Function Manual SINAMICS SERVCOUP SERVO COUPLING. Siemens Spares.

Transcription

1 Function Manual SINAMICS SERVCOUP SERVO COUPLING Edition 06/2017 Siemens Spares

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3 s Preface Fundamental safety instructions 1 SINAMICS SERVCOUP SERVO COUPLING Function Manual Field of application, features 2 Installation and activation 3 Function description and commissioning 4 Parameters 5 Function diagrams 6 Valid for Technology Extension Firmware version SERVCOUP 1.2 for the drive SINAMICS / SINAMICS Integrated as of 4.7 as of 4.6 HF13 as of 4.5 HF21 Faults and alarms 7 Appendix Index A 06/2017 A5E B AB Siemens Spares

4 Legal information Warning notice system This manual contains information that you should observe to ensure your own personal safety as well as to avoid material damage. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to equipment damage have no safety alert symbol. Depending on the hazard level, warnings are indicated in a descending order as follows: If more than one level of danger is simultaneously applicable, the warning notice for the highest level is used. A warning note in a warning triangle indicating possible personal injury may also include a warning note relating to material damage. Qualified personnel The product/system described in this documentation may only be operated by personnel qualified for the specific task in accordance with the relevant documentation for the specific task, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems. Proper use of Siemens products Trademarks DANGER indicates that death or severe personal injury will result if proper precautions are not taken. WARNING indicates that death or severe personal injury may result if proper precautions are not taken. CAUTION indicates that minor personal injury can result if proper precautions are not taken. NOTICE indicates that property damage can result if proper precautions are not taken. Note the following: WARNING Siemens products are only permitted to be used for the applications specified in the catalog and in the associated technical documentation. If third-party products and components are used, then they must be recommended or approved by Siemens. These products can only function correctly and safely if they are transported, stored, set up, mounted, installed, commissioned, operated and maintained correctly. The permissible ambient conditions must be adhered to. Notes in the associated documentation must be observed. All names identified by the trademark symbol are registered trademarks of Siemens AG. Other designations used in this document may be trademarks whose use by third parties for their own purposes could violate the rights of the trademark owners. Disclaimer of liability We have checked the contents of this publication for consistency with the hardware and software described. Nevertheless, as deviations cannot be precluded entirely, we cannot guarantee complete accuracy of the information contained herein. The information given in this document is reviewed at regular intervals and any corrections that might be necessary are made in the subsequent editions. Siemens AG Division Digital Factory P.O. Box NUREMBERG GERMANY Article number: A5E B AB 06/2017 Subject to change without prior notice Copyright Siemens AG All rights reserved

5 Preface Information about the SINAMICS documentation The SINAMICS documentation is organized in two parts: General documentation/catalogs Manufacturer/service documentation This documentation is part of the Technical Customer Documentation for SINAMICS. In the interests of clarity, this documentation does not contain all the detailed information for all product types and cannot take into account every possible aspect of installation, operation or maintenance. The contents of this documentation are not part of an earlier or existing agreement, a promise, or a legal agreement, nor do they change this. All obligations on the part of Siemens can be found in the respective sales contract, which also contains the complete and sole warranty provisions. These contractual warranty provisions are neither extended nor curbed as a result of the statements made in this documentation. Audience This documentation addresses commissioning engineers and service personnel who use SINAMICS. Objective This manual contains information about all parameters, function diagrams, faults, and warnings required to commission and service the system. This manual should be used in addition to the other manuals and tools provided for the product. Search tools The following guides are provided to help you locate information in this manual: 1. Table of contents for the complete manual (Page 7) 2. List of abbreviations (Page 103) 3. Index (Page 113) Technical Support Country-specific telephone numbers for technical support are provided at the following Internet address: Siemens Spares Function Manual, 06/2017, A5E B AB 5

6 Preface SINAMICS Information about SINAMICS can be found on the Internet at the following address: 6 Function Manual, 06/2017, A5E B AB

7 Table of contents 1 Fundamental safety instructions General safety instructions Industrial security Field of application, features Installation and activation Installing a Technology Extension using STARTER General Installing theoa support package in STARTER Downloading the technology package Activating the Technology Extension in the drive object Commissioning the Technology Extension Uninstalling a Technology Extension using STARTER Installing a Technology Extension via SINUMERIK HMI General Install Technology Extension on the drive device Activate Technology Extension for the axis (drive object) Commissioning the Technology Extension Uninstalling a Technology Extension via SINUMERIK HMI Function description and commissioning Function description Technology Extension SERVCOUP Principle of operation Supported motors and their special features Notes for commissioning motors Commissioning sequence Commissioning of the hardware overview Commissioning the encoder interface on the slave drive objects Temperature evaluation Using Double Motor Modules Hardware commissioning via STARTER Preconditions Configuring a master drive object Creating slave drive objects and Terminal Modules Completing the hardware commissioning Siemens Spares Function Manual, 06/2017, A5E B AB 7

8 Table of contents 4.5 Hardware commissioning using CMC-Topo/CMC-Expert Preconditions Importing a drive archive into CMC-Topo Editing imported data Deploying edited data as user-specified topology Creating a project in CMC-Expert Deploying a Linux package with user-specified topology Executing the Linux package in the control system Hardware commissioning via SINUMERIK HMI Commissioning the TEC SERVCOUP Overview Different parameterization between master and slave drive objects No offset clocking for multi-winding motors Commissioning of the TEC SERVCOUP via STARTER Commissioning the TEC SERVCOUP via SINUMERIK HMI Parameterization in the PLC without master-slave option Parameterization in the NC with master-slave option Completing the commissioning Using the measuring functions Switching on and switching off drive objects Synchronous switchover of the data sets Fault handling Fault after commissioning has been completed Fault in operation: On the master drive object Fault in operation: On the slave drive object Violation of the maximum speed monitoring Sampling times and number of controllable drives Licensing SINAMICS Safety Integrated Parameters Overview of the parameters List of parameters Function diagrams Faults and alarms Overview of faults and alarms List of faults and alarms A Appendix A.1 Parameters relevant for operation of Technology Extension SERVCOUP A.2 List of abbreviations Index Function Manual, 06/2017, A5E B AB

9 Fundamental safety instructions 1 Content 1.1 General safety instructions Industrial security 11 Siemens Spares Function Manual, 06/2017, A5E B AB 9

10 1 Fundamental safety instructions 1.1 General safety instructions 1.1 General safety instructions WARNING Danger to life if the safety instructions and residual risks are not observed If the safety instructions and residual risks in the associated hardware documentation are not observed, accidents involving severe injuries or death can occur. Observe the safety instructions given in the hardware documentation. Consider the residual risks for the risk evaluation. 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. Protect the parameterization (parameter assignments) against unauthorized access. Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY STOP or EMERGENCY OFF). 10 Function Manual, 06/2017, A5E B AB

11 1 Fundamental safety instructions 1.2 Industrial security 1.2 Industrial security 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 a holistic, state-of-the-art industrial security concept. Siemens products and solutions only represent one component of such a concept. The customer is responsible for preventing unauthorized access to its plants, systems, machines and networks. Systems, machines and components should only be connected to the enterprise network or the internet if and to the extent necessary and with appropriate security measures (e.g. use of firewalls and network segmentation) in place. Additionally, Siemens guidance on appropriate security measures should be taken into account. For more information about industrial security, please visit: Industrial security ( Siemens products and solutions undergo continuous development to make them more secure. Siemens strongly recommends to apply product updates as soon as available and to always use the latest product versions. Use of product versions that are no longer supported, and failure to apply latest updates may increase customer s exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed at: Industrial security ( WARNING Danger to life as a result of unsafe operating states resulting from software manipulation Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating states in your system that may lead to death, serious injury, and property damage. Keep the software up to date. Incorporate the automation and drive components into a holistic, state-of-the-art industrial security concept for the installation or machine. Make sure that you include all installed products into the holistic industrial security concept. Protect files stored on exchangeable storage media from malicious software by with suitable protection measures, e.g. virus scanners. Siemens Spares Function Manual, 06/2017, A5E B AB 11

12 1 Fundamental safety instructions 1.2 Industrial security 12 Function Manual, 06/2017, A5E B AB

13 Field of application, features 2 Field of application The Technology Extension SERVCOUP (SERVO COUPLING) is a SINAMICS extension for the SERVO drive object. In the SERVO control mode, SERVCOUP allows motors to be operated which, as a result of their size and/or type of construction, cannot be operated from an individual SINAMICS power unit. These motors are split up into several drive objects, each of which can be operated on a Motor Module, and can be coupled with one another. As a consequence, the individual drive objects can be seen as partial motors with their own winding and terminals. Irrespective of the number of coupled drive objects, only one encoder is required for the operation of the motor because the Technology Extension SERVCOUP implements a digital encoder splitter in the Control Unit. In this way, the actual encoder values together with the setpoint specifications are passed on to all encoderless drive objects. When compared to hardware-based solutions, this provides advantages regarding wiring costs, degree of ruggedness and the number of hardware components required. Supported motors: The Technology Extension SERVCOUP is generally released for the following SIMOTICS motors: 1FE2 (built-in spindle motor) 1FN3 (linear motor) 1FW4 (torque motor) 1FW6 (torque motor) 1FW68 (segment motor) Fundamentally, operation is possible with the following motors: Segment motors (axial and radial) Direct drives (linear and rotary) Double and multi-winding motors (induction and synchronous) For these motors, using the Technology Extension SERVCOUP must be tested and released on an individual basis. Similar motors must be very rigidly coupled (mechanically) with one another when using the SERVO coupling. System integration: The application can be used for servo control in conjunction with SINAMICS S120 (CU320-2), SINUMERIK Integrated/NX or SIMOTION Integrated/CX. Siemens Spares Function Manual, 06/2017, A5E B AB 13

14 2 Field of application, features Supported versions: The Technology Extension SERVCOUP is supported by the following SINAMICS firmware versions: As of 4.7 (corresponds to SINUMERIK V4.7) As of 4.6 HF13 (no SINUMERIK version available) As of 4.5 HF21 (corresponds to SINUMERIK V4.5 SP3) Commissioning tools that are supported: STARTER as of V4.3 SP1 Create MyConfig as of V4.6 License key: A License Key is required for the Technology Extension, see "Licensing (Page 77)". Features In comparison to closed-loop control via analog encoder splitter: Simplified use Increased ruggedness Fewer hardware components Support of incremental and absolute encoders Safety Basic functions possible on all drive objects and Safety Extended functions on the master drive object Sets the angular offset between the master and slave drive objects Automatic fault handling between master and slave drive objects The angular offset between master and slave drive objects can be set, for example, to compensate for a mechanical offset Terms in this manual Drive object The term "drive object" covers individual segments of segment or linear motors, windings of double- and multi-winding motors and individual primary sections / stators of large direct motors. Master drive object Drive object to which the encoder (motor encoder) is assigned. This drive object is parameterized in Technology Extension SERVCOUP as MASTER. Of all of the coupled drive objects, the master drive object must have the lowest drive object number. Slave drive object Drive object with deactivated encoder interface which receives setpoint specifications and actual encoder values from the Technology Extension SERVCOUP and which is parameterized as SLAVE in it. 14 Function Manual, 06/2017, A5E B AB

15 2 Field of application, features Motor All of the coupled drive objects, comprising a minimum of one master drive object and up to 5 slave drive objects. The type of motor is irrelevant - the term encompasses segment motors, direct drives and double/multi-windingmotors. SINUMERIK HMI In this manual, SINUMERIK HMI refers generally to the interface between the user and the control system. With correct commissioning, the HMI appropriate for the associated SINUMERIK version must have been installed (e.g. HMI-Operate or HMI-Advanced). Further information on SERVCOUP The Technology Extension SERVCOUP is described in detail in Chapter "Function description and commissioning (Page 31)". In order to use the Technology Extension SERVCOUP, the hardware must first be prepared accordingly. The procedure is described in Chapter "Commissioning sequence (Page 37)". Siemens Spares Function Manual, 06/2017, A5E B AB 15

16 2 Field of application, features 16 Function Manual, 06/2017, A5E B AB

17 Installation and activation 3 Content 3.1 Installing a Technology Extension using STARTER Uninstalling a Technology Extension using STARTER Installing a Technology Extension via SINUMERIK HMI Uninstalling a Technology Extension via SINUMERIK HMI 30 Siemens Spares Function Manual, 06/2017, A5E B AB 17

18 3 Installation and activation 3.1 Installing a Technology Extension using STARTER 3.1 Installing a Technology Extension using STARTER Note The subsequent description in this chapter refers to the fictitious Technology Extension "ABC_OA". The procedure described in this chapter can be correspondingly applied to any real Technology Extension. This description to install and commission an Technology Extension is also applicable for engineering software with integrated STARTER (e.g. SIMOTION SCOUT). 18 Function Manual, 06/2017, A5E B AB

19 3 Installation and activation 3.1 Installing a Technology Extension using STARTER General Terms Technology Extension (TEC) Software component, which is installed as an additional technology package and which expands the functionality of the SINAMICS drive system. A Technology Extension is also known as OA-application (OA, Open Architecture). OA support package (OASP) By installing an OA support package (OASP), the STARTER commissioning tool is expanded by the corresponding Technology Extension. An OA support package is only required if the associated Technology Extension is used. Generally, it can be sourced through your local Siemens office. Devices This description is applicable for SINAMICS S120 (CU320-2) and SIMOTION D4x5-2 with SINAMICS Integrated. Requirements 1. The STARTER commissioning tool as of Version V4.2 must be installed. 2. The file for the OA support package "oasp_abc_oa_v1_2_oaif zip" must be located in a known directory. The file name for the OA support package comprises the following elements: oasp = OA support package abc_oa = name of the Technology Extension v1_2 = version of the Technology Extension oaif = OA-interface version (OA-interface version) Version of the SINAMICS firmware from which this Technology Extension can be used ( = V4.4). Note The following description assumes that the basic commissioning of the control and the drive or the drive object is completed. Siemens Spares Function Manual, 06/2017, A5E B AB 19

20 3 Installation and activation 3.1 Installing a Technology Extension using STARTER Installing theoa support package in STARTER In the following, the Technology Extension is installed in STARTER as technology package. Requirements 1. The STARTER commissioning tool has been opened. 2. No project is open. Procedure Proceed as follows: 1. Select the menu Tools >Installation of Libraries and Technology Packages. Fig. 3-1 Select OA support package (technology package) and install 2. Press the Add button. 3. Open file "oasp_abc_oa_v1_2_oaif zip". The technology package belonging to the Technology Extension ABC is added. 4. Press the Close button. 20 Function Manual, 06/2017, A5E B AB

21 3 Installation and activation 3.1 Installing a Technology Extension using STARTER Downloading the technology package In the following, the Technology Extension ABC_OA is loaded into the device via STARTER. Requirements 1. A project matching the device is open. 2. The STARTER commissioning tool is in the online mode. Procedure Proceed as follows: 1. Select the drive device in the project navigator. 2. In the shortcut menu (right mouse key), call the Select Technology Packages.. The "Select Technology Packages" window opens. 3. For the technology package "ABC_OA", set the action "Load into target" Fig. 3-2 Select Technology packages 4. Click the Perform actions button. After successfully performing the action, the "OK" result field is displayed. 5. Then perform a power on (switch off/on) for the target device. Additional information on the "Select technology package" dialog For a technology package, the "Version (online)" column will only be filled after you have executed "Load into target" The version data between the columns "Version (offline)" and "Version (online)" can differ. When you download the technology package, the version in the target device is always overwritten. Siemens Spares Function Manual, 06/2017, A5E B AB 21

22 3 Installation and activation 3.1 Installing a Technology Extension using STARTER Activating the Technology Extension in the drive object In the following, the Technology Extension is assigned to a drive object. Requirements 1. A project matching the device is open. 2. The corresponding drive axes are created in the project. 3. The STARTER commissioning tool is in the offline mode. Procedure Proceed as follows: 1. In the project navigator, select the drive object for which the functionality is required (e.g. SERVO_03). 2. Select the shortcut menu Object properties (right mouse key) 3. Select the Technology Packages tab. 4. Activate the checkbox for "ABC_OA" (set the check mark). Fig. 3-3 Object properties 5. Press the OK button. 22 Function Manual, 06/2017, A5E B AB

23 3 Installation and activation 3.1 Installing a Technology Extension using STARTER 6. Checking the expert list of the drive object The additional parameters of the installed Technology Extension must now be visible in the expert list of the corresponding drive object. Fig. 3-4 Expert list 7. Download the project To activate the Technology Extension, for the drive object, a project download is required (establish the ONLINE mode, download the project) Commissioning the Technology Extension By setting the corresponding additional parameters, the Technology Extension ABC_OA can be commissioned using the STARTER commissioning tool via the expert list. Parameters p30000 p30003 are available for ABC_OA. Commissioning SERVCOUP Prerequisite for the commissioning of the TEC SERVCOUP is a completed hardware commissioning. This is described in "Commissioning sequence (Page 37)". For the hardware commissioning, the drive objects are created on which the Technology Extension is operated. Parameters p31740 to p31751 are available for the SERVCOUP Technology Extension, see "List of parameters (Page 83)". The commissioning is described in detail in Section "Function description and commissioning (Page 31)". Siemens Spares Function Manual, 06/2017, A5E B AB 23

24 3 Installation and activation 3.2 Uninstalling a Technology Extension using STARTER 3.2 Uninstalling a Technology Extension using STARTER Uninstalling a Technology Extension via STARTER is performed in the inverse sequence to that of installation. 1. Deactivating the Technology Extension in the drive object, see "Activating the Technology Extension in the drive object (Page 22)". 2. Delete the technology package, belonging to the Technology Extension, in the drive unit, see "Downloading the technology package (Page 21)". Deactivate the technology package in the OFFLINE mode. For the technology package in the ONLINE mode, select the "Delete" action and press the Execute actions button. 3. Uninstalling the Technology Extension in STARTER, see "Installing theoa support package in STARTER (Page 20)". 24 Function Manual, 06/2017, A5E B AB

25 3 Installation and activation 3.3 Installing a Technology Extension via SINUMERIK HMI 3.3 Installing a Technology Extension via SINUMERIK HMI Note The subsequent description in this chapter refers to the fictitious Technology Extension "ABC_OA". The procedure described in this chapter can be correspondingly applied to any real Technology Extension General Terms Technology Extension (TEC) Software component, which is installed as an additional technology package and which expands the functionality of the SINAMICS drive system. A Technology Extension is also known as OA-application (OA, Open Architecture). Portable service system for NCU Emergency boot system (EBS) on a USB memory. If service is required, you can initiate that the NCU powers up from the service system in order to execute various service tasks (e.g. data backup or update). Note The portable service system for NCU, as well as the procedure to generate it on a USB memory, is described in detail in the following reference: References: SINUMERIK operating system NCU commissioning manual Chapter "Diagnostics and service" Devices This description applies to SINUMERIK devices with SINAMICS Integrated (e.g. SINUMERIK 840D sl). Siemens Spares Function Manual, 06/2017, A5E B AB 25

26 3 Installation and activation 3.3 Installing a Technology Extension via SINUMERIK HMI Requirements 1. The HMI appropriate for the associated SINUMERIK version must have been installed (e.g. HMI-Operate, used here, or HMI-Advanced). 2. A USB memory, which is installed on the portable service system for the NCU, is available. 3. The file for the Technology Extension ABC_OA "abc_oa_v1_2_oaif tgz" is copied to the FAT- partition of the USB memory using the portable service system. The file name for the Technology Extension ABC_OA comprises the following elements: abc_oa = name of the Technology Extension v1_2 = version of the Technology Extension oaif = OA-interface version (OA-interface version) Version of the SINAMICS firmware from which this Technology Extension can be used ( = V4.4). Note The following description assumes that control and the drive have been commissioned Install Technology Extension on the drive device The Technology Extension is installed on the drive device in the following. Procedure 1. Connect the USB memory with portable service system to USB interface X125 or X135 of the SINUMERIK NCU. 2. Restart the SINUMERIK NCU: Switch off the device and then switch on again. or press the "Reset" button. SINUMERIK NCU starts with the service system. 3. In the service system, execute the following actions one after the other: In the main menu, select menu item "Update NCU Software and Data". Then select menu item "Update system software from USB memory stick". Select file "abc_oa_v1_2_oaif tgz" and acknowledge with "OK". File "abc_oa.cfs" is extracted from file "abc_oa_v1_2_oaif tgz", and is saved in the directory "/card/oem/sinamics/oa". 4. Restart SINUMERIK NCU as described under Step 2. Technology Extension ABC_OA OA is installed in the "/card/oem/sinamics/oa" directory when the system boots. The appropriate data is made available in the "abc_oa" subdirectory. 26 Function Manual, 06/2017, A5E B AB

27 3 Installation and activation 3.3 Installing a Technology Extension via SINUMERIK HMI Activate Technology Extension for the axis (drive object) In the following, the ABC_OA Technology Extension is assigned to the desired axes and the appropriate drive objects. Configuration example A 3-axis SINUMERIK system comprises the following drive objects, for instance: Control Unit (DO_1) Infeed (DO_2) X axis (DO_3, AX1) Y axis (DO_4, AX2) Z axis (DO_5, AX3) Procedure To activate the Technology Extension on the desired axes, proceed as follows: 1. Deactivate the pulse enable for SINAMICS (e.g. via the EP terminal) 2. Control Unit: Set the configuration for the Technology Extension p0009 = Perform the following tasks for the first axis or drive object on which this Technology Extension should be activated (e.g. DO_3, AX1): p4956[0] = 0 1 For SINUMERIK, this is displayed as follows in the drive machine data: Fig. 3-5 Activated Technology Extension in the drive machine data Siemens Spares Function Manual, 06/2017, A5E B AB 27

28 3 Installation and activation 3.3 Installing a Technology Extension via SINUMERIK HMI Note The number of Technology Extensions is displayed in r4950. r4955[0 8] contains the identifier for Technology Extension 1 r4955[9 17] contains the identifier for Technology Extension 2, etc. For r4950 = 1, the following applies: Only one Technology Extension is available. In this case, p4956[0] is used to activate a Technology Extension. For r4950 > 1, the following applies: Several Technology Extensions are available. The associated index for activating Technology Extension ABC_OA depends on the designation. If "ABC_OA" is in r4955[0 8], the following applies p4956[0] If r4955[9 17] contains "ABC_OA", then p4956[1] applies, etc. 4. For additional axes on which this Technology Extension should be activated (e.g. DO_4, AX2), repeat step Control Unit: Exit the configuration for the Technology Extension p0009 = 50 0 Note If extension modules (e.g. NX assembly units) are present, the following is true for axes calculated on these modules: Commissioning mode (p0009 = 50) must be set for these modules before the Technology Extension for these axes can be activated. 6. Backing up the parameters 7. Reactivate the pulse enable for SINAMICS 8. Check the parameter list for AX1 The additional parameters of the installed Technology Extension must now be visible in the parameter list for the axis AX1 (DO_3). 28 Function Manual, 06/2017, A5E B AB

29 3 Installation and activation 3.3 Installing a Technology Extension via SINUMERIK HMI Fig. 3-6 Expert list Commissioning the Technology Extension By setting the corresponding additional parameters, Technology Extension ABC_OA can be commissioned using HMI-Operate. Parameters p30000 p30003 are available for ABC_OA. Commissioning SERVCOUP Prerequisite for the commissioning of the TEC SERVCOUP is a completed hardware commissioning. This is described in "Commissioning sequence (Page 37)". For the hardware commissioning, the drive objects are created on which the Technology Extension is operated. Parameters p31740 to p31751 are available for the SERVCOUP Technology Extension, see "List of parameters (Page 83)". The commissioning is described in detail in Section "Function description and commissioning (Page 31)". Siemens Spares Function Manual, 06/2017, A5E B AB 29

30 3 Installation and activation 3.4 Uninstalling a Technology Extension via SINUMERIK HMI 3.4 Uninstalling a Technology Extension via SINUMERIK HMI Procedure To uninstall a Technology Extension via SINUMERIK HMI, proceed as follows: 1. Deactivating the Technology Extension in the drive object, see "Activate Technology Extension for the axis (drive object) (Page 27)". 2. Stop the system: Connect via Secure Shell (SSH). Run the following command: sc stop all. 3. Delete the subdirectory and files on the memory card: Select the system data. Select directory "/oem/sinamics/oa" under the system CF card. Select subdirectory "abc_oa" and delete. Select file "abc_oa.cfs" and delete. Note Pay attention to the sequence when deleting: First the subdirectory and then the file. 4. Carry out a POWER ON (switch off/switch on). 30 Function Manual, 06/2017, A5E B AB

31 Function description and commissioning 4 Content 4.1 Function description Technology Extension SERVCOUP Commissioning sequence Commissioning of the hardware overview Hardware commissioning via STARTER Hardware commissioning using CMC-Topo/CMC-Expert Hardware commissioning via SINUMERIK HMI Commissioning the TEC SERVCOUP Overview Commissioning of the TEC SERVCOUP via STARTER Commissioning the TEC SERVCOUP via SINUMERIK HMI Completing the commissioning Fault handling Sampling times and number of controllable drives Licensing SINAMICS Safety Integrated 78 This section describes the principle of operation of the Technology Extension SERVCOUP. It complements the following section: "Field of application, features (Page 13)" "Installation and activation (Page 17)" Siemens Spares Function Manual, 06/2017, A5E B AB 31

32 4 Function description and commissioning 4.1 Function description Technology Extension SERVCOUP 4.1 Function description Technology Extension SERVCOUP Principle of operation With Technology Extension SERVCOUP, in the SERVO control mode, motors can be operated which, as a result of their size and/or type of construction, cannot be operated from an individual SINAMICS power unit. Corresponding to the size and/or type of construction, the motors are split up into several drive objects, corresponding to the windings, segments or primary sections/stators, and then each can be operated with a Motor Module. One of these drive objects must be configured as master drive object, and this is then assigned the motor encoder. Typically, the encoders are connected to the master Motor Module via SMx or directly using DRIVE-CLiQ. Only one encoder is required for each motor. The Technology Extension SERVCOUP is responsible for the closed-loop control of the other drive objects using a master-slave coupling in the drive. The encoder values of the master drive object are transferred to up to five further encoderless drive objects via a digital encoder splitter in the Control Unit. All slave drive objects in the group implement their own current controller with these encoder values and the transferred torque setpoint of the master drive object. In this way, a motor can be operated with up to six drive objects without an analog encoder splitter: SMC / SME AIM ALM CU SMM Master SMM Slave 1 SMM Slave 2 SMM Slave 3 SMM Slave 4 SMM Slave 5 Fig. 4-1 SERVCOUP example: Motor with 2 drive objects (optionally, up to 6) - and 1 encoder For motors with fewer drive objects, several SERVO couplings can be operated on one Control Unit. One possible application is operating two SERVCOUP-controlled double-winding motors on one Control Unit. The functionality can be seen Technology Extension SERVCOUP in function diagram "7335 SERVO COUPLING structure (Page 90)"". 32 Function Manual, 06/2017, A5E B AB

33 4 Function description and commissioning 4.1 Function description Technology Extension SERVCOUP Supported motors and their special features In principle, direct drives, double and multi-winding motors as well as segment motors are supported. When operating Technology Extension SERVCOUP, the motor specifications listed in this Chapter must be carefully observed. Direct drives With the Technology Extension SERVCOUP, direct drives can be operated, which can no longer be connected in parallel to a Motor Module. Instead, the individual drives operated in the Technology Extension SERVCOUP coupled and as motor group. Requirements for this are: a rigid mechanical coupling the same number of pole pairs or pole pair width Linear motors Examples for applications involving Technology Extension SERVCOUP for linear motors include: operation on a common secondary section track operation on the other track for linear motors in a double-comb arrangement Torque motors Examples for use of Technology Extension SERVCOUP with torque motors include: operation on a common shaft operation for very large swiveling axes on an extremely rigid cast iron rocker assembly Double- and multi-winding motors With Technology Extension SERVCOUP, synchronous and induction motors can be used. Induction motors Induction motors, which can be operated using a conventional encoder splitter, are also suitable for operation with the Technology Extension SERVCOUP. For all other induction motors, suitability for operation with the Technology Extension SERVCOUP must be checked on a case-by-case basis. For induction motors with overlapping winding systems, in the speed range relevant for operation, it should be ensured that the angle of slip between the master and slave drive object should be as small as possible. To achieve this, an angular offset can be set at the slave drive objects using p The value to be set for the angular offset can be determined before coupling the master and slave drive objects, for example. If continuous motor operation under no-load conditions below the switchover speed for the motor model (p1752) is not possible, then we recommend that the motor is only operated below the switchover speed (p1752) with a partial motor (master-drive object). Synchronous motors For synchronous motors with incremental encoders, before the drive is switched on for the first time, a pole position identification routine must be carried out. This must be subsequently taken into account for the "switch-on sequence of the drive objects" (Page 65). Siemens Spares Function Manual, 06/2017, A5E B AB 33

34 4 Function description and commissioning 4.1 Function description Technology Extension SERVCOUP Offset clocking for double/multi-winding motors You must ensure that no offset clocking is parameterized for motors with overlapping or adjacent winding systems in a common enclosure. This is the reason that when commissioning multi-winding motors, the following must be noted: p1800, p1810, p1816 and p1819 must have identical settings on all drive objects. p must have a value of "1"on all drive objects. p31743 must be set to a value of "0". When commissioning the Single Motor Modules described in this manual, the slave drive objects are created as copies of the master drive object. This procedure ensures that the parameter settings on all drive objects and in all data sets are identical. When using Double Motor Modules, the commissioning differs, see "Using Double Motor Modules (Page 41)". The drive objects are not copied, and the user must manually assign the correct parameters during the hardware commissioning. When commissioning the Technology Extension SERVCOUP (from Chapter 4.7), the parameters relevant for offset clocking are finally checked and adapted if necessary, see "No offset clocking for multi-winding motors (Page 63)". Segment motors For segment motors, several motor segments can be connected to one Motor Module. The number of segments per Motor Module must be specified in p0306 (configuration example: p0306 = 3). AIM ALM CU 320 SMM Master SMM Slave 1 SMM Slave 2 SMM Slave 3 SMM Slave 4 SMM Slave 5 SMC / SME 4_2 5_2 6_2 1_3 3_2 2_3 2_2 3_3 1_2 6_1 5_1 18 segments (20 ) 3 segments per group 4_1 3_1 2_1 1_1 6_3 4_3 5_3 Fig. 4-2 Sample configuration for segment motors 34 Function Manual, 06/2017, A5E B AB

35 4 Function description and commissioning 4.1 Function description Technology Extension SERVCOUP Notes for commissioning motors General Information Of all of the coupled SERVO drive objects, the master drive object must have the lowest drive object-number. All drive objects must always be identically parameterized - the decisive criterion is the parameterization of the master drive object. The parameters that must be taken into account are listed in Appendix "Parameters relevant for operation of Technology Extension SERVCOUP (Page 98)". Identical parameterization meansthat on coupled axes, the same number of data sets are set - and the various indices are parameterized the same. This is guaranteed when commissioning the hardware as described here using STARTER and CMC-Topo / CMC-Expert, as the slave drive objects are created as copies of the master drive object. This must be taken into account particularly during commissioning via SINUMERIK HMI. "Temperature sensor via encoder" (p0600 = 1) can be used to monitor the temperature of the master drive object. A TM120 Terminal Module must be used to evaluate the temperature of slave drive objects, see also "Temperature evaluation (Page 39)". When commissioning the motor, a distinction must be made as to whether the motor is defined using the motor data as complete motor (e. g. 1FE2) - or as partial motor (e. g. 1FN3). Description as complete motor (double and multi-winding motors) If the motor is defined as complete motor via the motor data (e g. 1FE2), then the motor, which is split up into n drive objects and operated at n Motor Modules, must be parameterized according to the following mapping rule: All current, torque, power and inertia data of the motor must be divided by the number of drive objects n. This also applies to the specified current, torque and power limits as well as to the reference variables p2002 and p2003. All resistance and inductance values must be multiplied by the number of drive objects n. All other variables remain the same. For these motors, when commissioning, the motor values must always be adapted. There are two ways of doing this: Parameterization as listed motor Advantage: When commissioning, all of the relevant parameters for the complete motor are correctly set. Some of these values can be adopted without any changes. Disadvantage: After completing the commissioning wizard, the write protection must be cancelled via the expert list and some default settings corrected (see above). Parameterization as third-party motor Advantage: The motor parameters only have to be entered once. No subsequent adaptation. Disadvantage: All of the motor data must be known and must be manually entered. Siemens Spares Function Manual, 06/2017, A5E B AB 35

36 4 Function description and commissioning 4.1 Function description Technology Extension SERVCOUP Description as partial motor (e. g. linear motor, segment motor) If the motor is defined as partial motor via the motor data (e. g. 1FN3 linear motor), then the partial motors correspond to the SERVCOUP drive objects. This means that the motor data does not have to be converted and adapted in the expert list, which is necessary when commissioning motors defined as complete motor Special issue when commissioning segment motors Segment motors can be commissioned using the data sheet provided, which refers to the individual segments. If several motor segments are connected to one Motor Module, then the number of segments per Motor Module must be specified in p0306. It is not necessary to convert or adapt the motor data. Restriction when using SERVCOUP "Cogging torque compensation" function module Note With this software release, it is not possible to simultaneously use the "Cogging torque compensation" (r ) and the Technology Extension SERVCOUP. Using tuning functions Note At the present time, none of the tuning functions supports the SERVCOUP Technology Extension. As a consequence, the use of the SERVCOUP Technology Extension and tuning functions (for example Auto Servo Tuning (AST), One Button Tuning (OBT) or online tuning) is not possible. 36 Function Manual, 06/2017, A5E B AB

37 4 Function description and commissioning 4.2 Commissioning sequence 4.2 Commissioning sequence WARNING Danger to life due to incorrect parameterization As a result of incorrect parameterization, machines can be damaged or malfunction, which in turn can lead to injuries or death. Perform the commissioning carefully in accordance with these instructions. Protect the parameterization against unauthorized access. Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY STOP or EMERGENCY OFF). General commissioning sequence Commissioning comprises Technology Extension SERVCOUP 3 subprocesses: 1. Hardware commissioning (Chapter ) In order to be able to use the Technology Extension SERVCOUP, the hardware commissioning must be performed first. Certain features must be taken into account; this manual provides the necessary assistance. 2. Commissioning the Technology Extension (Chapter ) After commissioning the hardware, the Technology Extension SERVCOUP must be installed, activated and configured. The SERVO coupling is established in this step. 3. Completing commissioning (Chapter 4.10) After commissioning the Technology Extension, it may be necessary to make adaptations to the higher-level control system. This involves, e. g. the switch-on sequence of the drive objects or ensuring that the data sets are switched over in synchronism. Controller-specific commissioning sequence The specific procedure varies depending on the control system and commissioning tool. Refer to the following table for the precise commissioning workflow: SIMATIC/SIMOTION SINUMERIK STARTER/SCOUT CMC-Topo, CMC-Expert SINUMERIK HMI "Commissioning of the hardware overview (Page 38)" "Hardware commissioning via STARTER (Page 42)" "Installing a Technology Extension using STARTER (Page 18)" "Commissioning of the TEC SERVCOUP via STARTER (Page 64)" "Hardware commissioning using CMC-Topo/CMC-Expert (Page 47)" "Hardware commissioning via SINUMERIK HMI (Page 61)" "Installing a Technology Extension via SINUMERIK HMI (Page 25)" "Commissioning the TEC SERVCOUP Overview (Page 62)" "Commissioning the TEC SERVCOUP via SINUMERIK HMI (Page 66)" "Completing the commissioning (Page 69)" Siemens Spares Function Manual, 06/2017, A5E B AB 37

38 4 Function description and commissioning 4.3 Commissioning of the hardware overview 4.3 Commissioning of the hardware overview The following tasks must be performed during the hardware commissioning: Setting up and basic commissioning of the drive line-up Parameterization of the drive objects Creating an encoder interface on all drive objects and deactivating them on slave drive objects Adapting the motor parameterization Setting identical parameters for master and slave drive objects There are differences in detail with regard to the requirements and sequence of the commissioning variants; an overview is provided in the following table: All control systems/commissioning tools "Commissioning the encoder interface on the slave drive objects (Page 39)" SIMATIC/SIMOTION SINUMERIK STARTER/SCOUT CMC-Topo, CMC-Expert SINUMERIK HMI "Hardware commissioning via STARTER (Page 42)" "Hardware commissioning using CMC-Topo/CMC-Expert (Page 47)" "Hardware commissioning via SINUMERIK HMI (Page 61)" 1 Set up the drive line-up (wired drive objects: Only master drive object) 2 Connecting the encoder 3 Create the STARTER project, create the drive unit, configure the infeed 4 Configuring the master drive object (this also involves assigning the encoder) 5 Create copies of the master drive object (corresponding to the required slave drive objects) 6 Deactivate the encoder interface on the slave drive objects 7 Wire the slave drive objects 1 Set up the drive line-up (wired drive objects: All drive objects) 2 Connecting the encoder 3 Create a drive archive in the control system 4 Processing/editing a drive archive with CMC-Topo Create and deactivate the encoder interface on the slave drive objects Save as user-specified topology 5 Creating a project in CMC- Expert Importing the user-specified topology Creating and integrating a component (this contains the motor data and the values that have been identically set for the master and slave) Save as Linux package 6 Boot the control system with the created package 7 Configure the drive and perform the first commissioning 1 Set up the drive line-up (wired drive objects: Master and one slave drive object) 2 Connecting an encoder for the master and an additional SMx for the wired slave drive object 3 Perform the first commissioning for both drive objects 4 Deactivate the encoder interface on the slave drive object 5 Create an encoder interface on a further drive object Switch off SINUMERIK Reconnect Sensor Module to the next slave drive object Switch on SINUMERIK Commission slave drive object Create/deactivate encoder interface 6 Repeat step 5 for all the other slave drive objects 38 Function Manual, 06/2017, A5E B AB

39 4 Function description and commissioning 4.3 Commissioning of the hardware overview Commissioning the encoder interface on the slave drive objects In order to be able to receive the actual encoder values on the slave drive objects, the encoder interface must be configured on the slave drive objects during the commissioning, even when an encoder is not physically connected. In this way, the required variables are created which are used later by the Technology Extension SERVCOUP. At the end of the commissioning, the created encoder interface must be deactivated again on all slave drive objects via parameter p0145 because an encoder is not physically connected. The variables remain active and are used by the Technology Extension SERVCOUP for the value transfer and operation of the motor. Note It is not permissible that any other components are connected to the DRIVE-CLiQ socket with the parameterized and deactivated encoder interface, even if the DRIVE-CLiQ socket is not physically occupied. Check the topology in the commissioning tool Temperature evaluation When operating the Technology Extension SERVCOUP, only 1 encoder can be used. This means the temperature monitoring via encoder (p0600 = 1) would only be possible at the master drive object. For the SERVCOUP Technology Extension, the temperature sensors should therefore always be connected via TM120 Terminal Modules. In this case, p0600 = 20/21 must be set on the drive objects and the interconnection established via p0608/p0609. The temperature sensors must be evaluated by the associated drive object. Application example: Two coupled direct motors are each equipped with a PTC and a KTY84 temperature sensor. For motor data set (MDS) 1, the parameterization would look like this: Table 4-1 Temperature evaluation (parameterization example) Motor 1 (master drive object) Motor 2 (slave drive object) Temperature sensing/monitoring p0608[0] = TM120_r4105[0] p0608[1] = TM120_r4105[1] Response forwarding "Fault in operation: On the master drive object (Page 74)" p0600[0] = 20 p0601[0] = 11 p4610[0] = 20 p4611[0] = 10 p0608[0] = TM120_r4105[2] p0608[1] = TM120_r4105[3] "Fault in operation: On the slave drive object (Page 74)" Siemens Spares Function Manual, 06/2017, A5E B AB 39

40 4 Function description and commissioning 4.3 Commissioning of the hardware overview Note Only TM120 Terminal Modules are permissible when it comes to monitoring the temperature of slave drive objects. It is not permissible to use TM150 Terminal Modules, as they do not provide protective separation. Temperature monitoring via SME requires an active encoder. As a consequence, SME are unsuitable for monitoring the temperature of slave drive objects. 40 Function Manual, 06/2017, A5E B AB

41 4 Function description and commissioning 4.3 Commissioning of the hardware overview Using Double Motor Modules When using Double Motor Modules, after the automatic configuration, 2 SERVO drive objects are already created. The SERVO drive object with the lowest drive object number must be configured as master drive object. Normally, this is the uppermost drive object in the topology view; to be on the safe side, the drive object number should be checked. The STARTER commissioning tool offers several options: In the online mode, check parameter p0101 in the Control Unit Expert list. Double-click on a drive object. The drive object number is located under the drive object name: Fig. 4-3 Drive object number displayed via the configuration view of the drive object Open the project overview The values in brackets correspond to the drive object-numbers: Fig. 4-4 Drive object number displayed via the project overview As the second drive object is already created, when commissioning the hardware using STARTER, the step "Creating slave drive objects and Terminal Modules (Page 45)" is omitted. The slave drive object must be commissioned in the same way as the master drive object. When commissioning Double Motor Modules, it must be ensured that the master and slave drive objects are identically parameterized. Siemens Spares Function Manual, 06/2017, A5E B AB 41

42 4 Function description and commissioning 4.4 Hardware commissioning via STARTER 4.4 Hardware commissioning via STARTER This chapter describes commissioning via STARTER using an example. Single Motor Modules are used in the commissioning example. When using Double Motor Modules, also observe the notes for "Using Double Motor Modules (Page 41)". In the example, one master drive object and one slave drive object are commissioned. The procedure is identical when using one master drive object with five slave drive objects, only more copies of the master drive object have to be made. It is recommended that you follow this example, because it: Satisfies all mandatory preconditions, e. g. Within a SERVO coupling, the drive object number of the master drive object must be less than the drive object number of the associated slave drive object. Many master and slave parameters are already set identically (see Table "Parameter settings of the Technology Extension SERVCOUP (Page 98)"). The number of data sets and their assignment is the same for all drive objects. Contains some simplifications The motor data only has to be entered once (instead of separately on each drive object). Clear designation of the drive objects. Note Information on STARTER and alternative procedures is provided in the following reference: References: SINAMICS S120 Commissioning Manual Preconditions The following preconditions apply when commissioning the hardware using STARTER: The drive line-up has been set up completely. The master drive object has been connected via DRIVE-CLiQ, the DRIVE-CLiQ connection to the slave drive objects has been separated. The encoder is connected. The DRIVE-CLiQ wiring rules have been observed. The communication interface between the PG/PC and the drive has been configured. A new project has been created in STARTER. In the project, master drive object, infeed and possibly a TM120 (if required) have been created, and the infeed is configured. This corresponds to steps 1-3 in Chapter "Commissioning with STARTER (example)" in the "SINAMICS S120 with STARTER Commissioning Manual": Setting up a new project Automatic configuration Configuring the infeed 42 Function Manual, 06/2017, A5E B AB

43 4 Function description and commissioning 4.4 Hardware commissioning via STARTER Configuring a master drive object The master drive object is renamed in this commissioning example. This is not mandatory but it simplifies the commissioning and avoids confusion when using a large number of drive objects. 1. To rename the master drive object, proceed as follows: Fig. 4-5 Renaming the master drive object Double-click "Drives" in the project navigator. Right-click "Servo_03". In the context menu, select "Rename". The "Change Name" window opens (unless the "Do not display this message anymore." checkbox has been permanently deactivated). 4. Click "Close" in the "Change Name" window after reading the information. In the selected text field, enter the new name (in this commissioning example: TEC_Master). Complete the input with <Return> or by clicking at an arbitrary position in the project navigator. 2. To configure the "TEC_Master" master drive object, proceed as follows: Fig. 4-6 Configuring the drive Double-click the "TEC_Master" master drive object. The drive properties are displayed in the working area. Click "Configure DDS". The "Configuration - Drive Unit - Control Structure" dialog box opens. Siemens Spares Function Manual, 06/2017, A5E B AB 43

44 4 Function description and commissioning 4.4 Hardware commissioning via STARTER 3. Fill in the "Control Structure" and "Power Unit" dialog boxes for the master drive object in accordance with the used hardware. Click "Next>" to change to the "Motor" dialog box. 4. Configure the motor being used. Pay attention to the "Notes for commissioning motors (Page 35)": Configuration as listed motor a Activate the "Select standard motor from list" checkbox in the "Motor" dialog box. b Select the appropriate entry in the "Motor type" drop-down list. c Click the used motor in the "Motor selection" list. d Complete the motor selection by clicking "Next". Configuration as third-party motor a Activate the "Enter motor data" checkbox in the "Motor" dialog box. b In the drop-down list "Motor type", select the appropriate entry and then and then click "Next". c Enter the motor data, taking into account the drive objects being used, see "Notes for commissioning motors (Page 35)". d Activate the "Use optional motor data" checkbox and click "Next". e Enter the optional motor data taking into account the used drive objects. f Complete the motor selection by clicking "Next". 5. Fill in the other dialog boxes. 6. Close the last "Summary" dialog box by clicking "Finish ". 7. Open the expert list by clicking the button. 8. Configure the number of used drive data sets. 9. Configure all parameters that are identical for the master and slave drive object. This also applies for the assignment of the indices of the data set parameters. Table "Parameter settings of the Technology Extension SERVCOUP (Page 98)" can be used for assistance. 10.If, in step 4, a catalog-listed motor was configured, which is described as a complete motor, then remove the write protection for the motor parameters and adapt the motor data: To remove write protection, change p0300 from the actual parameter value to the corresponding general motor type, i.e. to the first digit of the actual value. For example: from p0300 = 232 (1FE2 synchronous motor) to p0300 = 2 (synchronous motor) or from p0300 = 403 (1FN3 linear synchronous motor) to p0300 = 4 (linear synchronous motor). Adapt the motor parameter values taking into account the used drive objects, see "Notes for commissioning motors (Page 35)". 11.Save the settings by clicking the button. The commissioning of the master drive object has been completed. 44 Function Manual, 06/2017, A5E B AB

45 4 Function description and commissioning 4.4 Hardware commissioning via STARTER Creating slave drive objects and Terminal Modules Slave drive objects and Terminal Modules for the temperature evaluation can be created as copies of the master drive object or from already created Terminal Modules. 1. To copy the master drive object, proceed as follows: Fig. 4-7 Copying the master drive object Right-click the master drive object in the project navigator. Select "Copy" in the shortcut menu. Right-click the "Drives" folder. In the context menu, select "Paste". A progress bar is displayed. A new drive should then appear in the project navigator and a message about the successful import in the detail view. 2. Right-click the new created "TEC_Master_1" drive and rename it as "TEC_Slave". 3. If required, create additional slave drive objects. 4. If you require additional TM120 Terminal Modules, proceed as follows: Copy an existing TM120 in the appropriate folder. Rename it. Adapt the BICO interconnection of the new TM120 at "Inputs/outputs" Completing the hardware commissioning To complete the hardware commissioning, proceed as follows: 1. Open the expert list of the slave drive object in offline mode. 2. To deactivate the encoder interface, set p0145 to "2". 3. Open the topology structure tree by double-clicking on the entry "Topology" Fig. 4-8 Topology structure tree Siemens Spares Function Manual, 06/2017, A5E B AB 45

46 4 Function description and commissioning 4.4 Hardware commissioning via STARTER 4. Check the topology structure of the drive units and correct them in case of errors. 5. Insert the DRIVE-CLiQ connection to the slave Motor Module in accordance with the topology structure. 6. Save the project using the button. 7. Go online by clicking the button. The "Online/Offline Comparison" dialog box opens. 8. Click "Download to target device". The "Download to target device" dialog opens. 9. Start the loading operation by clicking "Yes". The dialog "Load to target device" is closed - and dialog "Online/offline comparison" is reopened. 10.Click "Load to PG". The "Load to PG" dialog opens. 11.Start the loading operation by clicking "Yes". 12.Save the project by clicking the button. 13.Click the button to switch to offline mode. The commissioning of the hardware has been completed. 14.Continue the commissioning in Chapter "Commissioning the TEC SERVCOUP Overview (Page 62)". 46 Function Manual, 06/2017, A5E B AB

47 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert 4.5 Hardware commissioning using CMC-Topo/CMC-Expert The following chapter describes configuring a SINUMERIK to operate motors, which as a result of their size and/or format, cannot be operated with a single SINAMICS power unit. When commissioning a system using CMC-Topo / CMC-Expert, the encoder interfaces are created without connecting the corresponding hardware. This commissioning differs from the "Hardware commissioning via SINUMERIK HMI (Page 61)" where a Sensor Module (SMx) must be plugged into each slave drive object. When configuring, in order to avoid connecting encoders or Sensor Modules, using Create MyConfig (CMC) a package is created, which is executed at the control. In the CMC package, a user-specified topology is executed and the appropriate drive parameters are specified. Motor data and parameters that are identical for the master and slave drive objects are also integrated as a component. This approach has the following advantages: Master and slave drive objects are parameterized in an identical fashion. Data is entered once for all drive objects. For motors that are not DRIVE-CLiQ motors, this procedure is mandatory in order that the system can be commissioned for the first time at a later point in time. The example shows the commissioning of a maximum configured axis grouping (one master drive object + five slave drive objects). The name of the sample drive archive created in the control is "SERVCOUP_Master_5Slaves.ARC". This commissioning was performed with CMC 4.6. There may be slight differences with regard to screens, designations and memory formats in later versions. However, the basic procedure is the same. Note Information on CMC-Topo and CMC-Expert is provided in the following references: References: SINUMERIK Integrate Create MyConfig - Diff, Expert, Topo Operating Manual References: Commissioning Manual SINUMERIK 840D sl, SINAMICS S120 commissioning CNC: NCK, PLC, drive Preconditions The following preconditions must be satisfied when commissioning the hardware: A memory reset has been performed on the SINUMERIK control and the drive reset to the factory setting. The drive system has been completely setup and wired, the encoder is connected and the DRIVE-CLiQ wiring rules were complied with. A first commissioning including the steps "Automatic device configuration" and "Parameterization of the infeed" have been performed in the SINUMERIK control. A drive archive was subsequently created, saved (in this example: SERVCOUP_Master_5Slaves.ARC) and was made available for further processing. Create MyConfig as of V4.6 has been installed on the programming device (PG/PC). Siemens Spares Function Manual, 06/2017, A5E B AB 47

48 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert Importing a drive archive into CMC-Topo 1. Start CMC-Topo. 2. Open the import dialog box via the menu "Project" > "Display/import topology" > "From Archive": Fig. 4-9 Import a series commissioning archive that as a minimum contains the drive archive data The "Topology from Archive" dialog box opens. 3. Navigate to the appropriate archive file (in this commissioning example: SERVCOUP_Master_5Slaves.ARC") and open the file. The "Create MyConfig Topo" prompt opens. 4. To close the dialog and continue, click on "No". Fig "Create MyConfig Topo" prompt 5. Click "Import". The topology structure is loaded and displayed grayed-out. Fig Topology import The "Create MyConfig Topo" dialog box opens. 48 Function Manual, 06/2017, A5E B AB

49 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert 6. Import the DO properties by clicking "Yes". Fig Importing the DO properties The previously grayed-out topology now has a white background and can be edited. A topology project was created automatically with the import of the archive. 7. Save the project by clicking the button. The "Save As..." dialog box opens. 8. Enter the required name (in this commissioning example: "SERVCOUP_Master_5Slaves") and confirm this by clicking on "Save". The topology project based on the imported archive is saved Editing imported data Adapting the transmission version Note The user-specified topology must always be transferred for a defined CNC software release, as the SINAMICS parameters are dependent on the software release. 1. Adapt the transmission version as follows: Fig Adapting the transmission version Click "Transmission version". The drop-down list button is activated. Click the "Transmission version" drop-down list button. Select the appropriate version from the drop-down list. Siemens Spares Function Manual, 06/2017, A5E B AB 49

50 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert Editing DO variables 1. To open the DO management, click the button. The "Manage DO variable list" dialog opens. 2. To rename the drive objects, proceed as follows: Fig Renaming the drive objects Left-click the entry to be edited. The selected entry is represented in blue background. Overwrite the old entry and acknowledge the entry with <Enter>. Note ➀ The drive objects are subsequently assigned their parameter values via the DO variable. Make sure that you do not make any typing errors. ➁ The master drive object must have a lower drive object-number than the coupled slave-drive objects. ➂ The DO name is only for display on the HMI and does not have a function. ➃ The description is not mandatory and has no effect on the functionality. After you have made all the changes, click "Export-DO variables". The "Export DO Variables" dialog box opens. 3. Enter the file name and click "Save". The "Export DO Variables" dialog box closes. 4. In the "Manage DO Variable List" dialog box, click "OK". The "Manage DO Variable List" dialog box closes. Creating the encoder interface on the slave drive objects The encoder interface is created by connecting an SMx to the drive object. A distinction must be made as to whether the SMx is connected directly to the slave drive object or to a TM120. Both options are shown in the following. 50 Function Manual, 06/2017, A5E B AB

51 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert Connecting the SMx directly to the drive object: To set up the encoder interface on the slave drive object, proceed as follows: Drag the "SMC/SME" module to input "X202" of a slave drive object using drag and drop. Confirm the dialog box by clicking "Yes". Fig Connecting the encoder A dialog box for the variable assignment opens. 3. Click on "Yes" The dialog box closes and the Motor Module including all components is displayed with a yellow background. Connecting the SMx via a Terminal Module: To set up the encoder interface on the slave drive object via a TM120, proceed as follows: 1. Drag the "SMC/SME" module to input "X501" of the Terminal Module using drag and drop. 2. Confirm the dialog box by clicking "Yes". 3. To assign a slave drive object to the SMx, proceed as follows: Fig Creating the encoder interface via the TM120 In the "Properties" > "Drive object" area, click the "DO variable" entry. The drop-down list button is activated. Click the "DO-variable" drop-down list button. Double-click the appropriate slave drive object. The selected Motor Module including all components is displayed with a yellow background. Siemens Spares Function Manual, 06/2017, A5E B AB 51

52 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert Deactivating the encoder interface 1. Deactivate the created Sensor Module as follows: Fig Deactivating the Sensor Module Select the Sensor Module and in area "Properties"> "Module" click on entry "Comp. status". The drop-down list button is activated. Click the "Comp. status" drop-down list button. Select "2 HW not available". Click anywhere in the topology area. The module is grayed-out and is now deactivated. 2. Repeat the creation and deactivation of the encoder interface on all other slave drive objects. 3. Delete all existing MLFB entries for motors, encoders and SMx Deploying edited data as user-specified topology 1. Open the axis-drive assignment by clicking the button. The "Axis-Drive Assignment" dialog box opens. 2. Click the "Mode" drop-down list button ( ) and select the entry "None" ( ). Fig "Axis-Drive Assignment" dialog box Any existing red entries are grayed-out. 52 Function Manual, 06/2017, A5E B AB

53 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert 3. Click "Close". 4. In the menu, click "Project" > "Deployment" > "SERVCOUP_Master_5Slaves" to "Userspecified topology". The "Deploy user-specified topology" dialog box opens. 5. Save the user-specified topology by clicking "Save". The "Deploy user-specified topology" dialog box closes and a prompt opens. 6. Click "OK" to close the prompt. 7. Check that no errors have occurred. Fig Close CMC-Topo. Output window Creating a project in CMC-Expert Importing a user-specified topology into CMC-Expert 1. Open CMC-Expert. 2. Create a new project via the menu "Project" > "New". 3. When required, change the folder where data is to be saved, and enter a project name (in this commissioning example: SERVCOUP_Master_5Slaves). 4. Confirm your entries by clicking "OK". The dialog box closes and the project name appears at the top left in the program window. Siemens Spares Function Manual, 06/2017, A5E B AB 53

54 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert 5. Set the following configuration in the "Package" tab under "Project folder": 3 3 Fig "Package" tab (CMC v4.6 on the left, CMC v4.7 on the right) Activate the "Archive" area. Activate the "NCU" area. Check that the "Linux package (NCU)" is set. 6. Under "Project folder", click on tab "Dialogs" and activate the "System configuration" dialog. Set the system configuration as follows: Fig "Dialogs" tab - System configuration In the "DRV archive data / drive configuration" area, click the "Origin of data" entry. The drop-down list button is activated. Click the drop-down list button. Select the "User-specified topology" entry. Under "Origin of data", check that "Initial state" is set in the following areas: NC archive data, PLC - Logic program, PLC - SDB HW Config 54 Function Manual, 06/2017, A5E B AB

55 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert 7. To integrate a user-specified topology, proceed as follows: Fig "Dialogs" tab - SINAMICS topology Activate the "SINAMICS Topology" dialog. In the "User-specified topology (*.utz)" area, click the "List" entry. The button is displayed. Click button. The "List of user-specified topologies" dialog box opens. 8. To integrate the topology created in CMC-Topo, proceed as follows: Fig "List of user-specified topologies" dialog box In the "List of user-specified topologies" dialog, click the An explorer window opens. button. 2. Navigate to the folder with the file "SERVCOUP_Master_5Slaves.utz" and double-click on the file. The explorer window closes and the file is displayed in the "List of user-specified topologies" dialog box. Close the dialog box by clicking "Close". In the "User-specified topology (*.utz)" area, "No. of entries = 1" Siemens Spares Function Manual, 06/2017, A5E B AB 55

56 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert 9. To preselect the topology, proceed as follows: Fig Preselecting the topology In the "User-specified topology (*.utz)" area, click the "Preselection" entry. The button is displayed. Click button. A selection window opens. Move the mouse over the "Preselect from List" entry and select the "SERVCOUP_Master_5Slaves.utz" file. The selected file is now displayed next to the "Preselection" entry. Importing DO variables 1. Import the DO variables as follows: Fig Importing DO variables In the "DO variables" area, click the "List" entry. The button is displayed. Click button. The "Manage DO variable list" dialog opens. Click the button ("Import DO variables"). An explorer window opens. Navigate to the folder in which the DO variables created in CMC-Topo are stored and double-click the UVD file. The explorer window closes and the imported variables are displayed. 5. Close the "Manage DO variable list" dialog box by clicking "OK". The number of imported variables is displayed in the "DO variables" area. 2. Save the project. 56 Function Manual, 06/2017, A5E B AB

57 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert Creating CMC component In a CMC component, activate the "Manipulate" action and create a task to assign an identical value to the drive parameters of all drive objects. This task is executed when subsequently running the Linux package on the control system. 1. In the toolbar, click the button ("New component"). 2. In the "Component" text field, enter a name (in this example "Common_data") and click "Create". 3. To manipulate the component, proceed as follows: Fig Manipulating the component Activate the "Manipulate NC, drive and display data" checkbox. Click the "Manipulation" tab. 4. Create a new entry at "SINAMICS data": Fig Creating a manipulation job In the "Target area" area, right-click on the "SINAMICS data" entry. Select "New job" and enter a component name (in the example: "Identical_master_slave") and click on any location in the CMC-Expert. Siemens Spares Function Manual, 06/2017, A5E B AB 57

58 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert 5. Create the manipulation instruction as follows: Fig Creating manipulation instructions Right-click in the "Instructions" area. Select "Enter lines" > "Section" > [$(Up.???.psPath)]. 3. Replace "???" with the variable name of the master drive object, see "Importing DO variables (Page 56)". 4. Insert below all motor parameters and identical parameters to be set according to the following rule: p3xx[0]=value. Adapt the motor parameter values taking into account the used drive objects, see "When commissioning the motor, a distinction must be made as to whether the motor is defined using the motor data as complete motor (e. g. 1FE2) - or as partial motor (e. g. 1FN3). (Page 35)". If you are using several data sets, enter all values for all data sets. Supplement additional parameters, which are identical between master and slave drive objects, e.g. p1980[0]=1 and p1982[0]=1. See also table "Parameters relevant for operation of Technology Extension SERVCOUP (Page 98)". A possible instruction could start like this: [$(Up.Servo_Master.psPath)] p0300[0]=2 p0304[0]=23 p0305[0]=9.5 p0306[0]=1 p307[0]=3.71 p310[0]=2 p311[0]=240 p312[0]=180 p314[0]= Select and copy the entire text of the master drive object and insert it below the existing text. 6. In the inserted text, replace the variable name of the master drive object ("SERVO_Master") with that of the first slave drive object ("SERVO_Slave1"). 7. Repeat substeps 5. and 6. for all of the remaining slave drive objects. 6. Save the component with the button ("Save component"). 58 Function Manual, 06/2017, A5E B AB

59 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert 7. Link the component as follows with the step tree: Fig Linking the component Click the "Steps" tab in the "Project folder". Right-click on the first entry. Click "Link existing component(s)". 4. Select the "Identical_Master_Slave" component in the component explorer and click "Link". Activate the checkbox to activate execution of the step and the component. The checkbox is displayed in green and the "Activation" entry is set to "Yes" in the overview. 8. Save the project Deploying a Linux package with user-specified topology 1. In the "Project" > "Deployment" menu, select the "Deploy Linux package (NCU)" command. The "Deploy Linux Package (NCU)" dialog box opens. 2. Enter the name and storage location (in this commissioning example: SERVCOUP_Master_5Slaves.usz) and click on the "OK" button. Some feedback dialog boxes open, confirm these by clicking "OK". 3. Check that no errors have been found: 4. Copy file "SERVCOUP_Master_5Slaves.usz" to an empty USB stick. Siemens Spares Function Manual, 06/2017, A5E B AB 59

60 4 Function description and commissioning 4.5 Hardware commissioning using CMC-Topo/CMC-Expert Executing the Linux package in the control system 1. Insert the USB stick into a USB interface (X125 or X135) of the SINUMERIK NCU. 2. Perform a Power Off / Power On or a "Reset". 3. After power-up, press the "Next" softkey in the "Linux Access" window. If the file "SERVCOUP_Master_5Slaves.usz" is the only usz file on the USB stick, then it is immediately imported; otherwise, it must be selected in the appropriate window. The "System Configuration" is displayed after loading. 4. Check the system configuration for the following settings: "DRV archive data / drive device configuration": "User-defined topology" all other options: "Initial state" Fig System configuration 5. Press the "Next" softkey. The "SINAMICS Topology" dialog box opens. 6. Press the "Next" softkey. The "End" dialog box opens. 7. Activate/deactivate the checkbox of the log file according to your requirements. 8. Press the "Close" softkey. 9. If required, save the log file by pressing the "Save" softkey. 10.Switch the control off and remove the USB stick. 11.Switch the control back on again. Completing the commissioning of the drive line-up After power-up, the SINUMERIK control is in the "Perform first commissioning" state. The following commissioning dialog boxes have already been filled in, according to the entries in the linked component. The preset values should be checked when commissioning, and missing settings should be completed, e.g. for temperature monitoring or encoder data. Continue commissioning with Chapter "Commissioning the TEC SERVCOUP via SINUMERIK HMI (Page 66)". 60 Function Manual, 06/2017, A5E B AB

61 4 Function description and commissioning 4.6 Hardware commissioning via SINUMERIK HMI 4.6 Hardware commissioning via SINUMERIK HMI This commissioning corresponds generally to a "normal" SINUMERIK commissioning. The drive objects are created with a Sensor Module, and this is deactivated at the end of the commissioning. The difference to the "normal" commissioning is that the drive objects are separated from the system without a connected Sensor Module, and then commissioned one-by-one. Note Information on SINUMERIK commissioning is provided in the following reference: References: Commissioning Manual SINUMERIK 840D sl, SINAMICS S120 commissioning CNC: NCK, PLC, drive Preconditions A memory reset has been performed on the SINUMERIK control and the drive reset to the factory setting. The drive line-up has been set up completely, the master drive object and one slave drive object have been wired by means of DRIVE-CLiQ. An encoder is connected (for subsequent use at the master drive object). An additional Sensor Module (SMx) is only required for commissioning, and is switched over between the slave drive objects. Procedure For this commissioning version, in addition to an encoder assigned to the master drive object, an additional Sensor Module must be switched over from slave drive object to slave drive object. This is created via MD30200 = 1, and is subsequently deactivated via p0145 = 2. Only the slave drive object with connected Sensor Module may be commissioned. 1. Commission the master drive object and the first slave drive object with connected Sensor Module. 2. After completing the commissioning, set the encoder interface on the slave drive object to "Deactivated and not available". 3. Save the configuration and switch the control off. 4. Disconnect the Sensor Module from the slave drive object and connect it to the next slave drive object. 5. Switch the control back on again and commission the next slave drive object. 6. After commissioning has been completed, at the slave drive object, set the encoder interface to "deactivated and not available" using p0145 = Save the configuration and switch the control off. 8. Repeat Steps 4-7 until all slave drive objects have been created with deactivated encoder interface. Siemens Spares Function Manual, 06/2017, A5E B AB 61

62 4 Function description and commissioning 4.7 Commissioning the TEC SERVCOUP Overview 4.7 Commissioning the TEC SERVCOUP Overview The following tasks must be performed during the Technology Extension SERVCOUP commissioning: The drive object with encoder must be parameterized as the master drive object, all dependent drive objects as slave drive objects (p31740). The master drive object must always have a lower drive object-number than the coupled slave-drive objects. How this can be checked is described in "Using Double Motor Modules (Page 41)". After the master and slave assignment, al slave drive objects must be linked to the associated master drive object (r31745, p31746). If there is an offset between the electrical angle of the master and slave drive objects as a result of the system configuration, this can be corrected using the angle offset (p31748). The angular offset to be set can be determined before coupling the master and slave drive objects, for example. If a slave drive object is consciously dimensioned for just a fraction of the torque of the master drive object, the torque setpoint of the slave drive object can be reduced corresponding to the scaling factor (p31744). When required, the setting to propagate faults from the slave to the master drive object must be adapted using p The settings of the relevant parameters must be checked based on "Parameter settings of the Technology Extension SERVCOUP (Page 98)". Specific parameters of the Technology Extension SERVCOUP The parameters introduced specifically for the Technology Extension SERVCOUP are listed in detail in Chapter "List of parameters (Page 83)" Different parameterization between master and slave drive objects Fundamentally, the parameterization between master and slave drive objects must be identical, see "Commissioning the encoder interface on the slave drive objects (Page 39)" and table "Parameter settings of the Technology Extension SERVCOUP (Page 98)". An exception to the fundamental identical parameterization of all drive objects are the parameters listed in the following table. Among others, they specify whether the drive object is a master or slave drive object and whether an encoder/smx is connected. These parameters must be especially observed during the subsequent commissioning. 62 Function Manual, 06/2017, A5E B AB

63 4 Function description and commissioning 4.7 Commissioning the TEC SERVCOUP Overview (in the following table,"*" stands for any arbitrary value). Table 4-2 Parameters with different values for master and slave driveobjects Parameter number Parameter name Master value Slave value p0145 Activate/deactivate encoder interface 1 2 p1460 Speed controller P gain adaptation speed, lower * 0 p1462 Speed controller integral time adaptation speed, lower * 0 p2175 Motor blocked speed threshold * Maximum value, and therefore inactive p31740 SERVCOUP operating mode 1 2 p31741 SERVCOUP master encoder count 1 0 p31746 SERVCOUP slave coupling input 0 r31745 (master) No offset clocking for multi-winding motors You must ensure that no offset clocking is parameterized for motors with overlapping or adjacent winding systems in a common enclosure. NOTICE Winding damage as a result of incorrect parameterization When incorrectly parameterizing multi-winding motors, potential (voltage) differences can occur between the individual winding systems. This can result in the insulation system breaking down (arcing) in the motor. Carefully observe the following points to prevent such motor damage: For motors with overlapping or adjacent winding systems in a common enclosure ensure that the following parameters are correctly set. p31743 = 0 p = 1 at all drive objects p1800, p1810, p1816 and p1819 identical in all data sets for master and slave drive objects Protect the parameterization against unauthorized access. Siemens Spares Function Manual, 06/2017, A5E B AB 63

64 4 Function description and commissioning 4.8 Commissioning of the TEC SERVCOUP via STARTER 4.8 Commissioning of the TEC SERVCOUP via STARTER Preconditions The following preconditions must be satisfied when using STARTER for commissioning: The hardware has been commissioned. The Technology Extension SERVCOUP is installed and activated on all of the drive objects involved, see "Installing a Technology Extension using STARTER (Page 18)". Parameterizing the Technology Extension SERVCOUP The parameterization of all drive objects is performed via the respective expert list of the STARTER commissioning tool. 1. Open the expert lists of all the relevant drive objects. 2. Set p31740 for the master drive object to "1" and for all the slave drive objects to "2". 3. On the master drive object, check that the encoder interface is active (p0145 = 1) - and then set p31741 to a value of "1". 4. To couple the drive objects, interconnect parameter p31746 on all slave drive objects to parameter r31745 of the master drive object. 5. For motors with overlapping/adjacent windings in a common enclosure, p31743 must be set to a value of "0" and p to a value of "1". If the speed limit applies for operation with only one winding, then p31742 must be appropriately set on the slave drive object. 6. If a slave drive object is consciously dimensioned for just a fraction of the torque of the master drive object, then reduce the torque setpoint of the slave drive object corresponding to the scaling factor (p31744). 7. If the electrical angles between the master and slave drive objects do not correspond (as a result of an offset) due to the system configuration, then at the slave drive object you must set an appropriate angular offset (p31748), which is added to the commutation angle of the master drive object. 8. If the factory setting for fault propagation (p31749 = 1) is not suitable for the planned servo coupling, then the setting of p31749 must be changed. For the setting p31749 = 0, it must be guaranteed that the drive line-up is in a position to operate the load, even without the failed slave drive object. An application-specific fault handling routine must be saved when using a higher-level control. 9. Check all parameters of Table "Parameter settings of the Technology Extension SERVCOUP (Page 98)" and adapt them if required. Especially ensure that: the encoder interfaces are deactivated on all slave drive objects (p0145 = 2). Parameters p1460 / p1462 are set to "0" on all slave drive objects. Parameters p0115[0] and p0115[1] are set to the value of p0115[0] of the master drive object on all drive objects. p0118 has been parameterized identically on all drive objects. 10.Save the settings using the button. 11.Go online using the button. 64 Function Manual, 06/2017, A5E B AB

65 4 Function description and commissioning 4.8 Commissioning of the TEC SERVCOUP via STARTER 12.Click "Download to target device". The "Download to target device" dialog opens. 13.Click "Yes". The "Download to target device" dialog closes. 14.Click "Load to PG". The "Load to PG" dialog opens. 15.Click "Yes". 16.Save the project and switch to the offline mode. The commissioning of the Technology Extension SERVCOUP has been completed. Siemens Spares Function Manual, 06/2017, A5E B AB 65

66 4 Function description and commissioning 4.9 Commissioning the TEC SERVCOUP via SINUMERIK HMI 4.9 Commissioning the TEC SERVCOUP via SINUMERIK HMI Preconditions The following preconditions must be satisfied when using STARTER for commissioning: The hardware has been commissioned. The Technology Extension SERVCOUP is installed and activated on all of the drive objects involved, see "Installing a Technology Extension via SINUMERIK HMI (Page 25)". Parameterizing the Technology Extension SERVCOUP 1. Press the "Control Unit" softkey. 2. Set parameter p0009 to "3". 3. Set p31740 for the master drive object to "1" and for all the slave drive objects to "2". 4. On the master drive object, check that the encoder interface is active (p0145 = 1) - and then set p31741 to a value of "1". 5. Interconnect parameter p31746 on all slave drive objects to parameter r31745 of the master drive object. 1. Select parameter p Press the "Select" button. 3. In the BICO editor, interconnect parameter p31746 with parameter r31745 of the master drive object. 6. For motors with overlapping/adjacent windings in a common enclosure, p31743 must be set to a value of "0" and p to a value of "1". If the speed limit applies for operation with only one winding, then p31742 must be appropriately set on the slave drive object. 7. If a slave drive object is consciously dimensioned for just a fraction of the torque of the master drive object, then reduce the torque setpoint of the slave drive object corresponding to the scaling factor (p31744). 8. If the electrical angles between the master and slave drive objects do not correspond (as a result of an offset) due to the system configuration, then at the slave drive object you must set an appropriate angular offset (p31748), which is added to the commutation angle of the master drive object. 9. If the factory setting for fault propagation (p31749 = 1) is not suitable for the planned servo coupling, then the setting of p31749 must be changed. For the setting p31749 = 0, it must be guaranteed that the drive line-up is in a position to operate the load, even without the failed slave drive object. An application-specific fault handling routine must be saved when using a higher-level control. 66 Function Manual, 06/2017, A5E B AB

67 4 Function description and commissioning 4.9 Commissioning the TEC SERVCOUP via SINUMERIK HMI 10.Check that all parameters have been set according to the table in "Parameter settings of the Technology Extension SERVCOUP (Page 98)". Especially ensure that: the encoder interfaces are deactivated on all slave drive objects (p0145 = 2). Parameters p1460 / p1462 are set to "0" on all slave drive objects. Parameters p0115[0] and p0115[1] are set to the value of p0115[0] of the master drive object on all drive objects. p0118 has been parameterized identically on all drive objects. Set parameter p0009 to "0". Configuring the higher-level control system Two options are available for adapting the control system to the drive system: Configuration with saved PLC logic without master-slave option Configuration with master-slave option If the configuration is performed in the PLC, the switch-on logic and diagnostics can be programmed flexibly and adapted to the respective application. Up to 6 SERVO drive objects can be coupled; however, when using measurement functions, adaptations must be made, see "Using the measuring functions (Page 69)". Using the SINUMERIK master-slave option has the advantage that the activation logic of the individual drive objects is specified, and error handling and diagnostics is automatically realized in the control system. When using a maximum of 3 coupled SERVO drive objects, the SINUMERIK measuring functions can be used without any restrictions. Note Information about commissioning with SINUMERIK - and additional information are provided in the following references: References: Commissioning Manual, SINUMERIK 840D sl Commissioning CNC: NCK, PLC, drive Parameterization in the PLC without master-slave option Depending on the particular application, the parameterization differs; however, the following requirements must be fulfilled as a minimum: Correct enable sequence of the drive objects: Depending on the requirement or the hardware being used, the controllers of the master and slave drive objects must be enabled in a specific sequence. An appropriate switchon/off logic must be configured in the PLC for this purpose. See also "Switching on and switching off drive objects (Page 70)". Application-specific fault handling: If the internal SERVCOUP alarm propagation via p31752 = 1/2 cannot be used for the special application, then a specific fault handling procedure must be implemented. See also "Fault handling (Page 74)" and "SINAMICS Safety Integrated (Page 78)". Siemens Spares Function Manual, 06/2017, A5E B AB 67

68 4 Function description and commissioning 4.9 Commissioning the TEC SERVCOUP via SINUMERIK HMI Parameterization in the NC with master-slave option Note With master-slave option, the drive objects cannot be enabled with offset. If this is required, see "Switching on and switching off drive objects (Page 70)"; the master-slave option cannot be used. Proceed as follows to parameterize the master-slave option: 1. Press the <MENU SELECT> key on the HMI. 2. Press the "Startup" softkey. 3. To open the axis-specific machine data, press the "Axis MD" softkey. 4. Change the machine data to the specified values: Table 4-3 Settings for the axis-specific machine data Number and identifier MASTER value Value on ALL SLAVES N30130 $MA_CTRLOUT_TYPE[n] [0,MASTER] = 1 [0,SLAVEx] = 1 Activate setpoint transfer from the NC to the drive N30240 $MA_ENC_TYPE[n] [0,MASTER] 0 [0,SLAVEx] = 0 Activate actual value sensing from the drive to the NC at the master With the slave setting, no actual values are displayed. However, they correspond to the master axis. N37250 $MA_MS_ASSIGN_MASTER_SPEED_CMD[n] At the slave axis, the master-slave function is activated - and the axis number of the master axis is entered N37252 $MA_MS_ASSIGN_MASTER_TORQUE[n] [SLAVEx] = axis number MASTER [SLAVEx] = 0 Default setting = 0: The same master axis is used for the torque distribution as for the speed setpoint coupling. N37254 $MA_MS_TORQUE_CTRL_MODE[n] [MASTER] = 3 [SLAVEx] = 3 Deactivate torque equalization controller N37262 $MA_MS_COUPLING_ALWAYS_ACTIVE[n] [SLAVEx] = 1 Master-slave coupling is always active 68 Function Manual, 06/2017, A5E B AB

69 4 Function description and commissioning 4.10 Completing the commissioning 4.10 Completing the commissioning After the hardware and technology extension has been commissioned, the communication between the control and drive objects must also be configured. It is especially important to note the following points when completing the commissioning: For some measuring functions, there are special issues, which require small adaptations to be made Depending on the components being used, it may be necessary to adapt the activation sequence of the drive objects. The data set must be switched over in synchronism on all drive objects Using the measuring functions All measuring functions can be used for the Technology Extension SERVCOUP. For several measuring functions, subsequent adaptations must be made. The following overview lists for which measuring functions the measured values can be directly used, and for which subsequent processing is first required: Measuring function referred to the entire motor: The results are correct Note when performing the measurement The master drive object must obtain its enable signal via the master control (control authority) and the slave drive objects must be switched on during the measurement. On all slave drive objects, the current setpoint filter must be set the same as for the master drive object. "Speed controller setpoint change (downstream of the speed setpoint filter)" "Speed controller reference frequency response (downstream of the speed setpoint filter)" "Speed controller reference frequency response (upstream of the speed setpoint filter)" Measuring function referred to the entire motor: The results must the correctly scaled Note when performing the measurement During the measurement, the slave drive objects should be switched off, for: Measurements in STARTER Measurements via SINUMERIK HMI when using the SINUMERIKconfiguration with saved PLC logic Neither adaptions nor result scaling are required when performing measurements via SINUMERIK HMI and when using the SINUMERIKconfiguration with master-slave option. "Speed controller path (excitation downstream of the current setpoint filter)" "Speed controller interference frequency response (fault downstream of the current setpoint filter)" "Speed controller disturbance step change (fault downstream of the current setpoint filter)" Siemens Spares Function Manual, 06/2017, A5E B AB 69

70 4 Function description and commissioning 4.10 Completing the commissioning The excitation for these measuring functions is only performed via a section motor and therefore the measurement results are incorrectly scaled. Correct scaling can be achieved with the following factor: Factor = number of drive objects (number of slave drive objects + 1) (e.g. factor = 2 for a double-winding motor) The correct scaling is calculated as follows: Amplitude_total = Amplitude_measurement_result * factor Measuring function referred to the submotor: The results themselves are correct, however they must be transferred to other drive objects "Current controller reference frequency response (downstream of the current setpoint filter)" "Current controller setpoint change (downstream of the current setpoint filter)" The measurement can be made on the master as well as on the slave drive object. The results are correct for the respective section motor. Recommendation: For identical drive objects, typically, the measurement is made at the master drive object. The measurement results and the resulting parameterization must then be identically carried out for the slave drive objects Switching on and switching off drive objects The Technology Extension SERVCOUP does not automatically transfer switch-on and switchoff commands between the master and slave drive objects. As a consequence, during commissioning it is possible to separately activate and deactivate the coupled drive objects, for example. In normal operation, the enable can be distributed to all drive objects using a sequence program. When operating the Technology Extension SERVCOUP in a line-up with a higher-level control, we recommend that separate PROFIdrive telegrams are configured for the master and slave drive objects and that the axis is enabled using the control word in the telegram. Use with a higher-level control When using a SINUMERIK control, the required switch-on sequence must be specified by the interface signals of the various axes. It is not possible to adapt the switch-on sequence when using the SINUMERIK master-slave option. To adapt the switch-on sequence for SIMATIC/SIMOTION, PROFIdrive telegrams must be configured for master and slave drive objects which implement the enable signals using control words. The correct enable sequence must then be defined using a sequence program (see "Programming the switch-on sequence (Page 72)"). Use without a higher-level control Drive objects must be switched on and switched off via BICO interconnections as follows: Master_p1142 = slave_r899.1 (enable master_setpoint = slave_ready) Slave_p0840 = slave_p (slave_on/off(off1) = slave_drive ready to switch on") Independent of whether a higher-level control is being used or not, the correct switch-on sequence depends on the encoder and motor being used; see the following sections. 70 Function Manual, 06/2017, A5E B AB

71 4 Function description and commissioning 4.10 Completing the commissioning Factors that influence the switch-on sequence Encoder For synchronous motors with incremental encoder, before the drive is switched on for the first time, a pole position identification routine is carried out at the master drive object. The slave drive objects can only be enabled after the pole position identification routine has been successfully carried out. An error message is issued if the slave drive objects are enabled too early. A pole position identification routine is not required for absolute encoders and induction motors. Motors Some multi-winding motors (e.g. the SIMOTICS T-1FW4) must not be operated with only one section winding, or only up to a certain speed. Therefore, with these motors, you must ensure that setpoints are only specified when all the drive objects have been enabled, otherwise the bearings may be damaged. Recommendation for the switch-on sequence The following recommendation can be derived from the above information: Table 4-4 Switch-on sequence of the drive objects Incremental encoder Absolute encoder Precondition Switch-on sequence Setpoint specification Set the same PROFIdrive telegram on all drive objects. 1 Switch-on the master drive object. 2 The slave drive objects can be switched on after the feedback signal from the master drive object ("operation enabled"). 3 Wait for the feedback signal from the slave drive objects ("operation enabled"). Setpoint specification is only permitted after a positive feedback from the slave drive objects. 1 Switch on the slave drive objects ("controller enable"). 2 Switch on the master drive objects ("controller enable"). Setpoint specification is possible immediately after the controller enable of the master drive object. Siemens Spares Function Manual, 06/2017, A5E B AB 71

72 4 Function description and commissioning 4.10 Completing the commissioning Sample code: Switch on sequence for double winding motor with absolute encoder As the setpoint is entered at the master drive object, we recommend that this is only enabled after the slave drive objects. The programming for the switch-on sequence is shown for SIMOTION in structured text (ST) as example: Fig Programming the switch-on sequence 72 Function Manual, 06/2017, A5E B AB

73 4 Function description and commissioning 4.10 Completing the commissioning Synchronous switchover of the data sets If the hardware and the Technology Extension SERVCOUP have been correctly commissioned, then the same number of data sets has been set at all of the coupled drive objects, and within the data sets, the parameters correctly set (also no offset clocking for double winding motors, same parameterization for the master and slave drive objects). For SINUMERIK, the drive data sets for all coupled drive objects must be simultaneously switched over using the relevant interface bits. When using SIMATIC/SIMOTION, the control bits for the data set switchover, reserved in the PROFIBUS protocol (e. g. DDS (SINAMICS): p0820-p0823) of all coupled drive objects must be supplied and wired to the same source. Siemens Spares Function Manual, 06/2017, A5E B AB 73

74 4 Function description and commissioning 4.11 Fault handling 4.11 Fault handling Fault after commissioning has been completed If a parameterization error is detected during power-up / warm restart after completing the configuration, alarm "A53470 SERVCOUP: Configuration faulty" is output and the Technology Extension SERVCOUP cannot be activated. The remedy for the individual alarm values is described in detail in the "List of faults and alarms (Page 93)". The triggering, incorrectly set parameter is also displayed in r Fault in operation: On the master drive object If a fault occurs on the master drive object with fault response OFF2, fault F53471 with the same fault response OFF2 is triggered on all slave drive objects. If a fault occurs on the master drive object with fault response OFF1 or OFF3, the entire drive line-up is braked along the specified braking ramp. After standstill, the pulses are disabled on the master drive object and fault F53471 with fault response OFF2 triggered on the slave drive objects Fault in operation: On the slave drive object If a fault is initiated at a slave drive object, then for settings p31749 = 1 and 2 the fault response is automatically transferred to the master drive object. The drive line-up is then stopped corresponding to the selected setting. The propagation set using p31749 has priority over that configured with the stored PLC logic or master-slave option. Propagation via parameter p31749 is activated in the factory, and should also be preferentially used. For existing projects, a compatibility mode can be selected using p31749 = 0. The internal SERVCOUP loop through (transfer) is then deactivated, and it is imperative that one of the following options is configured: Configuration of the SINUMERIK master-slave option in the higher-level control. Programming of fault monitoring of the slave drive object with the appropriate shutdown logic in the PLC. Parameterization of the appropriate drive-internal BICO interconnections in order to trigger an external fault on the master drive object or to cancel the enable signals, see "Use without a higher-level control (Page 70)". Note If SERVCOUP version 1.1 is used, the fault handling should be configured in the same manner as p31749 = Function Manual, 06/2017, A5E B AB

75 4 Function description and commissioning 4.11 Fault handling Violation of the maximum speed monitoring The response is only realized at the master drive object when the following preconditions are satisfied: p31742 setting (SERVCOUP maximum slave speed deactivated) > 0 The current speed of the master drive object is greater than the value set in p31742 The slave drive object is not enabled, e.g. as a result of a missing enable signal or due to an active fault with fault response OFF2. When all of the preconditions are satisfied, fault F53473 with the fault response parameterized in p31749 is output at the master drive object. Fault F53471 is then triggered on all slave drive objects. Siemens Spares Function Manual, 06/2017, A5E B AB 75

76 4 Function description and commissioning 4.12 Sampling times and number of controllable drives 4.12 Sampling times and number of controllable drives The sampling time for the Technology Extension SERVCOUP corresponds to the current controller sampling time p0115[0]. The Technology Extension SERVCOUP requires additional computation time. This can reduce the maximum number of drive objects that can be controlled. Note Information on the system sampling times and the number of drives that can be controlled is provided in the following reference: References: SINAMICS S120 Drive Functions Function Manual Chapter "System control, sampling times and DRIVE-CLiQ wiring" The remaining computation time (see r9976) can be used for SERVCOUP and other options (e.g. DCC). Examples of additional computation time utilization The following table lists the values for the additional computation time utilization: For two SERVO drive objects with activated Technology Extension SERVCOUP (one master and one slave drive object). For six SERVO drive objects with activated Technology Extension SERVCOUP (one master and five slave drive objects - application example for segment motor). For four SERVO drive objects with activated Technology Extension SERVCOUP (two master and two slave drive objects - application example for two connected doublewinding motors). Table 4-5 SERVCOUP for SERVO drive object computation time utilization Current controller sampling time Additional computation time utilization (r9976[1]) p0115[0] 1 master with 1 slave 1 master with 5 slaves 2 masters with 2 slaves 125µs 12% 34% 22% 250 µs 6 % 17 % 11 % For six drives with servo control (p0115[0, 1] = 125 µs), SERVCOUP can be operated with a sampling time of 125 µs for all SERVO drive objects. 76 Function Manual, 06/2017, A5E B AB

77 4 Function description and commissioning 4.13 Licensing 4.13 Licensing A license key is required for the Technology Extension SERVCOUP: You can generate the appropriate License Key using the WEB License Manager. To do this, you require the Certificate of License (CoL). The article number for the Certificate of License (CoL) is as follows: 6SL3077-0AA00-8AB0 Note Information and the procedure required for licensing is provided in the following reference: References: SINAMICS S120 Drive Functions Function Manual Chapter "Licensing" Siemens Spares Function Manual, 06/2017, A5E B AB 77

78 4 Function description and commissioning 4.14 SINAMICS Safety Integrated 4.14 SINAMICS Safety Integrated The functions implemented with a Technology Extension are not part of the "SINAMICS Safety Integrated Functions", nor do they influence the SINAMICS Safety Integrated functions. Note Information on "SINAMICS Safety Integrated" is provided in the following reference: References: SINAMICS S120 Safety Integrated Function Manual When using Safety Integrated Functions with the Technology Extension SERVCOUP, the following applies: Safety Integrated Basic Functions are possible on all drive objects. Safety Integrated Extended Functions are only possible on the master drive object, as an encoder is only connected to this drive object. If, on the master drive object, an SI Extended function is triggered, then the transfer of the safety response to the slave drive objects must be configured as part of the application engineering. This is implemented by means of PROFIsafe via an F-PLC. For example, if the monitoring speed of safely limited speed (SLS) is violated at the master drive object, then parameterized safety stop response is initiated at the master drive object. The complete drive line-up is then shut down. If STO is then active at the master, then STO must be transferred to the slave drive objects via the safety program. This transfer can be realized as follows: Fig Example for transferring STO via the safety program 78 Function Manual, 06/2017, A5E B AB

79 4 Function description and commissioning 4.14 SINAMICS Safety Integrated The following maximum response times must be carefully observed: s = t_bus1 + t_fplc + t_bus2 + t_k + t_resp t_bus1 = maximum transfer time from SINAMICS to F-PLC t_bus2 = maximum transfer time from F-PLC to SINAMICS For t_bus1 and t_bus2, you must take into account that faults in the communication between the F-CPU and the converter can result in a safety function only being selected after the PROFIsafe monitoring time (F_WD_Time) has expired. t_fplc = maximum processing time of the safety program in the F host t_k = time for internal communication within the SINAMICS module (see SINAMICS S120 Safety Integrated Function Manual, Chapter "Response times") t_resp = response time of the requested stop response (see SINAMICS S120 Safety Integrated Function Manual, Section "Response times") Siemens Spares Function Manual, 06/2017, A5E B AB 79

80 4 Function description and commissioning 4.14 SINAMICS Safety Integrated 80 Function Manual, 06/2017, A5E B AB

81 Parameters 5 Content 5.1 Overview of the parameters List of parameters 83 Siemens Spares Function Manual, 06/2017, A5E B AB 81

82 5 Parameters 5.1 Overview of the parameters 5.1 Overview of the parameters Note An overview of the parameters, especially the explanation of the parameter list, is contained in the product-specific List Manuals, for example: References: SINAMICS S120/S150 List Manual Section "Overview of the parameters" 82 Function Manual, 06/2017, A5E B AB

83 5 Parameters 5.2 List of parameters 5.2 List of parameters Note This chapter only includes the parameters for the Technology Extension SERVCOUP. The product-dependent parameters available for SINAMICS should be taken from the online help for the particular control system or commissioning tool or, for example, from the following reference: References: SINAMICS S120/S150 List Manual Chapter "List of parameters" Product: drvoa_servcoup, Version: , Language: eng Objects: SERVO p31740 SERVCOUP operating mode / Operating mode SERVO Can be changed: C1(3) Calculated: - Access level: 3 Data type: Integer16 Dyn. index: - Func. diagram: 7335 P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting Description: Setting the operating mode for the SERVCOUP Technology Extension A master-slave coupling of SERVO type drive objects is realized (SERVO coupling) using SERVCOUP. The torque setpoint, speed actual value and electrical pole position angle for the slave drive objects are specified by the master drive object. Value: 0: Inactive 1: Master drive object 2: Slave drive object Note: SERVCOUP: SERVO COUPLING (SERVO coupling) A SERVO coupling must precisely contain 1 master drive object and 1 to 5 slave drive objects. p31741 SERVCOUP number of encoders / No. of encoders SERVO Can be changed: C1(3) Calculated: - Access level: 3 Data type: Integer16 Dyn. index: - Func. diagram: - P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting Description: Sets the number of encoders that are used for the closed-loop motor control. For the master drive object, p31741 must be set = 1. For the slave drive object, p31741 must be kept = 0. Value: 0: No encoder 1: One encoder (encoder 1) Dependency: Refer to: A53470 Siemens Spares Function Manual, 06/2017, A5E B AB 83

84 5 Parameters 5.2 List of parameters p31742 Description: Dependency: Note: Description: Dependency: Note: SERVCOUP maximum speed slave switched off / n_max slave off SERVO Can be changed: C1(3) Calculated: - Access level: 3 Data type: FloatingPoint32 Dyn. index: - Func. diagram: - P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting [rpm] E36 [rpm] [rpm] Sets the maximum speed for operation of a multi-winding motor with a non-energized winding. On multi-winding motors operation may either not be permissible or only permissible up to a certain speed if not all the windings are energized. A reaction only takes place at the master drive object if the following conditions have been met: 1. Setting p31742 > Setting p31743 = 0 (motor type, common enclosure). 3: The actual speed of the master drive object is greater than that of the value set in p The slave drive object is not enabled, e.g. due to missing enable signal or due to an active fault with fault response OFF2. If all these conditions are met, fault F53473 is output at the master drive object with fault response OFF2. After that fault F53471 is triggered at all slave drive objects. The monitoring time in p1227 is active for the slave drive object. If the fault should be immediately output after the speed is exceeded, then p1227 must be set = 0. Refer to: F53473 This parameter is only relevant for slave drive objects (p31740 = 2). This parameter is ignored for a master drive object (p31740 = 1). This monitoring is deactivated for the setting p31742 = 0. p31742 SERVCOUP maximum velocity slave switched off / v_max slave off SERVO (Lin) Can be changed: C1(3) Calculated: - Access level: 3 Data type: FloatingPoint32 Dyn. index: - Func. diagram: - P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting [m/min] E36 [m/min] [m/min] Sets the maximum velocity for operation with non-energized section motor. Operation may either not be permissible or only permissible up to a certain velocity if not all section motors are energized. A reaction only takes place at the master drive object if the following conditions have been met: 1. Setting p31742 > Setting p31743 = 0 (motor type, common enclosure). 3: The actual velocity of the master drive object is greater than that of the value set in p The slave drive object is not enabled, e.g. due to missing enable signal or due to an active fault with fault response OFF2. If all these conditions are met, fault F53473 is output at the master drive object with fault response OFF2. After that fault F53471 is triggered at all slave drive objects. The monitoring time in p1227 is active for the slave drive object. If the fault should be immediately output after the speed is exceeded, then p1227 must be set = 0. Refer to: F53473 This parameter is only relevant for slave drive objects (p31740 = 2). This parameter is ignored for a master drive object (p31740 = 1). This monitoring is deactivated for the setting p31742 = 0. This monitoring is usually not necessary for segment motors and linear motors. 84 Function Manual, 06/2017, A5E B AB

85 5 Parameters 5.2 List of parameters p31743 SERVCOUP motor type / Motor type SERVO Can be changed: C1(3) Calculated: - Access level: 3 Data type: Integer16 Dyn. index: - Func. diagram: - P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting Description: Sets the motor type. Depending on the motor type, offset clocking is either permitted or inhibited. If value = 0: For motors with windings in a common enclosure (e.g. 1FW4, 1FE2), the following applies: - Offset clocking is not permitted. - The parameters for the offset clocking should be appropriately set (p1815, p1816, p1819). - The plausibility of the parameter setting for offset clocking is checked. If value = 1: For motors with windings in a separate enclosure (e.g. 1FW6, 1FN3, segment motors), the following applies: - Offset clocking is permitted (p1815, p1816, p1819). - the parameter setting for offset clocking is not checked. Value: 0: Common enclosure 1: Separate enclosure Dependency: Refer to: p31748 Refer to: A53470 p31744 Description: Note: Description: Dependency: Note: SERVCOUP slave torque setpoint scaling factor / Slave M_set scal SERVO Can be changed: T Calculated: - Access level: 3 Data type: FloatingPoint32 Dyn. index: - Func. diagram: 7335 P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting 0.10 [%] [%] [%] Sets the scaling factor for the torque setpoint specified by the master drive object for the slave drive object. This parameter is only active for a slave drive object. The torque obtained at the slave drive object depends on the setpoint from the higher-level speed controller of the master drive object and the torque limits set there. r31745 CO: SERVCOUP master coupling assignment / Mast coupl assign SERVO Can be changed: - Calculated: - Access level: 3 Data type: Integer16 Dyn. index: - Func. diagram: 7335 P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting Display and connector output for the coupling between the master and slave drive object. This parameter is only relevant for a master drive object. Refer to: p31746 Refer to: A53470 No signals are transferred via the BICO interconnection CI: p31746 (slave) = r31745 (master). The interconnection is only used for the master slave assignment. Siemens Spares Function Manual, 06/2017, A5E B AB 85

86 5 Parameters 5.2 List of parameters p31746 Description: Dependency: Note: Description: Dependency: Note: Description: Dependency: Warning: CI: SERVCOUP slave coupling assignment / Slave coupl assign SERVO Can be changed: C1(3) Calculated: - Access level: 3 Data type: Unsigned32 / Integer16 Dyn. index: - Func. diagram: 7335 P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting Sets the assignment for the coupling between the master and slave drive object. This parameter is only relevant for a slave drive object. Example: The following BICO interconnections are required for one master and two slaves: CI: p31746 (slave 1) = r31745 (master) CI: p31746 (slave 2) = r31745 (master) Refer to: r31745 Refer to: A53470 No signals are transferred via the BICO interconnection CI: p31746 (slave) = r31745 (master). The interconnection is only used for the master slave assignment. r31747 SERVCOUP slave master DO assigned / Slave master DO SERVO Can be changed: - Calculated: - Access level: 3 Data type: Unsigned16 Dyn. index: - Func. diagram: - P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting Displays the drive object number of the assigned master drive object. This parameter is only relevant for a slave drive object. Refer to: r31745, p31746 A value of zero is always displayed for a master drive object. p31748 SERVCOUP slave angular offset / Slave ang offset SERVO Can be changed: T Calculated: - Access level: 3 Data type: FloatingPoint32 Dyn. index: - Func. diagram: 7335 P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting [ ] [ ] 0.00 [ ] Sets an angular offset between the master and slave drive objects. For motors with windings in separate enclosures (p31743 = 1), using this parameter, a possible mechanical offset can be compensated therefore ensuring correct commutation. This parameter is only active for the particular slave drive object. For a master drive object, the rotor is correctly aligned to the encoder system via the angular commutation offset (p0431). Refer to: p31743 For an incorrectly set angular offset, the motor component is incorrectly oriented, which can result in injury and/or material damage. 86 Function Manual, 06/2017, A5E B AB

87 5 Parameters 5.2 List of parameters p31749 SERVCOUP slave master propagation / Sl Ma propagation SERVO Can be changed: C1(3) Calculated: - Access level: 3 Data type: Integer16 Dyn. index: - Func. diagram: - P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting Description: Setting to activate the propagation of faults from the slave to the master drive object. If a fault response occurs for a slave drive object, then it can be set so that it is propagated to the master drive object. The parameter is only relevant for master drive objects. If value = 0: In the case of a fault, the drive group continues to operate with reduced torque. The magnitude of the total torque is reduced by the torque of the slave drive object that failed. If value = 1: A fault with OFF2 fault response is sent to the master and to the associated slave drive objects. The drive group coasts down. If value = 2: A fault with OFF3 fault response is sent to the master drive object. The master drive object brakes the drive group along the OFF3 ramp. A fault with OFF2 fault response is then output on the associated slave drive objects. Value: 0: Slave to master propagation deactivated 1: Slave to master propagation activated with OFF2 2: Slave to master propagation activated with OFF3 Dependency: Refer to: F53471, F53475 Notice: If value = 0: It must be guaranteed that the drive group is able to operate the load, even without the slave that has failed (for a certain length of time). If value = 2: It must be guaranteed that the drive group can also brake the load along the OFF3 ramp, even without the slave that has failed. r CO/BO: SERVCOUP status word / Status word SERVO Can be changed: - Calculated: - Access level: 3 Data type: Unsigned16 Dyn. index: - Func. diagram: - P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting Description: Display and BICO output for the status word. Bit field: Bit Signal name 1 signal 0 signal FP 00 Inactive Yes No - 01 Master drive object Yes No - 02 Slave drive object Yes No - 03 Master incremental encoder available Yes No - 04 Master absolute encoder available Yes No - 05 Induction motor (rotating) Yes No - 06 Master incremental encoder with C/D track Yes No - available 08 Slave coarse synchronization being Yes No - accepted 09 Slave coarse synchronization accepted Yes No - 11 Slave drive ready for switching on Yes No - 12 Status OK Yes No - 13 Status rundown Yes No - 14 Status inhibit pulses Yes No - 15 Status acknowledge message Yes No - Siemens Spares Function Manual, 06/2017, A5E B AB 87

88 5 Parameters 5.2 List of parameters Note: For bits 01, 03, 04, 06: These signals are only of significance for a master drive object. They have a 0 signal for a slave drive object. For bits 02, 08, 09, 11: These signals are only of significance for a slave drive object. They have a 0 signal for a master drive object. r31751[0...9] Description: Index: Dependency: Description: Dependency: SERVCOUP configuration error / Config error SERVO Can be changed: - Calculated: - Access level: 3 Data type: Unsigned16 Dyn. index: - Func. diagram: - P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting Displays the number of incorrectly set parameters in the basic system. The entered parameter numbers are deleted when the system powers up next time. [0] = 1st parameter number [1] = 2nd parameter number [2] = 3rd parameter number [3] = 4th parameter number [4] = 5th parameter number [5] = 6th parameter number [6] = 7th parameter number [7] = 8th parameter number [8] = 9th parameter number [9] = 10th parameter number The parameter numbers are entered after alarm A53470 occurs. Refer to: A53470 r31753 SERVCOUP master scaling factor total display / Ma scal tot disp SERVO Can be changed: - Calculated: - Access level: 3 Data type: FloatingPoint32 Dyn. index: - Func. diagram: - P-Group: - Unit group: - Unit selection: - Not for motor type: - Scaling: - Expert list: 1 Min Max Factory setting - [%] - [%] - [%] Displays the scaling factor for the total torque of the drive group. Using this factor, the total torque of the drive group can be calculated from the master torque. The scaling factor is valid for setpoint and actual value (r0079, r0080). The factor is calculated from the set slave scaling factors (p31744) plus 100 % from the master drive object. A corresponding value is only displayed in this parameter for a master drive object. Example: Master: p31744 = 100 % (reference value) Slave 1: p31744 = 100 % Slave 2: p31744 = 100 % Slave 3: p31744 = 100 % Slave 4: p31744 = 50 % --> master: r31753 = 450 % Refer to: p Function Manual, 06/2017, A5E B AB

89 Function diagrams 6 Content 7335 SERVO COUPLING structure 90 Note This chapter only includes the function diagram for the Technology Extension SERVCOUP. The product-dependent function diagrams available for SINAMICS (e.g. function diagram 5020) are listed in the following reference: References: SINAMICS S120/S150 List Manual Chapter "Function diagrams" Siemens Spares Function Manual, 06/2017, A5E B AB 89

90 90 Function Manual, 06/2017, A5E B AB Fig SERVO COUPLING structure M_set_6 [5019.8] M2Iq [5710] SERVO Master drive object SERVO Slave drive object n (n = 1 5) M2Iq [5710] Iq M_set Iq Iq_set r0077 Id_set [5722] r0075 Operating mode p31740 = 1 Operating mode p31740 = 2 Iq_set r0077 Id_set <1> The signal flow depends on correct parameter settings (e.g. p31740, p31746). 1 2 DO: SERVO SERVCOUP - SERVO COUPLING structure 3 + Iq controller + [5714] Id controller + Slave M_set scal [%] p31744 (100) Iq controller 4 <1> Uq_set r1733 Ud_set r1732 Id_act r0076 Iq_act r0078[0] SERVCOUP SERVCOUP Uq_set 5 [5730] r31745 p31746 r31745 [5730] [5722] r n_act Id_act I_act U r0076 Transformation I_act V [5714] Id controller Iq_act I_act W r0078[0] Transformation 6 U U n_act I_act U I_act V I_act W Transformation Transformation r1733 r Slave ang offset [ ] p31748 (0.00) U U n_act fp_7335_95_eng.vsd V DRIVE-CLiQ DRIVE-CLiQ 7 Function diagram SINAMICS Encoder evaluation [4710] p0115[0] [5730] 8 Motor Module [5730] Motor Module Function diagrams

91 Faults and alarms 7 Content 7.1 Overview of faults and alarms List of faults and alarms 93 Siemens Spares Function Manual, 06/2017, A5E B AB 91

92 7 Faults and alarms 7.1 Overview of faults and alarms 7.1 Overview of faults and alarms Note An overview of the faults and alarms, especially the explanation of the faults and alarms list, is contained in the product-specific List Manuals, for example: References: SINAMICS S120/S150 List Manual Section "Overview of faults and alarms" 92 Function Manual, 06/2017, A5E B AB

93 7 Faults and alarms 7.2 List of faults and alarms 7.2 List of faults and alarms Note This chapter only includes the messages for the Technology Extension SERVCOUP. Information on further messages that are output (faults, alarms) should be taken from the online help for the particular control or commissioning tool or, for example, from the following reference: References: SINAMICS S120/S150 List Manual Chapter "List of faults and alarms" Product: drvoa_servcoup, Version: , Language: eng Objects: SERVO A53470 SERVCOUP: configuration error Message value: %1 Drive object: SERVO Component: Motor Propagation: GLOBAL Reaction: NONE Acknowledge: NONE Cause: The configuration of the SERVCOUP Technology Extension is incorrect. In this state, the servo coupling is not ready for operation, and can only be activated once the cause has been resolved. Alarm value (r2124, interpret decimal): 1: No master drive object set, or drive object is not interconnected with another master drive object via p : No slave drive object set. 3: The drive object number of the master drive object is larger than that of the slave drive object. 4: No encoder is set on the master drive object. 6: The master drive object is interconnected with another master drive object via p : The rule p0115[0] = p0115[1] has been violated on at least one of the drive objects involved. 8: On the slave drive object, p1460[d] is set to > 0.0 or p1462[d] is set to > : Parameter p0115[0] or p0115[1] are different on the master drive object and slave drive object. 10: Number of data sets (p0180) are different on the master drive object and slave drive object. 11: Motor type p31743 is different between the master drive object and slave drive object. 12: Parameter p is different on the slave drive object and master drive object. 13: Parameter p1816 is different on the slave drive object and master drive object. 14: Parameter p1819 is different on the slave drive object and master drive object. 15: A speed to monitor the enable signal is set in parameter p However, no propagation of faults was set in parameter p Note: This alarm can also initiate the display of incorrectly set parameters in r Remedy: For alarm value = 1: For a drive object, set the operating mode master drive object (p31740 = 1). For alarm value = 2: For one or several drive objects, set the operating mode slave drive object (p31740 = 2). For alarm value = 3: Use the drive object with the lowest drive object number as master drive object (p31740). For alarm value = 4: For the master drive object, correctly set the number of encoders (p31741). For alarm value = 5: For all slave drive objects, check the coupling to the master drive object (p31745, p31746). For alarm value = 6: For the master drive object, deactivate the coupling to an additional drive object (p31746 = 0). For alarm value = 7: Set p0115[0] = p0115[1] on all of the drive objects involved. Siemens Spares Function Manual, 06/2017, A5E B AB 93

94 7 Faults and alarms 7.2 List of faults and alarms For alarm value = 8: On the slave drive objects, set p1460[d] = p1462[d] = 0.0 in all drive data sets (DDS). For alarm value = 9: On all of the slave drive objects involved, set p0115[0] and p0115[1] the same as the master drive object. For alarm value = 10: Set the number of drive data sets (p0180) the same on all drive objects involved. For alarm value = 11: On all slave drive objects, set p31743 the same as the master drive object. For alarm value = 12: Set parameter p the same on all of the drive objects involved. For alarm value = 13: Set parameter p1816 the same on all of the drive objects involved. For alarm value = 14: Set parameter p1819 the same on all of the drive objects involved. For alarm value = 15: Set an appropriate propagation in parameter p31749, or with p31742 = 0, deactivate monitoring the enable signal. Note: SERVCOUP: SERVO COUPLING (SERVO coupling) See also: p31740 (SERVCOUP operating mode), p31741 (SERVCOUP number of encoders), p31743 (SERVCOUP motor type), r31745 (SERVCOUP master coupling assignment), p31746 (SERVCOUP slave coupling assignment), r31751 (SERVCOUP configuration error) F53471 SERVCOUP fault detected at the drive object Message value: %1 Drive object: SERVO Component: Motor Propagation: GLOBAL Reaction: OFF2 Acknowledge: IMMEDIATELY Cause: A fault with pulse cancellation was detected on a drive object. As a consequence, a fault was output at all coupled drive objects. Fault value (r0949, interpret decimal): Drive object number. Note: This fault can only be acknowledged at all of the other drives if, at the specified drive object, the cause of the fault was removed. This fault can occur as response to F See also: p31749 (SERVCOUP slave master propagation) Remedy: Resolve the fault at the specified drive object and acknowledge. Note: SERVCOUP: SERVO COUPLING (SERVO coupling) F53473 SERVCOUP slave maximum speed exceeded Message value: - Drive object: SERVO Component: Power Module Propagation: GLOBAL Reaction: NONE Acknowledge: IMMEDIATELY Cause: The maximum speed or maximum velocity set in p31742 on a slave drive object that has not been enabled has been exceeded. As a consequence, this fault is output at the master drive object. See also: p31742 Remedy: - check enable signals for the slave drive object and activate if necessary. - resolve the cause of the fault on the slave drive object. - check the setting of the maximum speed in p31742 and change it if necessary. Note: SERVCOUP: SERVO COUPLING (SERVO coupling) 94 Function Manual, 06/2017, A5E B AB

95 7 Faults and alarms 7.2 List of faults and alarms F53475 SERVCOUP fault detected on the slave drive object Message value: %1 Drive object: SERVO Component: Motor Propagation: GLOBAL Reaction: OFF3 Acknowledge: IMMEDIATELY Cause: A fault with pulse cancellation was detected on a slave drive object. As a consequence, a fault was output by the master drive object. Fault value (r0949, interpret decimal): Drive object number. Note: This fault can only be acknowledged at the master drive object if, at the specified drive object, the cause of the fault was removed. This fault sets fault F53471 at all associated slave drive objects. See also: p31749 (SERVCOUP slave master propagation) Remedy: Resolve the fault on the specified slave drive object and acknowledge. Note: SERVCOUP: SERVO COUPLING (SERVO coupling) Siemens Spares Function Manual, 06/2017, A5E B AB 95

96 7 Faults and alarms 7.2 List of faults and alarms 96 Function Manual, 06/2017, A5E B AB

97 Appendix A Content A.1 Parameters relevant for operation of Technology Extension SERVCOUP 98 A.2 List of abbreviations 103 Siemens Spares Function Manual, 06/2017, A5E B AB 97

98 A Appendix A.1 Parameters relevant for operation of Technology Extension SERVCOUP A.1 Parameters relevant for operation of Technology Extension SERVCOUP "*" in the following table represents an arbitrary value. Table A-1 Parameter number Parameter settings of the Technology Extension SERVCOUP Parameter name Master value Slave value p0112 Sampling times default setting p0115 * = master p0115[0] Sampling time current controller * = master p0115[1] Sampling time speed controller = p0115[0] = master p0118 Current controller computing dead time * = master p0145 Activate/deactivate encoder interface 1 2 p0180 Number of Drive Data Sets (DDS) * = master p0188[x] Encoder 2 encoder data set number When using a direct measuring system and operation with an NC, otherwise, both values = p0210 Device supply voltage * = master p0300 Motor type selection * = master p0301 Motor code number selection * = master p0304 Rated motor voltage * = master p0305 Rated motor current * = master p0307 Rated motor power * = master p0310 Rated motor frequency * = master p0311 Rated motor speed * = master p0312 Rated motor torque * = master p0314 Motor pole pair number * = master p0316 Motor torque constant * = master p0317 Motor voltage constant * = master p0318 Motor stall current * = master p0319 Motor static torque * = master p0320 Motor rated magnetizing current / short-circuit current * = master p0322 Maximum motor speed * = master p0323 Maximum motor current * = master p0324 Winding maximum speed * = master p0325 Motor pole position identification current 1st phase * = master p0326 Motor stall torque correction factor * = master p0327 Optimum motor load angle * = master p0328 Motor reluctance force constant * = master p0329 Motor pole position identification current * = master p0338 Motor limit current * = master 98 Function Manual, 06/2017, A5E B AB

99 A Appendix A.1 Parameters relevant for operation of Technology Extension SERVCOUP Table A-1 Parameter number Parameter settings of the Technology Extension SERVCOUP, continued Parameter name Master value Slave value p0341 Motor moment of inertia * = master p0344 Motor weight (for the thermal motor model) * = master p0348 Speed at the start of field weakening Vdc = 600 V * = master p0350 Motor stator resistance, cold * = master p0356 Motor stator leakage inductance * = master p0391 Current controller adaptation, starting point KP * = master p0392 Current controller adaptation, starting point KP adapted * = master p0393 Current controller adaptation, P gain adaptation * = master p0400 Encoder type selection * = master p0404 Encoder configuration active * = master p0408 Rotary encoder pulse number * = master p0410 Encoder inversion actual value * = master p0425 Encoder rotary zero mark distance * = master p0431 Angular commutation offset May only be used at the slave to compensate the angular offset between the master and slave drive objects. Default: No angular offset between the master and slave, 0 on the slave. * * 0 per default p0491 Motor encoder fault response ENCODER 0 = master p0500 Technology application * = master p0604 Mot_temp_mod 2/KTY alarm threshold * = master p0605 Mot_temp_mod 1/2 threshold * = master p0640 Current limit * = master p0840 ON/OFF (OFF1) * * p0845 No coast down / coast down (OFF2) signal source 2 * * p0864 Infeed operation * * / = master p1082 Maximum speed * = master p1300 Open-loop/closed-loop control operating mode <> 20 = master p1402 Current control and motor model configuration * = master p1441 Actual speed value smoothing time * = master p1460 Speed controller P gain adaptation speed, lower * 0 p1461 Speed controller Kp adaptation speed, upper scaling * * (Rec.: 100 %) p1462 Speed controller integral time adaptation speed, lower * 0 p1463 Speed controller Tn adaptation speed, upper scaling * * (Rec.: 100 %) p1464 Speed controller adaptation speed, lower * * (Rec.: 0.0) p1465 Speed controller adaptation speed, upper * * (Rec.: 0.0) p1498 Load moment of inertia * = master Siemens Spares Function Manual, 06/2017, A5E B AB 99

100 A Appendix A.1 Parameters relevant for operation of Technology Extension SERVCOUP Table A-1 Parameter number Parameter settings of the Technology Extension SERVCOUP, continued Parameter name Master value Slave value p1520 Force limit upper/motoring * = master p1521 Force limit lower/regenerative * = master p1530 Power limit, motoring * = master p1531 Power limit, regenerative * = master p1612 Current setpoint, open-loop control, encoderless * = master p1656 Current setpoint filter activation * = master p1657 Current setpoint filter 1 type * = master p1658 Current setpoint filter 1 denominator natural frequency * = master p1659 Current setpoint filter 1 denominator damping * = master p1660 Current setpoint filter 1 numerator natural frequency * = master p1661 Current setpoint filter 1 numerator damping * = master p1662 Current setpoint filter 2 type * = master p1663 Current setpoint filter 2 denominator natural frequency * = master p1664 Current setpoint filter 2 denominator damping * = master p1665 Current setpoint filter 2 numerator natural frequency * = master p1666 Current setpoint filter 2 numerator damping * = master p1667 Current setpoint filter 3 type * = master p1668 Current setpoint filter 3 denominator natural frequency * = master p1669 Current setpoint filter 3 denominator damping * = master p1670 Current setpoint filter 3 numerator natural frequency * = master p1671 Current setpoint filter 3 numerator damping * = master p1672 Current setpoint filter 4 type * = master p1673 Current setpoint filter 4 denominator natural frequency * = master p1674 Current setpoint filter 4 denominator damping * = master p1675 Current setpoint filter 4 numerator natural frequency * = master p1676 Current setpoint filter 4 numerator damping * = master p1715 Current controller P gain * = master p1717 Current controller integral time * = master p1752 Motor model, changeover speed operation with encoder * = master p1755 Motor model changeover speed encoderless operation * = master p1800 Pulse frequency setpoint * = master p1810 Modulator configuration * = master p Phase for PWM generation, subgroup 1 1 p1816 Set phase for PWM generation manually * But -1 = master p1819 Phase for PWM generation * = master p1821 Direction of rotation * = master 100 Function Manual, 06/2017, A5E B AB

101 A Appendix A.1 Parameters relevant for operation of Technology Extension SERVCOUP Table A-1 Parameter number Parameter settings of the Technology Extension SERVCOUP, continued Parameter name Master value Slave value p1952 Voltage emulation error, final value * = master p1953 Voltage emulation error, current offset * = master p1980 PolID technique * = master p1981 PolID distance max * = master p1982 PolID selection * = master p1993 PolID motion-based current * = master p1995 PolID motion-based gain * = master p1996 PolID motion-based integral time * = master p1997 PolID motion-based smoothing time * = master p2000 Reference speed reference frequency * = master p2001 Reference voltage * = master p2002 Reference current * = master p2003 Reference torque * = master p2004 Reference power * = master p2005 Reference angle * = master p2006 Reference temperature * = master p2007 Reference acceleration * = master p2162 Hysteresis speed n_act > n_max (because of field weakening mode, also relevant for slave drive object) * = master p2175 Motor blocked speed threshold * Maximum value, and therefore inactive p31740 SERVCOUP operating mode 1 2 p31741 SERVCOUP master encoder count 1 p31743 SERVCOUP motor type * (0 for double or multi-winding motors) = master p31746 SERVCOUP slave coupling input 0 r31745 (master) Siemens Spares Function Manual, 06/2017, A5E B AB 101

102 A Appendix A.1 Parameters relevant for operation of Technology Extension SERVCOUP Table A-1 Parameter number Parameter settings of the Technology Extension SERVCOUP, continued Parameter name Master value Slave value p31744 SERVCOUP slave torque setpoint scaling factor No function * p31748 SERVCOUP slave angular offset No function * p31749 SERVCOUP slave master propagation 0-2 (a value of 0 is only permissible if the drive lineup is in a position to also operate the load without the failed slave (for a specific time)). No function 102 Function Manual, 06/2017, A5E B AB

103 A Appendix A.2 List of abbreviations A.2 List of abbreviations Note The following list of abbreviations includes all abbreviations and their meanings used in the entire SINAMICS family of drives. Abbreviation Source of abbreviation Significance A A Alarm Warning AC Alternating Current Alternating current ADC Analog Digital Converter Analog-Digital converter AI Analog Input Analog input AIM Active Interface Module Active Interface Module ALM Active Line Module Active Line Module AO Analog Output Analog output AOP Advanced Operator Panel Advanced Operator Panel APC Advanced Positioning Control Advanced Positioning Control AR Automatic Restart Automatic restart ASC Armature Short Circuit Armature short-circuit ASCII American Standard Code for Information Interchange American coding standard for the exchange of information AS-i AS-Interface (Actuator Sensor Interface) AS-interface (open bus system in automation technology) ASM Asynchronmotor Induction motor B BB Betriebsbedingung Operation condition BERO - Contactless proximity switch BI Binector Input Binector input BIA Berufsgenossenschaftliches Institut für BG-Institute for Occupational Safety and Health Arbeitssicherheit BICO Binector Connector Technology Binector connector technology BLM Basic Line Module Basic Line Module BO Binector Output Binector output BOP Basic Operator Panel Basic operator panel C C Capacitance Capacitance C - Safety message CAN Controller Area Network Serial bus system CBC Communication Board CAN Communication Board CAN CBE Communication Board Ethernet PROFINET communication module (Ethernet) CD Compact Disc Compact disk CDS Command Data Set Command data set CF Card CompactFlash Card CompactFlash card CI Connector Input Connector input Siemens Spares Function Manual, 06/2017, A5E B AB 103

104 A Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Significance CLC Clearance Control Clearance control CNC Computerized Numerical Control Computer-supported numerical control CO Connector Output Connector output CO/BO Connector Output / Binector Output Connector Output / Binector Output COB ID CAN Object-Identification CAN Object-Identification CoL Certificate of License Certificate of License COM Common contact of a changeover relay Center contact of a changeover contact COMM Commissioning Startup CP Communication Processor Communications processor CPU Central Processing Unit Central processing unit CRC Cyclic Redundancy Check Cyclic redundancy check CSM Control Supply Module Control Supply Module CU Control Unit Control Unit CUA Control Unit Adapter Control Unit Adapter CUD Control Unit DC Control Unit DC D DAC Digital Analog Converter Digital analog converter DC Direct Current DC current DCB Drive Control Block Drive Control Block DCBRK DC Brake DC braking DCC Drive Control Chart Drive Control Chart DCN Direct Current Negative Direct current negative DCP Direct Current Positive Direct current positive DDC Dynamic Drive Control Dynamic Drive Control DDS Drive Data Set Drive Data Set DI Digital Input Digital input DI/DO Digital Input / Digital Output Digital input/output, bidirectional DMC DRIVE-CLiQ Hub Module Cabinet DRIVE-CLiQ Hub Module Cabinet DME DRIVE-CLiQ Hub Module External DRIVE-CLiQ Hub Module External DMM Double Motor Module Double Motor Module DO Digital Output Digital output DO Drive Object Drive object DP Decentralized Peripherals Distributed I/O DPRAM Dual-Port Random Access Memory Dual-Port Random Access Memory DQ DRIVE-CLiQ DRIVE-CLiQ DRAM Dynamic Random Access Memory Dynamic Random Access Memory DRIVE-CLiQ Drive Component Link with IQ Drive Component Link with IQ DSC Dynamic Servo Control Dynamic Servo Control DTC Digital Time Clock Timer E EASC External Armature Short-Circuit External armature short-circuit EDS Encoder Data Set Encoder data set 104 Function Manual, 06/2017, A5E B AB

105 A Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Significance EEPROM Electrically Erasable Programmable Read-Only Memory Electrically Erasable Programmable Read-Only-Memory EGB Elektrostatisch gefährdete Baugruppen Electrostatic sensitive devices ELCB Earth Leakage Circuit-Breaker Residual current operated circuit breaker ELP Earth Leakage Protection Ground-fault monitoring EMC Electromagnetic Compatibility Electromagnetic compatibility EMF Electromotive Force Electromotive force EMK Elektromotorische Kraft Electromotive force EMV Elektromagnetische Verträglichkeit Electromagnetic compatibility EN Europäische Norm European Standard EnDat Encoder-Data-Interface Encoder interface EP Enable Pulses Pulse enable EPOS Einfachpositionierer Basic positioner ES Engineering System Engineering system ESB Ersatzschaltbild Equivalent circuit diagram ESD Electrostatically Sensitive Devices Electrostatic sensitive devices ESM Essential Service Mode Essential service mode ESR Extended Stop and Retract Extended stop and retract F F Fault Fault FAQ Frequently Asked Questions Frequently Asked Questions FBLOCKS Free Blocks Free function blocks FCC Function control chart Function control chart FCC Flux Current Control Flux current control FD Function Diagram Function diagram F-DI Fail-safe Digital Input Failsafe digital input F-DO Fail-safe Digital Output Fail-safe digital output FEPROM Flash-EPROM Non-volatile write and read memory FG Function Generator Function Generator FI - Fault current FOC Fiber-Optic Cable Fiber-optic cable FP Funktionsplan Function diagram FPGA Field Programmable Gate Array Field Programmable Gate Array FW Firmware Firmware G GB Gigabyte Gigabyte GC Global Control Global control telegram (broadcast telegram) GND Ground Reference potential for all signal and operating voltages, usually defined as 0 V (also referred to as M) GSD Gerätestammdatei Generic Station Description: Describes the features of a PROFIBUS slave GSV Gate Supply Voltage Gate supply voltage GUID Globally Unique Identifier Globally Unique Identifier Siemens Spares Function Manual, 06/2017, A5E B AB 105

106 A Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Significance H HF High Frequency High frequency HFD Hochfrequenzdrossel Radio frequency reactor HLA Hydraulic Linear Actuator Hydraulic linear actuator HLG Hochlaufgeber Ramp-function Generator HM Hydraulic Module Hydraulic Module HMI Human Machine Interface Human Machine Interface HTL High-Threshold Logic Logic with high interference threshold HW Hardware Hardware I i. V. In Vorbereitung Under development: This property is currently not available I/O Input/Output Input/output I2C Inter-Integrated Circuit Internal serial data bus IASC Internal Armature Short-Circuit Internal armature short-circuit IBN Inbetriebnahme Startup ID Identifier Identification IE Industrial Ethernet Industrial Ethernet IEC International Electrotechnical Commission International Electrotechnical Commission IF Interface Interface IGBT Insulated Gate Bipolar Transistor Insulated gate bipolar transistor IGCT Integrated Gate-Controlled Thyristor Semiconductor power switch with integrated control electrode IL Impulslöschung Pulse suppression IP Internet Protocol Internet protocol IPO Interpolator Interpolator IT Isolé Terre Non-grounded three-phase line supply IVP Internal Voltage Protection Internal voltage protection J JOG Jogging Jogging K KDV Kreuzweiser Datenvergleich Data cross-check KHP Know-How Protection Know-how protection KIP Kinetische Pufferung Kinetic buffering Kp - Proportional gain KTY84 - Temperature sensor L L - Symbol for inductance LED Light Emitting Diode Light emitting diode LIN Linearmotor Linear motor LR Lageregler Position controller LSB Least Significant Bit Least Significant Bit LSC Line-side converter Line-side converter 106 Function Manual, 06/2017, A5E B AB

107 A Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Significance LSS Line-Side Switch Line-side switch LU Length Unit Length unit LWL Lichtwellenleiter Fiber-optic cable M M - Symbol for torque M Masse Reference potential for all signal and operating voltages, usually defined as 0 V (also referred to as GND) MB Megabyte Megabyte MCC Motion Control Chart Motion Control Chart MDI Manual Data Input Manual data input MDS Motor Data Set Motor data set MLFB Maschinenlesbare Fabrikatebezeichnung Machine-readable product code MM Motor Module Motor Module MMC Man-Machine Communication Man-machine communication MMC Micro Memory Card Micro memory card MSB Most Significant Bit Most significant bit MSC Motor Side Converter Motor-side converter MSCY_C1 Master Slave Cycle Class 1 Cyclic communication between master (class 1) and slave MSC Motorstromrichter Motor-side converter MT Messtaster Probe N N. C. Not Connected Not connected N No Report No report or internal message NAMUR Normenarbeitsgemeinschaft für Mess- und Regeltechnik in der chemischen Industrie Standardization association for measurement and control in chemical industries NC Normally Closed (contact) NC contacts NC Numerical Control Numerical control NEMA National Electrical Manufacturers Association Standardization association in USA (United States of America) NM Nullmarke Zero mark NO Normally Open (contact) NO contacts NSR Netzstromrichter Line-side converter NVRAM Non-Volatile Random Access Memory Non-volatile read/write memory O OA Open Architecture Software component which provides additional functions for the SINAMICS drive system OAIF Open Architecture Interface Version of the SINAMICS firmware as of which the OA-application can be used OASP Open Architecture Support Package Expands the STARTER commissioning tool by the corresponding OA-application OC Operating Condition Operation condition OEM Original Equipment Manufacturer Original equipment manufacturer Siemens Spares Function Manual, 06/2017, A5E B AB 107

108 A Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Significance OLP Optical Link Plug Bus connector for fiber-optic cable OMI Option Module Interface Option Module Interface P p - Adjustable parameters P1 Processor 1 CPU 1 P2 Processor 2 CPU 2 PB PROFIBUS PROFIBUS PcCtrl PC Control Master control PD PROFIdrive PROFIdrive PDC Precision Drive Control Precision Drive Control PDS Power Unit Data Set Power unit data set PE Protective Earth Protective ground PELV Protective Extra-Low Voltage Safety extra-low voltage PFH Probability of dangerous failure per hour Probability of dangerous failure per hour PG Programmiergerät Programming device PI Proportional integral Proportional integral PID Proportional integral differential Proportional integral differential PLC Programmable Logic Controller Programmable logic controller PLL Phase-locked loop Phase-locked loop PM Power Module Power Module PMSM Permanent-Magnet Synchronous Motor Permanent-magnet synchronous motor PN PROFINET PROFINET PNO PROFIBUS Nutzerorganisation PROFIBUS user organization PPI Point-to-Point Interface Point-to-point interface PRBS Pseudo Random Binary Signal White noise PROFIBUS Process Field Bus Serial data bus PS Power Supply Power supply PSA Power Stack Adapter Power Stack Adapter PT Temperature sensor PTC Positive Temperature Coefficient Positive temperature coefficient PTP Point-To-Point Point-to-point PWM Pulse Width Modulation Pulse width modulation PZD Prozessdaten Process data Q R r - Display parameters (read only) RAM Random Access Memory Speicher zum Lesen und Schreiben RCCB Residual Current Circuit Breaker Residual current operated circuit breaker RCD Residual Current Device Residual current operated circuit breaker RCM Residual Current Monitor Residual current monitor REL Reluctance motor textile Reluctance motor textile RESM Reluctance Synchronous Motor Synchronous reluctance motor RFG Ramp-Function Generator Ramp-function Generator 108 Function Manual, 06/2017, A5E B AB

109 A Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Significance RJ45 Registered Jack 45 Term for an 8-pin socket system for data transmission with shielded or non-shielded multiwire copper cables RKA Rückkühlanlage Cooling unit RLM Renewable Line Module Renewable Line Module RO Read Only Read only ROM Read-Only Memory Read-only memory RPDO Receive Process Data Object Receive Process Data Object RS232 Recommended Standard 232 Interface standard for a cable-connected serial data transmission between a sender and receiver (also known as EIA232) RS485 Recommended Standard 485 Interface standard for a cable-connected differential, parallel, and/or serial bus system (data transmission between a number of senders and receivers, also known as EIA485) RTC Real-Time Clock Real-time clock RZA Raumzeigerapproximation Space-vector approximation S S1 - Continuous operation S3 - Intermittent duty SAM Safe Acceleration Monitor Safe acceleration monitoring SBC Safe Brake Control Safe brake control SBH Sicherer Betriebshalt Safe operating stop SBR Safe Brake Ramp Safe brake ramp monitoring SBT Safe Brake Test Safe brake test SCA Safe Cam Safe cam SCC Safety Control Channel Safety Control Channel SD Card SecureDigital Card Secure digital memory card SDC Standard Drive Control Standard Drive Control SDI Safe Direction Safe motion direction SE Sicherer Software-Endschalter Safe software limit switch SESM Separately Excited Synchronous Motor Separately excited synchronous motor SG Sicher reduzierte Geschwindigkeit Safely-limited speed SGA Sicherheitsgerichteter Ausgang Safety-related output SGE Sicherheitsgerichteter Eingang Safety-related input SH Sicherer Halt Safe stop SI Safety Integrated Safety Integrated SIC Safety Info Channel Safety Info Channel SIL Safety Integrity Level Safety Integrity Level SITOP - Siemens power supply system SLM Smart Line Module Smart Line Module SLP Safely Limited Position Safely Limited Position SLS Safely-Limited Speed Safely-limited speed SLVC Sensorless Vector Control Sensorless vector control Siemens Spares Function Manual, 06/2017, A5E B AB 109

110 A Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Significance SM Sensor Module Sensor Module SMC Sensor Module Cabinet Sensor Module Cabinet SME Sensor Module External Sensor Module External SMI SINAMICS Sensor Module Integrated SINAMICS Sensor Module Integrated SMM Single Motor Module Single Motor Module SN Sicherer Software-Nocken Safe software cam SOS Safe Operating Stop Safe operating stop SP Service Pack Service pack SP Safe Position Safe position SPC Setpoint Channel Setpoint channel SPI Serial Peripheral Interface Serial peripheral interface SPS Speicherprogrammierbare Steuerung Programmable logic controller SS1 Safe Stop 1 Safe Stop 1 (monitored for time and ramp) SS1E Safe Stop 1 External Safe Stop 1 with external stop SS2 Safe Stop 2 Safe Stop 2 SS2E Safe Stop 2 External Safe Stop 2 with external stop SSI Synchronous Serial Interface Synchronous serial interface SSM Safe Speed Monitor Safe feedback from speed monitor SSP SINAMICS support package SINAMICS support package STO Safe Torque Off Safe torque off STW Steuerwort Control word T TB Terminal Board Terminal Board TEC Technology Extension Software component which is installed as an additional technology package and which expands the functionality of SINAMICS (previously OA-application) TIA Totally Integrated Automation Totally Integrated Automation TM Terminal Module Terminal Module TN Terre Neutre Grounded three-phase line supply Tn - Integral time TPDO Transmit Process Data Object Transmit Process Data Object TT Terre Terre Grounded three-phase line supply TTL Transistor-Transistor Logic Transistor-Transistor-Logik Tv - Rate time U UL Underwriters Laboratories Inc. Underwriters Laboratories Inc. UPS Uninterruptible Power Supply Uninterruptible power supply USV Unterbrechungsfreie Stromversorgung Uninterruptible power supply UTC Universal Time Coordinated Universal time coordinated V VC Vector Control Vector control Vdc - DC-link voltage 110 Function Manual, 06/2017, A5E B AB

111 A Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Significance VdcN - Partial DC-link voltage negative VdcP - Partial DC-link voltage positive VDE Verband Deutscher Elektrotechniker Verband Deutscher Elektrotechniker [Association of German Electrical Engineers] VDI Verein Deutscher Ingenieure Verein Deutscher Ingenieure [Association of German Engineers] VPM Voltage Protection Module Voltage Protection Module Vpp Volt peak to peak Volt peak to peak VSM Voltage Sensing Module Voltage Sensing Module W WEA Wiedereinschaltautomatik Automatic restart WZM Werkzeugmaschine Machine tool X XML Extensible Markup Language Extensible markup language (standard language for Web publishing and document management) Y Z ZK Zwischenkreis DC link ZM Zero Mark Zero mark ZSW Zustandswort Status Word Siemens Spares Function Manual, 06/2017, A5E B AB 111

112 A Appendix A.2 List of abbreviations 112 Function Manual, 06/2017, A5E B AB

113 Index Numbers 7335 SERVO coupling structure, 90 A ABC_OA, 18, 25 Activating via HMI-Operate, 27 Activation using STARTER, 22 Uninstalling using STARTER, 24 Uninstalling using the HMI, 30 Additional computation time utilization, 76 Address Technical Support, 5 Alarms, 93 Article number for the Certificate of License (CoL), 77 C Certificate of License, 77 Cogging torque compensation, 36 Commissioning ABC_OA using STARTER, 23 ABC_OA via HMI, 29 Complete commissioning sequence, general, 37 Completing the commissioning, 69 Hardware commissioning, 38 TEC SERVCOUP, 23, 29, 62 Commissioning of the TEC SERVCOUP Overview, 62 via SINUMERIK HMI, 66 via STARTER, 64 Commissioning the hardware Overview, 35 via CMC-Topo/CMC-Expert, 47 via SINUMERIK HMI, 61 via STARTER, 42 Complete the commissioning Switch-on sequence of the drive objects, 70 Synchronous switchover of the data sets, 73 Using the measuring functions, 69 Completing the commissioning Switch-on sequence of the drive objects, 70 Synchronous switchover of the data sets, 73 Using the measuring functions, 69 Computation time utilization, 76 Controllable drives (number), 76 D Data sets Configuration (CMC-Expert), 58 Configuration (STARTER), 44 synchronous switchover, 73 Devices Technology Extension using STARTER, 19 Technology Extension via SINUMERIK HMI, 25 Directory Complete table of contents, 7 Index, 113 List of abbreviations, 98, 103 Double Motor Modules Notes, 41 E Emergency boot system (EBS), 25 Engineering software SCOUT, 18 STARTER, 18 Example SERVO computation time utilization, 76 F Faults, 93 Function diagram SINAMICS product-specific, 89 Function diagrams SERVO coupling structure, 90 G General information on faults and alarms, 92 on parameters, 82 H Hardware commissioning Commissioning the encoder interface, 39 Motor parameterization, 35 Overview, 38 Temperature monitoring, 39 via CMC-Topo/CMC-Expert, 47 via SINUMERIK HMI, 61 via STARTER, 42 HMI-Advanced, 26 HMI-Operate, 26 Hotline, 5 Siemens Spares Function Manual, 06/2017, A5E B AB 113

114 Index I Industrial security, 11 Installing Technology Extension using STARTER, 18 using the HMI, 25 L License key, 77 Licensing, 77 List Abbreviations, 98, 103 Faults and alarms, 93 Parameters, 83 List of abbreviations, 98, 103 M Messages, 93 Motor parameterization Configuration in CMC-Expert, 57 Configuration in STARTER, 44 Description as complete motor, 35 Description as section motor, 36 General, 35 Motors, supported Induction motor, 33 Linear motor, 33 Overview, 13 Segment motor, 34 Synchronous motor, 33 Torque motor, 33 N Notes Hotline, 5 Product information, 6 Technical Support, 5 O OA interface Definition of terms, 19, 26 Example, 19, 26 OA support package Definition of terms, 19 OA-application See also Technology Extension (TEC) Objective of this manual, 5 Offset clocking for double/multi-winding motors, 34, 63 P Parameters, 83 Preconditions Hardware commissioning via CMC-Topo/CMC- Expert, 47 Hardware commissioning via SINUMERIK HMI, 61 Hardware commissioning via STARTER, 42 Principle of operation of SERVCOUP, 32 Product information, 6 Pulse enable, 27 R Requirements Installing a Technology Extension using STARTER, 19 Installing a Technology Extension via SINUMERIK HMI, 26 Restrictions on use Cogging torque compensation, 36 Tuning functions, 36 S Safety instructions Fundamental, 9 General, 10 Industrial security, 11 Sampling times, 76 SCOUT, 18 Search tools for the manual, 5 SERVCOUP Commissioning, 23, 29 Definition of terms, 13 Features, 14 Field of application, 13 Licensing, 77 List of faults and alarms, 93 List of parameters, 83 Principle of operation, 32 SERVCOUP features, 14 SERVCOUP field of application, 13 Service system Definition of terms, 25 STARTER, 18 Support, 5 Support Request, 5 Supported motors Direct drive (linear motor), 33 Direct drive (torque motor), 33 Double and multi-winding motor (induction motor), 33 Double and multi-winding motor (synchronous motor), 33 Overview, 13 Segment motor, 34 Switching over the data sets, 73 Switch-on sequence of the drive objects Double-winding motors, 71 Incremental encoder, 71 Recommendation, 71 System utilization level, Function Manual, 06/2017, A5E B AB

115 Index T Target group for this manual, 5 Technical Support, 5 Technology Extension (TEC) Definition of terms, 19, 25 see OA application Technology Extension ABC_OA Activating via HMI-Operate, 27 Activation using STARTER, 22 Commissioning, 18, 23, 25, 29 Installation via HMI, 25 Installing using STARTER, 18 OA support package installation, 20 Technology package download, 21 Temperature monitoring, 39 Term Drive object, 14 Master drive object, 14 Motor, 15 OA interface, 19, 26 OA support package, 19 Portable service system for NCU, 25 SERVCOUP, 13 Service system, 25 SINUMERIK HMI, 15 Slave drive object, 14 Technology Extension (TEC), 19, 25 U Uninstalling Technology Extension using STARTER, 24 using the HMI, 30 V Version HMI, 26 List of faults and alarms, 93 List of parameters, 83 OA interface, 19, 26 SINUMERIK, 26 W WEB License Manager, 77 Siemens Spares Function Manual, 06/2017, A5E B AB 115

116 Index 116 Function Manual, 06/2017, A5E B AB

117 Siemens Spares

118 More information Siemens: Industry Online Support (service and support): Industry Mall Siemens AG Digital Factory Motion Control P.O. Box ERLANGEN GERMANY Scan the QR code for product information