • has ruptured. A motor phase has failed. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 340 IMMEDIATELY Overload. • Notice: Surrounding temperature too high. • This fault can only be acknowledged once the permissible temperature limit minus 5 K has been fallen below. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 341 A*, B* and R* are not connection of them. inverted with respect to signals A, B and R. Reaction: ENCODER Does the encoder supply signals and the • Acknowledgement: PULSE associated inverted signals? INHIBIT SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 342 The servo motor with absolute encoder is The servo motor will be automatically config- motor changed changed. Actual motor ID is different from ured after the acknowledgement of this fault. commissioned motor ID. Reaction: OFF1 Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 343 The saved object-specific parameters are not loaded the next time that the system powers up. For the system to successfully power up, all of the parameters must have been completely backed up. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 344 A7461: EPOS: Reference When starting a traversing block/direct Reference the system (search for reference, point not set setpoint input, a reference point is not set. flying referencing, set reference point). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 345 Encoderless operation is active due to a Remove the cause of a possible encoder • tion due to a fault active fault. fault. Carry out a POWER ON (power off/on) for • all components. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 346 A30016: Load supply The DC link voltage is too low. Switch on the load supply. • switched off Check the line supply if necessary. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 347 Change PTO ratio. quency exceeds 280K, drive will output A52932 to remind that exceed limitation. For absolute encoder, when PTO frequen- cy exceeds 120K, drive will output A52932 to remind that exceed limitation. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 348 Diagnostics 11.2 List of faults and alarms SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 349: Appendix
2. Remove the insulation from the wire. 3. Insert the stripped end into the spade terminal. 4. Crimp the spade terminal using a crimp tool for cable lugs. (Note: Coat any exposed wires with tin.) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 350 The terminal assembly procedures for absolute and incremental encoders are the same. Brake terminal assembly The assembly of a brake terminal follows the procedure as described in the figure above for a power terminal. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 351 Appendix A.1 Assembly of cable terminals on the drive side Setpoint connector assembly SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 352: Assembly Of Cable Connectors On The Motor Side
The assembly of the brake connector used for low inertia motor with shaft height 20 mm to 40 mm follows the procedure as described in the figure above for a power connector. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 353 Appendix A.2 Assembly of cable connectors on the motor side Power cable used for low inertia motor with shaft height 50 mm and high inertia motor SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 354 A.2 Assembly of cable connectors on the motor side Encoder connector assembly The connector assembly procedures for absolute and incremental encoders are the same. Encoder cable used for low inertia motor with shaft height 20 mm to 40 mm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 355 The assembly of the brake connector used for low inertia motor with shaft height 50 mm and high inertia follows the procedure as described in the figure above for an encoder connector. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 356: Motor Selection
The inertia ratio can be obtained by dividing the load inertia by the rotor inertia of the selected motor. The unit of inertia is x 10 kg·m 4. Calculate the speed. Calculate the speed according to the travel distance, acceleration time, deceleration time, and constant motion time. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 357: Parameter Description
80% of the motor’s rated torque. : Acceleration torque [N·m] : Acceleration time [s] : Cycle time [s] : Moving torque [N·m] : Constant motion time [s] : Deceleration torque [N·m] : Deceleration time [s] SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 358 W: Mass (kg) W: Mass (kg) D: Pulley wheel diameter (m) : Speed of each motor Reducer (rpm) : Pulley inertia (kg·m Object hung with pulley : Inertia of each motor (kg·m SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 359: Selection Examples
) / t = 1.71 Nm < 4.78 Nm (rated torque) 6. Final selection According to the above calculated speed, torque, and inertia ratio, you are recommended to select 1000 W motors, i.e. 1FL6062. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 360: Replacing Fans
When re-assembling the fan, make sure that the arrow symbol (" "in the illustration) on the fan points to the drive rather than the fan housing. Replacing the fan (example) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 361: Index
Connecting the RS485 interface, 130 Connecting the SIMATIC S7-1200 Gain switch, 274 For internal position control (IPos), 115 Gain switching using actual speed, 277 For pulse train input position control (PTI), 114 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 362 OSHA, 246 Harmonized European Standards, 239 Over-travel, 165 Overview of absolute position system, 233 Restrictions, 233 Overview of SINAMICS V90 BOP functions, 151 Internal position control mode (IPos) Linear/modular axis, 186 Position setpoint, 183 Selecting a fixed position setpoint and starting...
Page 363 Speed limit, 175 Overall speed limit, 175 Standards for implementing safety-related controllers, 240 Stopping method at servo OFF, 166 Coast-down, 167 Emergency stop, 167 Ramp-down (OFF1), 167 System connection, 77 Technical data Cables, 59 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...
Page 364 Index SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2016, A5E36037884-002...

This manual is also suitable for:

Simotics s-1fl6

Siemens SINAMICS V90 Operating Instructions Manual

1 Fundamental Safety Instructions

2 General Information

3 Mounting

4 Connecting

5 Commissioning

6 Basic Operator Panel (BOP)

7 Control Functions

8 Safety Integrated Function

9 Tuning

10 Parameters

11 Diagnostics

Appendix

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Summary of Contents for Siemens SINAMICS V90