Siemens SINAMICS V90 Getting Started

Pulse train, uss/modbus interface

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Page 1 RS485 interface - X12 ........................... 62 Commissioning ..............................63 Introduction to the BOP ......................... 64 Initial commissioning in JOG mode ....................... 69 Commissioning in pulse train position control mode (PTI) ..............72 © Siemens AG 2015 - 2017. All rights reserved A5E36037886-003, 04/2017...
Page 2: Table Of Contents
Commissioning control functions......................73 5.4.1 Selecting a control mode ........................73 5.4.2 Selecting a setpoint pulse train input channel ..................74 5.4.3 Selecting a setpoint pulse train input form .................... 74 5.4.4 In position (INP) ............................ 75 5.4.5 Calculating electronic gear ratio ......................75 5.4.6 Absolute position system ........................
Page 3: Fundamental Safety Instructions
Fundamental safety instructions General safety instructions DANGER Danger to life due to live parts and other energy sources Death or serious injury can result when live parts are touched. Only work on electrical devices when you are qualified for this job. •...
Page 4 WARNING Danger to life due to electric shock when not grounded For missing or incorrectly implemented protective conductor connection for devices with protection class I, high voltages can be present at open, exposed parts, which when touched, can result in death or severe injury. Ground the device in compliance with the applicable regulations.
Page 5 WARNING Danger to life through unexpected movement of machines when using mobile wireless devices or mobile phones Using mobile wireless devices or mobile phones with a transmit power > 1 W closer than approx. 2 m to the components may cause the devices to malfunction, influence the functional safety of machines therefore putting people at risk or causing material damage.
Page 6 Note Important safety notices for Safety Integrated functions If you want to use Safety Integrated functions, you must observe the safety notices in the Safety Integrated manuals. WARNING Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death.
Page 7: Handling Electrostatic Sensitive Devices (Esd)
Note Industrial security Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement – and continuously maintain –...
Page 8: Residual Risks Of Power Drive Systems
Residual risks of power drive systems When assessing the machine- or system-related risk in accordance with the respective local regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer must take into account the following residual risks emanating from the control and drive components of a drive system: 1.
Page 9: 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 10 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. Getting Started A5E36037886-003, 04/2017...
Page 11 Drive rating plate (example) ① ⑤ Drive name Article number ② ⑥ Power input Product serial number ③ ⑦ Power output Part number ④ Rated motor power Getting Started A5E36037886-003, 04/2017...
Page 12 Article number explanation (example) Getting Started A5E36037886-003, 04/2017...
Page 13 Serial number explanation (example) Getting Started A5E36037886-003, 04/2017...
Page 14: Motor Components
2.1.2 Motor components Components in the SIMOTICS S-1FL6 low inertia motor package Component Illustration Rated power (kW) Shaft height (mm) Article number SIMOTICS S-1FL6, 0.05/0.1 1FL6022-2AF21-1❑❑1 low inertia 1FL6024-2AF21-1❑❑1 0.2/0.4 1FL6032-2AF21-1❑❑1 1FL6034-2AF21-1❑❑1 0.75/1.0 1FL6042-2AF21-1❑❑1 1FL6044-2AF21-1❑❑1 1.5/2.0 1FL6052-2AF21-0❑❑1 1FL6054-2AF21-0❑❑1 User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide Components in the SIMOTICS S-1FL6 high inertia motor package Component...
Page 15 Motor rating plate (example) ① ⑦ ⑬ Motor type Rated power Rated current ② ⑧ ⑭ Article number Encoder type and resolution Holding brake ③ ⑨ ⑮ Serial number Thermal class Motor ID ④ ⑩ ⑯ Rated torque Degree of protection Weight ⑤...
Page 16 Article number explanation Getting Started A5E36037886-003, 04/2017...
Page 17: Device Combination
Device combination V90 200 V servo system SIMOTICS S-1FL6 low inertia servo motors SINAMICS V90 MOTION-CONNECT 300 pre-assembled 200 V servo cables drives Power Brake cable Encoder cable cable Rated Rated Rated Shaft Article number Article Frame Article Article Article number...
Page 18 V90 400 V servo system SIMOTICS S-1FL6 high inertia servo motors with straight SINAMICS V90 MOTION-CONNECT 300 pre-assembled connectors 400 V servo cables drives Power Brake cable Encoder cable cable Rated Rated Rated Shaft Article number Article Frame Article Article...
Page 19 12-bit multi-turn Note You can select a SINAMICS V90 servo drive for all the SIMOTICS S-1FL6 servo motors whose rated power values are equal to or smaller than that specified as matching with this servo drive in the table above.
Page 20: Accessories
Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes. Refer to the following table for the selection of fuses and type E motor controllers: SINAMICS V90 200 V variant SINAMICS V90 Recommended fuse...
Page 21 Please take this fact into consideration in special installation situations (e.g. allow sufficient clearance for the cable length). Use of third-party products This document contains recommendations relating to third-party products. Siemens accepts the fundamental suitability of these third-party products. You can use equivalent products from other manufacturers.
Page 22: Function List
Stops motor and clamps the motor shaft when motor speed setpoint is below a parameterized threshold level Modbus communication Supports the communication between the SINAMICS V90 PTI, IPos, S, T servo drive and PLC with the standard Modbus communica- tion protocol...
Page 23: Technical Data
Function Description Control mode Electronic gear ratio Defines a multiplier factor for input pulses PTI, IPos Basic operator panel (BOP) Displays servo status on a 6-digit 7-segment LED display PTI, IPos, S, T External braking resistor An external braking resistor can be used when the internal PTI, IPos, S, T braking resistor is insufficient for regenerative energy Digital inputs/outputs (DIs/DOs)
Page 24 UL, CE, KC, RCM, EAC tion 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 25 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 26 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. supported motor power (kW) 0.75...
Page 27: Technical Data - Servo Motors
2.5.2 Technical data - servo motors General technical data Parameter Description Type of motor Permanent-magnet synchronous motor Cooling Self-cooled Relative humidity [RH] 90% (non-condensing at 30°C ) Installation altitude [m] ≤ 1000 (without power derating) Thermal class Vibration severity grade A (according to IEC 60034-14) Shock resistance [m/s 25 (continuous in axial direction);...
Page 28 Article No. 1FL60... Rated voltage 24 ± 10% Rated current 0.25 0.35 0.57 Holding brake 0.32 1.27 3.18 6.37 Holding torque [Nm] brake Maximum brake opening time [ms] Maximum brake closing time [ms] Maximum 2000 number of emergency stops Oil seal lifetime [h] 3000 to 5000 Encoder lifetime [h] >...
Page 29 Article No. 1FL60... Operating temperature [°C] 0 to 40 (without power derating) Storage temperature [°C] -20 to +65 Maximum noise level [dB] Rated voltage 24 ± 10% Rated current 0.88 1.44 1.88 Holding brake Holding torque [Nm] brake Maximum brake opening time [ms] Maximum brake closing...
Page 30: Address Of Ce-Authorized Manufacturer
0.88 0.82 0.79 0.75 0.71 4000 0.82 0.77 0.74 0.71 0.67 2.5.3 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 Getting Started A5E36037886-003, 04/2017...
Page 31: Mounting
Mounting Mounting the drive Protection against the spread of fire The device may be operated only in closed housings or in control cabinets with protective covers that are closed, and when all of the protective devices are used. The installation of the device in a metal control cabinet or the protection with another equivalent measure must prevent the spread of fire and emissions outside the control cabinet.
Page 32 Drill patterns and outline dimensions SINAMICS V90 200 V variant (unit: mm) Getting Started A5E36037886-003, 04/2017...
Page 33 SINAMICS V90 400 V variant (unit: mm) Getting Started A5E36037886-003, 04/2017...
Page 34 Mounting the drive For V90 200 V variant, use two M5 screws to mount the FSA and FSB drives and four M5 screws to mount the FSC, and FSD drives. For V90 400 V variant, use two M5 screws to mount the FSAA drive and four M5 screws to mount the FSA, FSB, and FSC drives.
Page 35: Mounting The Motor
• which include cables from the line supply to the line filter and from the line filter to the SINAMICS V90 drive. The SINAMICS V90 drives have been tested in accordance with the emission requirements of the category of C2 •...
Page 36 Motor dimensions (unit: mm) Low inertia servo motor, shaft height: 20 mm, 30 mm, and 40 mm Low inertia servo motor, shaft height: 50 mm Type 1FL60... Shaft height 30 - 0.02 50 - 0.03 70 - 0.03 95 - 0.03 2.5 - 0.2 3 - 0.2 3 - 0.3...
Page 37 Type 1FL60... Without 158.8 brake 143.5 167.5 With brake 132.5 157.5 178.3 198.1 177.5 201.5 32.5 32.5 ① ② ③ −Power cable connector, −Incremental encoder cable connector, −Brake cable connector. These connectors • should be ordered separately. For more information about the order information of the connectors, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.
Page 38 Type 1FL60... Shaft height 13.5 80 - 0.03 110 - 0.035 114.3 - 0.035 4 - 0.3 6 - 0.3 3 - 0.3 19 - 0.013 22 -0.013 35 - 0.016 M6 x 16 M8 x 16 M12 x 25 21.5 6 - 0.03 8 - 0.036...
Page 39 High inertia servo motor with straight connectors, with the absolute encoder High inertia servo motor with angular connectors, with the absolute encoder Type 1FL60... Shaft height 13.5 80 - 0.03 110 - 0.035 114.3 - 0.035 4 - 0.3 6 - 0.3 3 - 0.3 19 - 0.013 22 - 0.013...
Page 40 Type 1FL60... Without 184/16 brake With 203.5 250.5 205.5 238.5/ 238.5 271.5 304.5 brake 31.5 39.5 44.5 With straight connect- With 96.2 117.5 angular connect- ① ② ③ -Power cable connector, −Absolute encoder cable connector, −Brake cable connector. These connectors •...
Page 41 When the motor is mounted on a small surface, the motor temperature may rise considerably because of the limited heat radiating abilities of the surface. Make sure you use a suitable flange according to Siemens recommended flange sizes.
Page 42: Connecting
Connecting System connection The following illustrations show examples of the SINAMICS V90 servo system connection: SINAMICS V90 200 V variant The connection for FSB when used on the single phase power network: Getting Started A5E36037886-003, 04/2017...
Page 43 The connection for FSD when used on the three phase power network: Getting Started A5E36037886-003, 04/2017...
Page 44 SINAMICS V90 400 V variant The connection for FSB when used on the three phase power network: Getting Started A5E36037886-003, 04/2017...
Page 45 Exercise caution when connecting the shielding cable to the setpoint connector. For more information about the assembly method of the connector, see Section "Assembly of cable terminals on the drive side" in the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. Note Low Voltage Directive complied Our products comply with EN61800-5-1: 2007 standards and Low Voltage Directive (Low Voltage Directive 2006/95/EC).
Page 46 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. Connecting the cable shields with the shielding plate To achieve EMC-compliant installation of the drive, use the shielding plate that is shipped with the drive to connect the cable shields.
Page 47 DANGER Death or severe personal injury from electrical shock The earth leakage current for the drive can be greater than AC 3.5 mA, which may cause death or severe personal injury due to electrical shock. A fixed earth connection is required to eliminate the dangerous leakage current. In addition, the minimum size of the protective earth conductor shall comply with the local safety regulations for high leakage current equipment.
Page 48: Main Circuit Wiring
Assembling the line supply cable terminals The procedure of assembling a line supply cable terminal is the same as that for a power cable terminal on the drive side. For more information, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. Attaching the line supply cable...
Page 49: Motor Power - U, V, W
M4 screws with a tightening torque of 2.25 Nm (19.91 lb.in). 4.2.2 Motor power - U, V, W Motor output - drive side SINAMICS V90 200 V variant Recommended minimum cable cross-section: FSA and FSB: 0.75 mm FSC and FSD (1 kW): 0.75 mm FSD (1.5 kW to 2 kW): 2.5 mm...
Page 50 Attaching the motor power cable CAUTION Risk of injury due to improper cable connection When attaching the motor power cable to a motor power connector that has not been fixed on the drive, you can injure your fingers. Make sure you first fix the motor power connector on the drive, and then attach the cable to the connector. •...
Page 51: Control/Status Interface - X8
The pin definition updates are applicable only when the FS (function state) version is as follows: V90 200 V: FS02 and the later • V90 400 V: FS04 and the later • Refer to the rating plate on the drive housing for the FS version of a SINAMICS V90 servo drive. Signal Description Signal Description...
Page 52 The original pin definitions are applicable only when the FS version is as follows: V90 200 V: FS01 • V90 400 V: FS03 and the earlier • Refer to the rating plate on the drive housing for the FS version of a SINAMICS V90 servo drive. Pin No. Signal Description Reserved...
Page 53: Standard Wiring
4.3.2 Standard wiring Pulse train input position control (PTI) Note Only one of the pulse train input channels can be used. Getting Started A5E36037886-003, 04/2017...
Page 54 Internal position control (IPos) Getting Started A5E36037886-003, 04/2017...
Page 55 Speed control (S) Getting Started A5E36037886-003, 04/2017...
Page 56 Digital outputs, supporting both the PNP and the NPN types. The 24 V power supplies in the connection diagrams 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 57: V Power Supply/Sto
SIL 2 (EN61800-5-2). 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 chapter "Safety Integrated basic functions" of SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.
Page 58: Encoder Interface - X9
Exercise caution when connecting the shielding cable to the encoder connector. For more information, see Section "Assembly of cable terminals on the drive side" in the SINAMICS V90, SIMOTICS S- 1FL6 Operating Instructions. Encoder interface - drive side Illustration Pin No.
Page 59 Encoder connector - motor side Illustration Incremental encoder TTL 2500 ppr Illustration Absolute encoder single-turn 21-bit Signal Description Signal Description Low inertia motor, shaft-height: 20 mm, 30 mm and 40 mm P_Supply Power supply 5 V P_Supply Power supply 5 V Power supply 0 V Power supply 0 V Phase A+...
Page 60 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 Getting Started A5E36037886-003, 04/2017...
Page 61: External Braking Resistor - Dcp, R1
For more information about how to connect the external braking resistor, see Section "System connection (Page 42)". Motor holding brake You can connect the SINAMICS V90 servo drive to a servo motor with brake to use the function of motor holding brake. NOTICE Shortening the service life of motor brake The motor brake is used for holding purpose only.
Page 62: 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 Reserved Do not use RS485+ RS485 differential signal...
Page 63: Commissioning
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.). With SINAMICS V-ASSISTANT, you can change drive parameters and monitor drive working states in online mode.
Page 64: Introduction To The Bop
Introduction to the BOP Overview The SINAMICS V90 servo drive has been designed with a Basic Operator Panel (BOP) located on the front of the servo drive. LED status indicators Two LED status indicators (RDY and COM) are available to indicate drive status. Both LEDs are dual color (green/red).
Page 65 Control buttons Button Description Functions Basic buttons Exits from the current menu M button • Switches between operating modes in the top level • menu OK button Short-pressing: Confirms selection or input • Enters sub menu • Acknowledges faults • Long-pressing: Activates auxiliary functions •...
Page 66 Menu structure The overall menu structure of SINAMICS V90 BOP is designed as follows: Getting Started A5E36037886-003, 04/2017...
Page 67 BOP displays You can find the description and corresponding examples for BOP displays in the table below: Display Example Description 8.8.8.8.8.8. Drive is in startup state ------ Drive is busy Fxxxxx Fault code, in the case of a single fault F.xxxxx.
Page 68 Display Example Description P 0x Parameter group Six groups are available: 1. P0A: basic 2. P0B: gain adjustment 3. P0C: speed control 4. P0D: torque control 5. P0E: position control 6. P0F: I/O Data Read-only parameter group Func Function group Jog function Save Save data in drive...
Page 69: Initial Commissioning In Jog Mode
Display Example Description T -x.x Actual torque (negative direction) xxxxxx Actual position (positive direction) xxxxxx. Actual position (negative direction) DCxxx.x Actual DC link voltage Exxxxx Position following error The motor is running The communication between the SINAMICS V-ASSISTANT and the servo drive is established.
Page 70 Step Operation Comment Check the direction of motor rotation. p29001=0: CW The default direction of rotation is CW (clockwise). You p29001=1: CCW can change it by setting the parameter p29001 if neces- sary. Setting a parameter without index (example) Setting a parameter with index (example) Check the Jog speed.
Page 71 Step Operation Comment For the BOP, enter the Jog menu function and press the UP or DOWN button to run the servo motor. Jog in speed (example) Jog in torque (example) For the engineering tool, use the Jog function to run the For more information about JOG with SINAMICS V- servo motor.
Page 72: Commissioning In Pulse Train Position Control Mode (Pti)
Calculate the electronic gear ratio by selecting me- • chanical structure. – For more information, see SINAMICS V90 V- ASSISTANT Online Help. Refer to "Calculating electronic gear ratio (Page 75)". Getting Started A5E36037886-003, 04/2017...
Page 73: Commissioning Control Functions
Step Operation Comment Check the encoder type. If it is an absolute encoder, adjust the absolute encoder with the BOP menu function "ABS". Save parameters with the BOP. Switch on the line supply. Clear faults and alarms. Refer to "Diagnostics (Page 111)". Trigger SON to the high level, input the setpoint pulse Use a low pulse frequency at first to check the direction train from the command device, and then the servo...
Page 74: Selecting A Setpoint Pulse Train Input Channel
5.4.2 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...
Page 75: In Position (Inp)
You can select one of the setpoint pulse train input forms by setting the parameter p29010: Parameter Value Setpoint pulse train input form Default p29010 Pulse + Direction, positive logic ✓ AB track, positive logic Pulse + Direction, negative logic AB track, negative logic Note After modifying parameter p29010, you must perform referencing again because the reference point will lost after p29010...
Page 76 Benefits of electronic gear (example): Move the workpiece for 10 mm: Without electronic gear 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 The electronic gear ratio is a multiplier factor to pulse train setpoint.
Page 77: Absolute Position System
Absolute position system 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 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 78: Parameters
Parameters 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 79: Parameter List
Parameter group Available parameters Parameter group display on the BOP I/O parameters p293xx Status monitoring parameters All read-only parameters Parameter list Editable parameters The values of the parameters marked with an asterisk (*) may be changed after commissioning. Make sure you back up the parameters first as required if you desire to replace the motor.
Page 80 Par. No. Name Factory Unit Data Effective Can be Setting type changed p1007 Fixed speed setpoint 7 -210000.000 210000.000 0.000 Float T, U Description: Sets a value for the fixed speed / velocity setpoint 7. p1058 Jog 1 speed setpoint 0.00 210000.000 100.00 Float...
Page 81 Par. No. Name Factory Unit Data Effective Can be Setting type changed p1131 Ramp-function generator 0.000 30.000 0.000 Float T, U final rounding-off time Description: Sets the final rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down.
Page 82 Par. No. Name Factory Unit Data Effective Can be Setting type changed Note: Standstill is identified in the following cases: - The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has expired.
Page 83 Par. No. Name Factory Unit Data Effective Can be Setting type changed p1416 Speed setpoint filter 1 0.00 5000.00 0.00 Float T, U time constant Description: Sets the time constant for the speed setpoint filter 1 (PT1). Dependency: Refer to p1414, p1415 Note: This parameter is only effective if the filter is set as a PT1 low pass.
Page 84 Par. No. Name Factory Unit Data Effective Can be Setting type changed p1424 Speed setpoint filter 2 0.001 10.000 0.700 Float T, U denominator damping Description: Sets the denominator damping for speed setpoint filter 2 (PT2, general filter). Dependency: Refer to p1414, p1421 Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.
Page 85 Par. No. Name Factory Unit Data Effective Can be Setting type changed p1659 * Current setpoint filter 1 0.001 10.000 0.700 Float T, U denominator damping Description: Sets the denominator damping for current setpoint filter 1. Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659. p1663 Current setpoint filter 2 16000.0...
Page 86 Par. No. Name Factory Unit Data Effective Can be Setting type changed p1675 Current setpoint filter 4 16000.0 1000.0 Float T, U numerator natural fre- quency Description: Sets the numerator natural frequency for current setpoint filter 4 (general filter). Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675. p1676 Current setpoint filter 4 0.000...
Page 87 Par. No. Name Factory Unit Data Effective Can be Setting type changed p2542 * LR standstill window 214748364 1000 T, U Description: Sets the standstill window for the standstill monitoring function. After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint and actual position is located within the standstill window and, if required, an appropriate fault is output.
Page 88 Par. No. Name Factory Unit Data Effective Can be Setting type changed p2572 ** IPos maximum accelera- 2000000 Motor tion pendent LU/s ² Description: Sets the maximum acceleration for the "basic positioner" function (IPos). Note: The maximum acceleration appears to exhibit jumps (without jerk). "Traversing blocks"...
Page 89 Par. No. Name Factory Unit Data Effective Can be Setting type changed p2582 EPOS software limit U32/Bina switch activation Description: Sets the signal source to activate the "software limit switch". Dependency: Refer to p2580, p2581 Caution: Software limit switch effective: - Axis is referenced.
Page 90 Par. No. Name Factory Unit Data Effective Can be Setting type changed p2604 EPOS search for refer- U32/Bina ence start direction Description: Sets the signal sources for the start direction of the search for reference. 1 signal: Start in the negative direction. •...
Page 91 Par. No. Name Factory Unit Data Effective Can be Setting type changed p2617[0... EPOS traversing block -2147482648 214748264 T, U position Description: Sets the target position for the traversing block. Dependency: Refer to p2618 Note: The target position is approached in either relative or absolute terms depending on p29241. p2618[0...
Page 92 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29002 BOP display selection T, U Description: Selection of BOP operating display. 0: Actual speed (default) • 1: DC voltage • 2: Actual torque • 3: Actual position •...
Page 93 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 94 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29020[0.. Tuning: Dynamic factor T, U Description: The dynamic factor of auto tuning. 35 dynamic factors in total are available. Index: [0]: Dynamic factor for one-button auto tuning •...
Page 95 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 96 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29035 VIBSUP activation Description: Select the VIBSUP on/off. Position setpoint filter can be activated (p29035) for IPos control mode. 0: Disable • Filter is not activated. 1: Enable •...
Page 97 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29061 Offset adjustment for -0.5000 0.5000 0.0000 Float analog input 1 Description: Offset adjustment for the analog input 1. p29070[0.. Speed limit positive 210000 210000 Float .2] * Description: Positive speed limit.
Page 98 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29120[0.. Speed loop gain 0.00 999999.00 Float T, U .1] ** Motor /rad pendent [1] 0.30 Description: Speed loop gain. Two speed loop gains in total are available. You can switch between these two gains by configuring the digital input signal G-CHANGE or setting relevant condition parameters.
Page 99 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29133 Gain switching condition: 214700006 Float Actual speed Description: Triggers speed threshold for gain switching. If the gain switching function is enabled and this condition is selected: Switch from the first group of control parameters to the second group when the actual motor speed is •...
Page 100 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29240 Select referencing mode Description: Selects referencing mode. 0: Referencing with external signal REF • 1: Referencing with external reference cam (signal REF) and encoder zero mark • 2: Referencing with zero mark only •...
Page 101 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29300 Digital input forced sig- T, U nals Description: assignment signals are forced to be high. 7 bits in total. Bit 0: SON • Bit 1: CWL • Bit 2: CCWL •...
Page 102 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29302[0.. Digital input 2 assignment 0 Description: Defines the function of digital input signal DI2 Index: [0]: DI2 for control mode 0 • [1]: DI2 for control mode 1 •...
Page 103 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29308[0.. Digital input 8 assignment 0 [0] 10; [1] 22; [2] 16; [3] 19 Description: Defines the function of digital input signal DI8 Index: [0]: DI8 for control mode 0 •...
Page 104 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29341 Warning 2 assigned for digital output Description: Defines conditions for WARNING2. 1: Motor overload protection warning: 85% of overload threshold has been reached. • 2: Holding brake power overload warning: 85% of overload threshold has been reached. •...
Page 105 Par. No. Name Factory Unit Data Effective Can be Setting type changed p31585 VIBSUP: Filter frequency 62.5 Float 32 Description: Sets the frequency of the damped natural vibration of the mechanical system. This frequency can be determined by making the appropriate measurements. Note: The maximum frequency that can be set depends on the filter sampling time.
Page 106 Par. No. Name Unit Data type r0031 Actual torque smoothed Float Description: Displays the smoothed torque actual value. Note: Smoothing time constant = 100 ms The signal is not suitable as a process quantity and may only be used as a display quantity. The torque actual value is available smoothed (r0031) and unsmoothed.
Page 107 Par. No. Name Unit Data type 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 108 Par. No. Name Unit Data type r0722 CU digital inputs status Description: Displays the status of the digital inputs. Note: DI: Digital input DI/DO: Bidirectional digital input/output The drive unit displays the value in hex format. You can convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).
Page 109 Par. No. Name Unit Data type r2090.0...1 MODBUS PZD1 receive bit-serial Description: Bit-serial description of PZD1 (normally control word 1) received from the host controller. If the value of the bit equals to 0, it means the function of this bit is deactivated. If the value of the bit equals to 1, it means the function of this bit is activated.
Page 110 Par. No. Name Unit Data type r29018[0... OA version Float Description: Displays the OA version. Index: [0]: Firmware version • [1]: Build increment number • r29400 Internal control signal status indicating Description: Control signal status identifiers Bit 0 SON, Bit 1 RESET, Bit 2 CWL, Bit 3 CCWL, Bit 4 G-CHANGE, Bit 5 P-TRG, Bit 6 CLR, Bit 7 EGEAR1, Bit 8 EGEAR2, Bit 9 TLIM1, Bit 10 TLIM2, Bit 11 CWE, Bit 12 CCWE, Bit 13 ZSCLAMP, Bit 14 SPD1, Bit 15 SPD2, Bit 16 SPD3, Bit 17 TSET, Bit 18 SLIM1, Bit 19 SLIM2, Bit 20 POS1, Bit 21 POS2, Bit 22 POS3, Bit 23 REF, Bit 24 SREF, Bit 25 STEPF, Bit 26 STEPB, Bit 27 STEPH, Bit 28 EMGS, Bit 29 C-MODE...
Page 111: Diagnostics
Diagnostics Overview General information about faults and alarms The errors and states detected by the individual components of the drive system are indicated by messages. The messages are categorized into faults and alarms. Properties of faults and alarms ● Faults –...
Page 112 Type BOP display (example) Status indicator Reaction Acknowledgement NONE: no reaction Self-acknowledgement Alarm Single alarm Slow • flashing in red The first alarm in the case of multiple alarms 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.
Page 113: List Of Faults And Alarms
● Alarms To acknowledge faults, proceed as follows: Note If you do not eliminate the cause(s) of the fault, it can appear again after no button operation for five seconds. Make sure • that you have eliminated the cause(s) of the fault. You can acknowledge faults using RESET signal.
Page 114 Fault Description Fault Description F7410 Current controller output limited F30015 Phase failure motor cable F7412 Commutation angle incorrect (motor model) F30021 Ground fault F7420 Drive: Current setpoint filter natural fre- F30027 Precharging DC link time monitoring quency > Shannon frequecy F7430 Changeover to open-loop torque controlled F30036...
Page 115 ABS_POS/ABS_NEG not possible A7473 EPOS: Beginning of traversing range A52932 PTO max limit reached A7474 EPOS: End of traversing range reached Siemens AG Division Digital Factory Postfach 48 48 90026 NÜRNBERG GERMANY Getting Started Getting Started A5E36037886-003, 04/2017 A5E36037886-003, 04/2017...

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Siemens SINAMICS V90 Getting Started

1 Fundamental Safety Instructions

2 General Information

4 Connecting

5 Commissioning

6 Parameters

7 Diagnostics

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