Siemens SINAMICS S120 Commissioning Manual

Siemens SINAMICS S120 Commissioning Manual

Canopen interface
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SINAMICS S120 CANopen interface
Commissioning Manual · 10/2008
CANopen interface
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Summary of Contents for Siemens SINAMICS S120

  • Page 1 SINAMICS S120 SINAMICS S120 CANopen interface Commissioning Manual · 10/2008 CANopen interface SINAMICS...
  • Page 3 Preface ______________ Add infeed Prerequisites for ______________ commissioning SINAMICS ______________ Commissioning S120 ______________ SINAMICS S120 CANopen Examples interface ______________ Diagnosis Commissioning Manual ______________ Communication objects Parameters, faults and ______________ alarms, terminology Valid for: Firmware Version 2.6 SP1 (IH2), V2.6, 10/2008 Edition...
  • Page 4 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 5: Preface

    Configuration Manuals, Motors • Decision/ordering SINAMICS S Catalogs SINAMICS S110 Equipment Manual Installation/assembly • SINAMICS S120 Equipment Manual for Control Units and • Supplementary System Components SINAMICS S120 Equipment Manual Power Modules • Booksize SINAMICS S120 Equipment Manual for Booksize Compact •...
  • Page 6 CANopen communication interface: • SINAMICS S120 with the CBC10 communication module • SINAMICS S110 with integrated CANopen interface Detailed instructions on commissioning the entire SINAMICS drive line-up are available in: •...
  • Page 7 If you have any questions, please get in touch with our Hotline: Europe / Africa Phone +49 180 5050 - 222 +49 180 5050 - 223 Internet http://www.siemens.de/automation/support-request Americas Phone +1 423 262 2522 +1 423 262 2200 E-mail mailto:[email protected]...
  • Page 8 If you have any questions (suggestions, corrections) regarding this documentation, please or e-mail us at: +49 9131 98 63315 E-mail E-mail to: [email protected] A fax form is available in the appendix of this document. Internet address for SINAMICS http://www.siemens.com/sinamics ESD notices...
  • Page 9 Preface Safety information/instructions DANGER Commissioning must not start until you have ensured that the machine in which the components described here are to be installed complies with Directive 98/37/EC. SINAMICS S equipment must only be commissioned by suitably qualified personnel. Personnel must take into account the information provided in the technical customer documentation for the product, and be familiar with and observe the specified danger and warning notices.
  • Page 10 Preface CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 11: Table Of Contents

    CAN bus sampling time .......................55 1.22 Number of controllable drives via CAN bus .................55 Prerequisites for commissioning ......................57 Prerequisites for commissioning ....................57 CBC10 Communication Board for CAN Bus (SINAMICS S120) ..........58 2.2.1 CBC10 Installation ........................60 2.2.2 CANopen functionality .........................60 2.2.3...
  • Page 12 Commissioning ............................73 Initial commissioning procedure....................73 Example configurations....................... 74 3.2.1 SINAMICS S120 example configuration ..................74 3.2.2 SINAMICS S110 example configuration ..................76 Hardware settings on CBC10 (not for SINAMICS S110)............77 Configuring the drive unit using the STARTER commissioning tool........... 79 3.4.1...
  • Page 13 Table of contents Drive-dependent communication objects...................133 6.2.1 Table: Communication objects for receive PDOs ..............133 6.2.2 Table: Communication objects for transmit PDOs..............138 Free objects ..........................145 Objects in drive profile DSP402 ....................146 Parameters, faults and alarms, terminology................... 149 Glossary .............................149 Index..............................155 CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 14 Table of contents CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 15: Add Infeed

    Add infeed Previous knowledge Introduction To fully understand this Commissioning Manual, you must be familiar with CANopen terminology. This Chapter includes, among other things, ● An overview of the most important terms and abbreviations ● A breakdown of the communication objects in the CANopen object directory in the CANopen slave software You must be familiar with the following standards: Note...
  • Page 16 Add infeed 1.3 Terminology CAL (CAN Application Layer) Communication layer above the CAN bus designed for CAN bus applications in open communication systems. It comprises NMT, DBT, LMT, and CMS elements. Since CAL is very extensive and highly flexible, a subset of CAL functions for automation applications has been defined with the CANopen communication profile CiA DS 301.
  • Page 17 Add infeed 1.3 Terminology A list of COB identifiers, which contains all the COBs that can be accessed via CAN, is available in the object directory for the relevant drive unit. DBT (distributor) A part of the CAL that controls the distribution of COB IDs. Like most CANopen devices, the digital servo amplifiers use more straightforward means of assigning COB IDs to a device: they are selected via default values on the basis of the node ID and can, if necessary, be changed via SDO.
  • Page 18 Add infeed 1.3 Terminology ● The data that is assigned to the PDOs ● The time at which the PDOs are transmitted (SYNC, change in object, etc.) ● The time at which emergency messages are transmitted ● ... All the drive unit variables are accessed via objects. The SDO and PDO communication services access the object directory of the drive unit.
  • Page 19: Can Bus Structure For Sinamics

    Add infeed 1.4 CAN bus structure for SINAMICS CAN bus structure for SINAMICS The following diagram shows an example using SINAMICS S120 of how the hardware and software are arranged when a CANopen interface is commissioned. The diagram shows the following: ●...
  • Page 20: Canopen Slave Software

    Add infeed 1.5 CANopen slave software Note For SINAMICS S110: • When ordering, you must have already decided whether to use a CAN bus or Profibus interface, because the bus interface is integrated in the Control Unit. • It is not possible to exchange the bus interface afterwards, e.g. with a Profibus interface.
  • Page 21 Add infeed 1.5 CANopen slave software Figure 1-2 Breakdown of drive objects from the point of view of CANopen Motor Module 1 is the first drive object for CANopen. In the description in the drive profile, drive object 2 begins with an offset of 800 hex. If, for example, you want to read a value from parameter r8795 (control word for Motor Module 1, that is, drive object 1), the value from object 6040 hex is displayed.
  • Page 22: Canopen Object Directory

    Add infeed 1.6 CANopen object directory CANopen object directory Introduction Note When the drive objects are initialized, the CANopen objects are initialized in the object directory for the SINAMICS drive line-up (CANopen slave software). Object directory The following diagram shows the distribution of CANopen objects involved in the communications (the values are hexadecimal values).
  • Page 23 Add infeed 1.6 CANopen object directory CANopen object directory param. “n” hex added to 2000 hex (also refer to the following diagram in next Chapter) Figure 1-3 CANopen object directory CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 24 Add infeed 1.6 CANopen object directory Note For SINAMICS S110: • SINAMICS S110 supports only one Power Module with integrated infeed, DC link and motor power unit. CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 25: Manufacturer-Specific Objects

    Add infeed 1.7 Manufacturer-specific objects Manufacturer-specific objects Introduction As shown in the previous chapter, there is a range for manufacturer-specific objects in the CANopen object directory. Manufacturer-specific objects Manufacturer-specific objects are defined as: ● Objects to access SINAMICS parameters ● Free objects to send/receive process data This manufacturer-specific range starts in the object directory from address 2000 hex and ends at 5FFF hex.
  • Page 26 Add infeed 1.7 Manufacturer-specific objects Example The following diagram shows the distribution of objects in the object directory. Figure 1-4 Manufacturer-specific objects Note For SINAMICS S110: • SINAMICS S110 only supports one drive object. CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 27 Add infeed 1.7 Manufacturer-specific objects Parameter p8630[0…2] Using parameter p8630 indices 0 to 2, you can define the way drive objects are accessed in SINAMICS. The following access methods are available: ● The drive object is selected in p8630[0] – 0: Virtual objects cannot be accessed –...
  • Page 28: Free Objects

    Add infeed 1.7 Manufacturer-specific objects ● A "SINAMICS parameter" can be an "r" or "p" parameter. The manufacturer-specific objects contain the data values for these parameters. ● Depending on the switch position of parameter p8630[0], the data values for the modules can be read or written.
  • Page 29 Add infeed 1.7 Manufacturer-specific objects Note The "free objects" for additional drive objects are formed by adding the offset 80 hex to the object number of the freely interconnectable object. e.g.: If drive object 2 starts from 5880 hex. You can interconnect any process data objects using receive/transmit words/double words of the receive and transmit buffer.
  • Page 30: Number Of Pdos That Can Be Set Up (Channels)

    Add infeed 1.8 Number of PDOs that can be set up (channels) Number of PDOs that can be set up (channels) Introduction PDOs (process data objects) are process data that allow fast, real-time access to selected data. Mappings have been preconfigured on certain PDOs for certain variables or groups of variables.
  • Page 31 Add infeed 1.9 Send and receive message frames for process data table contains the hexadecimal object values for drive object 1. Each additional drive object begins with an offset of 800 hex. Table 1- 2 Process data objects in the predefined connection set Type Process data Message frame...
  • Page 32: Pdo Mapping

    Add infeed 1.10 PDO mapping 1.10 PDO mapping Introduction PDO mapping is used to map drive objects (process data, e.g. setpoints or actual values) and "free objects" from the object directory for the PDO service as message frame. The PDO itself transfers the data values for these objects. Once detected, each drive object is assigned up to 8 receive and 8 transmit PDOs.
  • Page 33: Cob-Id

    Add infeed 1.11 COB-ID 1.11 COB-ID Introduction Each COB (communication object) can be uniquely identified by means of an identifier, which is a part of the COB. CAN specification 2.0A supports up to 2048 COBs, which are identified by means of 11-bit identifiers. A list of COB identifiers, which contains all the COBs that can be accessed via CAN, is available in the object directory for the relevant SINAMICS drive unit.
  • Page 34 Add infeed 1.11 COB-ID Rx–SDO 1100 601– 600 hex + node 1200 Node monitoring 1110 701– 700 hex + node 100C, 100D (NMT error control) Footnotes for above table ● The OD index for the Tx and Rx PDOs depends on the number of drive objects in the drive line-up.
  • Page 35 Add infeed 1.11 COB-ID Note For the "Predefined Connection Set", the COB IDs are incremented by +1 for each additional SINAMICS drive object. Example: For the first SINAMICS drive object, 180 hex + node ID applies for TPDO1. For the second SINAMICS drive object, 180 hex + node ID plus 1 applies for TPDO1.
  • Page 36: Sdo Services

    Add infeed 1.12 SDO services 1.12 SDO services Introduction SDO services allow you to access the object directory for the connected drive unit. An SDO connection is a peer-to-peer connection between an SDO client and a server. The drive unit with its object directory is an SDO server. The identifiers for the first SDO channel of a drive unit are defined according to CANopen.
  • Page 37 Add infeed 1.12 SDO services Explanation of the above table: ● cs: command specifier, this object always contains 4 bytes. In the cs it is determined how much of the sent byte is relevant data. The rest has no significance. ●...
  • Page 38 Add infeed 1.12 SDO services SDO Abort codes Table 1- 8 SDO Abort codes Abort code Description 0503 0000h Toggle bit not alternated 0504 0000h SDO protocol timed out 0504 0001h Client/server command specifier not valid or unknown 0504 0002h Invalid block size (block mode only) 0504 0003h Invalid sequence number (block mode only)
  • Page 39: Pdo Services

    Add infeed 1.13 PDO services 1.13 PDO services Introduction The real-time data transfer for CANopen takes place using "Process Data Objects (PDO)". The PDOs are linked with entries in the object directory and represent the interface with the drive objects. Data type and mapping of the drive objects in a PDO are determined by the PDO mapping structure inside the object directory.
  • Page 40 Add infeed 1.13 PDO services The definition of the PDO within a unit profile always refers to the first logic device inside a CANopen device. If the PDO definition should be valid for the second logic device, the PDO number of the CANopen device used needs to be increased by the value 64 (40h) corresponding to the PDO number in the device profile (see following table).
  • Page 41 Add infeed 1.13 PDO services Figure 1-6 Principle of synchronous and asynchronous transmission The type of transmission is characterized by a PDO's parameter for transmission type. For synchronous TPDOs the transmission type also identifies the transmission rate as a factor of the SYNC object transmission intervals. Here, the transmission type "1" means that the message will be transmitted in every SYNC object cycle.
  • Page 42 Add infeed 1.13 PDO services Table 1- 12 Write PDO Producer Write PDO Consumer Inquiry ----> Process data ----> Display ----> Display ----> Display SYNC service The SYNC object is periodically sent from the SYNC producer. The SYNC signal represents the basic network cycle.
  • Page 43: Bico Interconnection In Conjunction With Canopen

    To interconnect two signals, a BICO input parameter (signal sink) must be assigned to the required BICO output parameter (signal source). Note • SINAMICS S120: See also the Installation and Start-Up Manual /IH1/ or the List Manual /LH1/. • SINAMICS S110: See also the section "Commissioning" in the Function Manual or in the List Manual /LH7/.
  • Page 44: Behavior Of Sinamics When Booting With The Canopen Communications Board

    Add infeed 1.15 Behavior of SINAMICS when booting with the CANopen communications board 1.15 Behavior of SINAMICS when booting with the CANopen communications board Introduction SINAMICS only boots as a CANopen slave when the CANopen Communication Board is inserted. Boot-up During boot-up, the CAN software first queries the hardware address switch.
  • Page 45: Network Management (Nmt Service)

    Add infeed 1.17 Network management (NMT service) 1.17 Network management (NMT service) Introduction Network management is node oriented and has a master-slave structure. The NMT services can be used to initialize, start, monitor, reset, or stop nodes. All NMT services have the COB-ID = 0. SINAMICS is an NMT slave.
  • Page 46 Add infeed 1.17 Network management (NMT service) Note In the "Pre-Operational" status, only SDO communication is possible; PDO communication is inhibited. In the "Operational" status, PDO communication also takes place. The diagnostics LED -> green (CANopen RUN LED) indicates the status. NMT services The following table lists the NMT services that are available for controlling the status transitions.
  • Page 47 Add infeed 1.17 Network management (NMT service) NMT protocols For the protocols shown below, the following generally applies: The NMT master can direct a request to several NMT slaves simultaneously. The protocol diagrams are valid for data exchange between an NMT master and an NMT slave.
  • Page 48: Canopen Device State Machine

    Add infeed 1.18 CANopen device state machine 1.18 CANopen device state machine The CANopen device state machine describes the device status and the possible drive device status transitions. Each individual status describes a particular internal or external behavior. Depending on the drive device status, only certain transition commands are accepted.
  • Page 49 Add infeed 1.18 CANopen device state machine States of the CANopen device state machine and their mapping on SINAMICS drives Figure 1-8 CANopen device state machine CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 50: Fault Monitoring

    Add infeed 1.19 Fault monitoring 1.19 Fault monitoring Fault monitoring services The fault monitoring services are used to find errors within the CAN network. Local faults within the device that, for example, lead to a reset or state change are not affected.
  • Page 51 Add infeed 1.19 Fault monitoring Resolved faults in the network ("Remote node error") are displayed not only in a "Node guarding event" but also in a "Life guarding event". In the case of an error in the CAN communication, e.g. too many telegram failures, the fault F08700 is reported (for details see List Manual S120).
  • Page 52 Add infeed 1.19 Fault monitoring Table 1- 18 Node guarding protocol COB-ID = 700h + Node-ID Heartbeat producer Data byte 0 Heartbeat consumer Inquiry ----> Byte 0, bit 7 Byte 0, Bit 6..0 ----> Signaling Heartbeat producer time Heartbeat consumer time Inquiry ---->...
  • Page 53: Parameters, Save, Restore Factory Settings

    Add infeed 1.20 Parameters, save, restore factory settings 1.20 Parameters, save, restore factory settings Introduction Parameters can be saved and the factory settings restored using the following Control Unit communication objects. ● Parameter save -> communication object 1010 hex ● Restore factory settings -> communication object 1011 hex Parameter save (object 1010 hex).
  • Page 54 Add infeed 1.20 Parameters, save, restore factory settings Restoring the factory setting of the parameters (object 1011 hex) ● Subindex 0: (1011.0): The number of subindices of this object are shown in this subindex. ● Subindex 1: (1011.1): By writing the ASCII character sequence "daol" - which corresponds to the hexadecimal value "64 61 6F 6C"...
  • Page 55: Can Bus Sampling Time

    Add infeed 1.21 CAN bus sampling time 1.21 CAN bus sampling time Description The sampling time of the CANopen communication board CBC10 can be set with the parameter p8848 "IF2 PZD sampling time". In the factory setting, the sampling time is 4 ms. Asynchronous message frames can be received and sent within the period of 4 ms.
  • Page 56 Add infeed 1.22 Number of controllable drives via CAN bus CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 57: Prerequisites For Commissioning

    PROFIBUS interface to a PC/PG, and installing the STARTER commissioning tool, see the following: • SINAMICS S120: Equipment Manuals /GH1/ and /GH2/ and Commissioning Manual /IH1/ • SINAMICS S110: Equipment Manual /GH8/ and Function Manual /FH3/ CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 58: Cbc10 Communication Board For Can Bus (Sinamics S120)

    CBC10 Communication Board for CAN Bus (SINAMICS S120) Introduction The CBC10 CANopen communication board (CAN communication board) is used to connect drives in the SINAMICS S120 drive system to higher-level automation systems with a CAN bus. Figure 2-1 View of the CBC10 Option Board The CANopen Option Board uses two 9-pin Sub D connectors for the connection to the CAN bus system.
  • Page 59 Prerequisites for commissioning 2.2 CBC10 Communication Board for CAN Bus (SINAMICS S120) CAN bus interface X451 The X451 CAN bus interface has the following socket assignments: Table 2- 1 CAN bus interface X451 Designation Technical specifications Reserved CAN_L CAN signal (dominant low)
  • Page 60: Cbc10 Installation

    Prerequisites for commissioning 2.2 CBC10 Communication Board for CAN Bus (SINAMICS S120) 2.2.1 CBC10 Installation Mounting and installation steps The CBC10 Communication Board is installed on the option slot on Control Unit CU320 as follows (see diagram below): 1. Unscrew and remove the protective cover.
  • Page 61: Diagnostics Led "Opt

    Prerequisites for commissioning 2.2 CBC10 Communication Board for CAN Bus (SINAMICS S120) The CBC10 firmware supports profile velocity mode. Node guarding SINAMICS waits a certain time (node lifetime) for message frames from the master application and permits a specific number (lifetime factor) of failures within a specified time interval (node guard time).
  • Page 62 Prerequisites for commissioning 2.2 CBC10 Communication Board for CAN Bus (SINAMICS S120) General procedure The different flashing frequencies indicate the following: ● Diagnostics LED OPT -> red (see the appropriate table below) indicates whether or not an error is present.
  • Page 63: Cu305 Can (Sinamics S110)

    Prerequisites for commissioning 2.3 CU305 CAN (SINAMICS S110) CU305 CAN (SINAMICS S110) 2.3.1 CAN bus on the CU305 Introduction The CU305 can either be ordered with an integrated PROFIBUS interface or with an integrated CANopen interface. The version with the CANopen interface will be described here. This interface is used to connect drives in the SINAMICS S110 drive system to higher-level CAN bus automation systems.
  • Page 64: Canopen Functionality Cu305 Can

    Prerequisites for commissioning 2.3 CU305 CAN (SINAMICS S110) The CU305 CAN is connected to the CANopen bus system via the X126, a 9-pin Sub D connector. The connector can be used as an input or an output. Unused pins are plated through.
  • Page 65: Diagnostics Led Com

    Prerequisites for commissioning 2.3 CU305 CAN (SINAMICS S110) Node guarding SINAMICS waits a certain time (node lifetime) for message frames from the master application and permits a specific number (lifetime factor) of failures within a specified time interval (node guard time). The node lifetime is calculated by multiplying the node guard time by the lifetime factor.
  • Page 66: Starter Commissioning Tool

    Prerequisites for commissioning 2.4 STARTER commissioning tool STARTER commissioning tool Start To launch STARTER, click the STARTER icon or choose Start > SIMATIC >STARTER in the Windows Start menu. 2.4.1 The STARTER user interface You can use STARTER to create the sample project. The different areas of the user interface are used for different configuration tasks (refer to diagram below): ●...
  • Page 67: Bico Interconnection Procedure In Starter

    Prerequisites for commissioning 2.4 STARTER commissioning tool 2.4.2 BICO interconnection procedure in STARTER Introduction You can parameterize the drive settings on the Motor Module in OFFLINE mode via STARTER by means of BICO interconnection. Parameterization can be carried out via the following means: ●...
  • Page 68 Prerequisites for commissioning 2.4 STARTER commissioning tool 3. Click the pushbutton to interconnect with an r parameter. Figure 2-7 Interconnect 2 4. A list from which you can select the available r parameters is now displayed. Figure 2-8 Interconnect 3 CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 69 Prerequisites for commissioning 2.4 STARTER commissioning tool 5. Open the 16 bit of r parameter r8890. Figure 2-9 Interconnect 4 6. Double-click r8890: Bit0. Figure 2-10 Interconnect 5 7. In the expert list, you can now see that p0840 has been interconnected with r parameter r8890[0].
  • Page 70 Prerequisites for commissioning 2.4 STARTER commissioning tool Graphical screen interface When carrying out BICO interconnection via the graphical screen interface, proceed as follows: For the set velocity, which is a 32-bit data type, you want to interconnect p parameter p1155 [0] for "Speed setpoint 1"...
  • Page 71 Prerequisites for commissioning 2.4 STARTER commissioning tool 2. Click the blue field to the left of the field for Speed setpoint 1 and then double-click the selection Further interconnections, which is now displayed. Figure 2-13 Interconnection via graphical screen interface 3 3.
  • Page 72: Entering Parameter Values In The Expert List

    Prerequisites for commissioning 2.4 STARTER commissioning tool 4. Double-click r8860: Bit1. Figure 2-15 Interconnection via graphical screen interface 5 5. In the graphical screen interface, you can now see that p1155 has been interconnected with r parameter r8860[1]. See also BICO interconnection in conjunction with CANopen (Page 43) Interconnecting process data in the receive and transmit buffers (Page 108) 2.4.3...
  • Page 73: Commissioning

    Commissioning Section content This section shows you how to carry out initial commissioning for the CANopen interface in the SINAMICS drive line-up using the STARTER commissioning tool. This section first looks at the initial commissioning procedure and describes a sample configuration.
  • Page 74: Example Configurations

    - Two drives (Single Motor Module) For a more detailed description of this configuration, refer to the Chapter "Initial commissioning using servo as an example" in the Commissioning Manual SINAMICS S120 /IH1/. This Commissioning Manual extends the description of "Initial commissioning using servo as an example"...
  • Page 75 3.2 Example configurations ● Single Motor Module 1 is the first SINAMICS drive object ● Single Motor Module 2 is the second SINAMICS drive object Figure 3-1 SINAMICS S120 components (example) CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 76: Sinamics S110 Example Configuration

    Commissioning 3.2 Example configurations 3.2.2 SINAMICS S110 example configuration Overview Note The commissioning procedure described here is based on the sample configuration (as shown in the diagram below) in a SINAMICS drive line-up for an S110 drive: This example supplements the description of "Initial commissioning using servo as an example" to include a description of the initial commissioning procedure for the CANopen communication interface.
  • Page 77: Hardware Settings On Cbc10 (Not For Sinamics S110)

    Commissioning 3.3 Hardware settings on CBC10 (not for SINAMICS S110) Hardware settings on CBC10 (not for SINAMICS S110) Initial commissioning: procedure In the table below, the current commissioning step is highlighted in bold: Table 3- 2 CANopen initial commissioning Step Procedure Hardware settings on CBC10 (not for SINAMICS S110) Configure the drive unit using the STARTER commissioning tool in ONLINE mode.
  • Page 78 Commissioning 3.3 Hardware settings on CBC10 (not for SINAMICS S110) Table 3- 3 2-pin SMD DIL switch ID on the component Switch Function Switch position Default Bus terminating Inactive resistor Active 120 Ohm Operation Ground-free with/without operation ground Operation with ground Note In a line-up comprising more than one drive unit (bus nodes), switch 2 must be set to ON for...
  • Page 79: Configuring The Drive Unit Using The Starter Commissioning Tool

    – PDO message frame – Monitoring ● Load the project to the drive unit. Note When carrying out these steps, refer to the Installation and Start-Up Manual /IH1/ for SINAMICS S120. CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 80: Searching For The Drive Unit Online

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.1 Searching for the drive unit ONLINE Introduction The SINAMICS firmware is able to recognize the actual topology automatically and store it in the appropriate parameters. Steps To ensure that the drive unit configuration is identified automatically, open a new project in STARTER: Proceed as follows: 1.
  • Page 81: Determining The Component Topology And Configuration Of The Drive Unit Automatically

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.2 Determining the component topology and configuration of the drive unit automatically Introduction Once you have created the project and entered the drive unit with its bus address (e.g. 126) ONLINE, you have to enter the associated component topology and drive unit configuration ONLINE.
  • Page 82 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 7. In the project navigator, double-click Automatic configuration under the drive unit. Figure 3-6 Automatic configuration 8. In the "Automatic configuration" dialog box, click Start automatic configuration. STARTER automatically searches for all drive unit components that have been correctly connected and loads them to STARTER.
  • Page 83 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 11. A message is output to inform you that the motors also have to be configured. The motor configuring is described in the following Chapter "Configuring motors". Confirm this message with OK.
  • Page 84: Configuring The Motor

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.3 Configuring the motor Introduction In the previous steps, you automatically determined the component topology and configuration of the drive unit and integrated the data in the STARTER project. Steps In the following steps, you will be shown how to configure the drive motor and encoder.
  • Page 85 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool Note When the ramp-function generator is activated (with setpoint channel), the interconnection from CI: p2151 = r1119 can be changed, so that to evaluate bit 10 in status word (r8784) the setpoint can be retrieved (taken) from in front of the ramp- function generator.
  • Page 86: Configuring The Interface For The Cbc10 Option Board On The Control Unit

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.4 Configuring the interface for the CBC10 Option Board on the Control Unit Prerequisite You have configured the drive unit with the CBC10 Option Board in STARTER and connected the drive OFFLINE with STARTER. In the project navigator, double-click Drive unit_Adr_126 >...
  • Page 87: Can Interface

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.4.1 CAN interface Steps On the CAN interface tab, enter the transmission rate and the CAN bus address/node ID. 1. Select the CAN interface tab (see screenshot below). Figure 3-12 CAN interface 2.
  • Page 88: Pdo Message Frame

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool Example Setting the bus address via the address switch on the Control Unit. Figure 3-13 Example: Bus address via the address switch on the Control Unit The following information must be taken into account! Note Permissible CAN bus address: 1...126.
  • Page 89 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 4 receive and 4 transmit channels are set as default in the CU320 for each Motor Module. A maximum of 8 transmit and receive channels can be set. Note CU305: Precisely 8 transmit and 8 receive PDOs are assigned to the CU305.
  • Page 90 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool Commissioning in ONLINE mode Figure 3-15 Activating the channels Note Once you have entered the channel assignments in ONLINE mode, confirm them in this dialog box by choosing Activate (refer to diagram above). You can also confirm them in the expert list in parameter p8741 by choosing 1 (see screenshot below).
  • Page 91: Monitoring

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.4.3 Monitoring Introduction SINAMICS supports the following two optional monitoring services to ensure the functionality of CANopen network nodes: ● Heartbeat: SINAMICS (producer) cyclically transmits (heartbeat time) its communication status on the CAN bus to the master application.
  • Page 92 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool Using these parameters, different values can be set for the particular drive object. Parameter p8609 Sets the behavior of the CAN node referred to the communications error or equipment fault. ●...
  • Page 93: Activating The "Predefined Connection Set

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.5 Activating the "predefined connection set" Introduction Note The STARTER commissioning tool is in OFFLINE mode. Activating the "predefined connection set" To activate the "predefined connection set", carry out the following steps: 1.
  • Page 94: Loading The Project To The Drive Unit

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.6 Loading the project to the drive unit Introduction To load the project to the drive unit, proceed as follows: Steps 1. Click Connect to target system. An ONLINE connection is established and an ONLINE/OFFLINE comparison takes place.
  • Page 95 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3. Discrepancies were identified again during the ONLINE/OFFLINE comparison. Now click Load to PG --> (see screenshot below). Figure 3-19 Load to PG 4. Load the new data from the drive unit to the PG. Carry out the following: –...
  • Page 96: Interconnecting The Infeed

    2. Interconnect the p parameter with r parameter r8890 bit 15 = PZD 1 from Drive_1 (SERVO_3). Note Please also refer to the commissioning instructions in the Commissioning Manual SINAMICS S120 /IH1/ e.g. the DC link must be activated before the Motor Modules are switched on. CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 97: Configure The Cob Ids And Process Data Objects For The Receive And Transmit Message Frames

    Commissioning 3.5 Configure the COB IDs and process data objects for the receive and transmit message frames. Configure the COB IDs and process data objects for the receive and transmit message frames. Initial commissioning: procedure In the table below, the current commissioning step is highlighted in bold: Table 3- 5 CANopen initial commissioning Step...
  • Page 98: Predefined Cob Ids And Process Data Objects For The Drive Objects

    Commissioning 3.5 Configure the COB IDs and process data objects for the receive and transmit message frames. 3.5.1 Predefined COB IDs and process data objects for the drive objects Introduction Before you start commissioning free PDO mapping, open the expert lists for the individual drive objects as follows: 1.
  • Page 99 Commissioning 3.5 Configure the COB IDs and process data objects for the receive and transmit message frames. Figure 3-22 COB IDs and mapped process data objects for transmit message frame drive object 1 COB IDs and mapped process data objects for drive object 2 The following screenshots show the predefined COB IDs and mapped process data objects for transmitting and receiving drive object 2 in the expert list in STARTER.
  • Page 100: Activating "Free Pdo Mapping

    Commissioning 3.5 Configure the COB IDs and process data objects for the receive and transmit message frames. Figure 3-24 COB IDs and mapped process data objects for transmit message frames drive object 2 3.5.2 Activating "free PDO mapping" Steps To activate "free PDO mapping" in SINAMICS drive object 2 (Single Motor Module 2), carry out the following: 1.
  • Page 101: Assigning Cob Ids And Mapping Parameters For Free Pdo Mapping

    Commissioning 3.5 Configure the COB IDs and process data objects for the receive and transmit message frames. 3.5.3 Assigning COB IDs and mapping parameters for free PDO mapping Introduction If you are in ONLINE mode and want to assign free COB IDs and mapping parameters, you have the following options: ●...
  • Page 102 Commissioning 3.5 Configure the COB IDs and process data objects for the receive and transmit message frames. 3. Copy the hexadecimal value from STARTER to a calculator and enter Or 8000 0000 hex. Copy the result to the STARTER parameter. As a result, bit 31 has now been set to "invalid".
  • Page 103 Commissioning 3.5 Configure the COB IDs and process data objects for the receive and transmit message frames. Mapping RPDO1 When you choose the process data object for the control word from the "Objects in drive profile DSP402" table, this yields the following values, which you enter in parameters p8710 [0] to p8710 [3] for RPDO1 mapping (see the "Resulting hexadecimal value"...
  • Page 104 Commissioning 3.5 Configure the COB IDs and process data objects for the receive and transmit message frames. Mapping RPDO3 When you choose the process data object for the control word and the set torque from the "Objects in drive profile DSP402" table, this yields the following values, which you enter in parameters p8712 [0] to p8712 [3] for RPDO3 mapping (see the "Resulting hexadecimal value"...
  • Page 105 Commissioning 3.5 Configure the COB IDs and process data objects for the receive and transmit message frames. Mapping TPDO1 When you choose the process data object for the CBC status word from the "Objects in drive profile DSP402" table, this yields the following values, which you enter in parameters p8730 [0] to p8730 [3] for TPDO1 mapping (see the "Resulting hexadecimal value"...
  • Page 106: Interconnecting The Receive And Transmit Buffers

    Commissioning 3.5 Configure the COB IDs and process data objects for the receive and transmit message frames. Mapping TPDO3 When you choose the process data object for the CBC status word and the actual torque from the "Objects in drive profile DSP402" table, this yields the following values, which you enter in parameters p8732 [0] to p8732 [3] for TPDO3 mapping (see the "Resulting hexadecimal value"...
  • Page 107 Commissioning 3.5 Configure the COB IDs and process data objects for the receive and transmit message frames. The receive and transmit buffer is updated ONLINE with objects from validated PDOs. Objects from non-validated PDOs are not taken into account in the process data buffers. Note To interconnect the receive and transmit buffers in ONLINE mode, carry out the steps described in the following section ("Interconnecting receive and transmit buffers").
  • Page 108: Interconnecting Process Data In The Receive And Transmit Buffers

    Commissioning 3.6 Interconnecting process data in the receive and transmit buffers Interconnecting process data in the receive and transmit buffers Initial commissioning: procedure In the table below, the current commissioning step is highlighted in bold: Table 3- 14 CANopen initial commissioning Step Procedure Hardware settings on CBC10 (not for SINAMICS S110)
  • Page 109 Commissioning 3.6 Interconnecting process data in the receive and transmit buffers To read the image of the individual process data objects to the PZD receive and PZD transmit words for the receive and transmit buffers, carry out the following steps. Example Note Each drive object has a separate receive and transmit buffer for transferring message...
  • Page 110 Commissioning 3.6 Interconnecting process data in the receive and transmit buffers 3. Search for r parameter r8760[0] with the image of the 32-bit process data objects in the receive buffer. In this example, the following is mapped (see also screenshot below): –...
  • Page 111: Interconnecting Process Data For Transmission Message Frames

    Commissioning 3.6 Interconnecting process data in the receive and transmit buffers Figure 3-27 Image of process data objects in transmit buffer 6. In the project navigator, call up the expert list for drive object 1: Drives > Drive_1 > right- click >...
  • Page 112: Interconnecting The Receive Buffer

    Commissioning 3.6 Interconnecting process data in the receive and transmit buffers Note The excerpts of function diagrams for the receive/transmit buffer, which are shown in the following sections, illustrate: - How the process data objects in the receive and transmit buffers are distributed to the receive and transmit words.
  • Page 113 Commissioning 3.6 Interconnecting process data in the receive and transmit buffers ● Source parameter r8860[1] => 32 bit in the receive buffer (see the following diagram; the source parameter for the set velocity is highlighted accordingly). Figure 3-28 Excerpt of function diagram: receive buffer Note You can now interconnect the process data objects listed below.
  • Page 114 Commissioning 3.6 Interconnecting process data in the receive and transmit buffers then activating the interconnection (1). After you exit this field, then the interconnection is made. Set velocity (PZD 2+3 32 bit) The following table shows the p parameter for the set velocity, which has to be interconnected with the corresponding source.
  • Page 115: Interconnecting The Transmit Buffer

    Commissioning 3.6 Interconnecting process data in the receive and transmit buffers 3.6.2.2 Interconnecting the transmit buffer Introduction In the transmit buffer, interconnect the following for the transmission message frames: ● CBC status word (PZD 1) ● Actual velocity (PZD 2+3) ●...
  • Page 116 Commissioning 3.6 Interconnecting process data in the receive and transmit buffers ● Target parameter p8851[0] => 16 bit in the transmit buffer (see the following diagram; the target parameter for the CBC status word is highlighted accordingly). Figure 3-29 Excerpt of function diagram: transmit buffer Note You can now interconnect the process data objects listed below.
  • Page 117 Commissioning 3.6 Interconnecting process data in the receive and transmit buffers CBC status word (PZD1 16 bit) The following table shows the p parameter for the CBC status word, which has to be interconnected with the corresponding source. Table 3- 19 Interconnect the CBC status word Target (sink) Source...
  • Page 118: Interconnecting An Additional Drive Object

    Commissioning 3.6 Interconnecting process data in the receive and transmit buffers 1. In the project navigator, search for the p parameter p8851 [3] by choosing Drive_1 > right- click > Expert > Expert list. 2. Interconnect parameter p8851 [3] = PZD 4 with the associated r parameters (r0080). Actual position value (PZD 5+6 32 bit) The following table shows the p parameter for the actual position value, which has to be interconnected with the corresponding source.
  • Page 119: Load The Projects From The Drive Unit To The Pc/Pg In Online Mode And Save Them

    Commissioning 3.7 Load the projects from the drive unit to the PC/PG in ONLINE mode and save them Load the projects from the drive unit to the PC/PG in ONLINE mode and save them Initial commissioning: procedure In the table below, the current commissioning step is highlighted in bold: Table 3- 23 CANopen initial commissioning Step...
  • Page 120 Commissioning 3.7 Load the projects from the drive unit to the PC/PG in ONLINE mode and save them 4. If prompts are displayed, then click on the following one after the other: – Changes in the drive unit... – Save data, for SERVO_3 –...
  • Page 121: Examples

    Examples Speed setpoint input and evaluation of the speed actual value Introduction The CANopen object Target Velocity is accessed using the PDO or SDO transfer. As standard, the value is displayed in parameterr8796 (SINAMICS view) in the unit increments/second. Note The parameter corresponds to the CANopen object 60FF hex + 800 hex * x (x: drive number 0 ...
  • Page 122 Examples 4.1 Speed setpoint input and evaluation of the speed actual value If the target velocity should be, e.g.: 3000 RPM, then the following must be sent to the bus to SINAMICS, for an encoder with a pulse number 2048 and a fine resolution of 11: ●...
  • Page 123: Torque Setpoint Input And Evaluation Of The Torque Actual Value

    Examples 4.2 Torque setpoint input and evaluation of the torque actual value Torque setpoint input and evaluation of the torque actual value Introduction The CANopen object Target Torque is accessed using the PDO or SDO transfer. As standard, the value is displayed in parameterr8796 in per mille (1/1000). Note The parameter corresponds to the CANopen object 6071 hex + 800 hex * x (x: drive number 0 ...
  • Page 124 Examples 4.2 Torque setpoint input and evaluation of the torque actual value CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 125: Diagnosis

    Diagnosis Section content CANopen supports a standardized system for detecting, describing, and signaling device errors with the following equipment: ● One emergency object per drive unit ● A device-internal error list ("predefined error field") ● An error register Note See also the following standards: - CiA DS-301 V4.01 (Application Layer and Communication Profile) - CiA DS-402 V2.0 (Device Profile for Drives and Motion Control) Emergency object...
  • Page 126 Diagnosis 5.1 Emergency object Emergency message frame When an error occurs, the CANopen drive unit automatically transmits an emergency message asynchronously. The emergency message is structured as follows (see table below): Table 5- 1 Structure of the emergency message frame Byte 0 Byte 1 Byte 2...
  • Page 127: Drive-Unit-Internal Error List ("Predefined Error Field")

    Diagnosis 5.2 Drive-unit-internal error list ("predefined error field") Drive-unit-internal error list ("predefined error field") Introduction The drive unit internal error list ("predefined error field") can be read via: ● Object directory index 1003 hex ● SINAMICS parameter p8611 of the Control Unit This list contains the individual, unacknowledged faults and pending alarms in the CANopen alarm number range A8700-A8799 diagnosed in a drive unit.
  • Page 128: Error Register

    Diagnosis 5.3 Error register Error register Introduction The 1-byte error register can be read via: ● Object directory index 1001 hex ● SINAMICS parameter r8601 of the Control Unit The register displays any drive unit errors that have occurred and their type. The following table describes the CANopen error register that is evaluated with SINAMICS (in the emergency message frame, bytes 1 and 2).
  • Page 129: Communication Objects

    Communication objects Section content This section contains a table of the objects (data values) that are used in SINAMICS for communication via the CANopen interface. This includes: ● Control Unit communication objects independent of the drive ● Drive-dependent communication objects ●...
  • Page 130 Communication objects 6.1 Control Unit communication objects independent of the drive OD index Sub- Object name SINAMICS Transmissi Data type Default Read/ (hex) index parameter values write (hex) C-13 Standard error field: p8611.12- Unsigned32 module 2 p8611.19 Number of errors: p8611.20 Unsigned32 module 3...
  • Page 131 Communication objects 6.1 Control Unit communication objects independent of the drive OD index Sub- Object name SINAMICS Transmissi Data type Default Read/ (hex) index parameter values write (hex) Save application- p0977 Unsigned16 related parameters (0x6000-0x9fff) 1011 Restore default p0976 Unsigned16 parameters Largest sub-index supported...
  • Page 132 Communication objects 6.1 Control Unit communication objects independent of the drive OD index Sub- Object name SINAMICS Transmissi Data type Default Read/ (hex) index parameter values write (hex) 41B6 Virtual objects p8630 Unsigned16 [0...2] Axis number p8630.0 Unsigned16 Sub-index range p8630.1 Unsigned16 Parameter range...
  • Page 133: Drive-Dependent Communication Objects

    Communication objects 6.2 Drive-dependent communication objects Drive-dependent communication objects Introduction Eight transmit/receive PDOs can be parameterized for each drive, whereby a total of 25 PDOs (channels) must not be exceeded. Each PDO contains: ● Communication parameters ● Mapping parameters (max. 8 bytes/4 words/64 bits) Rule In the following tables, the first PDO is highlighted in bold to indicate that the communication and mapping parameters for one PDO are related.
  • Page 134 Communication objects 6.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmiss Data type Predefined Read/ (hex) index parameter connection set write (hex) 1402 Receive PDO 3 communication parameter Largest sub-index Unsigned8 supported COB ID used by p8702.0 Unsigned32 400 hex + node Transmission type p8702.1...
  • Page 135 Communication objects 6.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmiss Data type Predefined Read/ (hex) index parameter connection set write (hex) Transmission type p8707.1 Unsigned8 FE hex 1600 Receive PDO 1 mapping parameter Number of mapped Unsigned8 application objects in PDO PDO mapping for...
  • Page 136 Communication objects 6.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmiss Data type Predefined Read/ (hex) index parameter connection set write (hex) PDO mapping for p8712.1 Unsigned32 6071 hex the second application object to be mapped PDO mapping for p8712.2 Unsigned32 the third application...
  • Page 137 Communication objects 6.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmiss Data type Predefined Read/ (hex) index parameter connection set write (hex) 1605 Receive PDO 6 mapping parameter Number of mapped Unsigned8 application objects in PDO PDO mapping for p8715.0 Unsigned32 the first application...
  • Page 138: Table: Communication Objects For Transmit Pdos

    Communication objects 6.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmiss Data type Predefined Read/ (hex) index parameter connection set write (hex) PDO mapping for p8717.1 Unsigned32 the second application object to be mapped PDO mapping for p8717.2 Unsigned32 the third application object to be mapped...
  • Page 139 Communication objects 6.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmissio Data type Predefined Read/ (hex) index parameter connection set write (hex) Largest sub-index Unsigned8 supported COB ID used by p8721.0 Unsigned32 280 hex + node ID Transmission type p8721.1 Unsigned8 FE hex...
  • Page 140 Communication objects 6.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmissio Data type Predefined Read/ (hex) index parameter connection set write (hex) Largest sub-index Unsigned8 supported COB ID used by p8725.0 Unsigned32 C000 06E0 hex Transmission type p8725.1 Unsigned8 FE hex Inhibit time...
  • Page 141 Communication objects 6.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmissio Data type Predefined Read/ (hex) index parameter connection set write (hex) PDO mapping for p8730.2 Unsigned32 the third application object to be mapped PDO mapping for p8730.3 Unsigned32 the fourth application object...
  • Page 142 Communication objects 6.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmissio Data type Predefined Read/ (hex) index parameter connection set write (hex) PDO mapping for p8732.3 Unsigned32 the fourth application object to be mapped 1A03 Transmit PDO 4 mapping parameter Number of mapped...
  • Page 143 Communication objects 6.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmissio Data type Predefined Read/ (hex) index parameter connection set write (hex) 1A05 Transmit PDO 6 mapping parameter Number of mapped Unsigned8 application objects in PDO PDO mapping for p8752.0 Unsigned32 the first application...
  • Page 144 Communication objects 6.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmissio Data type Predefined Read/ (hex) index parameter connection set write (hex) Number of mapped Unsigned8 application objects in PDO PDO mapping for p8752.0 Unsigned32 the first application object to be mapped PDO mapping for...
  • Page 145: Free Objects

    Communication objects 6.3 Free objects Free objects OD index (hex) Description Data type per PZD Pre-set values: Can be written to/read 5800 to 580F 16 freely- Integer16 interconnectable receive process data 5810 to 581F 16 freely- Integer16 interconnectable transmit process data 5820 to 5827 8 freely-...
  • Page 146: Objects In Drive Profile Dsp402

    The following table lists the object directory with the index of the individual objects for the drives. The column "SINAMICS parameter" shows the parameter range in which they are located for SINAMICS S120. CANopen currently supports profile velocity mode for SINAMICS S120. Table 6- 4 Objects in drive profile DSP402...
  • Page 147 Communication objects 6.4 Objects in drive profile DSP402 OD index Sub- Object name SINAMICS Transmissio Data type Default Read/ (hex) index parameter values write (hex) 606C Velocity actual value r0063 SDO/PDO Integer32 – Actual velocity 6071 Target torque p1513[0] SDO/PDO Integer16 –...
  • Page 148 Communication objects 6.4 Objects in drive profile DSP402 CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 149: A Parameters, Faults And Alarms, Terminology

    Parameters, faults and alarms, terminology Section content Note All the parameters, faults, alarms, and function diagrams for CANopen in the SINAMICS drive line-up are described in: /LH1/ SINAMICS S List Manual. Glossary Active Line Module Controlled, self-commutating infeed/regenerative feedback unit (with -"IGBTs" in infeed/regenerative feedback direction), which supplies the DC link voltage for the ->...
  • Page 150 Parameters, faults and alarms, terminology A.1 Glossary Drive component Hardware components connected to a –> "Control Unit" via –> "DRIVE-CLiQ", for example. Drive components are for instance: -> "Motor Module"s, -> "Line Module"s, -> "Motor"s, - > "Sensor Module"s and -> "Terminal Module"s. The overall layout of a Control Unit together with the connected drive components is called - >...
  • Page 151 Parameters, faults and alarms, terminology A.1 Glossary Control Unit Central control module in which the closed-loop and open-loop control functions for one or more -> "SINAMICS" -> "Line Module"s and/or -> "Motor Module"s are implemented. There are three types of Control Unit: - SINAMICS Control Units, e.g.
  • Page 152 Parameters, faults and alarms, terminology A.1 Glossary Line Module A Line Module is a power unit that generates the DC link voltage for one or more –> "Motor Module"s from a 3-phase line voltage. In SINAMICS, the following three types of Line Module are available: –>...
  • Page 153 Parameters, faults and alarms, terminology A.1 Glossary PROFIBUS Field bus to IEC 61158, Sections 2 to 6. The abbreviation "DP" is no longer included because PROFIBUS FMS is not standardized and PROFIBUS PA (for Process Automation) is now part of the "general" –> "PROFIBUS". Sensor Module Hardware module for evaluating speed/position encoder signals and providing detected actual values as numerical values at a ->...
  • Page 154 Parameters, faults and alarms, terminology A.1 Glossary Vector control Vector control (field-oriented control) is a high-performance control type for induction machines. It is based on an exact model calculation of the motor and two current components that simulate and accurately control the flux and torque by means of software algorithms, thereby enabling predefined speeds and torques to be observed and limited accurately and with a good dynamic response.
  • Page 155: Index

    Index Active Line Module, 149 DBT, 17 Actual encoder position value, 118 Detail view, 66 Actual speed value, 122 Double Motor Module, 151 Actual torque, 117 Drive, 149 Actual torque value, 123 Drive component, 150 Actual velocity, 117 Drive line-up, 150 Drive object, 150 Drive parameter, 150 Drive system, 150...
  • Page 156 Index Profile velocity mode, 61, 65 Project navigator, 66 Lifetime factor, 50 Line Module, 152 r8750, 110, 111 r8751, 109 Memory card, 153 r8760, 111 Motor, 152 r8760, 110 Motor encoder, 152 r8761, 109 Motor Module, 152 r8795, 20 Ramp-function generator, 85 Receive, 19 Restoring the factory setting of the parameters (object Network management (NMT service), 45...
  • Page 157 Index User interface, 66 Variable, 18 Vector, 82 Vector control, 154 Working area, 66 Write PDO, 41 XE \* MERGEFORMAT, 146 CANopen interface Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3...
  • Page 158 Siemens AG Änderungen vorbehalten Industry Sector © Siemens AG 2008 Drive Technologies Motion Control Systems Postfach 3180 91050 ERLANGEN GERMANY www.siemens.com/motioncontrol...

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