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SIMODRIVE 611 Analog System Transistor PWM Inverters For AC Feed Drives and AC Main Spindle Drives
SIMODRIVE 611 Analog System Transistor PWM Inverters For AC Feed Drives and AC Main Spindle Drives
SIMODRIVE 611 Analog System Transistor PWM Inverters For AC Feed Drives and AC Main Spindle Drives
Service Documentation
04.97 Edition
Foreword
General information
AL
Supply infeed
N
E
Feed modules
Feed modules,
resolver control
04.97 Edition
V
R
AM
Spare parts
ES
Complete index
Valid for
VS
840D/810D/
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Brochure
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SINUMERIK
SIROTEC
SIMODRIVE
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SINUMERIK
User Documentation
840D/810
FM
NC/611
C
O
rT
e
alog
ering Info.
NC Info.
hnical
N
c mentatio
n
SINUMERIK
Accessorie
s
Catalog
Accessorie
s
60.
60.
2
INUMERIK
840D/810D/
FMNC
AUTOTURN
Short Guide
Programming (Part
1)
Setup (Part 2)
C
Z
SINUMERIK
840D/810
FMNC
840D/810D/
FMNC
Operators Guide
Unit Operator
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HPU
Diagnostics
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SINUMERIK
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E
840D/
81
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e
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Program
Short
Fundame
Cycles
Measurin
rer /
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IK
D/
INUMERIK
840D/8
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Manual
Configuring (H
FMNC
810D
840D
c
Manuf t
SINUMERI
840D/810D
K
Description of
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Tool Management
Manual
Operato
r
Compo
(HW)
rer /
Servi
e Opera
SHOP
ng
e
tal
s
SINUMERIK
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D
Guide
LTURN
ILL
e
Do
Description of
Functio
MANUALTURN
SHOPMILL
IK
D/
ts
e
Do
SINUMERIK
611D
840D/810D
Description of
Functions
Computer LInk
INUMERIK
40D/810D/
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Descripti of
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ion
Func
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40D/810D/
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Description of
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Basic
Extended
Special Functions
840D/810D/
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SINUMERIK
Configuring
MMC100/10
1 Configuring
Development
ta
it
Screen Kit
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SW Update and
Configuration
umentation
SIMODRIVE
SINUMERIK
840D/810D
Description of
Description of
Functions
Functions
SINUMERIK
Digitizing
Safety Integrated
SINUMERIK
SIMODRIVE
DOC ON CD
The SINUMERIK System
SIMODRI
SINUMERIK
IMODRIVE
INUMERIK
840D
Description of
Description of
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Functions
Operator Interface Operator Interface
HPU
OP 030
3ls
840D/810D
Description
Functio
Synchrono
us
actions
Wood, Glass,
Ceramics
INUMERI
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I
SINUME
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umentation
Electronic Documentation
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611, Motors
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f
SINUM
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R
810D
documentation
Installation &
Start-up Guide
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Lists
Edition coding
Brief details of this edition and previous editions are listed below
The status of each edition is shown by the code in the Remarks column.
Status code in the Remarks column:
A..
B..
C..
New documentation.
Unrevised reprint with new Order No.
Revised edition with new status
If factual changes have been made on the page since the last edition,
this is indicated by a new edition coding in the header on that page.
07.94
10.94
6SN11970AA600BP0
6SN11970AA600BP1
12.94
6SN11970AA600BP2
03.96
6SN11970AA600BP3
04.97
6SN11970AA600BP4
09.97
09.97
09.97
09.97
09.97
SiemensAktiengesellschaft
07.94
Definitions
Qualified personal
For the purpose of these Instructions and product labels, a qualified person is
someone who is familiar with the installation, mounting, startup and operation
of the equipment and the hazards involved. He or she must have the following
qualifications:
Siemens AG 1997 All Rights reserved
Trained and authorized to energize, deenergize, clear, ground and tag circuits and equipment in accordance with established safety procedures.
Trained in the proper care and use of protective equipment in accordance
with established safety procedures.
Trained in rendering first aid.
Danger
This symbol in the document indicates death, severe personal injury or
substantial property damage will result if proper precautions are not taken.
Warning
This symbol appears in the document, if death, severe personal injury or
perty damage can result if proper precautions are not taken.
Caution
This symbol appears in the document indicating that minor personal injury
material damage can result if proper precautions are not taken.
Wichtig
This symbol appears in the documentation if a particular issue is significant.
Note
For the purposes of these Instructions, Note indicates information about
product or the respective part of the Instruction Manual which is essential to
highlight.
ii
07.94
Warning
Operational electrical equipment has parts and components which are at
zardous voltage levels.
Incorrect handling of these units, i. e. not observing the warning information,
can therefore lead to death, severe bodily injury or significant material
damage.
Only appropriately qualified personal may commission/startup this
equipment.
This personal must have indepth knowledge regarding all of the warning
mation and service measures according to this Manual.
Perfect, save and reliable operation of this equipment assumes that it has
professionally transported, stored, mounted and installed as well as careful
operator control and service.
Hazardous axis motion can occur when working with the equipment.
Note
When handling cables observe the following
they must not be damaged
they must not be strained and
they must not come into contact with rotating components.
Note
It is not permissible to connect SIMODRIVE equipment to a supply system
ELCBs (this restriction is permitted according to DIN VDE 0160, Section
When operational, protection against direct contact is provided in a form to
low the unit to be used in enclosed electrical equipment rooms (DIN VDE
Part 1 / 07.87, Section 5.4.3.2.4).
In compliance with DIN VDE 0160 / 05.88, all SIMODRIVE units are subject
a highvoltage test at the time of routine testing. If the electrical equipment
of
industrial tools is subject to a highvoltage test, all connections must be
nected
discon-so that sensitive electronic components in the SIMODRIVE converter
are not damage (permissible according to DIN VDE 0113 / 06.93, Part 1,
tion 20.4).
Warning
Startup/commissioning is absolutely prohibited until it has been ensured
the machine in which the components described here are to be installed,
the regulations/specifications of the Directive 89/392/EWG.
iii
07.94
Warning
The information and instructions in all of the documentation supplied and
other instructions must always be observed to eliminate hazardous
situations and damage.
For special versions of the machines and equipment, the information in
the
associated catalogs and quotations applies.
Further, all of the relevant national, local and plant/systemspecific
regulations and specifications must be taken into account.
All work should be undertaken with the system in a novoltage
condition!
iv
Warning
Before commissioning 611D, it should be checked that the encoder cable
not have a ground fault.
If ground faults occur, for loads which exert a force on the drive, uncontrolled
movement could occur.
This no longer occurs for 6SN11180D 2 0AA0, Version B.
07.94
ESD information
you are wearing ESDS shoes or ESDS shoe grounding strips in conjunction with an ESDS floor surface.
Note
Startup software is available for startingup/commissioning the main
and induction motor modules.
Startup software Order No.: 6SN11532AX10 AB
Documentation Order No.: 6SN11970AA300 P
07.94
Check list
The following check list should help you to simply commission the components
we have supplied and guarantee a high availability when used in conjunction
with your product or equipment.
Observe all of the ESD measures when handling components.
Tightenup all bolts and screws to the specified torque. Pay special attention to the DC link bolt connections (1.8 Nm tightening torque).
Correctly insert all connectors and lock/screw into place.
Screw the control components into the power module.
Observe the poweron sequence in the Planning Guide.
If the unit is frequently powereddown and up, the DC link charge circuit is
lockedout. The DC link can only be charged again after it has cooled down
for several minutes with the supply off.
Are there line supply/motor contactors connected to the drive converter?
These are only switched in a nocurrent condition.
Ground all components and connect all of the shields. Connection X131 is
grounded.
Observe the load capability of the central power supply.
Only discharge the unit at the DC link buses through a minimum of 10
In operation, units with hard disks may only be stressed with a of max. 1 g
(read/write error; defective).
Use the correct software for the particular unit.
Are OEM components (ISA/PCMCIA card) used? Their current drain must
lie within the specified values.
CRT monitors may not be subject to magnetic fields (e.g. power supply unit
coils).
When commissioning and fault finding, always proceed in a modular step
bystep fashion.This means: First commission the central controller and line
supply module, then connectup and commission the components one after
another.
vi
07.94
The units are designed for the specified mechanical, climatic and electrical
ambient conditions. None of the limit values may be exceeded, neither in
operation nor during transport. Please pay specific attention to the following:
Further
information
vii
07.94
viii
AL
AL/1-3
ALi
07.94
AL
ALii
07.94
AL
Selection table to set the current controller referred to the resulting inverter currents
Feed/main spindle controls with analog setpoint interface
SIMODRIVE 611
components
F 1
F
necessar
6SN11140AA010AA0
F 1
_____
_____
possible
_____
F 2
6
n
6
d
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
IM:
IM:
3/3/3 A
3/3/3 A
IM:
IM:
5/5/8 A
5/5/8 A
_____
IM:
8/10/16A
IM:
8/10/16A
_____
IM:
8/10/16A
2
_____
6SN11140AA020AA
8A inverter module
6SN112 1AA0 0HA
15A inverter module
6SN112 1AA0 0AA
25A inverter module
6SN112 1AA0 0BA
50A inverter module
6SN112 1AA0 0CA
80A inverter module
6SN112 1AA0 0DA
120A inverter module
FD:
FD:
4/8A
4/8A
FD:
FD:
7.5/15A
7.5/15A
FD:
12.5/25A
FD:
12.5/25A
_____
FDR:
9/18A
_____
FD:
FD:
_____
FDR:
_____
25/50A
25/50A
FD:
FD:
40/80A
40/80A
_____
FDR:
_____
3/6A
_____
FDR:
_____
_____
_____
_____
5/10A
18/36A
_____
FDR:
_____
28/56A
_____
_____
_____
IM:
3/3/3 A
_____
IM:
5/5/8 A
MSD:
MSD:
MSD:
IM:
IM:
MSD:
IM:
24/32/32A
24/32/32A
24/32/32A
24/32/32A
24/32/32A
24/32/32A
24/32/32A
MSD:
MSD:
MSD:
IM:
IM:
MSD:
IM:
30/40/51A
30/40/51A
30/40/51A
30/40/51A
30/40/51A
30/40/51A
30/40/51A
_____
_____
_____
_____
_____
MSD:
45/60/76A
MSD:
45/60/76A
MSD:
45/60/76A
IM:
45/60/76A
IM:
45/60/76A
MSD:
45/60/76A
IM:
45/60/76A
_____
_____
_____
_____
_____
MSD:
MSD:
MSD:
IM:
IM:
MSD:
IM:
45/60/76A
45/60/76A
45/60/76A
45/60/76A
45/60/76A
45/60/76A
45/60/76A
MSD:
60/80/
102A
MSD:
60/80/
102A
MSD:
60/80/
102A
IM:
60/80/
102A
IM:
60/80/
102A
MSD:
60/80/
102A
IM:
60/80/
102A
MSD:
85/111/
127A
MSD:
85/111/
127A
MSD:
85/111/
127A
IM:
85/111/
127A
IM:
85/111/
127A
MSD:
85/111/
127A
IM:
85/111/
127A
FD:
FD:
80/160A
80/160A
FD:
100/200A
FD:
100/200A
_____
_____
_____
_____
_____
_____
07.94
AL
Table 1-1
Selection table to set the current controller referred to the resulting inverter currents
Vorsc ub/Hauptspndelregelung n mit analog r Sollwertsch ittstelle
SIMODRIVE 611
components
F 1
FD:
100/200A
FD:
100/200A
_____
_____
_____
MSD:
85/110/12
7A
MSD:
85/110/12
7A
MSD:
85/110/12
7A
IM:
85/110/12
7A
IM:
85/110/12
7A
IM:
85/110/12
7A
IM:
85/110/12
7A
_____
MSD:
n
120/150/1
93A
MSD:
120/150/1
d
93A
MSD:
e
120/150/1
93A
IM:
F
120/150/1
93A
IM:
120/150/1
a
93A
IM:
120/150/1
93A
IM:
120/150/1
93A
_____
MSD:
200/250/2
57A
MSD:
200/250/2
57A
MSD:
200/250/2
57A
IM:
200/250/2
57A
IM:
200/250/2
57A
IM:
200/250/2
57A
IM:
200/250/2
57A
_____
_____
_____
_____
_____
_____
_____
FD:
2x4/8A
_____
FDR:
2x3/6A
_____
_____
_____
_____
_____
_____
_____
_____
_____
FD:
_____
FDR:
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
2x7.5/15A
_____
_____
_____
_____
_____
_____
_____
2x5/10A
FD:
2x12.5/25
A
_____
FD:
2x25/50A
_____
FDR:
2x9/18A
FDR:
2x18/36A
AL/1-4
07.94
6SN11301AA110 A0
6SN11301AA120 A0
6SN11301AD110 A0
6SN11301AE110 A0
6SN11351BA1 0 A0
MSD module
6SN11401BA1 0 A0
IM module
AL
Note
The document describes all of the steps necessary to commission an
SIMODRIVE drive group. Please refer to the associated Planning Guides for
additional technical information, e.g. regarding
ambient conditions
recommended circuits
connecting diagrams
dimension sheets/dimension drawings
Please refer to the associate Planning Guide:
SIMODRIVE 611
Transistor PWM Inverters for AC Feed Drives and AC Main Spindle Drives
Order No.: 6SN11970AA000 P
SIMODRIVE
AC Motors for Feed and Main Spindle Drives
Order No.: 6SN11970AA200 P
AL/1-5
07.94
AL
AL/1-6
NE/1-3
NE/2-7
NE/2-8
NE/3-11
NE/3-12
NE/3-14
NEi
07.94
NE
NEii
Only possible for I/R modules, monitoring thresholds are increased for all NE modules
07.94
NE
Wichtig
Observe the information for sinusoidal current control for I/R modules!
A switch S1 is provided on the upper side of the NE and monitoring module to set the
lowing functions:
folS1
ON:
10
=41
%
5V
pp
Fault
message
V su
D
Cli
=62
5V
1
)
Regen. feedback 1)
off
+6%
V Su =4
10%
80 infeed
Controlled
ppl
off
Sinusoidal current control
1
2
3
OFF:
=415 1
0
Vsignal
pp
Ready
V su
DC
link
=60
0V
1
)
Regenerative feedback on
Control infeed
Standard setting
Fig.
DIL switch S1
1-1
Wichtig
For I/R modules Order No. 6SN114 1
0 0
1 the basic setting is for
sinusoidal control (closedloop). Observe the information/instructions, Page
NE13!
Wichtig
Before the equipment is poweredup or down using the main switch or a line
contactor,
terminal 63 (pulse enable) and/or terminal 48 (start terminal, contactor control) should
be
deenergized or disconnected!
1)
Switch S 1.1 :
OFF:
ON:
I/R module su
10%; DC =600V
V
V
UE module su =400
10%; DC =1.3
supply
V
=400(I/R, V
5*Vmodules)
monitoring
thresholds:
UE, monitoring
pulsed resistor on =644V; pulsed resistor off =618V
V DC >> =710V;
I/R module su
10%; DC =625V
04.97
UE module su
10%; DC =1.3
supply
V
=415(I/R,VUE, monitoring
5*V modules)
Monitoring thresholds:
pulsed resistor on =670V; pulsed resistor off =640V
V DC >> =740V;
link
Switch S 1.2 :
OFF:
terminal 48
enabled)
ON:
terminal 48
enabled)
Switch S 1.3 :
OFF:
ON:
28kW)
Switch S 1.4 :
OFF:
ON:
terminal 63,64=ENERGIZED
no fault present (also not on feed drive 611A Standard,
or 611D drives)
feed drive with standard interface or resolver for setting
Ready is enabled (terminals 663,65)
Fault message (X111 ready relay)
For S1.2=ON, the relay switches if the following
conditions are fulfilled:
internal main contactor CLOSED (terminals NS1NS2 connected,
NE/1-4
07.94
Switch S 1.5 :
Switch S 1.6 :
NE/1-5
NE
OFF:
ON:
OFF:
ON:
I/R
36 kW
I/R
55 kW
I/R
80 kW
I/R
120 kW
6SN114
1B 010BA1
6SN114
1B 020CA1
6SN114
1B 0 0DA1
6SN114
1BB000EA1
6SN114
1BB010FA1
HF reactor
16 kW
HF reactor
36 kW
HF reactor
55 kW
HF reactor
80kW
HF reactor
120kW
6SN1111
0AA000BA0
6SN1111
0AA000CA0
6SN1111
0AA000DA0
6SN1111
0AA001EA0
6SN1111
0AA001FA0
1
)
1
)
1
)
1
)
1
)
Wichtig
For all of the combinations not listed here, only squarewave current control is
permissible.
1)
04.97
NE
NE/1-6
07.94
NE
NE/2-7
1
3
1 LED, red
2 LED, red
3 LED green
4 LED yellow
5 LED, red
6 LED red
Effects:
1 red LED bright: Pulses for the complete drive group are canceled
2 red LED bright: Pulses for the complete drive group are canceled
4 yellow LED dark:
xxxx
5 red LED bright: 1) Only the I/R module pulses are canceled (regenerative feedback
no longer possible. Axes first continue to run. Ready relay dropsout
6 red LED bright: Pulses for the complete drive group are canceled
1)
04.97
2.1
NE
For S1.2=OFF, the relay switches if the following conditions are fulfilled:
internal main contactor CLOSED (terminals NS1NS2 connected, terminal 48 enabled)
terminals 63, 64 =ENERGIZED
no fault present (also not on feed drive 611A Standard,
or 611D drives)
feed drive with Standard interface or resolver is enabled for the ready setting (terminals
663, 65)
For S1.2=ON, the relay switches if the following conditions are fulfilled:
internal main contactor CLOSED (terminal NS1NS2 connected, terminal 48 enabled)
no fault present (also not on feed drive 611A Standard, and 611D drives)
feed drive with Standard interface or resolver enabled for this ready setting
(terminals 663, 65).
X121 t_alarm and motor overtemperature:
:I
terminal
5.1 5.2: NO contact
in the quiescent state
terminal 5.1 5.3: NC contact
in the quiescent state
This relay switches, if:
50V
DC
DC
su
interrogation
V
V
2
linkOUT,and
link whether
pp
> 500ms
precharging contactor
interrogation
NE/2-8
07.94
> for feed drives 611 A, after the selected timer stages have expired
(as supplied: 240ms) all of the controllers and pulses are inhibited. The drive
brakes along the current limit.
>
for
611D drives, the pulses are deleted after a selectable speed has
N
been fallen below and/or a time which can be set, has expired. The
drive brakes along the set limits. (For
spindles, a ramp can be achieved via regenerative limiting [kW])
NE
terminal N
112: Settingup operation (V min
3ph. 24V AC or 34 V DC)
the V DC link closedloop control is inhibited
regenerative feedback is not possible, i.e. when braking, V
DC can
link be >600V!
this function is interrogated with the start inhibit signal, terminal AS1AS2.
Caution
4 A, type gL
DC
link,
NE/2-9
04.97
NE
Monitoring module with ine supply connection and additional connection of the power supply to the DC link:
for this operating mode, terminals 2U1, 2V1 and 2W1 of the power supply
must be supplied with the line supply voltage between the series reactor and I/R,
as otherwise the power supply will be destroyed.
terminal 63 must be switched via the ready relay of the I/R
in order to prevent the module, to the right of the monitoring module,
starting during precharging.
Diagnostic instructions
If a line supply fault is displayed or if the yellow LED is dark, the overvoltage limiting module
must be checked.
Procedure:
If the NE module functions, then the overvoltage limiting module is defect and must be
replaced.
Otherwise, check the line supply and if required, also the NE module/drive group.
Note
In this way, operation can be continued, but without overvoltage protection.
3. Insert the overvoltage limiting module 566018.9415.00 up to its end stop, and insert
connector X181 on the overvoltage limiting module.
NE/2-10
07.94
Appendix
Note
When using nonPELV circuits at terminals AS1, AS2, terminal 111, terminal 113,
terminal
213, connector coding must be used to prevent the connector being interchanged
to EN 602041 Section 6.4) refer to Catalog NC 60.1 for the Order No. of the coding
(refer
connector. Only PELV circuits may be connected at terminal 19.
NE
NE/3-11
3.1
NE
Table 3-1
Term
No.
U
V
1
W
1
L
L
2
P
P60
0
M60
0
04.97
Terminal functions
Desi
gnation
Typ
e
Max. crosssection
Supply
3ph. 400 V AC
Supply connection
for contactor
I
I
Protective conductor
DC link
DC link
I
I/O
I/O
0V
+300 V
300 V
16m
16m
m
Function
1)
/
/
10
Bolt
Busbar
Busbar
2
4)
2
4)
Terminals available 3)
in
I/R, UE
I/R120/156
80/104 kW
kW,
I/R, UE, MM, PR
Grounding
bar
P60
M60
0
1R
2R
,3
R
I/O
300 V
DC link
DC link
I
I
+300 V
300 V
I/O
X131
Electronics M
I/O
0V
X351
Equipment bus
I/O
Various
M50
X181
P50
X181
01U
2U
1
1V
1
2V
1
1W
1
2W
1
7
4
5
4
4
1
0
1
5R
X181
X181
X181
X181
X181
X181
5.
5.
2
5.
6
9
9
6
1
9
X121
X121
X121
X121
X121
X121
X121
NE/3-12
5)
X141
X141
X141
X141
X141
X141
DC link power
supply
DC link power
supply
Output L1
Input L1
Output L2
Input L2
Output L3
Input L3
P24
P15
N15
N24
M
RES 6)
ET
Relay contacts
Group message
t/motor
Pulsetemp. 2
2
Enable
28
Enable
voltage
voltage
2
Drive
enable
Enable voltage, reference potential
Busbar
I/R, UE
2
/
4)
2
/
4)
10
2
/
4)
10
mm
2
16m /
4)
mRibbon10cable
16m
16m
m
16m
m
300 V
600 V DC
1.5
600 V DC
1.5
O
I
O
I
O
I
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
2
2
2
2
2
2
O
O
O
O
O
I
+20.4...28.8 V/50 mA
+15 V/10 mA
15 V/10 mA
20.4...28.8 V/50 mA
0V
Term.15
= 10 k
E
/R
50 V DC/0.5 A/12 VA max
5 V DC/3 mA min
mm
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
1.5
mm
1.5
1.5
1.5
mm
1.5
mm
1.5
1.5
NC
NO
I
I
A
A
I
+13 V...30
+24 V
V/R V
+24
+13 V...30
0V
= 1.5 k
= 1.5 k
2
2
2
2
2
2
MM
PR
I/R, UE, MM
I/R, UE, MM, PR
I/R, UE, MM
I/R, UE, MM
2
2
2
2
2
2
2
2
I/R, UE, MM
07.94
Table 3-1
Term
No.
.
Terminal functions
Desi
gnation
7
n
c
73.
2
73.
1n
c
7
2
9
11
2
X111
X111
X111
X111
X111
X111
4
11
1
21
3
11
X161
X161
X161
3
AS
AS
2
X161
X161
X161
Function
Typ
e
1)
NC
Relay contact
Ready signal
I
I
5V DC/3mA min
NO
2)8)
Enable
Settingup operation/
2
Standard
)
operation
2)
Contactor
control
Signaling contacts
Line contactor
Max. crosssection
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
1.5
mm
2
2
2
2
2
2
2
O
I
+24 V
+21 V...30
V/R
I
I
NC
+13 V...30
= 1.5 k
+30 V/1 A (111113)
V/R
1ph. 250 V AC/50 V DC/
2 A max
17 V DC/3 mA min
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
1.5
mm
7)
NO
= 1.5 k
2
2
2
2
I/R, UE, MM
I/R, UE, MM
I/R, UE
2
2
I/R
I/R, UE
X172
X172
Signaling contact
Start inhibit (terminal112)
I
NC
NS
NS
2
X171
X171
O
I
+24 V
1.5
1.5
mm
2
2
X221
0V
1.5
X221
Enable voltage
Reference potential
Control contact for
fast
discharge
0V
1.5
Terminals
ble 3)
availain
PR
mm
NE/3-13
NE
3.2
Table 3-2
NE
Term.
No.
U
V
1
W
1
PE
PE
2
P60
M60
0
M50
P50
01U
1
2U
11V
1
2V
1
1W
2W
1
5.
5.
2
5.
1n
c
7
73.
73.
7
2
6
9
9
6
4R
1
9
11
21
3
9
11
24
8
NS
NS
1
5
04.97
Terminal functions
Ty
e 1
Designatio
n
X1
Supply
Protective conductor
0V
X131
X351
Electronics M
Equipment bus
3)
Grounding
bar
I
I/O
I/O
0V
Various
300 V
M4 thread
34pin ribbon cable
Busbar
DC link
DC link
I/O
I/O
+300 V
300 V
Busbar
Busbar
I
I
300 V
+300 V
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
1.5
mm
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
1.5
1.5
mm
1.5
mm
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
2
2
2
2
2
2
1.5
1.5
mm
1.5
1.5
mm
1.5
mm
1.5
1.5
mm
1.5
mm
2
2
X181
X181
X181
X181
X181
X181
X181
X181
X121A
X121A
X121A
X121A
X121B
X121B
X121B
X121B
X141A
X141A
X141A
X141A
X141A
X141A
X161
X161
X141B
X141B
X141B
X141B
X141B
X141B
Function
I
I
I
Relay contact
Group signal
I
t/motor temperature
Relay signal
Ready/
fault
2)
Pulse
F 2 4)
F
R 2) 4)
2)
Drive
R )
enable 2)
RES
FR, reference ground, enable
ET
voltage
Signaling contact
Line contactor
F 2 4)
)
Settingup/standard
operation
2)
Contactor
Coil contact for the line
precharging
contactor
supply
M
2)
O
O
O
2 finely stranded
4
without connector
2 with cable lug
sleeves
6
mm
3ph. 400 V AC
M5 thread
NC
N
IO
NC
I
I
N
O
I
O
O
I
I
O
I
NC
I
I
I
O
O
O
Max. crosssection
5 V DC/3 mA min
+13 V...30
+24 V
+24 V
+13 V...30
V/R
0/+24 V
0V
+24 V
+13 V...30
V/R V...30
+13
V/R V
+24
0/+24 V
0V
E=
1.5 k
= 1.5 k
E
E
E=
1.5 k
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
1)I = Input, O = Output, NC = NC contact, NO = NO contact (for signal: Closed= high/open= low)
2)Terminal 19 is the reference terminal (connected in the module to general reference ground X131
with 10 k ).
inserted for nongrounded supply networks).
4)max. current loading of terminals 9 19: A1
NE/3-14
VS/1-3
VS/1-3
VS/1-3
VS/2-17
VS/2-18
VS/2-18
VS/2-19
VS/2-20
VS/2-21
VS/2-22
VS/2-22
VS/2-23
VS/3-25
VS/3-25
VS/3-26
VS/3-29
VS/4-33
VS/5-35
VS/5-35
VS/5-35
VS/5-39
VS/5-40
VS/6-41
VS/7-43
VS/8-45
VS/8-45
VS/8-45
VS/8-47
VS/8-48
VSi
12.94
Siemens AG 1997 All Rights reserved
VS
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VS/9-49
9.1
Connecting terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VS/9-49
9.2
VS/9-52
9.3
VS/9-53
9.4
VS/9-54
Startup steps of the Startup is subdivided into steps; after the standard setting, this can be follo-
VS
with userfriendly
Short startup
Standard settings
Speed controller optimization
Supplementary
functions
Setpoint
interfaces
Startup with main
spind. drive option
Power.up, Sect. 7
Service and
diagnostics
Appendix
VSii
07.94
The setting elements for the userfriendly interface are located on the parameter board, for the standard interface, on the control (refer to Section 9 Appendix). The tachometer adaptation, current normalization and current controller
gain parameters should be set for a standard startup.
1.1
Tachometer adaptation for motors with tachometer voltages 16.5 V at rated speed
Only for 1FT503 AF71 and 1FT504 AF71 motors
Userfriendly and
standard interface
1.2
All three contacts, switch S1 (S4 for the 2nd axis standard interface) = ON
Further, an adjustment can be made using discrete resistors, refer to
Section 3.1 - 3.2.
Userfriendly interface
Standard interface
VS/1-3
Table 1-1
Current limit
04.97
Current limitI
Kp(I) t
40
max
[%]
VS
VS
S2.x
or
S5.x
to ON
2
3
2
4
3
4
2
3
4
2
5
3
5
2
3
5
4
5
3
4
5
2
3
4
5
(%)
100
85
68
61
50
46
41
39
36
34
30
29
26
24
23
The current limit must be reduced at least to the peak value permitted for the
motor.It may be necessary to reduce it still further depending on the mechanical
system which is driven.
Current controller
gain Kp(I)
Imax
L
=motor winding inductance in mH (refer to the configuringguide, AC
Table 1-2
S2.x
and
S5.x
to ON
6
7
6
8
7
8
6
9
7
9
6
7
9
8
9
7
8
9
6
7
8
9
Kp(I)
0.5
2.5
4.5
5.5
6.5
7.5
9.5
11
11.5
Userfriendly interface
The setting range of the current controller gain can be additionally increased
using R15 on the parameter board.
The following formula is valid for S2.6 to S2.9 closed (ON):
Kp(I)
VS/1-4
11,5
03.96
Adaptation tables
Table 1-3
Servomotor
1FT...
Nm
n ra
RPM
1)
Current
limit
Contacts
2
I m
Contacts
6
K (I)
5034 AK71
0.5
0.93
te6000
3.68
2.0
5036 AK71
0.75
1.4
6000
5.44
2.0
5042 AF71
5042 AK71
0.66
0.66
0.75
1.2
3000
6000
x
x
o
x
o
o
x
o
2.72
4.88
x
x
x
x
o
o
o
o
2.5
2.5
5044 AF71
5044 AK71
1.3
1.3
1.5
2.3
3000
6000
o
o
x
o
o
o
o
o
5.44
8.0
x
x
x
o
o
o
o
o
2.5
1.0
5046 AF71
2.6
3.0
3000
8.0
2.0
5062 AC71
5062 AF71
5062 AG71
5062 AK71
2.2
2.2
2.2
2.2
1.3
2.0
2.7
3.9
2000
3000
4000
6000
o
o
o
o
x
o
o
o
o
o
o
o
o
o
o
o
5.44
8.0
8.0
8.0
x
o
o
x
x
x
o
o
x
o
x
o
x
x
o
o
11.5
7.5
4.0
1.0
5064 AC71
4.5
2.7
2000
8.0
7.5
5066 AC71
6.5
3.9
2000
8.0
4.5
5070 AC71
5070 AF71
5070 AG71
3.0
3.0
3.0
1.8
2.6
3.6
2000
3000
4000
o
o
o
o
o
o
o
o
o
o
o
o
8.0
8.0
8.0
x
o
x
x
x
o
x
o
x
x
x
o
11.5
7.5
4.5
5071 AC71
4.5
2.9
2000
8.0
8.0
1) The specified value is the maximum permissible current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-5
VS
Table 1-4
04.97
Servomotor
1FT...
VS
Nm
n ra
RPM
1)
Current
limit
Contacts
I m
6000
a
A
3.68
Contacts
K (I)
2.0
5034 AK71
0.5
5036 AK71
0.75
1.4
6000
5.44
2.0
5042 AF71
5042 AK71
0.66
0.66
0.75
1.2
3000
6000
x
x
x
x
x
o
x
x
3.45
4.5
o
o
o
x
x
o
o
o
4.0
2.0
5044 AF71
5044 AK71
1.3
1.3
1.5
2.3
3000
6000
x
x
x
x
x
o
o
o
5.85
9.15
o
o
o
x
x
o
o
o
4.0
2.0
5046 AF71
5046 AK71
2.6
2.6
3.0
4.7
3000
6000
x
o
o
o
o
o
o
o
12.7
15.0
o
x
o
o
x
o
o
o
4.0
1.0
5062 AC71
5062 AF71
5062 AG71
5062 AK71
2.2
2.2
2.2
2.2
1.3
2.0
2.7
3.9
2000
3000
4000
6000
x
o
o
o
o
o
x
o
o
x
o
o
x
o
o
o
5.1
7.5
10.2
15.0
o
x
o
x
x
o
x
x
x
o
x
o
x
x
o
o
11.0
6.5
5.5
2.5
5064 AC71
5064 AF71
5064 AG71
4.5
4.5
4.5
2.7
4.1
5.5
2000
3000
4000
o
o
o
x
o
o
o
o
o
o
o
o
10.2
15.0
15.0
o
x
x
o
o
x
x
o
o
x
x
o
9.5
6.5
2.5
5066 AC71
5066 AF71
6.5
6.5
3.9
6.0
2000
3000
o
o
o
o
o
o
o
o
15.0
15.0
o
o
o
o
x
x
x
o
9.5
4.0
5070 AC71
5070 AF71
5070 AG71
5070 AK71
3.0
3.0
3.0
3.0
1.8
2.6
3.6
5.3
2000
3000
4000
6000
o
o
o
o
o
x
o
o
x
o
o
o
o
o
o
o
7.5
10.2
15.0
15.0
x
o
x
o
x
o
x
o
x
x
o
x
x
x
x
o
11.5
9.5
8.0
4.0
5071 AC71
5071 AF71
5071 AG71
4.5
4.5
4.5
2.9
4.3
5.2
2000
3000
4000
x
o
o
o
o
o
o
o
o
o
o
o
12.7
15.0
15.0
x
x
x
x
o
o
x
o
x
x
x
o
11.5
6.5
4.5
5072 AC71
10.0
6.1
2000
15.0
8.0
5073 AC71
5073 AF71
7.0
7.0
4.3
6.4
2000
3000
o
o
o
o
o
o
o
o
15.0
15.0
o
o
o
o
x
x
x
o
9.5
4.0
5100 AC71
10.0
6.2
2000
15.0
5.5
0.93
te
1) The specified value is the maximum permissible current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-6
03.96
Table 1-5
Servomotor
1FT...
Nm
n ra
RPM
1)
Current
limit
Contacts
2
6000
I m
Contacts
K (I)
5.75
2.0
5036 AK71
0.75
1.4
5044 AF71
5044 AK71
1.3
1.3
1.5
2.3
3000
6000
o
o
x
o
x
o
x
x
6.0
9.0
o
o
o
x
x
o
o
o
4.0
2.0
5046 AF71
5046 AK71
2.6
2.6
3.0
4.7
3000
6000
o
o
o
x
x
o
o
o
12.5
17.0
o
o
o
x
x
o
o
o
4.0
2.0
5062 AC71
5062 AF71
5062 AG71
5062 AK71
2.2
2.2
2.2
2.2
1.3
2.0
2.7
3.9
2000
3000
4000
6000
x
x
x
x
x
o
o
x
x
o
x
o
x
x
o
o
5.75
8.5
10.25
15.75
x
x
o
x
x
x
x
x
x
o
x
o
x
x
o
o
11.5
8.0
5.5
2.5
5064 AC71
5064 AF71
5064 AG71
5064 AK71
4.5
4.5
4.5
4.5
2.7
4.1
5.5
8.0
2000
3000
4000
6000
x
o
o
o
o
x
o
o
x
o
o
o
o
o
o
o
10.25
17.0
25.0
25.0
x
x
o
x
x
o
x
x
x
o
x
o
x
x
o
o
11.5
6.5
5.5
2.5
5066 AC71
5066 AF71
5066 AG71
5066 AK71
6.5
6.5
6.5
6.5
3.9
6.0
7.9
11.6
2000
3000
4000
6000
o
o
o
o
x
o
o
o
o
o
o
o
o
o
o
o
17.0
25.0
25.0
25.0
o
x
x
o
o
o
x
x
x
o
o
o
x
x
o
o
9.5
6.5
2.5
2.0
5070 AC71
5070 AF71
5070 AG71
5070 AK71
3.0
3.0
3.0
3.0
1.8
2.6
3.6
5.3
2000
3000
4000
6000
o
x
o
o
x
o
x
o
o
x
o
o
x
o
o
o
7.5
11.5
17.0
25.0
x
o
o
x
x
x
o
o
x
x
x
o
x
x
x
x
11.5
11.0
9.5
6.5
5071 AC71
5071 AF71
5071 AG71
5071 AK71
4.5
4.5
4.5
4.5
2.9
4.3
5.2
7.9
2000
3000
4000
6000
o
o
o
o
o
x
o
o
x
o
o
o
o
o
o
o
12.5
17.0
25.0
25.0
x
x
x
x
x
x
x
x
x
o
o
o
x
x
x
o
11.5
8.0
8.0
2.5
5072 AC71
5072 AF71
5072 AG71
10.0
10.0
10.0
6.1
9.1
12.0
2000
3000
4000
o
o
o
o
o
o
o
o
o
o
o
o
25.0
25.0
25.0
x
o
x
x
o
x
x
o
o
x
x
o
11.5
6.0
2.5
5073 AC71
5073 AF71
5073 AG71
5073 AK71
7.0
7.0
7.0
7.0
4.3
6.4
8.1
12.5
2000
3000
4000
6000
o
o
o
o
x
o
o
o
o
o
o
o
o
o
o
o
17.0
25.0
25.0
25.0
o
x
x
x
o
o
o
o
x
o
x
o
x
x
o
o
9.5
6.5
4.5
1.0
5074 AC71
14.0
8.5
2000
25.0
8.0
5076 AC71
18.0
11.5
2000
25.0
5.5
5100 AC71
5100 AF71
5100 AG71
10.0
10.0
10.0
6.2
9.2
12.5
2000
3000
4000
o
o
o
o
o
o
o
o
o
o
o
o
25.0
25.0
25.0
o
o
x
o
o
x
x
x
o
x
o
o
9.5
4.0
2.5
5101 AC71
15.0
9.4
2000
25.0
5.5
5102 AA71
27.0
9.9
1200
25.0
8.0
5103 AC71
19.0
12.0
2000
25.0
4.0
te
1) The specified value is the maximum permissible current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-7
VS
Table 1-6
04.97
Servomotor
1FT...
VS
Nm
n ra
RPM
1)
Current
limit
Contacts
I m
6000
a
A
13.0
Contacts
K (I)
2.5
5044 AK71
1.3
2.3
5046 AF71
5046 AK71
2.6
2.6
3.0
4.7
3000
6000
o
o
x
o
o
x
x
o
15.0
25.0
o
x
o
x
x
o
o
o
4.0
2.5
5062 AG71
5062 AK71
2.2
2.2
2.7
3.9
4000
6000
x
o
o
x
x
x
x
o
13.0
19.5
x
x
o
o
o
x
x
o
6.5
4.5
5064 AC71
5064 AF71
5064 AG71
5064 AK71
4.5
4.5
4.5
4.5
2.7
4.1
5.5
8.0
2000
3000
4000
6000
o
x
o
o
o
x
o
x
x
x
x
o
x
o
o
o
13.0
19.5
25.0
34.0
x
x
o
x
x
x
x
x
x
o
x
o
x
x
o
o
11.5
8.0
5.5
2.5
5066 AC71
5066 AF71
5066 AG71
5066 AK71
6.5
6.5
6.5
6.5
3.9
6.0
7.9
11.6
2000
3000
4000
6000
x
x
o
o
x
x
x
o
x
o
o
o
o
o
o
o
19.5
30.5
34.0
50.0
x
x
x
o
x
x
o
o
x
o
x
x
x
x
o
o
11.5
8.0
4.5
4.0
5070 AF71
5070 AG71
5070 AK71
3.0
3.0
3.0
2.6
3.6
5.3
3000
4000
6000
o
x
o
x
o
o
x
o
x
x
x
o
12.0
17.0
25.0
x
o
x
x
o
o
x
x
o
x
x
x
11.5
9.5
6.5
5071 AC71
5071 AF71
5071 AG71
5071 AK71
4.5
4.5
4.5
4.5
2.9
4.3
5.2
7.9
2000
3000
4000
6000
o
o
o
o
o
x
o
x
x
x
x
o
x
o
o
o
13.0
20.5
25.0
34.0
x
o
x
o
x
o
x
o
x
x
o
x
x
x
x
o
11.5
9.5
8.0
4.0
5072 AC71
5072 AF71
5072 AG71
5072 AK71
10.0
10.0
10.0
10.0
6.1
9.1
12.0
17.5
2000
3000
4000
6000
o
x
o
o
o
o
o
o
x
o
o
o
o
o
o
o
25.0
42.5
50.0
50.0
x
o
x
x
x
o
o
x
x
x
o
o
x
x
x
o
11.5
9.5
6.5
2.5
5073 AC71
5073 AF71
5073 AG71
5073 AK71
7.0
7.0
7.0
7.0
4.3
6.4
8.1
12.5
2000
3000
4000
6000
o
x
x
o
x
x
o
o
x
o
o
o
o
o
o
o
20.5
30.5
42.5
50.0
x
x
o
x
x
x
x
x
x
o
o
o
x
x
x
o
11.5
8.0
7.5
2.5
5074 AC71
5074 AF71
5074 AG71
5074 AK71
14.0
14.0
14.0
14.0
8.5
13.0
16.5
25.0
2000
3000
4000
6000
x
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
42.5
50.0
50.0
50.0
x
x
x
x
x
o
o
o
x
o
x
o
x
x
o
o
11.5
6.5
4.5
1.0
5076 AC71
5076 AF71
5076 AG71
18.0
18.0
18.0
11.5
16.5
21.5
2000
3000
4000
o
o
o
o
o
o
o
o
o
o
o
o
50.0
50.0
50.0
o
x
x
x
o
x
x
x
o
x
o
o
11.0
4.5
2.5
5100 AC71
5100 AF71
5100 AG71
5100 AK71
10.0
10.0
10.0
10.0
6.2
9.2
12.5
18.0
2000
3000
4000
6000
x
x
o
o
x
o
o
o
o
o
o
o
o
o
o
o
30.5
42.5
50.0
50.0
x
x
x
x
x
o
o
x
x
o
x
o
x
x
o
o
11.5
6.5
4.5
2.5
5101 AC71
5101 AF71
5101 AG71
15.0
15.0
15.0
9.4
14.5
17.5
2000
3000
4000
x
o
o
o
o
o
o
o
o
o
o
o
42.5
50.0
50.0
o
x
x
o
o
x
x
x
o
x
o
o
9.5
4.5
2.5
5102 AA71
5102 AC71
5102 AF71
27.0
27.0
27.0
9.9
16.5
25.0
1200
2000
3000
x
o
o
o
o
o
o
o
o
o
o
o
42.5
50.0
50.0
x
x
x
x
o
x
x
o
o
x
x
o
11.5
6.5
2.5
te
1) The specified value is the maximum permissible current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-8
03.96
Table 1-6
Servomotor
1FT...
Nm
n ra
RPM
1)
Current
limit
Contacts
2
2000
3000
4000
o
o
o
o
o
o
o
o
o
o
o
o
I m
Contacts
K (I)
50.0
50.0
50.0
x
x
o
x
x
x
o
o
o
o
o
x
8.0
2.5
2.0
5103 AC71
5103 AF71
5103 AG71
19.0
19.0
19.0
12.0
17.5
23.0
5104 AA71
5104 AC71
37.0
37.0
14.0
22.5
1200
2000
o
o
o
o
o
o
o
o
50.0
50.0
x
o
x
o
x
x
x
o
11.5
4.0
5106 AA71
45.0
17.0
1200
50.0
8.0
5108 AA71
55.0
20.5
1200
50.0
6.5
5132 AA71
60.0
22.5
1200
50.0
7.5
te
1) The specified value is the maximum permissible current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-9
VS
Table 1-7
07.94
Servomotor
1FT
Nm
n ra
RPM
1)
Current
limit
Contacts
I m
6000
8000
o
o
o
o
o
o
o
o
a
A
80.0
80.0
Contacts
K (I)
o
x
x
o
o
o
o
o
2.0
1.0
4101 SK71
4101 SN71
20.0
20.0
33.0
39.0
4102 SG71
33.0
35.0
4000
80.0
4.0
5046 AK71
2.6
4.7
6000
24.0
2.5
5062 AK71
2.2
3.9
6000
19.2
4.0
5064 AF71
5064 AG71
5064 AK71
4.5
4.5
4.5
4.1
5.5
8.0
3000
4000
6000
o
o
o
x
o
o
x
o
x
x
x
o
19.2
28.8
40.0
x
x
o
x
o
o
o
o
x
x
x
o
8.0
6.5
4.0
5066 AC71
5066 AF71
5066 AG71
5066 AK71
6.5
6.5
6.5
6.5
3.9
6.0
7.9
11.6
2000
3000
4000
6000
o
o
o
o
x
o
o
x
x
o
x
o
x
x
o
o
19.2
28.2
40.0
54.4
x
x
o
x
x
x
o
o
x
o
o
x
x
x
x
o
11.5
8.0
6.0
4.5
5070 AK71
3.0
5.3
6000
24.0
6.5
5071 AF71
5071 AG71
5071 AK71
4.5
4.5
4.5
4.3
5.2
7.9
3000
4000
6000
o
x
o
o
o
o
x
o
x
x
x
o
20.8
27.2
40.0
o
x
x
o
x
o
x
o
x
x
x
o
9.5
8.0
4.5
5072 AC71
5072 AF71
5072 AG71
5072 AK71
10.0
10.0
10.0
10.0
6.1
9.1
12.0
17.5
2000
3000
4000
6000
o
o
o
o
o
o
x
o
o
x
o
o
x
o
o
o
28.8
40.0
54.4
80.0
x
o
o
o
x
o
x
x
x
x
o
x
x
x
x
o
11.5
9.5
7.5
5.5
5073 AC71
5073 AF71
5073 AG71
5073 AK71
7.0
7.0
7.0
7.0
4.3
6.4
8.1
12.5
2000
3000
4000
6000
o
x
o
o
o
x
o
x
x
x
x
o
x
o
o
o
20.8
31.2
40.0
54.4
x
x
x
x
x
x
o
x
x
o
o
o
x
x
x
o
11.5
8.0
6.5
2.5
5074 AC71
5074 AF71
5074 AG71
5074 AK71
5074 SG71
5074 SK71
14.0
14.0
14.0
14.0
16.0
16.0
8.5
13.0
16.5
25.0
19.0
28.0
2000
3000
4000
6000
4000
6000
o
o
o
o
o
o
o
x
o
o
o
o
x
o
o
o
o
o
o
o
o
o
o
o
40.0
54.4
80.0
80.0
80.0
80.0
x
o
x
x
o
x
x
x
o
x
o
x
x
o
o
o
o
o
x
x
x
o
x
o
11.5
7.5
6.5
2.5
6.0
2.5
5076 AC71
5076 AF71
5076 AG71
5076 AK71
5076 SG71
18.0
18.0
18.0
18.0
20.5
11.5
16.5
21.5
32.0
24.5
2000
3000
4000
6000
4000
x
x
o
o
o
x
o
o
o
o
o
o
o
o
o
o
o
o
o
o
48.8
68.0
80.0
80.0
80.0
o
x
x
o
o
x
o
o
x
o
x
o
x
o
x
x
x
o
o
o
11.0
6.5
4.5
2.0
4.0
5100 AC71
5100 AF71
5100 AG71
5100 AK71
10.0
10.0
10.0
10.0
6.2
9.2
12.5
18.0
2000
3000
4000
6000
x
o
o
o
x
o
x
o
x
x
o
o
o
o
o
o
31.2
40.0
54.4
80.0
x
x
o
o
x
o
x
o
x
o
x
x
x
x
o
o
11.5
6.5
5.5
4.0
5101 AC71
5101 AF71
5101 AG71
5101 AK71
15.0
15.0
15.0
15.0
9.4
14.5
17.5
26.5
2000
3000
4000
6000
o
o
o
o
o
x
o
o
x
o
o
o
o
o
o
o
40.0
54.4
80.0
80.0
x
o
x
o
x
x
o
x
o
x
x
o
x
o
o
o
8.0
5.5
4.5
2.0
te
1) The specified value is the maximum permisisble current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-10
07.94
Table 1-7
Servomotor
1FT
Nm
n ra
RPM
1)
Current
limit
Contacts
2
1200
2000
3000
4000
o
o
o
o
o
o
o
o
x
o
o
o
o
o
o
o
I m
Contacts
K (I)
40.0
80.0
80.0
80.0
x
o
o
x
x
o
o
x
x
x
x
o
x
x
o
o
11.5
9.5
4.0
2.5
5102 AA71
5102 AC71
5102 AF71
5102 AG71
27.0
27.0
27.0
27.0
9.9
16.5
25.0
31.5
5103 AC71
5103 AF71
5103 AG71
19.0
19.0
19.0
12.0
17.5
23.0
2000
3000
4000
o
o
o
x
o
o
o
o
o
o
o
o
54.4
80.0
80.0
x
o
x
x
o
x
o
o
o
x
x
o
8.0
6.0
2.5
5104 AA71
5104 AC71
5104 AF71
37.0
37.0
37.0
14.0
22.5
34.0
1200
2000
3000
o
o
o
x
o
o
o
o
o
o
o
o
54.4
80.0
80.0
x
x
x
x
o
x
x
o
o
x
x
o
11.5
6.5
2.5
5106 AA71
5106 AC71
45.0
45.0
17.0
26.8
1200
2000
o
o
o
o
o
o
o
o
80.0
80.0
x
o
x
x
x
x
x
o
11.5
5.5
5108 AA71
5108 AC71
55.0
55.0
20.5
32.5
1200
2000
o
o
o
o
o
o
o
o
80.0
80.0
x
x
x
o
x
x
x
o
11.5
4.5
5132 AA71
5132 AC71
5132 SA71
60.0
60.0
70.0
22.5
35.5
26.0
1200
2000
1200
o
o
o
o
o
o
o
o
o
o
o
o
80.0
80.0
80.0
x
x
x
x
o
x
x
x
x
x
o
x
11.5
4.5
11.5
5134 AA71
5134 SA71
75.0
90.0
28.0
34.0
1200
1200
o
o
o
o
o
o
o
o
80.0
80.0
o
o
o
o
x
x
x
x
9.5
9.5
5136 AA71
85.0
31.5
1200
80.0
7.5
5138 AA71
105.0
39.0
1200
80.0
6.0
te
1) The specified value is the maximum permisisble current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-11
VS
Table 1-8
07.94
Servomotor
1FT
VS
Nm
n ra
RPM
1)
Current
limit
Contacts
I m
6000
8000
o
o
o
o
o
o
o
o
a
A
160.0
160.0
Contacts
K (I)
x
x
o
x
x
o
o
o
4.5
2.5
4101 SK71
4101 SN71
20.0
20.0
33.0
39.0
4102 SG71
4102 SK71
33.0
33.0
35.0
47.0
4000
6000
o
o
o
o
o
o
o
o
160.0
160.0
x
x
x
o
o
x
x
o
8.0
4.5
4104 SG71
4104 SK71
45.0
45.0
46.0
60.0
4000
6000
o
o
o
o
o
o
o
o
160.0
160.0
o
x
x
x
x
o
o
o
5.5
2.5
4106 SG71
59.0
56.0
4000
160.0
4.5
5064 AK71
4.5
8.0
6000
41.6
4.5
5066 AG71
5066 AK71
6.5
6.5
7.9
11.6
4000
6000
o
o
x
o
x
o
x
x
38.4
57.6
o
x
o
o
o
x
x
o
6.0
4.5
5071 AK71
4.5
7.9
6000
38.4
4.5
5072 AF71
5072 AG71
5072 AK71
10.0
10.0
10.0
9.1
12.0
17.5
3000
4000
6000
o
o
o
o
o
o
x
o
x
x
x
o
41.6
57.6
80.0
o
x
o
o
x
x
x
o
x
x
x
o
9.5
8.0
5.5
5073 AG71
5073 AK71
7.0
7.0
8.1
12.5
4000
6000
o
o
o
x
x
x
x
o
41.6
65.5
x
o
o
o
o
x
x
o
6.5
4.0
5074 AC71
5074 AF71
5074 AG71
5074 AK71
5074 SG71
5074 SK71
14.0
14.0
14.0
14.0
16.0
16.0
8.5
13.0
16.5
25.0
19.0
28.0
2000
3000
4000
6000
4000
6000
o
o
o
x
o
x
o
x
o
x
o
x
x
x
x
o
x
o
x
o
o
o
o
o
41.6
65.6
80.0
97.6
80.0
97.0
x
x
x
x
o
x
x
x
o
x
x
x
x
o
o
o
x
o
x
x
x
o
o
o
11.5
8.0
6.5
2.5
5.5
2.5
5076 AC71
5076 AF71
5076 AG71
5076 AK71
5076 SG71
5076 SK71
18.0
18.0
18.0
18.0
20.5
20.5
11.5
16.5
21.5
32.0
24.5
36.0
2000
3000
4000
6000
4000
6000
o
x
o
o
o
o
x
o
x
o
x
o
o
x
o
o
o
o
x
o
o
o
o
o
48.0
73.6
108.8
160.0
108.8
160.0
o
o
x
o
o
o
o
x
o
o
x
o
x
o
o
x
x
x
x
x
x
o
o
o
9.5
7.5
6.5
4.0
5.5
4.0
5100 AF71
5100 AG71
5100 AK71
10.0
10.0
10.0
9.2
12.5
18.0
3000
4000
6000
x
x
o
x
x
o
o
x
x
x
o
o
46.4
62.4
80.0
x
x
o
x
o
o
o
o
x
x
x
o
8.0
6.5
4.0
5101 AC71
5101 AF71
5101 AG71
5101 AK71
15.0
15.0
15.0
15.0
9.4
14.5
17.5
26.5
2000
3000
4000
6000
o
o
o
x
o
x
o
o
x
x
x
o
x
o
o
o
41.6
65.6
80.0
136.0
o
x
x
o
o
o
o
o
x
o
x
x
x
x
o
o
9.5
6.5
4.5
4.0
5102 AA71
5102 AC71
5102 AF71
5102 AG71
5102 SF71
5102 SG71
27.0
27.0
27.0
27.0
34.0
34.0
9.9
16.5
25.0
31.5
31.5
39.5
1200
2000
3000
4000
3000
4000
x
o
o
o
o
o
x
o
x
o
x
o
o
x
o
o
o
o
x
o
o
o
o
o
46.4
80.0
108.8
160.0
108.8
160.0
x
o
o
o
x
x
x
o
x
x
o
o
x
x
x
x
x
x
x
x
o
o
o
o
11.5
9.5
5.5
5.5
4.5
4.5
5103 AC71
5103 AF71
5103 AG71
19.0
19.0
19.0
12.0
17.5
23.0
2000
3000
4000
o
o
o
o
o
x
o
x
o
x
o
o
57.6
80.0
108.8
x
o
x
x
o
o
o
o
x
x
x
o
8.0
6.0
4.5
te
1) The specified value is the maximum permisisble current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-12
07.94
Table 1-8
Servomotor
1FT
Nm
n ra
RPM
1)
Current
limit
Contacts
2
1200
2000
3000
3000
x
o
o
o
x
x
o
o
x
o
o
o
o
o
o
o
I m
Contacts
K (I)
62.4
108.8
160.0
160.0
x
o
x
o
x
o
o
x
x
x
o
x
x
x
x
o
11.5
9.5
6.5
5.5
5104 AA71
5104 AC71
5104 AF71
5104 SF71
37.0
37.0
37.0
48.0
14.0
22.5
34.0
44.0
5106 AA71
5106 AC71
5106 AF71
5106 SF71
45.0
45.0
45.0
57.0
17.0
26.8
42.5
54.0
1200
2000
3000
3000
o
o
o
o
o
x
o
o
x
o
o
o
o
o
o
o
80.0
108.0
160.0
160.0
x
o
x
o
x
x
o
o
x
o
x
x
x
x
o
o
11.5
7.5
4.5
4.0
5108 AA71
5108 AC71
5108 AF71
55.0
55.0
55.0
20.5
32.5
50.5
1200
2000
3000
o
o
o
o
o
o
x
o
o
o
o
o
80.0
160.0
160.0
x
o
o
x
o
o
x
x
x
x
x
o
11.5
9.5
4.0
5132 AA71
5132 AC71
5132 AF71
5132 SA71
5132 SC71
5132 SF71
60.0
60.0
60.0
70.0
70.0
70.0
22.5
35.5
47.5
26.0
41.0
55.5
1200
2000
3000
1200
2000
3000
o
o
o
o
o
o
x
o
o
x
o
o
o
o
o
o
o
o
o
o
o
o
o
o
108.8
160.0
160.0
108.8
160.0
160.0
x
x
o
x
x
x
x
x
x
x
x
x
x
o
x
x
o
x
x
x
o
x
x
o
11.5
8.0
5.5
11.5
8.0
5.5
5134 AA71
5134 AC71
5134 SA71
5134 SC71
75.0
75.0
90.0
90.0
28.0
47.0
34.0
56.0
1200
2000
1200
2000
o
o
o
o
x
o
x
o
o
o
o
o
o
o
o
o
108.8
160.0
108.8
160.0
x
x
x
x
x
o
x
o
x
o
x
o
x
o
x
x
11.5
6.5
11.5
6.5
5136 AA71
5136 AC71
5136 SA71
5136 SC71
85.0
85.0
110.0
110.0
31.5
47.5
41.0
61.5
1200
2000
1200
2000
x
o
x
o
o
o
o
o
o
o
o
o
o
o
o
o
136.0
160.0
136.0
160.0
x
x
x
x
x
o
x
o
x
o
x
o
x
x
x
o
11.5
6.5
11.5
6.5
5138 AA71
5138 SA71
105.0
140.0
39.0
52.0
1200
1200
o
o
o
o
o
o
o
o
160.0
160.0
x
x
x
x
x
x
x
x
11.5
11.5
te
1) The specified value is the maximum permisisble current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-13
VS
Table 1-9
07.94
Servomotor
1FT
VS
Nm
n ra
RPM
1)
Current
limit
Contacts
I m
6000
8000
o
x
x
o
o
o
o
o
a
A
136.0
170.0
Contacts
K (I)
x
x
x
x
o
o
o
o
2.5
2.0
4101 SK71
4101 SN71
20.0
20.0
33.0
39.0
4102 SG71
4102 SK71
33.0
33.0
35.0
47.0
4000
6000
x
o
o
o
o
o
o
o
170.0
200.0
o
o
o
x
x
x
x
o
9.5
5.5
4104 SG71
4104 SK71
45.0
45.0
46.0
60.0
4000
6000
o
o
o
o
o
o
o
o
200.0
200.0
x
x
o
x
o
o
x
o
6.5
2.5
4106 SG71
59.0
56.0
4000
200.0
5.5
5066 AK71
6.5
11.6
6000
60.0
4.5
5072 AG71
5072 AK71
10.0
10.0
12.0
17.5
4000
6000
o
o
x
x
o
x
x
o
60.0
82.0
x
o
x
x
o
x
x
o
8.0
5.5
5073 AK71
7.0
12.5
6000
60.0
4.0
5074 AF71
5074 AG71
5074 AK71
5074 SG71
5074 SK71
14.0
14.0
14.0
16.0
16.0
13.0
16.5
25.0
19.0
28.0
3000
4000
6000
4000
6000
o
o
o
o
o
x
x
o
x
o
o
x
x
x
x
x
o
o
o
o
60.0
82.0
100.0
82.0
100.0
x
x
x
o
x
x
o
x
o
x
o
o
o
o
o
x
x
o
x
o
8.0
6.5
2.5
6.0
2.5
5076 AC71
5076 AF71
5076 AG71
5076 AK71
5076 SG71
5076 SK71
18.0
18.0
18.0
18.0
20.5
20.5
11.5
16.5
21.5
32.0
24.5
36.0
2000
3000
4000
6000
4000
6000
o
x
o
o
o
o
o
x
o
x
o
x
x
x
x
o
x
o
x
o
o
o
o
o
52.0
78.0
100.0
136.0
100.0
136.0
x
x
o
x
x
x
x
x
x
x
o
x
x
o
x
o
x
o
x
x
o
o
o
o
11.5
8.0
5.5
2.5
4.5
2.5
5100 AF71
5100 AG71
5100 AK71
10.0
10.0
10.0
9.2
12.5
18.0
3000
4000
6000
x
o
x
x
x
o
x
o
x
x
x
o
46.0
60.0
92.0
x
o
x
x
o
o
o
o
x
x
x
o
8.0
6.0
4.5
5101 AC71
5101 AF71
5101 AG71
5101 AK71
15.0
15.0
15.0
15.0
9.4
14.5
17.5
26.5
2000
3000
4000
6000
x
o
x
o
x
x
o
x
x
o
x
o
x
x
o
o
46.0
60.0
92.0
136.0
o
o
o
o
o
o
o
o
x
o
o
x
x
x
x
o
9.5
6.0
6.0
4.0
5102 AA71
5102 AC71
5102 AF71
5102 AG71
5102 SF71
5102 SG71
27.0
27.0
27.0
27.0
34.0
34.0
9.9
16.5
25.0
31.5
31.5
39.5
1200
2000
3000
4000
3000
4000
x
x
o
o
x
o
x
x
o
x
x
x
x
x
x
o
o
o
x
o
o
o
o
o
46.0
78.0
100.0
136.0
122.0
136.0
x
o
x
x
o
o
x
o
o
o
x
o
x
x
x
x
x
x
x
x
o
o
o
o
11.5
9.5
4.5
4.5
5.5
4.0
5103 AC71
5103 AF71
5103 AG71
19.0
19.0
19.0
12.0
17.5
23.0
2000
3000
4000
o
x
x
x
o
x
o
x
o
x
o
o
60.0
92.0
122.0
o
x
o
o
o
x
x
o
x
x
x
o
9.5
6.5
5.5
5104 AA71
5104 AC71
5104 AF71
5104 SF71
37.0
37.0
37.0
48.0
14.0
22.5
34.0
44.0
1200
2000
3000
3000
o
o
o
o
x
o
x
x
o
x
o
o
x
o
o
o
60.0
100.0
136.0
136.0
x
x
o
x
x
x
x
o
x
o
x
x
x
x
o
o
11.5
8.0
5.5
4.5
5106 AA71
5106 AC71
5106 AF71
5106 SF71
45.0
45.0
45.0
57.0
17.0
26.8
42.5
54.0
1200
2000
3000
3000
x
x
o
o
x
x
o
o
x
o
o
o
o
o
o
o
78.0
122.0
200.0
200.0
x
x
o
x
x
x
x
o
x
o
x
x
x
x
o
o
11.5
8.0
5.5
4.5
te
1) The specified value is the maximum permisisble current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-14
07.94
Table 1-9
Servomotor
1FT
Nm
n ra
RPM
1)
Current
limit
Contacts
2
1200
2000
3000
x
o
o
o
x
o
x
o
o
o
o
o
I m
Contacts
K (I)
92.0
136.0
200.0
x
x
x
x
x
o
x
o
x
x
x
o
11.5
8.0
4.5
5108 AA71
5108 AC71
5108 AF71
55.0
55.0
55.0
20.5
32.5
50.5
5132 AA71
5132 AC71
5132 AF71
5132 SA71
5132 SC71
5132 SF71
60.0
60.0
60.0
70.0
70.0
70.0
22.5
35.5
47.5
26.0
41.0
55.5
1200
2000
3000
1200
2000
3000
o
x
o
o
x
o
o
o
o
o
o
o
x
o
o
x
o
o
o
o
o
o
o
o
100.0
170.0
200.0
100.0
170.0
200.0
x
o
x
x
o
x
x
o
o
x
o
o
x
x
o
x
x
o
x
x
x
x
x
x
11.5
9.5
6.5
11.5
9.5
6.5
5134 AA71
5134 AC71
5134 SA71
5134 SC71
75.0
75.0
90.0
90.0
28.0
47.0
34.0
56.0
1200
2000
1200
2000
x
o
x
o
x
o
x
o
o
o
o
o
o
o
o
o
122.0
200.0
122.0
200.0
x
x
x
x
x
x
x
x
x
o
x
o
x
x
x
x
11.5
8.0
11.5
8.0
5136 AA71
5136 AC71
5136 SA71
5136 SC71
85.0
85.0
110.0
110.0
31.5
47.5
41.0
61.5
1200
2000
1200
2000
o
o
o
o
x
o
x
o
o
o
o
o
o
o
o
o
136.0
200.0
136.0
200.0
x
x
x
x
x
x
x
x
x
o
x
o
x
x
x
x
11.5
8.0
11.5
8.0
5138 AA71
5138 SA71
105.0
140.0
39.0
52.0
1200
1200
x
x
o
o
o
o
o
o
170.0
170.0
x
x
x
x
x
x
x
x
11.5
11.5
te
VS
1) The specified value is the maximum permissible current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-15
07.94
VS
2
VS
9/
6
4
10
3
2
VS/1-16
07.94
10
0/1
1
VS/2-17
(if required)
8. Icomponent limiting
(if required)
6
55
4
3
2.1
04.97
Tachometer adjustment
For motors with tachometer voltages 16.5 V, it is necessary to also proceed
according to Section 1.1.
Potentiometer
Setting range
0.7 rated
n
VS
act N
2.2
n
2.2
n
rat
ed
910
Tachometer adjustment
Extending the setting range using R3 and R10 (only for the userfriendly
interface).
Function
n a
n
ca
c
2.2
>
0.7
<
2.2
Component
Mounted
rated
Increase R3
(as supplied)
rated
Mount R10
VS/2-18
07.94
Kp
Potentiometer TN
Right
hand
endstop
170
160
140
120
100
Center
80
Lefthand
endstop
60
40
20
0
910
Setting of pot. Kp
Fig. 2-2
2.3
TN in ms
45
40
30
20
10
0
10
Setting of pot. TN
Fig. 2-3
VS/2-19
VS
2.4
04.97
VS
TN
R34 + potentiometer ADAPT
Potentiometer T
T Nadapt
n x2
Adaptation
fully effective
Fig. 2-4
Transition
range
nx1
Adaptation
ineffective
n x = n setp.+ n act.
TNadapt/TN
0.9
R34 = 10 k
R34 = 0
or standard
interface
0.7
0.5
0.3
0.1
0
910
VS/2-20
Dependency of adaptation T
07.94
2.5
Wichtig
Offsets can occur in the transition range.
Kp
Kp adapt
R38
Kp
R50 + potentiometer Kp
n x2
Adaptation
fully effective
Fig. 2-6
nx1
Transition
range
n
Adaptation
ineffective
n x = n setp.+ n act.
Kp adapt/Kp
35
25
15
5
0
500
1000
1500
2000
2500
Fig. 2-7
VS/2-21
VS
2.6
04.97
Userfriendly interface
Standard interface 1st axis (from Order No. 6SN11180AD110AA1)
Standard interface 2nd axis (from Order No. 6SN11180AE110AA1)
= open
= inserted
VS
R40 in k
150
130
Transition range
Adap
_
tation
fully
eff_
ective
110
90
70
50
Adap
tation
ineffect
ive
30
10
0
50
100
150
200
250
300
350
400
n x in mV
Fig. 2-8
Adaptation range
n x = n setp.1 + nact.
2.7
Userfriendly interface
Standard interface 1st axis (from Order No. 6SN11180AD110AA1)
Standard interface 2nd axis (from Order No. 6SN11180AE110AA1)
R52 = open
R52
=
R52 can be between 100 kand 2 Mto limit the speed controller I component, e. g. for slipstick effects.
VS/2-22
03.96
2.8
Drift offset
Adjusted using potentiometer for n set= 0 (terminals 56 and 14 connected)
Potentiometer drift
Control range
30 mV
VS
VS/2-23
04.97
VS
VS/2-24
04.97
VS/3-25
VS
3.1
2...5
6...9
10
OFF
ON
S3/S6 contacts
8 x DIL
Function
1)
Motor counterclockwise
tion of rotation for a positive
speed setpoint (motor shaft,
drive
en 1 at terminal 56/14
d) )
Curr. normal. m = 23 %)
(I
a gain (11.5)
Current controller
1)
Currentcontrolled operation
1)
OFF
ON
No
smoothing
1)
No
smoothing
1)
With = 280 s
No
smoothing
1)
With = 370 s
No
smoothing
1)
With = 110 s
Ready/fa
ult
2)
O 1)
FF
Ready to run si-
Master/sla 3)4)
ve
Currentcontrolled
tion
g 1)
n
Mast 1)
er
With I component
With = 2.2 ms
ON
Fault signal
Sla 4)
ve
Without I compone 1)
nt
1) As supplied
2) Acts on the BB relay of the NE/monitoring module. If the userfriendly and standard interface are used together, or
just the standard interface alone, then the BB relay on the NE module dropsout if there is no enable signal or a
fault is present.
3) Function only for 2axis version
4) The slave axis must be operated in the currentcontrolled mode with enabled I component.
04.97
The following supplementary functions can be set by mounting wired components onto the basic board. (from Order No. 6SN11180AD110AA1 (1 axis)
and from Order No. 6SN11180AE110AA1 (2 axis) .
Function
BKZ axis 1
Value range
C231
C235
0 ... 100nF
Smoothing set
n
Smoothing
C232
C236
0 ... 2.2 F
C233
C237
0 ... 100nF
C234
C238
0 ... 100nF
act
VS
BKZ axis 2
n
Smoothing set
n
Timer speed controller at its endstop
C239
C240
0 ... 2.2 F
Tachometer adaptation
0 ...
R542
R542
62 k ...
Adaptation range
R543
R544
0 ...
R545
R546
0 ...
R547
R550
R548/R549
R551/R552
20 k ...
Response threshold
I
R553
R554
0 ...
t monitoring
k , 0.1%, 25ppm/k
100 k ... 2 M
k
Axial metal film resistors, type of construction 0204 (RM 7.62 mm) and radial
MKT capacitors (RM 5.08 mm) must be located at the positions provided. When
adapting the tachometer, it should be observed that the resistors have a relative
accuracy of 0.1% to one another and a Tk of < 25 ppm/k.
Note
Important
Only suitably qualified personnel may carryout soldering work on the board
(maintaining the ESD Guidelines).
3.1.1
VS/3-26
C239 (C240)
F
200 ms
07.94
c) Tachometer adaptation
The following equivalent circuit diagram is valid for the individual tachometer
voltages:
V tach.
4k
Rx
Vtach.X
20 k
8k
5 k V
1
tach.
R x=
Vtach.X
tach.
7.5 k
VS
V tach.X
Fig. 3-1
VS/3-27
04.97
20 k
20 k
virt. M
Rx
VS
R x=10 k
nrequired
nrated nrequired
10 V
SetGwa
10 k
Caution: I SetGwa
5V
20 k !
After mounting, the value at test socket T must be able to be measured with the
same polarity, with the axis inhibited.
h) Response threshold I 2t-monitoring
The I 2t monitoring limits the current setpoint to a thermally permissible value.
The response threshold is 55% of the power module peak current, and, when
required, can be reduced corresponding to the following characteristic, by
mounting R553 (R554):
Fig. 3-2
VS/3-28
07.94
3.2
Component(s)
Effect
Ready/fault
Relay terminal 672/673/674
Ready signal
fault signal
Speed/current controlled
(permanently selected via switch)
Speed/current controlled
(selected via terminal)
R14 = 0 1 ; terminal 22 = L
)
2)
R16 (as supplied =
R17 (as supplied = open)
R18 (as supplied = open)
Voltage divider at 10 V
Voltage divider at 10 V
Voltage divider at the ref. point
2)
R21 (as supplied =
R19 (as supplied = open)
R22 (as supplied = open)
Voltage divider at 10 V
Voltage divider at 10 V
Voltage divider at the ref. point
R1 = 0 (as supplied)
R1 = open
I component inhibited P
I component active PI
Delayed
Instantaneous
Slave opera-
tion
t
0.56 47
ms
Monitoring active
Monitoring inactive
S2: 1 = OFF
= C3 68 k
= C4 10 k
= C5 5 k
= C6 1 k
R5 = 20 k(as supplied)
|100%
2)
Speed setpoint
(only terminal 56/14)
) according to Fig. 33
R12
VS
t = 230 ms
R54 k =
I s
|=11 ... 5V
10 V
et
Limiting
according to Fig. 33
Speed controller monitoring inactive
N set
10V
NN
rated
max
0.5
40 k
VS/3-29
Function
VS
04.97
Component(s)
Effect
Settingup operation
(central, via terminal 112 on
the
NE module)
R12 according to
Fig.KEIN MERKER
terminal 112 = open
(when supplied, terminal 112 to
terminal 9)
S1duty =
1.1 I
R9 = 30 k(as supplied)
R9 according to Fig. 3-6
rated
S1duty =
Limiting acc. to Fig. 3-6
no weight equalization
Suppl. I set acc. to Fig. 3-7
Suppl. I set acc. to Fig. 3-7
Response
threshold I
Electronic weight
equalization
Tachometer
adaptation
2)
1
)
0.1%
R542
I set
ta
4
Refer to Fig.3-1
R
Clock frequency
rated
k1
ch
ta
t
a
Vta
7.5
[%]
I max
100
90
80
70
60
50
40
30
20
10
0
0.1
Fig. 3-3
1)
1.0
10.0
100.0
1000.0
R12 [k ]
Final
value
1%
terminal 96 12 V
Warning
For version 4620087701.00 of the control board, for weight compensation,
internal current setpoint must be reduced via R42!
R42 [k ] =
20 I weight
equalization/I
1 I weight
compensation/I
max
max
For control boards, from version 4620087701.01 onwards, zero offset cannot be
measured after R46 and R48 have been mounted and an axis enabled. If
and R48 have been correctly mounted according to Fig. 3-7, the offset must
able to be measured when the axis is inhibited.
2) Refer to Section 3.1.1
VS/3-30
07.94
Iset
[%]
Imax
100
90
80
70
60
50
VS
40
30
20
Final
value
1%
10
0
1
Fig. 3-4
VT.96
Iset
Imax
[%]
100
90
80
70
60
50
40
30
20
10
Initial 0
value
1.0
1%
Fig. 3-5
10.0
100.0
R2 k
VS/3-31
Icont.
Irated
[%]
04.97
Illegal area
110
100
90
80
70
60
50
VS
40
30
20
10
0
10.0
Fig. 3-6
100.0
1000.0
R9 k
Iweight compensation/Imax
1.0
0.8
0.6
Illegal area
0.4
0.3
0.2
0.1
0.08
0.06
0.04
0.03
R46 and
R48 [k ]
0.02
0.01
Fig. 3-7
470
680 1000
VS/3-32
07.94
4 Setpoint interfaces
Feed modules (VS)
Setpoint interfaces
Definitions:
VS
Possible
Not permissible, and to some extent also not possible
Table 4-1
Mode
Setpoint
Speed controlled
Current controlled
Main setpoint
Term.24/
0
X
Main setpoint
Supplementary
setpoint
Main setpoint
Main setpoint
Main setpoint
Int.
setpoint
term.22
Int.
setpoint
term.23
Socket
NZ
Term.258
Supplementary
setpoint
Slave, I controlled
Current setpoint
input
Table 4-2
Term.56/
4
X
X
Supplementary
setpoint
X
Supplementary
setpoint
X
Supplementary
setpoint
Mode
Term.56/14
Term.24/20
S eed controlled
ccw
cw
Current controlled
cw
Term.22
Term.23
R16/18 cw
R19/22 cw
R17/18 ccw
R21/22 ccw
R16/18 cw
R19/22 cw
R17/18 ccw
R21/22 ccw
Socket NZ
Master/slav
term.258
ccw
cw
(slave)
4 Setpoint interfaces
VS/4-33
07.94
VS
VS/4-34
VS
07.94
0
1
7
5
65
3
44
5.1 Presettings
Feed modules (VS)
VS/5-35
0/1
88
5.1
Presettings
5.1.1
Warning
Parameter board changes: Remove R4, R5 and R54 and, if necessary, C4
(when supplied this is not mounted).
If this is not observed, it could result in undesirable axis motion!
Rampup time
Table 5-1
Term.102 open
Term.102 to
term. 9
0.0
1
0.1
0.1
1
1.0
8
0.2
1
2.0
7
0.3
1
3.0
6
0.4
0.5
0.6
0.7
0.8
0.9
1.11
4.0
4
5.0
3
6.0
2
7.0
1
8.0
1
9.0
4
11.0
5
The rampup time range via R20 can be changed by modifying R27/R60.
10
04.97
Torque
limiting
Constant power
range
I/I max
R76
100
13
VS
23
Fig. 5-1
R225
70
R214
100
n/n rated in %
Torque limiting
Table 5-2
Pot. R214
Start of the
range in %
Table 5-3
=max
10 V in
70
65
60
55
50
45
40
35
30
Deviation
in %
Table 5-4
+20
10
26
Pot. R213
I s
R213
22
inmax
%
10
20
/Iset
max
R76 in k
4.3
6.2
8.2
11
15
18
22
27
36
in %
10
20
30
40
50
60
70
80
90
100
m
a
R225 in k
I s
in %
/I
set max
2.4
4.7
7.5
11
16
22
30
47
70
100
10
20
30
40
50
60
70
80
85
VS/5-36
07.94
Pot. R903
Normalization
Factor
10
2.8
2.6
2.4
2.2
2.0
1.8
1.6
1.4
1.2
T.108
T.115
T.114
R108 1)
R170
R106
1)
R1711)
|Iact |> Ix2)
Fig. 5-2
R107
|n
act|<
T.216
T.214
T.127
R1051)
R99
R103
R97
T.126
1)
R98
1)
R104 1)
min3)
=n
act
set3)
Relay functions
1) As supplied
2) Relay drops out
3) Relay pullsin if the function is fulfilled.
VS/5-37
VS
Table 5-7
04.97
Limit value
stage
Range
I a I x
pot. R211
Pot.
R211
I =in %
VS
n
n
4.5 %...100 %
0
10
0
90
81
71
62
52
43
0.3 %...1.7 %
pot. R10
24
10
14
4.5
plied)
max
steresis
n
1
Pot. R10
=in
n a %
n x
pot. R43
0.3 0.4
0.5
0.7
4
8
3
3 %...100 %
Pot. R43
n
1
n =in %
3.4 13
23
34
44
54
64
n set =
n set*
7
k
33
0.8
7
10
1.02
1.1
1.3
1.4
1.5
1.74
6
1
5
9
Relay contact bounce smoothing = C68
max
7
74
8
84
9
94
10
104
Monitoring threshold:
20 mV,
n s
e diff
operation
Function
Component(s)
Effect
Tracking active
Tracking inactive
C40
ms = 10
No correction setpoint
Correction setpoint via T.24/20
Terminal 61 = open
Terminal 61 at term.9
c
Main
spindle drive operation
Caxis operation
Changeover, refer to Fig. 53
R77/78
1)
1) Changeover speed =
2)
VS/5-38
M/P display
I a display
15)
C40 F
[%]
threshold
is fallen below!
off
07.94
MSD
operation
Term.61 =
open
Speed
n1
Term.61 = H (w. r. t.
term.9)
Parameter
changeover
point
Change
over
speed
t
n2
n1 = main spindle drive speed
n2 = Caxis speed
Fig. 5-3
5.1.2
Settings in operation
Setting rule
1. Set the Caxis parameters via the parameter board (tachometer, TN, KP,
drift).
Caxis parameters, refer to the speed controller optimization, Section 2
2. Set the main spindle drive parameters via potentiometers on the option
board front panel:
Pot. R44
Pot. R35=ccw
Pot. R35=cw
Fig. 5-4
2
15
10
1
1
Extending the integral action time using pot. R44 and the influence of pot. R35
on the parameter board, extending TN by a specific factor
VS/5-39
VS
04.97
Table 5-9
Reducing the proportional gain with pot. R45 and the influence of pot. R25 on the
parameter board, reduction of Kp in %
Pot. R45
left
VS
Table 5-10
33.
1
90.
29.
5
89.
26.
3
87.
23.
3
85.
20.
4
83.
9
95.
1
4
94.
3
8
93.
3
9
92.
3
7
90.
9
11.
5
72.
4
83.
7
0.61
0.7
n o as a
of max
n
0.34
Table 5-11
0.4
7
0.88
1.02
8.2
4.5
0.1
64.
4
77.
48.
7
65
1.5
10
2.8
for
off terminal 64/65
1.1
1.29
1.42
10
1.56
1.69
Potentiometer R96
5.2
17. 14.
581 77.
6
5
89. 87
=set
0
Control range 30 mV
Analog outputs
Function
Terminal
Boundary condition
Term.75
Power display
(utilization)
Term.162
Term.162
I a display by changingover
(Table 58, settings via fixed values)
M display
P display
act
M/P display
act
=I
M /P
max
max
max
t
Fig. 5-5
VS/5-40
07.94
M/P display
6
VS
VS/6-41
07.94
VS
VS/6-42
07.94
7 Power on
Feed modules (VS)
VS/7-43
Poweron
Main switch: OFF
VS
Adapt the module to the motor,
standard settings, Section 1
Yes fault
No
Enter a low setpoint
(e. g. 0.1 V)
Briefly enable term.65
Yes
1
7 Power on
Feed modules (VS)
07.94
Enable term.65
VS
Inhibit term.65
Startup completed
Inhibit term.63!
VS/7-44
07.94
8.1.1
Userfriendly interface
Test sockets
X
NZ
Operating display
No
Yes
Yes
Yes
Yes
Yes
No
No
Yes
Yes
Yes
Controller enable 65
No
Yes
No
Yes
Yes
No
No
No
No
No
Yes
Currentcontrolled
VS/8-45
VS
07.94
Fault display
Fault
I t monitoring or
heatsink temperature overtemp.
Speed controller
at its limit
VS
Tachometer
monitoring
I a =0
Motor overtemp.
X
X
5 V undervoltage
V faulted)
Effect:
Current
miting
Pulse
cancel.
Signal, NE:
Term.
5.x
T.291
Message FD:
T.297+
T.672/
T.674
Term.
5.x
T.5.x
T.294
Pulse
cancel.
Pulse
cancel.
Pulse
cancel.
Pulse
cancel.
Pulse
cancellation
T.297+
T.672/
T.674
T.672/
T.674
T.288+
T.672/
T.674
T.288+
T.672/
T.674
T.672/
T.6 1)
74
VS/8-46
07.94
8.1.2
Standard interface
Current setpoint 10 V at
W
T H2/M
1/
VS
max
max
VS/8-47
8.2 Troubleshooting
Feed modules (VS)
8.2
Troubleshooting
Table 8-1
Troubleshooting
Fault, user
friendly interface
VS
04.97
Fault, standard
interface
H1
H2
H1
H2
Refer to F2
H1
H1
5V level faulted
VS/8-48
replace module
07.94
Appendix
9.1
Connecting terminals
Table 9-1
Term.
No.
Userfriendly interface
Desig.
Function
Ty
e 1
)
U2
V2
W2
Motor connection
Protective conductor
Protective conductor
I
I
0V
0V
P600
M600
DC link
DC link
Equipment bus
I/O
I/O
I/O
+300 V
300 V
0V...
10V
max.
250V
X151/
351
5
1
4
AS
AS
2
66
9
6
9
2
)2
)
X321
X321
Speed setpoint 1
Differential input
I
I
X331
X331
Checkback contact
Relay, start inhibit
NC
X331
X331
3
Pulse
3
enable
Enable
3
Controller
voltage
enable
3)5)
Enable
Select int. fixed setpoint 3 /
rentcontrolled
operation
Select
int. fixed setpoint 3)cur2
Speed setpoint 2/current setpoint, different input
X331
X331
X331
X331
X331
X331
X331
X331
X331
X331
X331
2232
)
2 2
)
4 6
)6
4 6)
2 )6
5 )6
)
28
28
29
29
1
29
3
29
4
29
6
29
7
29
9
X341
X341
X341
X341
X341
X341
X341
X341
X341
t monitoring
Motor temperature rise
Tachometer/rotor position
der fault
enco-
IO
I
O
I
+21...30
+24
V V
+13...30 V
+24 V
+13...30 V
+13...30 V
I
I
I
I
I/O
O
I
N
NC
N
O
NC
N
O
NC
N
O
NC
According to the
Planning Guide
3ph. 0...450 V AC
PE1
PE2
Max. crosssection
Bolt
Bolt
Busbar
Busbar
Ribbon cable
7)
/1A,
30 V
4)
/2A
1.5
1.5
mm
1.5
1.5
mm
1.5
1.5
0V...10 V (340 s
smoothing)
0...30 V
15 V/10 mA
+13...30 V
0 V...10
1.5
1.5
mm
1.5
mm
=1 k
V/R
max. 30 V/1 A
max. 30 V/1 A
max. 30 V/1 A
max. 30 V/1 A
max. 30 V/1 A
max. 30 V/1 A
max. 30 V/1 A
max. 30 V/1 A
7
)
1.5
mm
1.5
mm
1.5
1.5
mm
1.5
1.5
mm
1.5
mm
1.5
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
VS/9-49
VS
Table 9-1
Term.
No.
67
67
67
4
04.97
Userfriendly interface
Desig.
Function
Ty
e 1
)
X341
X341
X341
X311
Motor encoder
N
I
NC
Max. crosssection
1.5
1.5
1.5
mm
2
2
2
VS
VS/9-50
07.94
Table 9-2
Term.
No.
1 2)
0 2)
6
1 3
7
5 3
1
6
110
108
115
114
216
214
127
126
Table 9-3
Term.
No.
Function
T = 1 : 10
Caxis operation
n a
P ca act5)
Ic a
n a n
n ac
n sc
min
x
set*
Typ 1
)
+13 V...30
+13 V...30
V/R
0 V... 10 V
0 V... 10 V
I
I
O
O
4
)
4
NO/N
I
NO/N
C I
NO/N
C I
NO/N
C I
)4
)4
)
Max. cross
tion
2
2
2
2
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
= 1.5 k
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
2
2
2
2
2
2
2
2
Standard interface
Desig.
U2
V2
W2
Function
Motor connection
Typ
1)
Max. crosssection
3ph. 0...450 V AC
According to the
Planning Guide
PE1
PE2
Protective conductor
Protective conductor
I
I
0V
0V
P600
M600
DC link
DC link
Equipment bus
I/O
I/O
I/O
+300 V
300 V
NC
1.5
I
O
+21 V...30 V
+24 V
2
2
I
I
I
O
I
O
0 V... 10 V
1.5
1.5
mm
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
X151/35
AS1
AS2
663
9 6)
X321
X321
1
X321
X321
56.1
14.1
65.1
9 6)
22.1
9 6)
X331
X331
X331
X331
X331
X331
56.2
14.2
65.2
9 6)
22.2
9 6)
X332
X332
X332
X332
X332
X332
I
I
I
O
I
O
Bolt
Bolt
Busbar
Busbar
Ribbon cable
7)
+13 V...30 V
+24 V
+13 V...30 V
+24 V
0 V... 10 V
+13 V...30 V
+24 V
+13 V...30 V
+24 V
7)
2
2
2
2
2
2
2
2
2
2
2
2
VS/9-51
VS
9.2
07.94
VS
R124 R125
V29
V31
C59
V30
C61
V32
U7
K4
3 2 1
UC
R105
X
K3
V12
R107
R104
R97
5
K1
R31
5
1
R48
R2
C5
R906
R5
R270
1
1
R160
N
R902
V39
V20R
V8
3 2
1
R211
Fig. 9-1
C41
V35
3 2 1
V1
N X11
R33
V52
5 4
X12C68
N X3
X1
X4
C40 X2
NX
C28
2
N
3 2 1
V47
R
1
C
V45
R20
X10
R207
2 1
X8 C20
X9
R214
V4
UCX7
R108
R239
3 2 1
R43
R98
R225
V6
R99
V21
3 2 1
V22
3 2 1
5
K2
R226
R274
UC
R103
V14
R213
R100
R106
R76
V10
R85
R171
R78
V9
U
R80
R170
96
R77
6.23
U5
V1
9
V1
8
V43
X5
R161R92
R
R111
R112
C22
R164
R93
X6 C87
1
VS/9-52
07.94
9.3
R1
R2
Tacho
meter
1
1
2
X60 X69
R10
X61 X70
R12
R6
X62 X71
R36
R7
R8
X82
R38
R16
R39
R17
R40
R18
S2
R9
Fig. 9-2
X54 X59
C
R35
Adapt
X
X
R5
R25
TN
R4
X53 X58
R11
Kp(N)
X52 X57
R37
R15
R3
R20
X72 R34
R14
X51 X56
Drift
R13
X50 X55
R19
R21
R42
R22
R44
VS
R43
R23
R45
R24
R46
R26
R47
R27
R48
R28
R29
R50
R30
R51
R49
R52
R31
R32
R53
R54
R33
X81
X91
VS/9-53
04.97
9.4
VS
VS/9-54
5
6
7
8
9
VRi
12.94
Sect.
4
Siemens AG 1997
All Rights
reserved
VR
Short startup
standard settings
Optimization,
speed controller
Supplementary functions
VR
Power.up, Sect. 7
Service and
diagnostics
Appendix
VRii
07.94
The setting elements (switches) are located on the board, and must be set before the control card is installed in the inverter module.
1.1
Pole numbers
Wichtig
The pole (pair) numbers for the motor and resolver must be set before start
Otherwise, the drive will be locked.
Axis 1:
Axis 2:
Table 1-1
Pole numbers
2p motor
2presolver
Axis 1
S1.x ON
1+2
S1.x ON
3+4
Axis 2
S2.x ON
1+2
S2.x ON
3+4
The pole pair numbers of the motors are dependent on the shaft height.
Table 1-2
Shaft height
36
48
63
80
100
132
Pole No. 2P
Table 1-3
Shaft height
36
48
63
80
100
Pole No. 2P
VR/1-3
VR
04.97
1.2
VR
2000
3000
3000
Axis 1
n rated
S4.x ON
6000
1+3
2+4
1+2+3+4
Axis 2
S4.x ON
5+7
6+8
5+6+7+8
Optionally possible
Refer to Section 2.1 for more detailed information regarding the speed ranges
which can be set.
VR/1-4
07.94
1.3
DIL switch
Axis 1:
Axis 2:
DIL switch S3
DIL switch S6
Current limit
(set
max
value)
[%]
Imax must be reduced down to at least the peak current permitted for the motor.
Table 1-5
I
Axis1
Axis2
Current controller
gain
100
70
S3.xMI
ON
1+2
S6.x ON
1+2
LI
Kp(I)
I max *
<
LA
25
V
R
25
Table 1-6
Kp(I)
7.5
8.5
9.5
Axis 1
S3.x ON
3+7
4+8
3+4
+
7+8
5+9
3+5
+
7+9
4+5
+
8+9
3+4
5+7
+
8+9
3+6
+
7+1
0
Axis 2
S6.x ON
3+7
4+8
3+4
+
7+8
5+9
3+5
+
7+9
4+5
+
8+9
3+4
5+7
+
8+9
3+6
+
7+1
0
Adaptation tables
Definition:
10.
54+6
11.
53+4
12.
5
5+6
13.
5
3+5
14.
5
4+5
4+6
+
8+10
3+4
6+7
+
8+1
0
5+6
+
9+1
0
3+5
6+7
+
9+1
0
4+5
6+8
+
9+1
0
+
8+10
6+7
+
8+1
0
+
9+1
0
6+7
+
9+1
0
6+8
+
9+1
0
16
3+4
5+6
+
7+8
+
9+1
0
3+4
5+6
+
7+8
+
9+1
0
VR/1-5
Table 1-7
04.97
Servomotor
1FT
Nm
V
R
n rated
RPM
Contact
1+2
max
3+
7
o
4+
8
o
5+
9
x
6+1
0
o
o
K (I)
60314AK
0.83
1.2
6000
70
60344AK
1.65
2.15
6000
100
60414AF
2.15
1.55
3000
100
60414AK
2.15
2.55
6000
100
4.0
60444AF
4.15
2.50
3000
100
7.5
6061
6AC
60616AF
3.30
1.60
2000
100
3.30
2.25
3000
100
6062
6AC
5.00
2.30
2000
100
1FK
M o Nm
n rated
RPM
Contact
1+2
60326AK
0.90
1.40
6000
60406AF
1.30
1.10
3000
4.0
x
100
3+
7
x
4+
8
x
70
10.5
16.0
11.5
8.5
Contact
max
5.0
K (I)
5+
9
o
6+1
0
o
6.0
4.0
60406AK
1.3
2.2
6000
100
2.0
60426AF
2.65
2.20
3000
100
4.0
VR/1-6
07.94
Table 1-8
Servomotor
1FT
M o N
60344AK
1.65
n rated
RPM
Contact
1+2
2.15
6000
max
70
3+
7
o
4+
8
o
5+
9
x
6+1
0o
K (I)
5.0
60414AF
2.15
1.55
3000
70
14.5
60414AK
2.15
2.55
6000
100
7.5
60444AF
4.15
2.50
3000
100
13.5
60444AK
4.15
4.85
6000
100
4.0
60616AF
3.30
2.25
3000
100
16.0
60616AH
3.30
3.35
4500
100
7.5
60616AK
3.30
4.10
6000
100
4.0
60626AC
5.00
2.30
2000
70
16.0
60626AF
5.00
3.40
3000
100
10.5
60626AH
5.00
4.80
4500
100
5.0
60626AK
5.00
6.40
6000
100
3.0
60646AC
7.90
3.50
2000
100
14.5
60646AF
7.90
5.00
3000
100
7.5
60818AC
6.60
3.40
2000
100
13.5
1FK
M o N
n rated
RPM
Contact
1+2
60406AK
1.30
2.20
6000
70
3+
7
o
4+
8
x
5+
9
o
60426AF
2.65
2.20
3000
100
7.5
60606AF
5.00
3.60
3000
100
7.5
60806AF
6.60
4.50
3000
100
7.5
Contact
max
6+1
0o
K (I)
3.0
VR/1-7
VR
Table 1-9
04.97
Servomotor
1FT
VR
n rated
RPM
Contact
1+2
o
60444AK
4.15
4.85
6000
max
100
3+
7
x
4+
8
o
5+
9
x
6+1
0o
K (I)
6.0
60616AF
3.30
2.25
3000
70
16.0
60616AH
3.30
3.25
4500
100
11.5
60616AK
3.30
4.10
6000
100
7.5
60626AF
5.00
3.40
3000
100
16.0
60626AH
5.00
4.80
4500
100
8.5
60626AK
5.00
6.40
6000
100
5.0
60646AC
7.90
3.50
2000
70
16.0
60646AF
7.90
5.00
3000
100
12.5
60646AH
7.90
7.60
4500
100
5.0
60646AK
7.90
9.90
6000
100
3.0
60818AC
6.60
3.40
2000
70
16.0
60818AF
6.60
4.90
3000
100
10.5
60818AH
6.60
7.40
4500
100
5.0
60818AK
6.60
9.40
6000
100
3.0
60828AC
10.40
5.50
2000
100
14.5
60828AF
10.40
8.20
3000
100
6.0
60848AC
16.20
7.55
2000
100
10.5
60848AK
16.20
20.50
6000
100
1.0
61028AB
22.40
7.40
1500
100
12.5
1FK
M o Nm
60606AF
5.00
60636AF
n rated
RPM
Contact
1+2
3.60
3000
9.10
6.60
3000
60806AF
6.60
4.50
60836AF
13.30
8.50
61008AF
15.00
10.20
VR/1-8
Contact
max
70
3+
7
x
4+
8
o
5+
9
o
100
3000
100
3000
100
3000
100
6+1
0x
K (I)
9.5
6.0
12.5
7.5
3.0
07.94
Table 1-10
Servomotor
1FT
Nm
6AK
60646AF
6064
6AH
6064
6AK
6081
8AH
6081
n rated
RPM
Contact
1+2
Contact
max
4+
8
x
5+
9
o
6+1
0x
K (I)
5.00
4.80
4500
70
3+
7
x
5.00
6.40
6000
100
9.5
7.90
5.00
3000
70
16.0
7.90
7.60
4500
100
10.5
7.90
9.90
6000
100
6.0
6.60
7.40
4500
100
10.5
6062
6AH
6062
11.5
8AK
60828AF
6.60
9.40
6000
100
6.0
10.40
8.20
3000
100
13.5
6082
8AH
6082
10.40
12.20
4500
100
6.0
10.40
14.65
6000
100
4.0
16.20
7.55
2000
70
14.5
16.20
11.30
3000
100
9.5
16.20
16.70
4500
100
4.0
16.20
20.50
6000
100
3.0
22.40
10.00
2000
100
16.0
22.40
14.40
3000
100
8.5
22.40
20.40
4500
100
4.0
22.40
7.40
1500
70
16.0
22.40
10.20
2000
100
13.5
22.40
14.20
3000
100
7.5
22.40
20.60
4500
100
3.0
41.50
13.80
1500
100
14.5
41.50
18.40
2000
100
8.5
22.00
16.30
3000
100
8.5
n rated
RPM
Contact
1+2
4+
8
x
5+
9
x
8AK
6084
8AC
60848AF
6084
8AH
6084
8AK
6086
8AC
60868AF
6086
8AH
6102
8AB
6102
8AC
61028AF
6102
8AH
6105
8AB
6105
8AC
60848SF
1FK
M o Nm
Contact
max
60636AF
9.10
6.60
3000
70
60836AF
13.30
8.50
3000
100
13.5
61008AF
15.00
10.20
3000
100
6.0
61018AF
22.40
14.40
3000
100
5.0
61038AF
30.00
19.00
3000
100
3.0
6+1
0o
K (I)
3+
7
o
7.5
VR/1-9
VR
Table 1-11
07.94
Servomotor
1FT
M o Nm
n rated
RPM
Contact
1+2
Contact
max
60626AK
5.00
6.40
6000
70
6064
6AH
60646AK
7.90
7.60
4500
70
11.5
7.90
9.90
6000
100
9.5
60818AK
6.60
9.40
6000
70
6.0
60828AF
10.40
8.20
3000
70
14.5
6082
8AH
60828AK
10.40
12.20
4500
100
11.5
10.40
14.65
6000
100
6.0
60848AF
16.20
11.30
3000
100
16.0
6084
8AH
60848AK
16.20
16.70
4500
100
6.0
16.20
20.50
6000
100
5.0
6086
8AC
60868AF
22.40
10.00
2000
70
16.0
22.40
14.40
3000
100
9.5
6086
8AH
6102
22.40
20.40
4500
100
6.0
22.40
10.20
2000
70
16.0
22.40
14.20
3000
100
11.5
6102
8AH
61058AB
22.40
20.60
4500
100
5.0
41.50
13.80
1500
70
16.0
6105
8AC
61058AF
41.50
18.40
2000
100
13.5
41.50
27.70
3000
100
6.0
61088AB
58.00
18.50
1500
100
16.0
6108
8AC
61326AB
58.00
24.00
2000
100
9.5
62.00
18.50
1500
70
16.0
6132
6AC
61326AF
62.00
25.00
2000
100
12.5
62.00
37.00
3000
100
6.0
61346AB
79.00
24.00
1500
100
16.0
6134
6AC
61366AB
79.00
31.50
2000
100
14.5
95.00
28.00
1500
100
14.5
60848SF
22.00
16.30
3000
100
14.5
6084
8SH
60848SK
22.00
22.90
4500
100
6.0
22.00
31.00
6000
100
4.0
60868SF
29.50
22.30
3000
100
9.5
6105
8SC
50.00
25.00
2000
100
11.5
8AC
61028AF
VR/1-10
4+
8
x
5+
9
o
K (I)
3+
7
x
VR
11.5
07.94
1FK
M o Nm
n rated
RPM
Contact
1+2
60836AF
13.30
8.50
3000
61008AF
15.00
10.20
3000
61018AF
22.40
14.40
61038AF
30.00
19.00
Contact
max
70
3+
7
o
4+
8
x
5+
9
x
70
3000
100
3000
100
K (I)
6+1
0x
14.5
7.5
7.5
5.0
VR
VR/1-11
07.94
VR
9/
6
4
10
3
2
VR/1-12
07.94
10
0/1
1
VR
6
55
4
3
2.1
03.96
Tachometer adjustment
The actual drive speed can, for a 10 V speed setpoint, be varied within the
following range around the rated speed set as described under Section 1.2:
Potentiometer
Setting range
0.6 rate
n
d
act
nN
1.
8
rated
The rated speeds, set according to Section 1.2 result in the following setting
ranges for a 10 V speed setpoint:
VR
nrated
2)
3510 RPM
to
1760 RPM
1170 RPM
1)
2)
5400 RPM
n rated
2)
nmotor N 2)
10800 RPM
n rated
2)
nmotor N 1)
to
1500
to
2000
2000
3600 RPM
3000
3000
4500
6000 [RPM]
6000 [RPM]
Fig. 2-1
When reducing the speed setpoint, the setting range is also appropriately reduced. It is recommended, that motors with a 6000 RPM rated speed are operated
with a 8 V speed setpoint, in order to limit the selectable maximum speed.
VR/2-14
Warning
Only the specified setting ranges are possible!
The setting range and maximum speed setpoint must be defined, so that the
maximum permissible speed of the motor is never exceeded. The maximum
permissible motor speeds are specified in the Planning Guide.
07.94
2.2
VR
80
60
40
20
0
10
Setting, potentiometer Kp
Fig. 2-2
If the electronic weight equalization is active (refer to Section 3.3) this proportional gain is increased by the following factor:
Kp (with weight equalization)
Kp
1+
Iweight equalization
IMax
VR/2-15
2.3
12.94
VR
12
Setting of pot. T
Fig. 2-3
2.4
10
Drift offset
Compensation for nset = 0 using a potentiometer
Potentiometer drift
VR/2-16
Control range
45 mV
07.94
Position processing
The WSG interface is not influenced by the controller inhibits (terminals 63, 64,
65, 663) and from the central reset (terminal R). The output signals are switched
into a highohmic condition if encoder faults develop and for a poweron reset.
Switch for
axis 1
S1.x
S1.x
S2.x
S2.x
S1.6=OFF
S1.6=ON
S2.6=OFF
S2.6=ON
S1.7=OFF
S1.7=ON
S2.7=OFF
S2.7=ON
S1.8+S11.x=OFF
S1.8=ON
S11.1=ON
S11.2=ON
S11.3=ON
S11.4=ON
S11.5=ON
S2.8+S11.x=OFF
S2.8=ON
S11.6=ON
S11.7=ON
S11.8=ON
S11.9=ON
S11.10=ON
Offset by 0 mechanical
Offset by 5.625 mechanical
Offset by 11.25 mechanical
Offset by 22.5 mechanical
Offset by 45 mechanical
Offset by 90 mechanical
Offset by 180 mechanical
3.2
3)
3)
4)
2
2
2)
VR
Effect
1
Motor pole pair
1)
Resolver pole pair )
No.
4)
Phase sequence of
tracks A, B (WSG)
Zero mark
offset
1)
Switch for
axis 2
Switch for
axis 1
S12.x=OFF
S12.4=ON
S12.3=ON
S12.3+4=ON
S12.2=ON
S12.2+3=ON
S12.1=ON
Switch for
axis 2
S12.x=OFF
S12.8=ON
S12.7=ON
S12.7+8=ON
S12.6=ON
S12.6+7=ON
S12.5=ON
Effect
Limiting to 100%
Limiting to 75%
Limiting to 55%
Limiting to 45%
Limiting to 25%
Limiting to 20%
Limiting to 5%
The pole pair numbers must be set before startup (refer to Section 1)
When viewing the drive shaft end
The resulting zero mark offset is the sum of all set offsets
The number of zero marks per mechanical revolution is the same as the pole pair number p of the resolver
VR/3-17
3.3
Other functions
Function
VR
07.94
Switch for
axis 1
1)
Smoothing:
Speed setpoint
Speed actual value
Speed controller
T limits in the speed controller
SET
Weight equalization
Weight equalization
SET
neg. I
Calculating the
smoothing time
constants
S5.1=OFF/ON
S5.2=OFF/ON
S5.5=OFF/ON
Switch for
axis 2
S5.7=OFF/ON
S5.3=OFF/ON
S5.4=OFF/ON
S5.5=OFF/ON
S5.6=OFF/ON
S5.8=OFF/ON
Components
for axis 1
Components
for axis 2
C1
C1
43
C1
34
R4
48
R3
R3
48
C1
C1
49
C1
47
R4
54
R3
R3
55
5)
5)
5)
6)
6)
6)
5)
5)
5)
6)
6)
6)
Effect
Enable/inhibit
Enable/inhibit
Changeover, fault/ready signal
3)
2nd axis as
1
s / 300 ms
slave
As supplied
33 nF corresponds to 220 s
1 nF corresponds to 160 s
VR/3-18
07.94
Parameterization
of the electronic
weight equalization
IWeight equalization/Imax
not in the permissible range
1.0
0.8
0.5
0.4
0.3
0.2
0.1
0.08
0.06
0.04
0.03
0.02
0.01
Fig. 3-1
Master slave
operation
RX [k ]
5
10
20
33
56
100 150 220 390
47 68
680
470
VR
Currentcontrolled operation must always be selected for the slave axis using
terminal 22. For the 2axis control, master and slave can only be operated with
opposing directions of rotation.
When using a oneaxis control as master, the directions of rotation for the master and slave can be selected to either be opposing or the same. The selection
is realized by connecting the current setpoint output (terminal 258, terminal 15)
to the current setpoint differential input (terminal 24, terminal 20).
This function is only effective in the closedloop current controlled mode; in the closedloop speed controlled mode, the
current controller integrator is always enabled
2) For terminal 65 and monitoring speed controller at its limit
1)
VR/3-19
3.4
07.94
Measure
Signal
Pin
Jumper
Pin
Signal
TEMP_PLUS
13
25
TEMP_MINUS
SIN_PLUS
RES_POS
SIN_MINUS
11
RES_NEG
VR
VR/3-20
Warning
If measure 1 is not made, the group signal I2t motor temperature of the
URE module is set to fault (overtemperature).
If measure 2,3 is not made, the ready relay of the I/R and UE module
fault/not ready.
07.94
4 Setpoint interfaces
Feed modules, resolver control (VR)
Setpoint interfaces
4.1
Overview
Definitions:
X
Table 4-1
Operating mode
Speedcontrolled
Currentcontrolled
Setpoint
T.56/14
Main setpoint
T.24/20
Supplementary
setpoint
Main setpoint
T.258/ 1)
15
Supplementary
setpoint
Slave, Icontrolled
Current setpoint input
Main setpoint
Master, speedcontrolled
Current setpoint output
Main setpoint
1)
Supplementary
setpoint
X
Supplementary
setpoint
VR/4-21
VR
4 Setpoint interfaces
Feed modules, resolver control (VR)
4.2
04.97
20k
Rext=2k
VR
20k
. 56
e
r
e
. 14
R ext=2k
External speed
setpoint smoothing
20
k
20k
Internal speed
setpoint input
Fig. 4-1
The following is valid for the smoothing time constant of the speed setpoint:
t
set, total
set
t set, external
VR/4-22
07.94
= t
set
+ set,
t external
ext.=
ext.
* 4k
5
VR
VR/5-23
07.94
VR/5-24
07.94
6
VR
VR/6-25
03.96
7 Powerup
7
VR
0V
Yes fault
resolver
VR/6-26
continuously?
07.94
Feed modules, resolver control (VR)
Nofault
VR/7-27
Powerup
Main switch: OFF
Main switch: ON
No
enter a low setpoint
(e. g. 0.1 V)
briefly enable T.65
Drive runs
Yes
1
7 Powerup
Feed modules, resolver control (VR)
03.96
Enable terminal 65
Inhibit terminal 65
VR
Startup completed
VR/7-28
07.94
Terminal 16 = I
ses.
actand
Normalization:
LED display
Table 8-1
LED display
LED dark
LED bright
Table 8-2
Fault
Speed controller at its endstop
Encoder fault
Heatsink overtemperature
Motor overtemperature
1)
Effect
1)
Store
d
Store 1)
d
Prealarm to the NE module, stored after 4 1)
sPrealarm to the NE module, not stored
VR/8-29
VR
X391/X392
07.94
To support fault diagnostics, the following signals are available at the connector
of the WSG interface. 2)
Signal level : HCMOS / 5V
Table 8-3
Signal
Name
Pin
READY
Hardware reset
ER_IL
ER_TNR
t monitoring
EN_WS
G
VR
VR/8-30
Warning
2)
Status
L=Low
Status
H=High
No fault
10
No fault
11
07.94
9.1 Terminals
Feed modules, resolver control (VR)
Appendix
9.1
Terminals
Table 9-1
T.
No.
Terminals
Locatio 2
)
n
Ty
e 1
Function
Typ. voltage/limit
values
0V... 10V
56
X321/322
Speed setpoint
14
X321/322
Differential input
24
X321/322
Speed/current setpoint
20
X321/322
Differential input
75
X321/322
15
X321/322
Reference potential
16
X321/322
96
X321/322
+13V...30V
X321/322
Switch
limiting
s
in I
Enable potential
+24V
X321/322
Changeover, n/Icontrolled
+13V...30V
9
22
0V
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
0V... 10V
Enable potential
24V
663
X331
Pulse enable
+21V...30V
AS
1
AS
2
9
X331
X331
floating contact
X332
Enable potential
N
C
N
OC
65.
1
9
X332
X332
3)
Enable
potential
Controller enable, axis
2
X332
mm
1.5
mm
1.5
mm
1.5
mm
1.5
0V... 10V
X331
65.
2
1.5
mm
1.5
0V... 10V
3)
Max. crosssection
max.
250V
3
mm
1.5
mm
1.5
mm
1.5
/1A
/1A
+13V...30V
D
0
24V
+13V...30V
mm
1.5
mm
1.5
mm
1.5
mm
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
T.
No.
Terminals
Location
Function
Ty
e 1
Typ. voltage/limit
values
+24V
X332
Enable potential
65.
1
15
X332
Controller enable
+13V...30V
X332
Reference potential
0V
258
X332
Current setpoint
1)
2)
3)
Max. crosssection
0V... 10V
1.5
mm
1.5
mm
1.5
mm
1.5
mm
2
2
2
2
VR/9-31
VR
12.94
9.2
Block diagrams
9.2.1
X
X
S
VR
S
S
X
R323 C172
R454
R652
R348
R675
C134
R518
R151
R422
R623
R566
R374
R349
R371
C143
C135
C6
R624
Fig. 9-1
VR/9-32
S S
Component side
07.94
VR
S
W
C
R
C
Fig. 9-2
Solder side
VR/9-33
9.2.2
04.97
S2
S3
VR
S4
S5
S6
S11
S12
Fig. 9-3
VR/9-34
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
Axis 1
Axis 2
Axis 1
Axes 1 and 2
Axis 2
DIL switches
07.94
9.3
Connector assignment
9.3.1
Resolver
control
Signal
Resolver control
Motor
SIN_PLUS
SIN_MINUS
5, 8, 24
COS_PLUS
11
COS_MINUS
12
RES_POS
10
RES_NEG
11
TEMP_PLUS
13
TEMP_MINUS
25
VR
9.3.2
Resolver
control
Signal
Remarks
Resolver control
Numerik
FMNC
WS
G
1)
Reference
pole
2
11
WS
G
WS
1)
RS422A
RS422A
3
1
4
15
1)
1)
RS422A
1)
RS422A
A_INV
G
WS
G
WS
B
B_INV
G
WS
G
WS
R
R_INV
READY
ER_IKL
ER_TNL
EN_WS
G
Type
Warning
2)
1)
RS422A
1)
RS422A
G
2
only
)
X392
Diagnostic
sDiagnostic
2
sDiagnostic
s
HCMOS !
HCMOS !
HCMOS !
HCMOS !
3
12
4
13
12
1
NC
9
NC
10
NC
11
NC
14
13
12
10
11
NC
NC
NC
NC
9
6
10
7
VR/9-35
07.94
VR
VR/9-36
First
steps
1.1
.....................................................
......
StartUp
......................................
Guidelines
....
1.2
Startup
......................................
instructions
....
1.3
Operator control and display elements, control
........
parameters
.
1.4
Overview, setting
.....................................
data
....
1.5
Connectio
............................................
ns
.....
Determining and setting the system
...................
configuration
...
2.1
Motor and converter data
.............................
2.1.1
Initializing the system configuration with standard
.........
2.1.2
System configuration with special
.....................
2.1.3
System configuration with star/delta motors, 2
...........
motors
..
2.2
Standard
.....................................
2.2.1
Operating
........................................
2.2.2
Firmware version and module
.......................
2.2.3
Setting parameters for standard
...................
applications
..
2.3
Other
........................................
2.3.1
Oriented spindle stop (via NC auxiliary function
...........
2.3.2
C
.................................................
2.3.3
Spindle
.......................................
2.3.4
Openloop torque controlled operation
...........
2.3.5
Monitor
.........................................
2.3.6
HPC axis (FW
......................................
2.00)
....
Parameterization of the drive converter
...................
interfaces
...
3.1
Analog speed setpoint
.............................
interface
...
3.2
Input
..........................................
3.2.1
Permanentlywired terminal
........................
3.2.2
Freelyprogrammable terminal
.....................
functions
...
3.3
Output
.........................................
3.3.1
Permanentlywired relay
...........................
3.3.2
Freelyprogrammable relay
........................
3.3.3
Variable relay
.....................................
3.3.4
Motor encoder signals for
..............................
3.3.5
Analog
..........................................
outputs
.....
Controller
..........................................
optimization
.....
4.1
Optimization, speed
..............................
controller
....
4.2
Optimization, current
.............................
controller
....
HS/1-3
HS/1-4
HS/1-7
HS/1-8
HS/1-12
HS/1-13
HS/2-15
HS/2-15
HS/2-15
HS/2-17
HS/2-20
HS/2-24
HS/2-24
HS/2-25
HS/2-26
HS/2-29
HS/2-29
HS/2-30
HS/2-30
HS/2-43
HS/2-47
HS/2-47
HS/3-53
HS/3-53
HS/3-56
HS/3-56
HS/3-57
HS/3-59
HS/3-59
HS/3-59
HS/3-63
HS/3-64
HS/3-65
HS/4-69
HS/4-69
HS/4-75
HSi
HS
07.94
HS
HS
HS/5-77
HS/5-77
HS/5-77
HS/5-78
HS/5-81
HS/5-82
HS/5-84
HS/5-84
HS/5-86
HS/5-87
HS/5-87
HS/5-88
HS/6-93
HS/6-94
HS/6-99
HS/6-103
HS/6-108
HS/6-112
HS/6-113
ii
07.94
1 First steps
Main spindle modules (HS)
HS/1-3
First steps
Warning
This unit must be professionally transported stored, installed and mounted
well as careful operator control and service to guarantee perfect, safe and
ble operation.
Severe bodily injuries or material damage can result if this warning
is not observed.
The boards have components which can be destroyed by electrostatic discharge.
Please observe the ESDS information in the foreword.
Note
HS
12.94
1.1
StartUp Guidelines
Structure of the
Startup Guide
startup steps.
To startup standard applications, where the preset drive converter interfaces
(Section 1.5) and controller optimization when shipped are adequate, then
the highlighted startup steps are of significance.
2 System
1 First steps
Startup
guidelines
Startup
instructions
Operator control
display elements,
and
control
parameters
HS
Overview, setting
data
Connections
Converter interfaces
4 Contr. optimization
Speed controller
current controller
Output terminals
Standard applications
Additional applications
auxiliary function
M19
CAxis
Spindle positioning
torquecontrolled
operation
monitor function
HPC axis
Fault analysis
6
dix
Connector assignment
Connection overviews
Fig. 1-1
Startup
steps
Number
HS/1-4
07.94
Parameter list
Warning
Parameter settings, which are not listed in the parameter list
(refer to Section 6.6) may not be changed.
HS
Table 1-1
Parameter attributes
Number
Mot. 1
040.1
Mot. 2
270.1
Change
effective
P051
online,
RESET,
after
initialization,
after conversion
setting range
Value range
10
Dimensions
Description
Parameter designation
Brief description of the parameter
FW x.xx
Parameter
attributes
Mot. 1
Generally valid parameters, parameters for motor 1 (star) when using
star/delta motors or 2 motors
Mot. 2
Parameters for motor 2 (delta) when using star/delta motors or 2 motors
(P001)
Display parameter
P040.1
Gearbox stagedependent parameters
07.94
Change effective
Online
Change is immediately effective
RESET
The unit must be powereddown and up again
After
conversion
A conversion program is initiated by setting to 1H, after which the parameter is automatically reset to 0H (P143, P177, P237, P239).
After initialization
Initialization is started by setting P097 to 1H.
P051
Write protection parameters
Setting range
HS
Example:
0100H
0200H
or
or
Bit 6
Bit 7
0040H
0080H
Bit 8 + bit 9
0300H
or
Bit 6 + bit 7
00C0H
Description
FW x.xx
Firmwarerelease dependent coding of the function and parameter extensions. The extension is available from the specified firmwarerelease.
HS/1-6
07.94
1.2
Startup instructions
Startup possibilities
using
operator control and display elements (refer to Section 1.3)
Reinitialize drive
converter
(if required)
HS
The firmware can be replaced using the userprompted startup software for
main spindle and induction motor modules, from version V2.00.
Firmware release
Board
before FW 3.00
6SN11210BA1 0AA0
from FW3.00
6SN11210BA110AA1
Procedure:
backup setting data (parameters)
replace the firmware using the startup program
initialize with the pulses and controller inhibited (Section 2.1)
reload the backedup settings
backup the setting data in the drivemachine data memory (Section 1.3)
Startup of series
machines, module
replacement,
component replacement
The drive converter setting data (parameters) can be saved on floppy disk using
the startup software. Proceed as follows to startup additional drive converters
1.
1.3
07.94
Operator control
and display elements
The following operator control and display elements are available on the front
panel to startup and parameterize the SIMODRIVE 611 analog system, main
spindle drive module:
3 op. contr. keys + ,
and
key)
6character LCD
The functions of the operator control elements are illustrated using parameter
P039 as example.
Gearboxstage dependent parameters are listed with subparameter numbers
(e.g. P039.1 toP039.8).
<<
HS
<
>>
>
Parameter
number
Subparameter number
Parameter value
HS/1-8
<
<<
>
>>
07.94
Control parameters
Table 1-2
Note
If data storage (P052) is interrupted due to power failure or the power being
disconnected, then the modified/changed values are lost, and when the
power
returns, the converter displays fault message F07. The parameter values
can be reset after fault message F07 is acknowledged (refer to Sec.
5.2.2).
Control parameters
Parameter attributes
Number
Change
effective
Mot. 1
Mot. 2
P051
Online
P151
P051
P052
P152
Online
P053
Online
0...7FFF hex
0...1 hex
0...FFFF hex
Write protection
Remove the write protection by entering 4H or
10H.
Transfer parameters into FEPROM
Transfer into the drivemachine data memory is
initiated by setting to 1H.
The parameter is reset to 0H after successful
transfer.
Control word
Bi
t
Value
0000
0001
0000
4
5
H
0002
0000
H
0010
H
0000
0020
H
8
9
10
8 0000H
0100H
0200H
0300H
0400H
0500H
0600H
0700H
Inverter clock
frequency
[kHz]
3.2
2.8 FW 3.0
6.3
5.0 FW 3.0
4.7
3.9 FW 3.0
7.8
5.9 FW 3.0
Note:
A pulse frequency > 3.2 kHz is
only possible if the drive is de
rated (refer to Fig. 13).
HS/1-9
HS
Table 1-2
Control parameters
Parameter attributes
Number
Change
effective
Mot. 1
Mot. 2
P051
Setting range
Description
1
1
1
2
1
3
1
P090
04.97
Online
10
0...FFFF hex
0800
H
0000
1000
H
Rampfunction generator
active
Rampfunction generator
tracking,
inactive
0000
2000
H
0000
8000
H
5
Control word
Bi
t
0
HS
0000
Value
0000
0001
H
0000
0002
H
0000
0004
H
0000
RESET
0008
H
3
Online
0000
0010
H
0000
0020
H
0000
0040
H
07.94
HS/1-10
rent derating.
Table 1-3
Power
dule
m
type
50 A
80 A
108 A
120 A
160 A
200 A
300 A
400 A
In/Is6/Ima
in A
Code
No.
0CA
0DA
0LA
0GA
0EA
0FA
0JA
0KA
Power
dule
type
6
7
13
8
9
10
11
12
Order Nos.
6SN11231AA0
6SN11241AA0
6SN11351BA1
50 A
80 A
108 A
120 A
160 A
200 A
300 A
400 A
Cod
No.
0CA
0DA
0LA
0GA
0EA
0FA
0JA
0KA
6
7
13
8
9
10
11
12
=3.20
In/Is6/Ima
in A
In/Is6/Imax
in A
f
=4.70
=6.30
In/Is6/Imax
in A
f
=7.80
kHz
24/32/32
30/40/51
45/60/76
45/60/76
60/80/102
85/110/127
120/150/19
3
200/250/25
7
kHz
20/26/26
26/34/44
39/52/65
39/52/65
51/68/86
73/95/109/
101/127/16
3
169/211/21
7
kHz
15/20/20
21/28/36/
32/43/54
32/43/54
41/54/69
60/78/90
81/102/131/
135/169/17
4
kHz
10/14/14
17/23/29
26/34/43
26/34/43
31/42/53
48/63/72
62/78/101
104/130/13
4
In/Is6/Ima
in A
In/Is6/Imax
in A
In/Is6/Ima
in A
In/Is6/Imax
in A
=2.80
kHz
24/32/32
30/40/51
45/60/76
45/60/76
60/80/102
85/110/127
120/150/19
200/250/25
7
=3.90
=5.00
kHz from
F
22/29/29
28/37/48
42/56/71
42/56/71
56/74/95
79/103/119
111/139/17
185/232/23
8
kHz
3.00
19/25/25
25/33/42
37/50/63
37/50/63
49/65/83
71/91/106
98/122/157
163/203/20
9
HS
=5.90
kHz
16/21/21
22/30/38
34/45/57
34/45/57
43/58/73
63/82/95
86/108/139
144/180/18
5
HS/1-11
SIMODRIVE 611A Installation and StartUp Guide/IAA/04.97 Edition
04.97
1.4
S
M
C T
Fe
Rg
C
R
P
P P P P OP P P P
sP PP
P P P P P Siemens
P PPP
A PPPP TPP
T
P P
A reserved
AGV
All Rights
P1997
PPP
Dd
IA
2
I
p P P
s m
m d m
d E c
S
C PPP
P P P
Df
T
P P P P P P P P P
P P P P P P P P P P
P
P
P P
S P
S P P PP
f P
HS
S
S P
C P
P P P
P P A P PP T P
P P P P P P P P P P
S P P PP
s
P
So
Sss
MP
P
!
G
?
P
PP
MPP
MP
PP
HS/1-12
Fr
D
X
X
Fig. 1-2
As
rf
5 1 2
E E E E E E E E
X
A A A A A A
X
X X
Setting data
07.94
1.5 Connections
Main spindle modules (HS)
1.5
Connections
Spindle encoder, Bero
or encoder output at the NC
X432
Warning!
Motor
encoder,
RON 350
Test sockets
DAU 3 X1
X412
X2 DAU 4
IR
X421
56
14
24
8
Inputs
663
X431
65
81
E1
X451
nset1
A91
DAU 1
M
A92
M
nset2
DAU 2
Outputs
IF
RF
289
X441
HSS
2nd Md limit1)
A11
nact = nset1)
A21
A31
Mndact
< <Mndx1)
min1)
E2
E3
E4
TH = 01)
Reset1)
M191)
A41
A51
A61
Converter overtemp.1)
E5
E6
E7
Md controlled1)
Oscillation1)
G. box stage, bit 01)
672
673
674
E8
E9
9
AS1
AS2
RS232C
Interface
X411
HS
Ready/fault
Signal. contact
Start inhibit
X4332)
Bero connection
LC display
+
X151
Equipment bus
P 600
DC link
M 600
Motor terminals
Fig. 1-3
U2
X351
V2
W2
PE1
PE2
PE3
Connections
HS/1-13
07.94
HS
HS/1-14
07.94
HS/2-15
HS
Warning
The motor could accelerate to inadmissibly high speeds and terminal 64
and terminal 65 (controller inhibit) could become ineffective if incorrect
are set in P098. Only terminal 663 (axisspecific pulse cancellation) open
effective.
2.1
2.1.1
Initializing
Table 2-1
Initialization
Parameter attributes
Number
Chance
effective
P051
Setting range
Mot. 1
Mot. 2
P095
After
initial
ization
6...13 dec
P096
After
initial
ization
101...425 dec
P098
After
initial
ization
P097
128...4096 dec
0...1 hex
Description
1)
07.94
Operation from
an uncontrolled
infeed
Table 2-2
Parameter attributes
Number
Chance
fective
P051
Mot. 1
Mot. 2
P173
After
conversio
n
10
P176
After
conversio
n
10
1...150 %
P177
online
10
0...1 hex
P052
online
0...1 hex
100...6000 RPM
HS
HS/2-16
07.94
2.1.2
Overview
Initializing
special motors
Table 2-3
Parameter attributes
Number
Chance
effective
P051
Setting range
Mot. 1
Mot. 2
P095
After
initial
ization
6...13 dec
P096
After
initial
ization
101...425 dec
P098
After
initial
ization
P097
128...4096 dec
0...1 hex
HS
Description
1)
HS/2-17
Table 2-4
For special motors, the motor data must be entered. The motor data list (P159
to P176) is provided in Section 6.6.
Parameter attributes
Number
HS
04.97
Chance
fective
P051
Setting range
Description
Mot. 1
Mot. 2
P158
online
P159
to
P176
After conversion
10
P177
online
10
0...1 hex
P052
online
0...1 hex
HS/2-18
0.000
mH
Refer to Section
6.6
from FW 3.00
Lowleakage motors require a series reactor to
smooth the phase currents. The series reactor
acts on the drive converter just like an increased
stator leakage reactance P169/229.
Previously, P169/P229 had to be manually adapted. P158 and P294 influence the stall limiting
and
the preassignment (presetting) of the current
controller.
Motor data for motor 1
Motor data is entered for the special motor
07.94
Parameter attributes
Number
Chance
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P172
After conversion
10
10...10000 RPM
Upper speed
characteristic
(magnetizing inductance characteristic)
P173
After conversion
10
100...6000 RPM
P175
After conversion
10
100...300 %
V
Gain factor,
L
After conversion
pp
characteristic
(at n=P
. 100 %
172)
(at n=P
173)
1
100 % = constant
over the complete speed
range
P175 =
P176
su
10
1...150 %
h
2
h
Magnetizing inductance
L h
Flux setpoint
P175 %
h2
L h1
(Rated value)
P
173
Speed
RPM
100 %
P173
P
172
Speed
RPM
HS/2-19
HS
2.1.3
04.97
Overview
Initializing star/
delta motors, 2
motors
Table 2-6
HS
Parameter attributes
Number
Chance
fective
ef-
P051
Setting range
Mot. 1
Mot. 2
P095
After
initial
ization
6...13 dec
P096
After
initial
ization
101...425 dec
Description
P098
1)
After
initial
ization
128...4096 dec
HS/2-20
07.94
Table 2-6
Parameter attributes
Number
Mot. 1
Mot. 2
Chance
fective
ef-
P097
P051
Setting range
0...1 hex
Description
Initialization
The SEtUP message is displayed.
The selected motor/power module combination is
loaded into the drivemachine data memory.
The operating display P000 is displayed
after successful initialization.
P238
After conversion
10
101...338 dec
P239
online
10
0...1 hex
P052
online
0...1 hex
For special motors, the motor data must be entered. The list of motor data sets
is provided in the Appendix (refer to Section 6.6).
P158 to P176, star motor data, or data set, motor 1
P294, P219 to P236 delta motor data or data set, motor 2
Table 2-7
Parameter attributes
Number
Mot. 1
Mot. 2
P159
to
P176
P219
to
P236
Chance
fective
efAfter conversion
P051
10
Setting range
Description
Refer to Section
6.6
P158
P294
online
0.000
mH
from FW 3.00
Lowleakage motors require a series reactor to
smooth the phase currents. The series reactor
acts on the drive converter just like an increased
stator leakage reactance P169/229.
Previously, P169/P229 had to be manually adapted. P158 and P294 influence the stall limiting
and
the preassignment (presetting) of the current
controller
HS/2-21
HS
Table 2-7
04.97
Parameter attributes
Number
Setting range
Description
Mot. 1
Mot. 2
Chance
fective
ef-
P177
P237
online
10
0...1 hex
P052
online
0...1 hex
P051
Parameter attributes
Number
HS
Mot. 1
P172
Mot. 2
P232
P173
P175
Chance
fective
Setting range
P051
Description
After conversion
10
10...10000 RPM
Upper speed
characteristic
(magnetizing inductance characteristic)
P233
After conversion
10
100...6000 RPM
P235
After conversion
10
100...300 %
L
range
P176
P236
After conversion
10
1...150 %
Flux setpoint
P175 %
L h
2
L h
(Rated value)
P173
HS/2-22
Speed
RPM
100 %
P173
P172
Speed
RPM
07.94
Motor
changeover
Table 2-9
Motor changeover
Parameter attributes
Number
Mot. 1
Mot. 2
P180
Chance
effective
online
P051
10
Setting range
0...1 hex
Description
HS
HS/2-23
04.97
2.2
Standard applications
2.2.1
Operating display
The actual converter operating status is displayed in parameters P000 and
P100.
Table 2-10
Operating display
Display
Function group
Relay function
freelyprogr. relay function 1 terminal A11
n
nse
freelyprogr.
relay function 2
minal terA21
HS
| | < Mdx1)
M
freelyprogr.
relay function 3
terminal A31
|
inac-
freelyprogr.
relay function 4
terminal A41
tive
| < nmin1)
| < nx1)
freelyprogr.
relay function 5
terminal A51
P245
1)
mot
temp
freelyprogr. relay function 6
terminal A61
P246
var. relay function
1)
(P
186)
ready/fault
terminal
672/674
P053
ready
The segment is
driven if the appropriate relay has
pulledin.
1)
Operating mode
Equipment status
pulse enable at
the NE module
missing
(T.63/T.48)
axisspecific
controller enable
led operation
with slip monitoring
missing at the
NE
module
(T.64
and/
or
controller
enable missing at
the spindle
main
module (T65)
RFG enable
missing (T.81)
spindle po-
Display in P000:
(only for star/delta
mode)
star circuit
ted
pulse enable
missing (T663)
torque control-
Operating mode
M19
Operating mode
Gearbox stage
Gearbox stage
is selected
Gearbox stage
2 is selected
digital filter is
active
Gearbox stage
3 is selected
i play in P100:
ly for spindle
t o posiing mode)
Gearbox stage
position 1 selected
sitioning
mode
4 is selected
Gearbox stage
5 is selected
setpoint enable
Operating
mode
Caxis
Operating mode
HPC axis
0.5 ms or 0.3ms
Operating mode
HPC axis
0.6 ms or
0.35ms
diag. functions, I/f controlled operation
Oscillation function has been
selected (from
fct. 3.00)
position 2
selected
missing (select
terminal
function No. 16)
que direction diso
l y for enabled
motor:
motor operation
generator operation
Speed controller
clock fast,
clock is active
Gearbox stage
position 3 selected
position 4 selected
is selected
Gearbox stage
7 is selected
Gearbox stage
incremental
positioning selected
8 is selected
Gearbox stage 1...8
Selected via freely
programmable
terminal
function
P081...P089
=9, 10, 11
as supplied
HS/2-24
07.94
2.2.2
Table 2-11
Parameter attributes
Number
Mot. 1
Mot. 2
Chance
effective
P051
Setting range
(P099)
0.00...99.00
(P150)
Description
Firmware release
Board code
HS
HS/2-25
2.2.3
04.97
Overview
Speed settings
torque limits
Motor temperature monitoring
Oscillation
Speed
setting values
Table 2-12
Speed settings
Parameter attributes
Number
HS
Mot. 1
Mot. 2
P022
P261
Chance
effective
online
P051
4
Setting range
1.. r
.n a
RPM
0...15000 ms
t
e
online
P025
Control inhibit
Description
down ramp
Shutdo
speed P022
wn
P029
P036
HS/2-26
online
online
0.. max
.n Mot
RPM
400...400 dec
Speed limiting
Max. motor speed setting
Encoder phase error correction
If the two encoder tracks are not precisely shifted
through 90 , then this results in torque ripple.
Setting resolution 1 corresponds to 0.18
max. value 400 corresponds to 72
07.94
Table 2-12
Speed settings
Parameter attributes
Number
Chance
effective
Setting range
P051
Description
Mot. 1
Mot. 2
P037
P267
online
1...32000 RPM
P038
P268
online
1...500 RPM
Hysteresis, P037/P267
(from firmware V2.00, no longer relevant)
Table 2-13
Torque limits
Parameter attributes
Number
Chance
fective
Setting range
P051
Description
HS
Mot. 1
Mot. 2
P
039.1
P
269.1
online
5...300 %
P041
P271
online
5...100 %
P050
P290
online
P
040.1
P
270.1
online
P042
P272
online
P043
P273
online
0.. max
.n 5...100
Mot %RPM
1.. max
.n
0.. Mot
.n
Torque [%]
(referred to the rated motor
torque)
Motoring
Generating
max
Mot
RPM
RPM
Regenerative limiting
(referred to P039/P269 or P041/P271)
Hysteresis, P042/P272
P050
P
039.1
P041
P
Speed [RPM]
040.1
P
039.1
P042
2max
02
Iconv
2ratedmot IMot
02
100 %
(referred to 10 s overload)
Mot
mot
HS/2-27
04.97
Motor temperature
monitoring
Table 2-14
Parameter attributes
Number
HS
Chance
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P063
P291
online
0...170 C
P064
online
0...170 C
Fixed temperature
The motor parameter is calculated using this
fixed
temperature if a value
0. Caution!
The motor temperature monitoring is
inactivated.
P065
online
0...600 s
Oscillation
Table 2-15
Oscillation
Parameter attributes
Number
Chance
fective
P051
Mot. 1
Mot. 2
P154
online
max ...
n max
RPM
Oscillation setpoint 1
P155
online
Mot
maxMot...
n max
RPM
Oscillation setpoint 2
P156
online
Mot
10...10000
ms
P157
online
10...10000 ms
0...10000 ms from
FW 3.00
Speed [RPM]
P154
Time [ms]
P155
P156
HS/2-28
P157
07.94
2.3
Other applications
2.3.1
Table 2-16
Parameter attributes
Number
Mot. 1
Mot. 2
P054
Chance
effective
online
P051
4
Setting range
max ...
n max
RPM
Mot
Description
P055
online
C000...4000 hex
P056
online
0.. max
.n Mot
RPM
P058
online
0.. max
.n Mot
RPM
P062
online
0.. max
.n Mot
RPM
P090
online
10
0...FFFF hex
HS/2-29
HS
2.3.2 C axis
Main spindle modules (HS)
2.3.2
07.94
C axis
Caxis operation can be switchedin using a select terminal
(E1 to E9) (Section 3.2.2). The setpoint can only be entered via terminals 24
and 8.
Table 2-17
Caxis
Parameter attributes
Number
Mot. 1
Mot. 2
P
114.1
Change
effective
online
Setting range
P051
4
r
n a
t
P
115.1
HS
2.3.3
online
r
RP
a
M
C000...4000 hex
Description
Spindle positioning
Overview
function description
Position reference values
Function parameter 1
Position controller
Openloop control parameters
Function parameter 2
diagnostics parameter
short startup
Function description
HS/2-30
07.94
Warning
It is
possible to connect spindle encoders to main spindle drive control
cards with pulse encoder signal outputs for external use
(MLFB 6SN11
0VA0)! If this is not observed, the equipment and
spindle encoder could be damaged.
HS/2-31
HS
07.94
Phase 1
Gradient 2
P13 or138
3
360
Last revolution
P134
HS
Fig. 2-1
0
P135
Distance
(degrees)
The initiation points and gradients of the individual sections can be set.
Thus, the approach characteristics can be adapted to the widest range of
requirements (P134 to P139).
If the drive is rotating at a lower speed than the search speed, it can accelerate up to the search speed to reduce the positioning time. (P142).
In most cases, it is sufficient to adapt the search speed P146 and adapt
parameters P137 or P138 for optimization purposes.
Reference format
The position reference value may only have values from 0 to max. +32767;
from firmware release V2.00 max. 64000 I/rev. (corresponds to max. encoder pulse number between two zero pulses). The direction of rotation is obtained from the polarity of the search speed. Position reference values are
entered in encoder pulses.
When positioning with the motor encoder, P141 allows a multiplication factor to be entered to improve the reference value resolution. This multiplication factor can be 1, 2, 4, 8, 16 and 32. The multiplication factor can be selected so high that an arithmetic pulse number of up to 32768 is obtained.
Example:
RON350 standard encoder (2048 pulses). When using multiplication factor
16 this results in a calculated pulse number of 32768. This value must be
entered into P131. Setpoint inputs from 0 to 32768, from firmware release
V2.00, max. 64000 pulses/revolution are possible. If higher values are entered, fault message FP01 is output when positioning.
HS/2-32
07.94
Select terminal
function 27
0
1
0
1
0
0
1
1
Position reference
value
1
2
3
4
HS/2-33
HS
07.94
Position reference
values
Table 2-18
HS
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P121
online
0...64000 dec
P122
online
0...64000 dec
P123
online
32768...32767
dec
P124
online
0...64000 dec
P125
online
0...64000 dec
HS/2-34
07.94
Function
parameter 1
Table 2-19
Function parameter 1
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P126
online
0.0...180 degrees
P149
online
0...FFFF hex
P129
online
0...1 hex
P130
online
0...64000 dec
P131
online
128...64000 dec
HS/2-35
HS
07.94
Position controller
Table 2-20
Position controller
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P134
online
P135
online
P136
online
degrees
0...FFFF hex
P137
online
0...FFFF hex
P gain, gradient 2
Gain setting when positioning with spindle encoder.
P138
online
0...FFFF hex
P139
online
0...FFFF hex
0.0...180.0
degrees
0.0...180.0
HS
HS/2-36
07.94
Control parameters
Table 2-21
Parameter attributes
Number
Mot. 1
Mot. 2
P141
Change
effective
online via
P143
P051
4
Setting range
0...FFFF hex
Description
Value
0000H
0001H
1
0
1
1
1
0000H
0002H
0000H
0004H
0100H
0200H
0400H
0800H
1000H
2
Note:
After changing the setpoint multiplication factor
(bits 8 to 12), before transferring the new settings
the pulse number must be adapted in P131
using
P143.
The changed settings must then be activated
using P143.
The setting of parameter P141 is transferred
activated, by changing the contents of parameter
P143 from 0 to 1!
HS/2-37
HS
Table 2-21
07.94
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P143
online
0...1 hex
P142
online
0...21 hex
Value
0000H
0
0001H
0000H
0020H
HS
5
HS/2-38
07.94
Function
parameter 2
Table 2-22
Function parameter 2
Parameter attributes
Number
Change
effective
P051
Setting range
Mot. 1
Mot. 2
P144
online
0.00...18.00 degrees
P145
online
0.00...18.00 degrees
P146
online
0...4
n
P148
online
0.0...180.0
degrees
rated
Description
HS/2-39
HS
Table 2-22
07.94
Function parameter 2
Parameter attributes
Number
Mot. 1
Mot. 2
P149
Change
effective
online
P051
4
Setting range
0...FFFF hex
Description
Value
0000H
0
0001H
0000H
1
0002H
HS
0000H
0004H
0000H
0008H
0000H
0020H
0040H
0000H
0080H
HS/2-40
07.94
Diagnostic
parameters
Table 2-23
diagnostics parameter
Parameter attributes
Number
Mot. 1
Mot. 2
Change
effective
P051
Setting range
Description
(P100)
(P128)
(P132)
(P133)
(P140)
(P147)
(P320)
(P321)
HS/2-41
HS
Short
startup
07.94
Startup example
Hardware design: Encoder signals and zero pulse from the motor encoder
Can the
position be set
by manually rotating the
spindle?
No
Yes
1. Issue controller and pulse inhibit.
HS
1. Enable drive
(terminals 663, 65, 81)
2. With the speed setpoint entered, rotate
the spindle through at least one revolution and then stop in position.
3. Disconnect terminals 65 and 663.
Write 1H into P129: The parameter value automatically resets itself, so that this position is defined
as software zero mark.
The offset to the hardware zero mark is displayed in parameter P130.
Required position
reached?
No
Yes
Optimize position using parameters P134 to P139.
The search speed can be changed via P146. Additional functions (refer to the parameter description,
tables 2-21 and 2-22) via parameters P142 and P149. The response bandwidth for both relay
signals
can be changed via P144 and P145.
Store the changed parameters in FEPROM (P052).
End
HS/2-42
07.94
2.3.4
Overview
function description
parameter settings
Parameter description
slip monitoring
Function description
Master drive
Speed setpoint
Term. 56/14
M
3
Term. A9n
Speed
setpoint
Torque setpoint
Term. 56/14
Slave drive
M dset adaptation
Term. 24/8 via P048/049
Speed setpoint
for the slave for
openloop torque
control operation
with slip
Slip monitoring
Term. E n
Select terminal,
torque control
(fct. No. 4)
Term. E
or
Rigid or quasi
rigid coupling,
which can also be
operationally
released.
M
3
Select terminal,
slip monitoring
(fct. No. 32)
FW 2.00
Slave drive:
For rigid coupling, openloop torque control With
coupling released, closedloop speed control
Fig. 2-2
Master/slave operation
HS/2-43
HS
04.97
Note
For controller inhibit in the openloop torque controlled mode, the spindle
be braked via
setpoint input; the pulses are only internally canceled
after the shutdown speed (P022) has been reached.
Parameter
settings
Example:
In order that the torque setpoint is available at terminals A92 and M of the master drive torque setpoint, address 0C6CH must be written into parameter
P068. Parameter P069 can be used, by shifting, to define which voltage is
available at a specific torque.
The normalization of the rated motor torque can be taken from the contents of
address 0F52H. Address 0F52H must be entered into P250 in order to determine this value, and the normalization value for the rated torque can be read
out of P251.
HS
Value to be
(hex)
Output voltage
D/A converter 2 [V] at
M drated
Contents,
P251 (hex)
Shift factor
P069
0C00
0
1
2
3
0C00
1800
3000
6000
0.94
1.88
3.75
7.50
1000
0
1
2
1000
2000
4000
1.25
2.50
5.00
At the max. output voltage, the torque limit in P039 must be taken into account
(160 % corresponds to M drated . 1.6), and it must be ensured, that saturation
does not occur (> 10 V).
If the slave drive is switched to the torque mode, parameters P048 and P049
are still effective. Torque adaptation can be executed using P048 (corresponding to P014 in closedloop speed controlled operation) and torque drift can
be compensated with P049 (corresponding to P015 in closedloop speed
controlled operation). Parameter P049 is not suitable for compensating for
frictional forces. P048 and P049, are ineffective in the closedspeed controlled mode.
From firmware release 3.00
The torque data is updated every 1 ms via address 304C (previously 20 ms)
and is normalized with 5 V the rated motor torque.
Example:
Output via terminals A92 and M
P68=304CH P69=0H
Normalization can be influenced by P26.
For P26=100%, 5 V corresponds to the rated torque.
For P26=160%, 8 V corresponds to the rated torque.
HS/2-44
07.94
Parameter
description
Table 2-24
Parameter description
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P048
online
250...250 %
Normalization, dset
The setting is referred to the rated motor torque.
P049
online
C000...4000 hex
Openloop torque
control with slip
monitoring
FW 2.00
HS
HS/2-45
Table 2-25
12.94
slip monitoring
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P340
online
0.1...100.0 %
P346
online
0.0...100.0 %
Hysteresis to P340
P341
online
0.0...100.0 %
P343
online
0...999 ms
P344
online
0.01...100.00
%/ms
P345
online
0.01...100.00
%/ms
(P347)
online
HS
n
P346
ctn set
P340
n
set
Reduction
tor for
M
100
%
fac-
dset
P344
P345
P
341
t
P343
(P347) =
a
cn
set
100 %
s
e
HS/2-46
07.94
2.3.5
Monitor function
The address contents (data in the RAM area) of the main spindle drive module
can be read via parameters P249 to P251.
Note
A list of important measurement quantities (RAM variables) and their
are
provided in the Appendix (Section 6.5).
addresses
Table 2-26
Monitor function
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P249
online
10
0...FFFF hex
P250
online
10
0...FFFF hex
P251
online
2.3.6
Overview
function description
system configuration
converter interfaces
controller optimization
diagnostics
Function
description
The HighPrecision C axis (HPC) mode permits improved load and control characteristics by reducing the speed controller clock to 0.5 or 0.6 ms. 0.3 or 0.35
ms is possible from FW 3.0.
Expanded functional scope in the HPCaxis mode:
flux adaptation (noise reduction)
it is possible to parameterize 2 digital filters in the torque setpoint channel for 0.6 ms speed controller clock (from FW 3.0=0.35 ms possible)
HS/2-47
HS
07.94
System
configuration
n rated motor
HS
changeover into the standard mode is realized online; all functions are
then available again.
Selecting HPC axis
Table 2-27
Parameter attributes
Number
Mot. 1
Mot. 2
P149
Change
effective
online
P051
4
Setting range
0...FFFF hex
Description
Value
0000H
0100H
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P109
online
5...180 %
P110
online
5...100 %
HS/2-48
07.94
Drive converter
interfaces
Analog setpoint
The analog speed setpoint or Md setpoint can only be entered via setpoint
channel 2
(terminal 24/8).
The speed setpoint is limited to
Table 2-29
n rated motor.
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P093
online
C000...4000 hex
P094
online
r
1...
+ r
1 RPM
n a
Terminal functions
Terminal functions
Function No.
25
26
HPC axis
30
33.34
HS/2-49
HS
07.94
Relay functions
Terminal functions
Function No.
n a
min
< overtemperature, alarm
Motor
HS
Controller optimization
Table 2-32
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P106
online
3...10000 ms
P053
online
0...FFFF hex
Control word
Bi
t4
Value
0000H
0010H
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P111
online
3.0...240.0 dec
P112
online
2...6000 ms
HS/2-50
07.94
Flux adaptation
Table 2-34
Flux adaptation
Parameter attributes
Number
Mot. 1
Mot. 2
P119
Change
effective
online
P051
4
Setting range
5...100 %
Description
HS
Parameter attributes
Number
Mot. 1
Mot. 2
P118
Change
effective
online
P051
4
Setting range
0...FFFF hex
Description
P091
online
P092
online
P107
online
P108
online
45...750 Hz
0.50...10.00 dec
45...750 Hz
0.50...10.00 dec
Value
0000H
0001H
0000H
0100H
0000H
0200H
HS/2-51
Table 2-35
04.97
Parameter attributes
Number
Mot. 1
Mot. 2
P117
Change
effective
P051
4
Setting range
0...FFFF hex
Description
online
online
online
RESET
HS
Diagnostics
Value
0000H
0001H
0000H
0100H
0000H
0200H
0000H
0400H
The following diagnostic functions are not available in the HPC axis mode:
diagnostics parameter P020 (dn/dt monitoring), P320, P321
transient recoder function
I/f controlled operation (openloop)
HS/2-52
07.94
Overview
HS
Speed setpoint
channel selection
Table 3-1
Parameter attributes
Number
Mot. 1
Mot. 2
P113
Change
effective
online
P051
4
Setting range
0...3 dec
Description
Term.
56/14
off
on
off
on
Term.
24/8
off
off
on
on
HS/3-53
07.94
Normalization,
analog speed setpoint
Table 3-2
Parameter attributes
Number
Mot. 1
Mot. 2
P
014.1
P
258.1
Change
effective
online
P051
4
Setting range
max ...
n max
RPM
Mot
HS
P024
online
P
015.1
online
5.0...15.0 V
C000...4000 hex
Description
Unipolar
speed setpoint input
Table 3-3
Parameter attributes
Number
Mot. 1
Mot. 2
P053
Change
effective
online
P051
4
Setting range
0...FFFF hex
Description
Control word
Bi
t
1
HS/3-54
Value
0000H
2000H
07.94
Steadystate
minimum speed
Table 3-4
Parameter attributes
Number
P030
Change
effective
online
P051
4
Setting range
0.. max
.n Mot
RPM
Description
Steadystate minimum speed
No steadystate operation in the speed range
around zero.
The range is runthrough with the current ramp
up or rampdown times, if the speed setpoint exceeds the steadystate minumum speed in the
opposite direction of rotation.
Zero speed can only be achieved by inhibiting the
permanentlywired enable signals.
FW 2.00
200
200
HS
HS/3-55
3.2
Input terminals
3.2.1
07.94
Warning
Terminal function parameters P081 to P089 may only be programmed
the pulses are canceled (terminal 63 or terminal 663 open).
Table 3-5
Terminal function
HS
Description
Axis specific
enable
Controller enable
If terminal 65 is opened while the motor is still rotating, the drive brakes along
rampfunction generator ramp.
If the absolute speed falls below
m threshold (P022), the inverter is
the and
n the motor is brought to a standstill
i inhibited
with no overshoot.
Ramp
function generator
fast stop
HS/3-56
Terminal
number
663
65
81
03.96
3.2.2
Overview
Terminal function
assignment
Table 3-6
Parameter attributes
Number
Mot. 1
Mot. 2
P081
to
P089
Change
effective
online
P051
4
Setting range
1...34 dec
Description
HS
Terminal functions
Table 3-7
Terminal functions
HS/3-57
Terminal function
HS
07.94
Description
Fct.
No.
Input
terminal
when
supplied
2nd torque
limit
The 2nd limit torque becomes active if this terminal is energized and the
speed in P050 is exceeded.
E1 (P
081)
Reciprocation
E6 (P
086)
Reset
fault memory (R)
(fault acknowledgment)
E3 (P
083)
Openloop torque
controlled mode
E5 (P
085)
Star/delta operation
M19 operation
NC auxiliary function for oriented spindle stop. When this terminal is energized,
setpoint normalization, entered in P054 is selected, if the speed falls below the
value entered in P054.
E4 (P
084)
Rampup time = 0
E2 (P
082)
Integrator inhibit
speed controller
The integral component of the speed controller can be inhibited via this terminal
Gearbox stage
E7 (P
087)
E8 (P
10
0 0 0 0 1 1 1 1
11
If this terminal is open, the setpoint is a digital zero. When the enable voltage is
connected to this terminal, the setpoint is enabled (analog setpoint or oscillation
setpoint). If the terminal function is not selected, the setpoint is enabled.
16
088)
E9 (P
089)
Incremental positioning
If the spindle is in position, and if the enable voltage is connected to the terminal,
then the incremental position reference value in P0123 is added to the actual
position reference value. The drive then moves to the thus calculated new position.
22
Together with the terminal, function number 27, this terminal is used to select the
position reference value defined via parameters P121, P122, P124, and P
(Section 2.3.3.)
23
Caxis
The more finely graduated setpoint normalization, set in P114 is used in the C
mode. Only setpoint 2 (terminal 24 and terminal 8) are evaluated.
24
Speed setpoint
thing
25
Suppressing F11
By connecting the enable voltage to this terminal, fault message F11 (speed controller at its limit) can be suppressed.
26
Position
reference values 3..4
Together with the terminal, function No. 23, this terminal is used to select the position reference value, defined using parameters P121, P122, P124, and P125
(Section 2.3.3.)
27
Positioning on
28
Spindle
re synchronization
29
HPC axis
By connecting the enable voltage to this terminal, the HPC axis mode is selected
when bit 8 was set in P149. FW 2.00
30
Slip monitoring
By connecting the enable voltage to this terminal, the openloop torque control is
activated with slip monitoring. FW 2.00
32
Parameter
P053 P331 P332
0
1 0 1
0
0
1 1
Bit
0
Bit
1
Bit
Setpoint enable 2
for speed setpoint)
HS/3-58
33
34
07.94
3.3
Output terminals
3.3.1
Warning
It is only permissible to program the relays (P241 to 247) if the pulses are
celed (terminal 63 or 663 open).
Terminal
tion
Description
Terminal
number
Bit
Value
0000H
0
0001H
Checkback
gnal, start inhibit
3.3.2
Overview
672
673
674
AS1
AS2
Message assignment
relay functions
Messages which can be parameterized
Control word messages
Note
The relay signals are updated with 20 ms for a 1 ms speed controller clock. For
a 0.5 ms speed controller clock, every 10 ms (refer to P90 bit 3).
HS/3-59
HS
07.94
Message
assignment
Table 3-9
Message assignment
Parameter attributes
Number
Mot. 1
Mot. 2
P241
P246
Change
effective
online
P051
4
Setting range
1...20 dec
Description
Programmable messages 1 to 6
Relay outputs A11 to A61 are assigned by entering the function number. The factory setting is
provided in the following table.
HS
HS/3-60
07.94
Relay functions
Table 3-10
relay functions
Relay function
Fct.
No.
Relay
output
The relay pullsin, if the calculated speed actual value, after a setpoint step,
enters the tolerance bandwidth around the new setpoint and has stayed
this tolerance bandwidth at least 200 ms. The message is latched in the
ted position, until the speed setpoint changes. The tolerance bandwidth can
parameterized in P027.
Even if the calculated speed actual value exits the tolerance bandwidth again
after 200 ms, the signal remains active, unless, in the meantime, the setpoint
has changed.
If the tolerance bandwidth is reexited before 200 ms, the acceleration completed message remains inactive. The relay does not dropout due to speed
fluctuations caused by load changes. The time of 200ms can be
parameterized
via P256 FW 3.00 onwards.
A11 (P241)
The relay pullsin at d < d . . This can be set using P047. If the
a
= s dropsout when the speed setpoint is changed, then
d < d
n e only
the dropout
M
rel
can
800ms after the relay a = s has pulledin again.x The
time of 800ms can be parameterized via P257 from FW 3.00.
A21 (P242)
< min
n c a n< x
n
Motor overtemperature
alarm
A31 (P243)
A41 (P244)
A51 (P245)
The relay dropsout, if the thermoswitch of the main heatsink responds. If the
overtemperature condition remains, the conv. shuts down after approx. 20 s
with the F15 fault mess.
A61 (P246)
Rampup completed
M d <
dx
M
n a
Description
ac
In position 1
The relay pullsin if the positioning program was executed, and the spindle is
located within the tolerance bandwidth, set in P144.
In position 2
The relay pullsin if the positioning program was executed, and the spindle is
located within the tolerance bandwidth, set in P145.
10
The external auxiliary contactor to change over the winding into the star
guration, can be controlled via this relay.
11
The external auxiliary contactor to change over the winding into the delta
guration, can be controlled via this relay.
12
20
= s
n
(actual)
HS/3-61
HS
07.94
Messages which
can be parameterized
Table 3-11
Parameter attributes
Number
P051
Setting range
Mot. 1
Mot. 2
P
021.1
P
260.1
online
0.. r
.n a
P
023.1
P
262.1
online
0.. max
.n Mot
online
0.. r
027.1
P
047.1
263.1
online
P256
online
0.00...0.50
P257
online
0.00...1.00
HS
Change
effective
.n
RPM
RPM
/16
RPM
a
0...100
%
Description
n m for
a
m message
Response value of the a
m relay
n
<
c
n for a
message i
Response value of the a <
relay
n
c
Tolerance bandwidth for the a
s
sage
=
mesM d for the
d message
The setting refers to the actual torque limiting
Delay time
n
Delay
time
M
= s message FW 3.00
n
d message FW 3.00
<
Control word
messages
Table 3-12
Parameter attributes
Number
Mot. 1
Mot. 2
P247
HS/3-62
Change
effective
online
P051
4
Setting range
0...FFFF hex
Description
Value
0001H
0002H
0004H
0008H
0010H
0020H
07.94
3.3.3
Table 3-13
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P185
online
0...FFFF hex
P186
online
0...FFFF hex
P187
online
0.00...10.00 s
P188
online
0.00...10.00 s
P189
online
0...FFFF hex
Hysteresis, monitoring 1
(hysteresis for threshold, P186)
P190
online
0...FFFF hex
P191
online
0...FFFF hex
P192
online
0.00...10.00 s
P193
online
0.00...10.00 s
P194
online
0...FFFF hex
Hysteresis, monitoring 2
(hysteresis for threshold, P191)
P247
online
0...FFFF hex
Value
0000H
0100H
0000H
0200H
0000H
2
1
3
HS
1000H
0000H
2000H
Note
A list of the most important measured quantities (RAM variables) and their
dresses is provided in the Appendix (Section 6.5).
HS/3-63
3.3.4
07.94
Table 3-14
Parameter attributes
Number
Mot. 1
Mot. 2
P033
Change
effective
online
P051
4
Setting range
0...7 dec
Description
Factor
Limiting speed
RPM for
RON350/
ERN 1387
033
1
2048
16000
0.5
1024
16000
4096
5000
8192
2500
HS
Square
wave
ses
Toothedwheel
encoder 256
I/rev.
1
256
24000
0.5
128
24000
512
24000
1024
12000
Toothedwheel
encoder 512
I/rev.
HS/3-64
07.94
512
12000
3
5
0.5
256
12000
1024
12000
2048
6000
3.3.5
Analog outputs
Overview
Function
technical data
Parameterization DAU 1, DAU 2
Fine normalization
Function
Technical data
HS
HS/3-65
07.94
Parameterization
DAU 1, DAU 2
Table 3-15
Parameter attributes
Number
Setting range
Description
Address, DAU 1
Address of the RAM variables, which are to the
output at DAU 1.
Presetting:
m (RAM address: 3044H)
n/n
a 1
Shift factor, DAU
Selected data values are shifted to the left
1 corresponds to multiplying by
2 corresponds to multiplying by n
n
2
Offset, DAU 1
Compensation of a possible offset for DAU 1
Mot.
1
P066
online
0...FFFF hex
P067
online
0...15 dec
P078
online
7F...FF80 hex
P068
online
0...FFFF hex
Address, DAU 2
Presetting: Utilization
m or
m )
(M/M address: 3048H)
P/P a
(RAM
a
A smoothing function can be set using P071.
P069
online
0...15 dec
P079
online
7F...FF80 hex
Mot.
HS
P051
Change
effective
Output
voltage
Offset, DAU 2
1st overflow
2nd overflow
+10.0
3.
overflow
4. overflow
10.0
0000
H
2000H
4000
H
Shift factor = 0
Shift factor = 2
HS/3-66
6000H
8000
H
A000H
Offset = 0 V
Fine normalization = 100 %
C000
H
E000
H
FFFFH
Hex numerical value
07.94
Fine normalization
Table 3-16
Fine normalization
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P012
online
200.0...200.0 %
P013
online
200.0...200.0 %
P026
online
200.0...200.0 %
P071
online
2...32767 ms
HS
Normalization DAU
rated
For P026 = 100 %, the following is valid:
rated torque corresponds to +5 V
M/ r
is signed, i.e.
Mnegative
a
a
rated torque corresponds to 5 V.
Only effective at address 304CH. Update clock is
1 ms from FW 3.00 1ms (previously 20ms)
Smoothing time, DAU utilization display
(from FW 2.40, not in the HPCaxis mode)
Output via address 3048 H, preset at DAU2.
Note
A list of the most important measured quantities (RAM variables) and their
dresses is provided in the Appendix (Section 6.5).
HS/3-67
07.94
HS
4
HS/3-68
07.94
HS/4-69
HS
Controller optimization
4.1
Overview
Speed setpoint
smoothing
Table 4-1
Parameter attributes
Number
Change
effective
P051
Change effective
Description
Mot. 1
Mot. 2
P018
online
3...10000 ms
P019
online
0...30 dec
P053
online
0...FFFF hex
Control word
Bi
t
5
Value
0000H
0010H
07.94
Parameter attributes
Number
Change
effective
P051
Change effective
Description
Mot. 1
Mot. 2
P034
online
1...10 ms
P053
online
0...FFFF hex
Control word
Bi
t
4
Value
0000H
0020H
Rampfunction generator
Table 4-3
HS
Rampfunction generator
Parameter attributes
Number
Change
effective
P051
Change effective
Mot. 1
Mot. 2
P
016.1
online
0.01...64.00 s
P
017.1
online
0.01...64.00 s
P053
online
0...FFFF hex
Description
Rampup time, rampfunction generator
(from n 0 to m P029)
n
a
Rampdown time,
rampfunction generator
(from m to n 0 P029)
n
Controla word
Bi
t
1
2
Speed
Value
0000H
1000H
Rampfunction
Speed set-
Rampfunction
generator output
point
generator output
Speed
Speed setpoint
HS/4-70
Time
07.94
Parameter attributes
Number
Change
effective
P051
Change effective
Description
Mot. 1
Mot. 2
P
031.1
P
online
3.0...120.0 dec
online
5...6000 ms
online
032.1
P090
0...FFFF hex
Control word
Bi
t
Value
0000H
0040H
HS
HS/4-71
07.94
Speed controller
adaptation
Table 4-5
Parameter attributes
Number
Mot.
Mot. 2
Change
effective
P051
Change effective
Description
1
P195
P283
online
P196
P284
online
P198
P285
online
P199
P286
online
1...200 %
P201
P288
online
5...6000 ms
P202
P289
online
1...200 %
P203
P293
online
0...7 dec
HS
0.. max
.n
0.. Mot
max
RPM
.n1.0...120.0
RPM
Mot
dec
Bit
1
Value
0000H
0002H
No adaptation
Speed controller adaptation
active
Integral action
tigain m e
P032.1
m
s
P202
P199
P199
P202
P031.1
P195
P198
P201
Spee
d
R
P
M
196
HS/4-72
07.94
Torque setpoint
smoothing (pT )1
Table 4-6
Parameter attributes
Number
Change
effective
P051
Mot. 1
Mot. 2
P035
online
P045
P274
online
P046
P275
online
P044
online
3...10000 ms
1.. max
.n Mot
RPM
0.. r
RPM
.n0...1
a hex
HS
HS/4-73
07.94
Digital filter
torque setpoint
channel
Table 4-7
Parameter attributes
Number
Mot. 1
Mot. 2
P051
Change effective
P281
online
online
4
4
P103
P276
online
P104
P277
online
0.10...10.00 dec
P280
online
online
4
4
0...FFFF hex
0...1 hex
P118
P117
HS
Change
effective
0...FFFF hex
0...1 hex
50...450 Hz
Amplitude
Description
Amplitude
3dB {
104
P
0.5
104
P103
Low pass
Freque
ncy
P103
Bandstop
Frequency
Hz
Parameter attributes
Number
Mot. 1
Mot. 2
P248
HS/4-74
Change
effective
online
P051
4
Change effective
Description
100...10000 ms
07.94
4.2
Note
Normally, it is not necessary to change the following parameters, as the optimum current controller setting is calculated from the motor and power
data.
Overview
Current controller
Inverter clock frequency
Current controller
Table 4-9
Current controller
Parameter attributes
Number
Change
effective
P051
Description
Mot. 1
Mot. 2
P116
P278
online
225...255 dec
P120
P292
online
500...10000 RPM
online
(P316)
HS
Change effective
HS/4-75
04.97
Parameter attributes
Number
Mot. 1
P053
Mot. 2
Change
effective
online
P051
4
Change effective
0...FFFF hex
Description
Control word
Bi
t
8
9
1
0
Value
0000H
0200H
0400H
0600H
0100H
0300H
0500H
0700H
HS
Table 4-11
Parameter attributes
Number
Mot. 1
Mot. 2
P331
P332
P333
Change
effective
online
online
online
P051
4
4
4
Change effective
07Hex
07Hex
07Hex
Description
(P330)
HS/4-76
online
2.87.8kHz
07.94
Diagnostic aids
5.1.1
Table 5-1
Parameter attributes
Number
Mot. 1
Mot. 2
Change
effective
P051
Setting range
Description
20000...20000
RPM
Speed setpoint
20000...20000
RPM
(P001)
(P002)
(P102)
(P003)
0...500 V
(P004)
0...100.0 %
(P006)
0...700 V
DC link voltage
(P007)
0...150 A
Motor current
(P008)
0...100 kVA
(P009)
0...100 kW
(P010)
0...150 C
Motor temperature
(P101)
200...200 %
(P330)
2.8...7.8 kHz
HS
Motor voltage
Utilization (referred to the actual torque limit)
HS/5-77
5.1.2
07.94
Status displays
P000, P100
operating display
P011
Status of the binary inputs
Table 5-2
Display
Display
value
HS
Term.
central63
pulse enable
NE
Term. E6
Term. E2
freely
programmable
via P086
freely
programmable
via P082
Term. E7
Term. 64
central
controller
enable
NE
Term. E3
freely
programmabl
e via P087
freely
programmabl
e via P083
Term. 65
axisspecific
controller
enable
Term. E8
freely
programmabl
e via P088
Term. E4
freely
programmabl
e via P084
Term.
open81
ramp
function
generator fast
stop
Term. E9
Term. 663
axisspecific
pulse enable
freely
programmabl
via P089
Term. E5
freely
programmabl
via P085
Term. E1
freely
programmabl
via P081
HS/5-78
07.94
P254
Display of active
functions 1
Table 5-3
Display
Display
value
Fct. No. 9
gearbox stage
bit 0
Fct. No. 10
gearbox
stage
bit 1
Fct. No. 11
gearbox
stage
bit 2
Fct. No. 16
setpoint
enable
Fct. No. 5
Fct. No. 1
star/delta
2. torque limit
Fct. No. 6
M19
operation
Fct. No. 7
T
=0
Fct. No. 8
integrator
inhibit,
speed
controller
Fct. No. 2
oscillation
HS
Fct. No. 3
reset fault
me- (fault
mory
acknowledgment
Fct. No. 4
torque
controlled operation
HS/5-79
07.94
P255
Display of active
function 2
Table 5-4
Display
Display
value
suppress
F11
Fct. No. 26
slip
Fct.monitoring
No. 32
Fct. No. 33
HS
Fct. No. 23
position ref.
values 1...2
Fct. No. 27
position ref.
values 3...4
Fct. No. 28
positioning on
Fct. No. 30
HPC axis
Inverter clock
frequency
bit 0
Fct. No. 24
Fct. No. 22
Fct. No. 34
C axis
incremental
positioning
Inverter clock
frequency
bit1
Fct. No. 25
Fct. No. 29
speed
setpoint
smoothing
active
Spindle
re
synchronization
HS/5-80
07.94
5.1.3
Diagnostic parameters
Table 5-5
Diagnostic parameters
Parameter attributes
Number
Mot. 1
(P
020)
Mot. 2
Chang
effective
P051
Setting
range
Description
(P
028)
Diagnostic
Bit
Value
0008
H
HS
13
2000
H
(P
299)
Checksum, parameter
For each save (P052 = 1H), the checksum is
generated
over the parameter contents. Thus, if there is a change
in
the drivemachine data, this will be identified.
(P
320)
(P
321)
HS/5-81
5.1.4
07.94
Overview
function
technical data
assignment
Normalization, IR
Parameterization X1 (DAU 3), X2 (DAU 4)
Function
Technical data
Analog output of the phase current actual value and RAM variables for
measurement and diagnostics.
HS
Assignment
X1
X2
IR
Fig. 5-1
X1:
X2:
IR:
M:
Reference ground
Normalization,
phase current IR
Table 5-6
HS/5-82
Normalization, IR
Power module
Normalization, IR
50 A
50 A corresponds to 8.25 V
80 A
80 A corresponds to 8.25 V
120 A
160 A
200 A
10
300 A
11
400 A
12
108 A
13
07.94
Parameterization
X1 (DAU 3),
X2 (DAU 4)
Table 5-7
Parameter attributes
Number
Change
effective
P051
Setting range
Mot. 1
Mot. 2
P076
online
0...FFFF hex
P077
online
0...15 dec
P080
online
7F...FF80 hex
P072
online
0...FFFF hex
P073
online
0...15 dec
P074
online
7F...FF80 hex
Output
voltage
+5.0
Description
Address, DAU 3
Address of the RAM variables which are to be
output at DAU 3.
Presetting:
r
(RAM address: 3050H)
P/P
a
Shift factor, DAU 3
HS
Offset, DAU 4
1.
overflow
2. overflow
3. overflow
4. overflow
+2.5
0.0
0000
H
2000H
4000H
Shift factor = 0
Shift factor = 2
6000H
8000H
A000H
Offset = 0 V
Fine normalization = 100 %
C000H
E000H
FFFFH
Hex numerical value
Note
A listing of the most important measured quantities (RAM variables) and
addresses are provided in the Appendix (Section 6.5).
HS/5-83
5.1.5
04.97
Function
Table 5-8
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P181
online
P179
online
0...2 hex
(P182)
(P183)
HS
0...FFFF hex
Note
A listing of important measured quantities (RAM variables) and addresses is
provided in the Appendix (Section 6.5).
5.1.6
Function
Technical data
Simultaneous tracing of 2 RAM variables and output via test sockets X1 and X2.
HS/5-84
07.94
Parameterization
Table 5-9
Parameterization
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P207
online
0...10 hex
P212
online
0...FFFF hex
Address, signal 1
A listing of important measured quantities (RAM
variables) and their addresses are provided in the
Appendix (Section 6.5).
P213
online
0...FFFF hex
Address, signal 2
P208
online
0...FFFF hex
P209
online
0...FFFF hex
P210
online
0...FFFF hex
P211
online
0...FFFF hex
P206
online
0...1 hex
P215
online
0...15 dec
P216
online
0...15 dec
P217
online
0...FFFF hex
Trigger signal 1
Trigger signal amplitude low for D/A converter
output
P218
online
0...FFFF hex
Trigger signal 2
Trigger signal amplitude high for D/A converter
output
P214
online
0...1 hex
HS/5-85
HS
07.94
Note
A listing of the most important measured quantities (RAM variables) and
addresses are provided in the Appendix (Section 6.5).
5.1.7
Function
Function
information
Above the field weakening speed (P173), the absolute current should be selected to be less than the noload current, as otherwise voltage limiting will be
initiated. The result is then erratic running and torque surges.
The frequency should be slowly changed, as I/f operation is prone to stalling.
Table 5-10
Parameter attributes
Number
HS
Change
effective
P051
Mot. 1
Mot. 2
P311
online
P312
online
P313
online
HS/5-86
Setting range
0.0...100.0 %
0.0...800.0 Hz
0...1hex
Description
07.94
5.2
Fault analysis
5.2.1
Fault display
Display
Inactive
1 fault
Several faults, changeover using
key
Fault display
Fault acknowledgment
HS
by
P
key
Depress the
If the fault can be acknowledged, the system returns to the operator control
program.
If the fault cannot be acknowledged, for example, there is a defect, then this
can be temporarily suppressed in the display.
remote acknowledgment
One of the following terminals is energized, with the controller inhibited:
terminal R reset at the NE or monitoring module
terminal reset fault memory at the main spindle drive module
powerdown
Powerdown the converter and after the display has disappeared after approx. 2 s, powerup again.
Fault suppression
by
key
HS/5-87
5.2.2
Table 5-11
Fault
messag
e
F04
04.97
Fault
Cause
Erroneous
setpoint conversion
F07
Data save on
FEPROM unsuccessful
Troubleshooting
If this repeatedly occurs, replace the
control board
HS
Irretrievable
data loss
F09
Fault encoder
system 1
Defective FEPROM
(motor encoder)
Fault,
equipping
parameterization
,
encoder system
2
version
FW 1/2
HS/5-88
07.94
Fault
Fault
messag
e
F11
Cause
Speed controller
is at its limit,
Motor overloaded
DC link busbar
not connected
lue missing
Troubleshooting
Prevent motor overload (P004<100%)
Tightenup DC link busbar
cable
phase sequence
Remove the mechanical blockage
or incorrectly connected
Motor
F14
overtemperature
Motor
Motor overloaded
Motor current too high, e.g. due to
motor encoder
Replace the motor
Drive converter
overtemperature
Reduce
limit (P39)
M
Power module too small
Fan failed
ingup again
F16
Incorrect
power module
code
identification)
Incorrect code number selected in P095
(for power modules with automatic
identification)
F17
motor
rate
from FW3.00
> I module
power
d
HS/5-89
HS
Fault
messag
e
F18
04.97
Fault
Fault
encoder system
2
(spindle
encoder)
Cause
Spindle encoder not connected or defective
FW 3.00
Spindle encoder cable defective
FW 3.00
Troubleshooting
Connect a spindle encoder or replace
Check the encoder/drive converter
connecting cable
Replace the control board
Temperature
sensor
Interrupted
Shortcir-
cuited
HS
F61
Maximum motor
frequency
exceeded
F79
Division interrupt
(this message
FP02
ternal
Zero mark signal from the encoder or BERO
interrupted
Incorrect parameterization (P131)
HS/5-90
07.94
Fault
messag
e
FP03
Fault
Cause
Zero mark
offset > encoder
Troubleshooting
pulse number
FP04
No valid
zero mark
after poweron
after the gearbox stage change
one
revolution
(rotate through
,
360
and then set P129 to 1 again). If
the fault still occurs,
check the zero mark
If a BERO is used, adjust the clearance,
check the cabling or
replace the BERO
For spindle/motor encoder,
check the cabling or replace the encoder
Faults
after
HS
supply ON
Operating control display inactive
at least two phases missing (NE module)
at least two input fuses have ruptured (NE module)
defective electronics power supply in the NE module
converter bus connection (ribbon cable), main spindle drive module
NE module not inserted or defective
control components defective
EPROM/FEPROM defective
firmware not loaded
Controller enable (without fault message)
Motor rotates at a max. 30 RPM at nset > 30 RPM or the motor oscillates
(oscillation is not selected) at nset < 30 RPM
incorrect motor phase sequence as the feeder cable is interchanged
(change 2 phase connections).
motor encoder pulse number which was entered is too high
Motor remains stationary for speed setpoints other than zero
reciprocation function is selected (P154, P155=0)
Motor briefly moves
defective power module
HS/5-91
04.97
HS
HS/5-92
07.94
6 Appendix
Appendix
HS
yes
Fault
yes
(refer to Section 5.2.2)
HS/6-93
no
6.1
07.94
Flow diagram
for short startup
parameter values can be reset after acknowledging fault message F07 (refer
Siemens AGFault
1997 All Rights reserved
Warning
If a fault is acknowledged at the NE module, with the main spindle drive module enabled, then the drive accelerates
set.
to n
Note
If data save is interrupted due to power failure or the power being disconnected, then the values which were changed since the last data save are lost,
the drive converter displays fault message F07 after the power returns.
The
to Section 5.2.2).
START
HS
withdraw pulse and controller enable (terminal 663, terminal 65) or
disconnect completely.
determine the code number for the motor and power
section
(list, refer to tables 61 to 3-5)
Powerup the converter
(supply ON)
HS/6-94
07.94
Set P051 to 4H
(remove write protection)
Set P097 to 0H
(start initialization)
Set P052 to 1H
(write into FEPROM)
Wait until P052 is again set to 0H,
then switch the converter off and 2 s
after the operating display has been
canceled, powerup again.
HS
Set P097 to 1H
SEtUP is
displayed
Wait until operating
display P000 appears
(refer to Section 2.2.1)
Is a special
motor used, where
there is no code number
defined for P096?
yes
HS/6-95
07.94
Normalization, nset
P015
P024
Normalization, nset
P016
P017
P029
P021 to P023 ,
P027
P039 to P043
Torque limits
P047 to P050
HS
P081 to P089
Freelyprogrammable
terminal functions
P185 to P194,
Freelyprogrammable
P241 to P246
relay functions
P180
for Y/ motor
Values changed?
no
yes
Set P052 to 1H
Wait until P052 is again set to 0H.
The changed values are transferred
into the FEPROM.
HS/6-96
07.94
Controller enable
Connect the enable voltage to terminal
65 on the main spindle drive module.
HS
Is
terminal fct. 16
(setpoint enable) selected
and not switched
in.
no
yes
HS/6-97
07.94
no
Values changed?
yes
Set P052 to 1H.
HS
Wait until P052 is again set to 0H. The changed values are transferred into the
FEPROM.
End
HS/6-98
07.94
6.2 Code numbers for the power modules and standard motors
Main spindle modules (HS)
6.2
Table 3-1
Powe
mod.
type
Order No.
6SN11231AA0
6SN11241AA0
6SN11351BA1
50 A
0CA
80 A
S640 % 10 min A
S640 %. 10 s A
24
32
32
0DA
30
40
51
108 A
0LA
45
60
76
13 FW 2.40
120 A
0GA
45
60
76
160 A
0EA
60
80
102
200 A
0FA
85
110
127
10
300 A
0JA
120
150
193
11 FW 2.00
400 A
0KA
200
250
257
12 FW 2.00
Table 3-2
Rated
current
A
Rated motor
Motor no
current
load current
[A]
[A]
Rated speed
RPM
MLFB
1PH6...3ph.
motor
Rated
output
kW
101 NF4
101 NG4
103 NF4
103 NG4
105 NF4
105 NG4
105 NZ4
107 NC4
107 NF4
107 NG4
3.7
4.7
5.5
7.0
7.5
9.5
12.0
5.0
9.0
11.5
12.5
13.7
17.9
19.4
22.5
25.3
27.0
22.7
26.9
29.8
6.2
6.9
9.1
9.9
11.5
13.1
15.6
11.7
14.2
15.6
1500
2000
1500
2000
1500
2000
3000
750
1500
2000
131 NF4
131 NG4
131 NZ0
133 NB4
133 NF0
133 NF4
133 NG0
133 NG4
135 NF0
135 NF4
135 NG4
137 NB4
137 NF4
137 NG0
137 NG4
137 NZ4
138 NF0
138 NF4
138 NG4
9.0
12.0
8.0
4.5
11.0
11.0
14.5
14.5
15.0
15.0
20.0
7.9
18.5
24.0
24.0
11.0
22.0
22.0
28.0
27.2
32.1
23.2
26.0
26.7
31.3
31.5
37.5
35.0
41.3
50.6
43.6
50.2
50.0
57.8
41.8
51.5
61.0
66.1
11.7
13.6
10.9
9.8
11.5
13.4
14.5
16.1
16.1
18.8
22.8
18.6
22.9
23.2
26.5
18.0
24.6
28.7
31.4
1500
2000
1500
525
1500
1500
2000
2000
1500
1500
2000
525
1500
2000
2000
750
1500
1500
2000
Maximum
speed
RPM
9000
8000
Motor code
No. P096
101
102
103
104
105
106
140
131
107
108
109
110
141 FW 2.00
132
111
112
136
113
114
115
116
133
117
137
118
143 FW 3.00
119
120
121
HS/6-99
HS
6.2 Code numbers for the power modules and standard motors
Main spindle modules (HS)
Table 3-2
MLFB
1PH6...3ph.
motor
HS
Rated motor
output
kW
Rated motor
current
[A]
Motor no
load current
[A]
Rated speed
RPM
161 NF0
161 NF4
161 NG4
163 NB4
163 NF0
163 NF4
163 NG4
163 NZ0
167 NB4
167 NF0
167 NF4
167 NG0
167 NG4
168 NF0
22.0
22.0
28.0
11.5
30.0
30.0
38.0
19.0
14.5
37.0
37.0
45.0
45.0
40.0
53.5
60.8
68.1
66.2
72.5
86.0
84.0
56.0
78.0
79.6
95.7
83.3
91.0
84.0
23.9
26.9
31.3
27.8
33.3
40.3
37.5
25.2
34.4
36.3
43.5
32.2
41.0
38.0
1500
1500
2000
500
1500
1500
2000
950
500
1500
1500
2000
2000
1500
186 NB4
186 NB9
26.8
30.8
66.0
67.0
35.5
35.0
610
700
186 NB4
186 NE4
186 NF4
206 NB4
206 NE4
206 NF4
226 NF4
22.0
42.0
50.0
32.0
63.0
76.0
100.0
66.0
86.0
100.0
96.0
125.0
149.0
192.0
35.5
46.0
52.0
48.0
64.0
68.0
79.0
500
1250
1500
500
1250
1500
1500
MLFB1PH7...
motor
101xNF4
103xNF4
105xNF4
107xNF4
131xNF4
133xND4
133xND4
137xND4
137xNG4
163xND4
163xNF4
167xNF4
1842NE
1842NB
184xNTx
1862NE
1862NB
186xNTx
2242NF
2242NC
HS/6-100
04.97
Rated motor
output
kW
3.7
7
7
9
11
12
20
17
28
22
30
37
40.0
22.0
21.5
60.0
29.6
29.6
100.0
55.0
Rated motor
current
[A]
8.9
16.2
16.4
20.8
23.1
28
43
40.7
58.6
52.7
70.3
77.8
85.0
54.0
76
120.0
75.0
106
188.0
117.0
Motor no
load current
[A]
4.82
7.84
8.36
9.91
8.36
12.7
17.4
18.5
21.4
24.1
30.1
31.9
46.2
34.7
40
63.0
42.5
56
73.0
63.5
Rated speed
RPM
1500
2000
1500
1500
1500
1000
2000
1000
2000
1000
1500
1500
1250
500
500
1250
500
500
1500
700
Maximum
speed
RPM
6500
6100
5000
Motor code
No. P096
122
123
124
134
125
126
127
139
135
128
129
138
130
142 FW 2.00
161
167
160
163
164
162
165
166
168 FW 2.00
Maximum
speed
RPM
Motor code
No. P096
9000
9000
9000
9000
8000
8000
8000
8000
8000
6500
6500
6500
5000
5000
5000
5000
5000
5000
4500
4500
400 FW 3.00
402 FW 3.00
403 FW 3.00
404 FW 3.00
406 FW 3.00
408 FW 3.00
409 FW 3.00
411 FW 3.00
412 FW 3.00
414 FW 3.00
415 FW 3.00
417 FW 3.00
418 FW 2.40
419 FW 2.40
424 FW 3.00
420 FW 2.40
425 FW 3.00
421 FW 2.40
422 FW 2.40
423 FW 2.40
07.94
Table 3-3
MLFB
Y/ motors
6.2 Code numbers for the power modules and standard motors
Main spindle modules (HS)
Star/deltamotors
Rated motor
output
kW
Rated motor
current
[A]
Y/
Motor no
load current
[A]
Y/
Rated speed
RPM
Maximum
speed
RPM
Motor code
No. P096
1334NB8
1374NB8
4.3
7.5
15.3/13.5
25.2/22.5
6.4/8.0
11.7/13.5
525/1250
525/1250
8000
200
202
1634NB8
1674NB8
11.5
14.5
39.5/35.2
45.5/40.5
14.3/20.8
17.9/23.2
500/1250
550/1250
6500
204
206
1864NB8
2064NB8
2264NB8
22.0
32.0
42.0
55.0/50.0
76.0/73.0
94.0/88.0
31.0/35.0
38.0/49.0
56.0/55.0
500/1250
500/1250
500/1250
5000
208
210
214 FW 2.00
Table 3-4
MLFB
motors
Watercooled motors
Rated motor
output
kW
Rated motor
current
[A]
Motor no
load current
[A]
Rated speed
RPM
Maximum
speed
RPM
Motor code
No. P096
1034NG6
8.5
36.4
17.7
2000
18000
301
1054NG6
12.0
51.3
24.4
2000
17000
303
1074NG6
1334NF6
16.0
14.0
55.5
55.9
26.9
21.4
2000
1500
16000
305
307
1354NF6
20.0
76.6
29.7
1500
15000
309
1374NF6
25.0
92.8
35.9
1500
14000
311
1384NF6
28.0
102.2
40.0
1500
13000
313
1634ND6
25.0
103.8
42.4
1000
12000
315
1674ND6
31.0
129.4
50.7
1000
11000
317
1684ND6
35.0
143.9
58.6
1000
10000
319
1034NF2
1054NF2
1074NF2
7.5
11.0
14.0
25.2
36.6
45.0
11.5
16.4
19.0
1500
1500
1500
9000
300
302
304
1334NF2
1354NF2
1374NF2
1384NF2
15.0
22.0
27.0
30.0
53.1
70.7
81.9
97.3
17.4
25.5
30.3
33.8
1500
1500
1500
1500
8000
306
308
310
312
1634NF2
1674NF2
1684NF2
37.0
46.0
52.0
103.0
115.0
143.0
44.0
49.2
58.8
1500
1500
1500
6500
314
316
318
HS
HS/6-101
6.2 Code numbers for the power modules and standard motors
Main spindle modules (HS)
Table 3-5
MLFB
motors
HS
12.94
Builtin motors
Rated motor
output
kW
Rated motor
current
[A]
Motor no
load current
[A]
Rated speed
RPM
Maximum
speed
RPM
Motor code
No. P096
0924WG4
0964WG4
4.7
10.0
20.6
41.6
10.6
21.5
2000
2000
18000
326
327
1234WF4
1274WF4
1284WF4
11.5
21.0
25.0
54.5
80.8
97.1
21.1
33.4
37.4
1500
1500
1500
16000
328
329
330
1434WF4
1474WF4
30.0
38.0
96.5
111.3
41.8
43.7
1500
1500
12000
331
332
0936WF4
0956WF4
1136WF4
1156WF4
1176WF4
1186WF4
7.5
10.0
15.0
16.5
18.0
23.0
23.1
28.4
53.3
52.7
58.9
78.9
10.9
13.6
21.8
21.9
24.7
32.8
1500
1500
1500
1500
1500
1500
1826WC4
1846WP4
1866WB4
11.8
14.5
18.3
37.0
56.0
62.5
17.0
25.7
31.0
750
600
525
8000
333 FW 2.00
334 FW 2.00
335 FW 2.00
1886WB4
2546WB4
23.6
28.8
78.0
118.0
38.0
42.0
500
500
6000
336 FW 2.00
337 FW 2.00
2566WB4
39.3
119.0
54.0
500
4000
338 FW 2.00
10000
320
321
322
323
324
325
Measuring system pulse No. 256 or 512 depending on the encoder used
HS/6-102
07.94
6.3
6.3 Connections
Main spindle modules (HS)
Connections
Overview
Connecting diagram
connecting terminals
Relay terminals
star/delta changeover
Warning
Cable shields and cores of power cables which are not used (e.g. cores for
brakes) must be connected to PE potential in order to discharge charging
rents caused by capacitive coupling.
If this is not observed, hazardous voltages can occur which can result in
or severe bodily injury.
Note: If non-PELV circuits are used at terminals AS1 and AS2, connector coding
must be used so that the connector cannot be interchanged (refer to EN
602041, Section 6.4)
Order No. for the coding connector, refer to Catalog NC 60.1
HS/6-103
HS
6.3 Connections
Main spindle modules (HS)
04.97
Connection diagram
SIMODRIVE 611 analog system
NE module
MSD module
X111
External
74
Ready, signal
Group signal
I2t, temperature
monitoring
73.2
73.1
72
X121
5.3
5.2
5.1
63
9
FR +
9
FR +
64
19 FR
Pulse enable
Drive enable
X141
HS
X161
Setup
Contactor control
Signal. contact
Line contactor
X171
X172
SPP
EXT
X181
7
45
44
10
15
15
R
Fig. 6-1
IF
Warning!
External
RF
HSS
T.11)
T.31)
T.41)
T.51)
X451
56
14
A91
24
A92
M
8
X431
T.91)
RS232C
interface
DAU 2
Internal
289
81
A21
A31
A41
A51
A11
A61
672
673
674
E9
9
FR +
DAU 1
X441
663
65
E7
E8
T.81)
AS1
AS2
X411
X412
Module
internal
E5
E6
T.61)
T.71)
Motor encoder
X421
E1
E2
E3
E4
T.21)
Signaling
contact
5 V Start inhibit
UNIT
U DC
M500 link>>
P500
2U1
X
1U1
2V1
1V1
2W1
1W1
PE
P24
P15
N15
N24
M
M
RESET
X433
Relay 11)
Relay 21)
Relay 31)
Relay 41)
Relay 51)
Relay 61)
Ready
Fault
Signaling
contact
Start inhibit
Bero input2)
Equipment bus
DC link
P 600
M 600
U2 V2 W2 PE1 PE2
X
at
L2
L3
nset2
AS1
AS2
FN L K
X2
IR
nset1
NS1
NS2
PE1
X1
External
9
FR +
112
48
111
213
113
U1 V1 W1
L1
X432BERO input
Spindle encoder input
Motor encoder output
internal
from the NC
SG
If a power contactor is used between the motor and main spindle drive module, then it
must be ensured, that this contactor only switches in a nocurrent condition. (When
shutting down, first cancel the pulses (terminal 663), then 40 ms later the contactor).
Connecting diagram
HS/6-104
07.94
6.3 Connections
Main spindle modules (HS)
Connecting terminals
Table 3-6
Term
No.
connecting terminals
Designa
tion
Typ
Function
1)
Typ. voltage/
limit values
Max. crosssection
Acc. to the Configuring Guide
U2
V2
W2
Motor connection
3ph. 0...450 V
AC
PE1
PE2
Protective conductor
Protective conductor
I
O
0V
0V
P600
M600
DC link
DC link
I/O
I/O
+300 V
300 V
Busbar
Busbar
Equipment bus
I/O
Various
Ribbon cable
X151/351
56
14
24
8
X421
X421
X421
X421
663
65
81
E1
E2
E3
E4
E5
E6
E7
E8
E9
9 3)
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
A91
M
A92
M
X451
X451
X451
X451
X1
X2
I R
M
Speed setpoint 1
(differential input)
Speed setpoint 2
(differential input)
Caxis or supplementary
speed setpoint
E
E
E
E
10V/0.5m
(max. 11
V)
10V/0.5m
A
(max.
11
V)
I
I
I
I
I
I
I
I
I
I
I
I
O
+21V...+33V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+24V
O
O
O
O
10 V 3 mA
0V
10 V 3 mA
0V
Test socket
Test socket
Test socket
Test socket
O
O
O
O
0 V...5 V 3 mA
0 V...5 V 3 mA
10 V 3 mA
0V
2)
2)
2)
2)
2)
2)
2)
2)
2)
Bolt
Bolt
1.5
1.5
mm
1.5
mm
1.5
mm
2
2
2
2
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
1.5
mm
1.5
mm
1.5
mm
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
1) I = input, O = output
2) can be freelyprogrammed via operator control parameters
3) refer to Section 3.1...3.2
HS/6-105
HS
6.3 Connections
Main spindle modules (HS)
07.94
Relay terminals
Table 3-7
Term
No.
Relay terminals
Designa
tion
Typ
Function
1)
289
X441
A11
A21
A31
A
4 )
A
5
A61
X441
X441
X441
X441
X441
X441
672
673
674
X441
X441
X441
AS 1
AS 2
X441
X441
NO
NO
NO
NO
NO
NO
3)
30 V/6.0 A
max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
NO
I
NC
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
I
NC
250 A /1 A,
30 D /2 A
V
I
2)
2)
2)
2)
2)
2)
Signaling contact
Start inhibit
Typ. voltage/
limit values
Max. crosssection
1.5
mm
1.5
1.5
mm
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
1.5
mm
1.5
1.5
mm
2
2
2
2
2
2
2
2
2
2
2
2
HS
1) I = input
NC = NC contact
NO = NO contact
HS/6-106
07.94
6.3 Connections
Main spindle modules (HS)
Star/delta
changeover
The motors with star/delta changeover permit a wide constant power range. At
low speeds, the drive is operated in the star circuit configuration (high torque)
and at high speeds, in the delta circuit configuration (high stall torque). Changeover is also possible during operation. The changeover command (star/delta)
must be entered externally (similar to a gearbox stage changeover).
Selectable relay
outputs2)
V2 W2 PE
T. 663
T. En1)
T. An2)
T. An2)
T. 289
K2
Kx3)
K1
K2h
K1h
Kx3)
K1
U1 V1 W1
U2 V2 W2
Auxiliary contactor
power supply
K1h max. 30 V DC
HS
K2h
K2
U2
V2
K1
K2
W2
K1
1PH
K2
Y/
Pulse
enable
Y/
changeover
From the
NC/PLC
Fig. 6-2
HS/6-107
6.4
07.94
Connector assignment
Overview
Note: The connector may only be inserted or withdrawn when the system
is in a novoltage condition.
HS
Table 3-8
Signal name
X412/PIN No.
P encoder
M encoder
100
Inner shield
17
11
12
5 V sense
16
10
100
0 V sense
11
15
12
13
+ Temp
14
Temp
15
15
8
10
9
8
11
16
15
12
2
13 100
17
14 4
7 6
HS/6-108
07.94
PIN No.
Signal name
Explanation
5V
0V
100
Signal A
Signal A, inverted
Signal B
Signal B, inverted
5 V sense
10
11
0 V sense
12
Signal R
13
Signal R, inverted
14
15
Note: The connector may only be inserted or withdrawn when the system
is in a novoltage condition.
Table 3-10
Sensor line
PIN No.
Signal name
Explanation
10
FR +
24V
14
BERO
Signal
15
FR
Ground
Note: The connector may only be inserted or withdrawn when the system
is in a novoltage condition.
Table 3-11
PIN No.
Signal name
Explanation
FR +
24V
BERO
Signal
100
FR
Ground
HS/6-109
HS
07.94
Note: The connector may only be inserted or withdrawn when the system
is in a novoltage condition.
Table 3-12
PIN No.
Signal name
0V
100
Signal A
Signal A, inverted
HS
Signal B
Signal B, inverted
10
11
HS/6-110
Explanation
12
Signal R
13
Signal R, inverted
14
15
07.94
Connector X432
B
a
R1
td
R2
R3
Fig. 6-3
td
td
td
td
td
HS
Edge distance:
Reference signal:
Delay time:
|td| 50 ns
Load capability:
Iahigh 20 mA
Ialow 20 mA
Cload 1000 pF
Signal level:
HS/6-111
6.5
03.96
Speed setpoint
0C02H
Low
addres
s
0C00H
Variable
HS
Value
10
0000H
10
Corresponds
to
n rated
0C06H
0C04H
1402H
0C0AH
0C08H
0C66H
Adr.
0F52H
0C6CH
Actual d
operation
M
s for generator input
Rampfunction
0C6EH
0E00H
0E02H
0E04H
0E06H
0F5CH
0F5EH
0F7CH
Stator temperature
0FC2H
1B08H
1B0AH
DC link voltage
906H
Output
P/P
Output |
3064H
3050H
P/P
1)
High
address
rated
r
a
0000H
1
000H
10
000H
10
0000H
10
0000H
2
000H
2
000H
2
000H
64
n rated
n rated
n rated
M drated
n rated
n rated
I rated
I rated
f rated
100 C
H
Adr. 0F52H
M drated
Adr. 0F52H M drated
359
3
4000
H
4000
H
600 V
P rated
P rated 1)
from FW2.00
HS/6-112
07.94
6.6
HS
R R
% %
2 2
.
5
51
3
3 3 4 4 4 4
31r
0m
0r
0m
1 1 1 HS/6-113
1
2 3
3 3 5 2
=
04.97
M
P P P P P P P P
P P P P
8
h
s s
7
( ( ( ( ( ( ( ( (
h(
mfa<
N T
V
DS
P P%
P
d Siemens
R AG
R 1997
R
All Rights
R 2 Ph
m
h
1reserved
HS
D
% V A
1 1
0
R
C 0 0
Sws
3 0
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 1 1 1 1
2 5 5 5 5 5 5 5 5 5 5 3 3
5 3
m
m m m
ad
a<
R
O S S
U D
S N N S O R R S D D R S R N
HS/6-114
04.97
HS
R d
m d
2 0
Fs
S
R R
5 1
% % %
1 5
0 5 5 5
R R
5
1m 0m
R
1
% %
5 9
1m 00r
R
0
R 0
4
0m 0
R
0
R R
0
R
.m
0
m
0m 0m 0m
2 1 1 1 3 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 1 2 1
3 4 4
43
m m
4 2
m
2 2 2 2 2 2 2
m m m m m m m
4 34 4
m m m
1 1
2 2 2
2 2 2
d
D
Mdfd<d
M P
I E SS
E C H 1
2R
C H S S H
N O C
WT
M M M S
P P P P PP P P P P P P P P P P P P P P P P P PP P P P P
HS/6-115
04.97
1
S
2
HS
D
C C
0
d h h h d d d d d d d d d h
h d
0 0
C
0 0 0 1 7 1 6 4 2 9
0
3
1 1
0 0
s
S
1 1 1
2 2 2
00
0
0
7 7 7
1 1 1 1 1 1 1 1 1
0 4
1 1 1 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
2 2
3 3 3 3 3 5 5 5 5 5 3 3 5 3 3 3 3 3 3 3 3 3
2 2
M F T
P P P
HS/6-116
A S A S D A S
A S O
T O
T TO T T T T T T
O
PP P P P P P P P P P P P P P P P P P P P P P
C
P P
04.97
1
S
2
6
C
s
S
r r
2 2 2 2
3 1
1 3
% %
2 2
5 5
4 4
m h
1 1 1 1
5 5
1 1 1 1 2 2 2 2 2 2 2
2 2 1 1 1 1 1 1
2 2
0 0 0 0
0
rCr
1 1 1 1 1 1 2
2 2 2 2 2 2 2
m m
0 0 5
1
4 4 4
m m m
2
m
O N P
P P P P PP
M IE F
S SO F
( (
( (
P P P P P P P P P
P P P P P P PP
HS/6-117
HS
03.96
1
S
2
HS
d d d d d d d h d d d d
0 0
0 0
0 0
0 0
0 0
s
S
h h h
d d
2 2
d d
4
0 0 0
0 0
0 0 0 0
0 0
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
2 2 2 2 2 2 2 2 2 2 2
R
4
0 0
P P B A S Z
P P P P P P
HS/6-118
P P P
(
M A D
I I
P P P P P P
( (
P P P
M CF
A
P P P P P P
07.94
1
S
2
1
2
D
h h h h
0 0 0 0
R R
m mm k
1 1
A V
0
S
s
S
m m
2 2
1 1
mm m
M M
M M
M M
M M
0 0
0 0
1 1 1 31
2 2 2 2
0 0
1 1 1 1 1 1
0 0
0 0 0
m m m m m
m m m m m m m m m m m m m m
O O O O
P P P P P P
M R R R
P P PP P
2 2 2 2 2 2 2 2 2 2 2 2 2 2
M M
10
2 2 2 2 2
1 1 1 1 1 1 1 1 1
R R R % %
1 1 1 1 1 1 1 1
m m
.m .m
0
V A
R R
SM M
R S R
c
h
L
MU
P P P P P P P P P P P P P P P
HS/6-119
HS
03.96
HS
0 0 0
0 0
S
s
S
h sh s h
h h h h h h h
0
0 0
hs s
1
0 0
R R
m %
1 1
01 0 1
0m 0m
0 0
0
1
0 0 0
0 0
0 0
0 0 0
0
0 0
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
0 0 0
1 1 1 1 1 1 1 1
4 4 4 4 4 4 4
5 2 5 5 5 3 3 3 3 3 3 3 3 3 3
d h h h h h
5 5 5 5 5
m m m m m m m
A
P
P P P
HS/6-120
M M
( (
A T P D H
TA
P D HL
U P R
R C
P P P P P P P P P P P P P P P P P P P P P P
07.94
HS
h h h h d d h h
m m mm
% %
h
0 0 0 0 0 0 0 0
0 0
0 0
0
0
s
S
0
0
M M M
0 0
0 0 0 0 0
M M
1
M
05 15
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
5 5 5 5 5 5 5 5 2 2 2 2
2 2 2 2 2 2 2 2
2 2 2 2 2 2 2
m m m m m m m m
m m m m m m
m m m m
c
h
L
1 1 1 1 1 1 1 1 1 1 1 1
A A S S S
0
M
0 0 0
A V
T T
P P P P P P P P P P P P
M R R R R R
M M RS S R
P P P P P P P P
M
U S
1
2
m
M G
S S
P P P P P P P
M
P
HS/6-121
04.97
HS
d d d d d d d h
0 2
S
4 5 7 0
h h
0 0
7
1 1 1 1 1 1
h h h
0 0
ss
R R R R R R
0 0 m
1
R
32
R R
% %
51 1
.m
0 0
0r 1r 0m
00rm
5
3
0 5 5
1 1 1 1 1 1 1 1
s
S
1 1 12
2 2 2
3 3 3 3 3 3 3 5
1 1
3 3
5 5
33
1 1 1 1 1 1 1 1 1 1 1
24 24 2 2
3 3 2 3 3 2
m m m
m m m m m m m m
s=a
=
a
a<
R
mfa<
P P P P C
P P P P P P P P
HS/6-122
M M
P
V D D
P P
( (
D
S
S RR
T S P
C H1
PP P P P P P PP P P P P P
07.94
1
%
5
S
s
S
R R R R
5
1m 0m 1m
R
5
0r
0 0 0
0 0
1 1 1 1 1 1 1 1 1 1 1 1 1
2 2 2
4 4 4 4 4 4 4 4 4 4
m m m m m m m m m mm m m
1 1
0m 0m 0
1 5
1 R
4
M M
0m
1 1 1 1 1 1
4 4
0 0
0
5
0 0
HS
3 2 1 1 1 1
4 4
245 5 5 5
2 2
m m m m
m m mm
dt
Q C S T L
P
P P P P P P P P P PP P
U P
P P P PP P
P PP
R C
P P P
MC C
F S D
HS/6-123
04.97
HS
h h
%m
%
6
1 5
% %
0 0 0
0 0 0
0 0
s
S
3 3 3
5 5 5 4
3 3
0 0
22 2
2 2 2
2 2 2 2 2 2 2
S T
D T T
P P P P
HS/6-124
I I
P
H S
(
First
steps
1.1
....................................................
.......
StartUp
.....................................
Guidelines
.....
1.2
Startup
.....................................
instructions
.....
1.3
Operator control and display elements, control
........
parameters
.
1.4
Overview setting
....................................
data
.....
1.5
Connectio
...........................................
ns
......
Determining and setting the system
...................
configuration
...
2.1
Motor and drive converter data
.........................
sets
....
2.2
Standard
....................................
2.2.1
Operating
........................................
2.2.2
Firmware
........................................
2.2.3
Setting parameters for standard
..................
applications
...
2.3
Multimotor
....................................
2.3.1
Parallel
........................................
2.3.2
Parameter set
.................................
2.3.3
Motor
........................................
changeover
....
2.4
Operating motors at maximum speeds > 32000
...........
RPM
..
2.5
Monitor
.........................................
function
.....
Parameterization of the drive converter
...................
interfaces
...
3.1
Speed setpoint
..................................
interfaces
....
3.2
Input
..........................................
3.2.1
Permanentlywired terminal
........................
3.2.2
Freelyprogrammable terminal
.....................
functions
...
3.3
Output
.........................................
3.3.1
Permanentlywired relay
..........................
3.3.2
Freelyprogrammable relay
........................
3.3.3
Variable relay
....................................
3.3.4
Analog
..........................................
outputs
.....
Controller
..........................................
optimization
.....
4.1
Speed
.........................................
controller
.....
4.2
Current
........................................
controller
.....
4.3
Field
..........................................
controller
.....
4.4
Optimization openloop controlled
.....................
range
...
4.5
Limi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ts
......
4.6
Special speeds and speed
..........................
ranges
....
4.7
Manual
.....................................
optimization
.....
AM/1-3
AM/1-4
AM/1-7
AM/1-9
AM/1-13
AM/1-14
AM/2-15
AM/2-15
AM/2-22
AM/2-22
AM/2-23
AM/2-23
AM/2-27
AM/2-27
AM/2-32
AM/2-32
AM/2-34
AM/2-36
AM/3-37
AM/3-37
AM/3-40
AM/3-40
AM/3-41
AM/3-43
AM/3-43
AM/3-44
AM/3-47
AM/3-48
AM/4-51
AM/4-54
AM/4-57
AM/4-59
AM/4-60
AM/4-61
AM/4-62
AM/4-64
AMi
AM
07.94
AM/5-75
6.3
Connectio
3
AM/6-10
6.4
Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
X432 connector assignment for
.......................
6
X412 connector assignment for the motor temperature
.....
6
X411 serial
.....................................
6
AM/6-10
6.5
Addresses, RAM
7
AM/6-10
6.6
6.4.1
6.4.2
6.4.3
...........................................
.................................
....................
AM/5-75
AM/5-75
AM/5-76
AM/5-79
AM/5-80
AM/5-83
AM/5-84
AM/5-86
AM/5-87
AM/5-87
AM/5-88
AM/6-91
AM/6-92
AM/6-10
AM/6-10
AM/6-10
AM/6-10
AM/6-10
AM
AM
ii
04.97
1 First steps
Induction motor modules (AM)
AM/1-3
First steps
Warning
Professional transport, storage, installation and mounting as well as careful
operator control and service are absolutely necessary to guarantee perfect
safe operation of this drive converter.
Severe bodily injury or material damage can occur if this warning information
not observed.
The boards contain components which can be destroyed by electrostatic discharge.
Please observe the ESDS instructions in the foreword.
Note
1.1 StartUp
07.94
1.1
StartUp Guidelines
Structure of the
Start
Guide
startup steps.
To startup standard applications, where the preset drive converter interfaces
(Section 1.5) and controller optimization when shipped, are adequate, then only
the startup steps which are highlighted are of significance.
2 System
1 First steps
Startup
guidelines
Startup
instructions
Operator control
display
and
elements,
control parameters
Overview, setting
data
Connections
Converter interfaces
Speed setpoint
interface
Input terminals
Motor and
configuration
data sets
Standard
applications
Multimotor operation
Parallel operation
Parameter set
changeover
4 Contr. optimization
Speed controller
current controller
Permanentlywired
Field
Freelyprogram
Openloop
range
controlled
terminal function
mable terminal
function
Output terminals
Limits
Motor changeover
Monitor function
Manual optimization
Fault analysis
6 Appendix
AM
Fig. 1-1
Flow diagram
Connections
Startup
steps
Number
AM
Siemens AG 1997 All Rights reserved
AM/1-4
04.97
Parameter listing
Warning
Parameter settings, which are not listed in the parameter list
(refer to Section 6.6) may not be changed.
Table 1-1
Parameter attributes
Number
P024
P014.M
P039.G
P114.F
(P001)
Change
effective
online
after
initializatio
n
Setting range
P051
4
10
Value range
dimensions
Description
Parameter designation
Brief description of the parameter
FW x.xx
Parameter
attributes
P024
generally valid parameter
P014.M
motordependent parameter
subparameter P014.1...P014.4
P039.G
gearbox stagedependent parameter
subparameter P039.1...P039.8
P114.F
fixed setpointdependent parameter
subparameter P114.1...P014.7
(P001)
display parameter; value cannot be changed.
12.94
Change effective
online
Change is immediately effective.
After initialization
Initialization is started by setting P097 to 1H.
P051
Write protection parameters
Remove the write protection by entering 04H and
remove the special write protection by entering 0010H.
Setting range
For several control words, the functions are activated by setting the bits of a
binary number and these are then entered in a hexadecimal form.
Example:
BIT
15
Bit 6:
Bit 7:
er
fu
BIT
AM
Bit 6+Bit
14
13
12
11
A
val
u
Ex
a
15
0
10
bi
s.
tio
re
din bi
Bi
n
Bi
0040H
he
x
decimal
Bi
n
00C0H
0080H
pl
e:
14
13
12 11
10
Description
FW x.xx
Firmwarerelease dependent coding of the function and parameter extensions. The extension is available from the specified firmware release.
AM/1-6
04.97
1.2
Startup instructions
Startup possibilities
via
operator control and display elements (refer to Section 1.3)
RS232C interface with an IBM ATcompatible computer and
startup software (refer to foreword).
Reinitialize
drive converter
(if necessary)
The firmware can be replaced using the userprompted startup software for
main spindle and induction motor modules from version V2.00.
Dependency, firmware release/board
Firmware release
Board
before 3.00
6SN11220BA1 0AA0
from 3.00
6SN11220BA120AA1y
A
M
Procedure:
backup setting data (parameters)
replace the firmware using the startup program
initialize with the pulses and controller inhibited (Section 2.1).
reload the backedup settings.
adjust the power offset (refer to Table 41, from FW 3.00, this is not necessary)
backup the settings in the drivemachine data memory (Section 1.3)
AM/1-7
07.94
Startup of series
The drive converter setting data (parameters) can be saved on floppy disk using
machines, module
replacement,
component replacement
the startup software. Proceed as follows for series startup of additional drive
converters:
1. Initialize with the pulses and controller inhibited:
module:
AM
<
P
1)
>
AM/1-8
07.94
1.3
>
>>
AM/1-9
Operator control
and
display elements
The following operator control and display elements are available on the front
panel to startup and parameterize the SIMODRIVE 611A induction motor
3 op. control keys (
+ ,
and
key)
<<
Parameter number
AM
Subparameter number
+
P
Parameter value
<
<<
07.94
Control parameters
Note
If data storage (P052) is interrupted due to power failure or the power being
disconnected, then the modified/changed values are lost, and when the
returns, the converter displays fault message F07 (refer to Section 5.2.2).
The parameter values can be reset after fault message F07 is acknowledged (refer to Section 5.2.2).
Table 1-2
Parameter attributes
Number
Change
effective
P051
Setting data
P051
P151
online
0...FFFF hex
P052
P152
online
0...1 dec
P053
online
0...FFFF hex
Description
Write protection
Remove write protection by entering 4H.
Remove special write protection by entering 10H.
Parameter transfer into the FEPROM
Transfer into the nonvolatile drivemachine data
memory is started by setting to 1. The parameter is
reset automatically after parameter transfer.
Control word
Bi
t
Value
0000
0001
AM
0
H
0000
0002
1
H
0000
0004
0
0000
H
0008
AM/1-10
04.97
Table 1-2
Parameter attributes
Number
P053
Change
effective
online
P051
4
Setting data
0...FFFF hex
Description
Control word
Bi
t
Value
0000
0020
H
0000
0080
7
H
0000
0100
H
0000
2000
13
15
P090
online
0...FFFF hex
H
0000
8000
ControlH word
Bi
t
Value
0000
0001
AM/1-11
AM
Table 1-2
12.94
Parameter attributes
Number
Change
effective
P051
0000
0004
0
H
3
0000
H
0008
H
P153
online
10
1...1 dec
Field weakening speed and stall torque to the DC link voltage, specified
by P061, is inhibited.
Field weakening speed and stall torque adaptation to the DC link
voltage
specified by P061 are enabled
(from
FW 2.00).
Speed controller clock, Standard
Speed controller clock, fast
When bit 3 is changed, this only becomes effective after saving in the
FEPROM and powering the supply
down/up; from FW 3.00
AM
AM/1-12
07.94
1.4
c
M
M
M
P P P P P P P
P P P
B d
F
P
P P
a P
P P
E
B d
C
d
P
S
P P
P P P P P P P
AM
Ms
P P
R
P
G
P P
F p r
P P
M P T P I
P P P
P
P
!
?
F e r
M P
M P
!
P I
A PPP T PP
D
D
A
A
s P
S
P S P F P MP
5 1
S
X
Fig. 1-2
A A A A A A
E E E E E E E E E
X
A A
X X
Setting data
AM/1-13
07.94
1.5 Connections
Induction motor modules (AM)
1.5
Connections
X412
Input,
motor temperature
sensor from FW 3.00
X432
Input
BERO
from FW
3.003)
3)
Test sockets
DAU 3 X1
X2 DAU 4
IR
X421
56
14
24
8
Inputs
663
X431
65
81
E1
E2
E3
AM
A91
n1
A92
n22)
DAU 22)
Outputs
IF
RF
X441
HSS
2nd
Md limit1)
T
H = 01)
Reset1)
E4
E5
E6
E7
E8
E9
9
289
A11
A21
Md < Mdx1)
AS1
AS2
Signal. contact
Start inhibit
RS232C
Interface
X411
LCD display
+
X151
Equipment bus
P 600
X351
DC link
M 600
Type plate
Version
Motor terminals
U2
V2
W2
PE1
PE2
Connections
AM/1-14
07.94
2.1
Overview
Warning
The motor could accelerate to inadmissibly high speeds and terminal 64
Central
drive inhibit) and Terminal 65 (controller inhibit) are not effective.
Only terminal 63 open (NE: Central pulse inhibit) and terminal 663 open
(axisspecific pulse inhibit) are then effective.
AM
initialization
DC link voltage sensing
motor data set
Speed ranges
AM/2-15
12.94
Initialization
Table 2-1
Initialization
Parameter attributes
Number
Change
effective
P051
Setting range
Description
P095
after
itialization
1...13 dec
P096.M
after
itialization
0...7 dec
P097
online
0...1 hex
Initialization
SEtUP is displayed
The selected power section data set is loaded
in
the drivemachine data memory
P000 operating display appears after successful initialization
Sensing the
DC link voltage
A
M
Table 2-2
Parameter attributes
Number
P061
Change
effective
online
P051
10
Setting range
0...700 V
AM/2-16
Description
07.94
Table 2-3
For special motors, the motor data must be entered. The controllers can then be
subsequently optimized using the selfsetting routing according to Section 4.
Parameter attributes
Number
Change
effective
P051
Setting range
Description
P158.M
online
10
0.000...65.000
mH
P159.M
online
10
0.0...6535.5
gm
P219.M
online
10
0...15
kgm
P160.M
online
10
0.00...650.00 kW
P161.M
online
10
0.00...650.00 A
1)
Rated motor
Rated current for S1 duty
or configuration
P162.M
online
10
0.00...650.00 V
P163.M
online
10
0...65000 RPM
P164.M
online
10
0...1200.0 Hz
P166.M
online
10
P167.M
online
10
0. rated pwr.
..I section
0.000...65.000
AM
1)
Rated motor
Asynchronous speed at rated frequency and rated
load r
60 s/min)/p
ra
n
< te
a
1)
Rated motor
f r
p/(60 s/min)
ra
> te
a
Noload
motor current
equiv. cct. dia val
Calculated using P153 = +1
Adjusted using P204 = 3 and P205 = +1
equivalent circuit
diagram value
P168.M
online
10
0.000...65.000
P169.M
online
10
0.000...65.000
P170.M
online
10
0.000...65.000
equivalent circuit
diagram value
AM/2-17
Table 2-3
07.94
Parameter attributes
Number
Change
effective
P051
Setting range
Description
P171.M
online
10
0.00...650.00
P172.M
online
10
0...32000 RPM
P173.M
online
10
0...32000 RPM
P174.M
online
10
0...32000 RPM
1)
Maximum motor
To optimize the noload current
Input m
( rat 60 s/min)/p, otherwise F60
n
ed
(p=poleaxpair fnumber)
P175.M
online
10
0.0...500.0 min
P176.M
online
10
0...32000 RPM
P178.M
online
10
0.000...1.000
P018.M
online
10
4.00...100.00 ms
Initial roundingoff
For motors with deepbar squirrelcage rotors:
Increase parameter to approx. 30 ms
P036.M
online
10
AM
0...7 hex
1) 2)
AM/2-18
07.94
Parameter attributes
Number
Change
effective
P051
P153
online
10
1...1 dec
P153
online
10
1...1 dec
For highspeed motors, increase the speed limiting P029 = 6000 RPM to maximum speed.
Note
The motor configuration should be selected, so that neither the required
nal voltage exceeds the maximum converter output voltage, nor that the
tion motor module is operated
<
(refer to
rated
cont.
ples 1 and 2).
0.1 I module
exammotor
Example 1
If a motor, with Vrated 230 V /400 V is operated from an uncontrolled infeed
module in a circuit configuration, then the motor does not have the same output as when operated from an uncontrolled I/R module with VDC link = 600V /
625 V from a 400 V supply due to the reduced speed at the start of field weakening (P173) and the lower stall torque speed (P176).
If the motor is changedover to the delta configuration, then this can achieve
the full rated output when connected to a converter dimensioned for I
n motor
Example 2
If a motor is to be operated at rated current in a circuit configuration
Irated motor < 0.1 cont.
I module , this can be adapted to the induction motor module
using the circuit, if the following is valid:
I rated
motor
0.1 cont.
I module
AM/2-19
07.94
AM
Note
If only S6duty values are specified in the rating plate data, then these
be converted to S1duty for parameterization, and the limits increased after
optimization. For forcecooled motors, the rating plate data for
tion should be converted to data for S1duty of a motor with natural air
ing having the same size, and the limits increased after optimization.
S1
S6
rated
S1
rated
AM
AM/2-20
07.94
Speed ranges
Table 2-4
Speed ranges
Parameter attributes
AM/2-21
Numbe
Chang
effective
P051
P172.M
online
10
0...32000 RPM
P173.M
online
10
0...32000 RPM
P176.M
online
10
0...65535 RPM
P
F
rate
d
n ch
n rat
n sta
n FS
r
rat
at
M ed
n m
output characteristic
voltage characteristic
flux characteristic
torque characteristic
changeover speed, open/
closedloop control
rated speed
stall torque speed
speed at the start of
field weakening
max.motor speed
ax
F
P n F
0 c n
n st
ra
M
n
all
S
te
The torque and output
limits can be modified with
factor Franges are obtained:
speed
|n|
c
n
h
n c
|n|
/ M
rat
n
F F
h
ed
n rat
/ M < |n|
s
F F n
ed
t
|n| > F
n
S
n s < |n|
m
<n
t
ax
n max
M
Motor speed n
(P060). The
following
AM
12.94
2.2
Standard applications
2.2.1
Operating display
Table 2-5
The actual drive converter operating status is displayed in P000 and P100.
Operating display
Display
Function group
Motor number
motor 1
is selected
motor 2
is selected
Relay function
freelyprog. relay function 1
terminal A11
motor 3
is selected
motor 4
is selected
= nset1)
| < Mdx1)
M
freelyprog. relay function 3
terminal A31
P243
|n a | < nmin1)
Operating
mode
Equipment status
Setpoint source
pulse enable
the NE module
missing
(T.63/T.48)
analog setp.
ch. 1 P113=1
ch. 2 P113=2
ch. 1+2 P113=3
signals present:
Openloop or
closedloop
controlled
operation
AM
1...4
Selected via
freely
programmable
terminal functions
P081...P089
=20, 21
lay function 4
terminal A41
|n
| < nx1)
..
RFG enable
missing (t.81)
analog setp.+
fixed setpoint
ch. 1 + freely
prog. terminal
function 17, 18,
19, 24 P113=9
zero setp.
P113=0
P113=7
P113=8
axisspecific
pulse enable
missing
(T.663)
setpoint
enable
missing
(select
terminal,
fct.
No.
1
6
erating
modefor
play
enabled
t
motor operation
i
generator operation
Speed
ler clock, fast
Clock is
active
control-
S
p
P
=
s
P
P
fixed
1...7
fixed
.
.
8...15
.
lec. via freely
ogr. term. fct.
081...P089
7, 18, 19, 24
eed setting with
114.1...7,f
119.1...8
setpoint from the
mot.. pot. fct.
P113=6
P114.8 speed or
P081.P089=14,
15
setp. from
oscillation
gen.
P113=4 or
P081...P
P154, P155
speeds P156,
P157 times
setp. from self
opt. SW
P204=1...6
P205=1
Gearbox stage
gearbox
1
is selected
gearbox
is selected
stage 2
gearbox
3 is selected
gearbox
4 is selected
gearbox
is selected
gearbox
6 is selected
gearbox
is selected
stage 7
gearbox
is selected
Gearbox stages
1...8
selected via
freelyprogrammable terminal
function
P081...P089
=9, 10, 11
1) As supplied
AM/2-22
07.94
2.2.2
Firmware version
Table 2-6
Firmware version
Parameter attributes
Change
effective
Number
(P099)
2.2.3
P051
0.00...99.99
Firmware release
Indicates the release of the firmware which has been loaded.
Overview
speed settings
maximum speed monitoring via BERO
torque limits
motor temperature monitoring
motor temperature simulation
reciprocation
A
M
speed settings
Parameter attributes
Number
Change
effective
P051
Setting range
Description
P022.M
online
10
2...16000 RPM
P029.G
online
10
0...32000 RPM
Speed limiting
The actual motor speed is limited to the limit of the
current gearbox stage.
Selected using freelyprogrammable terminal function 9, 10, 11.
Maximum speed
monitoring via
BERO
A BERO switch can be connected via X432 to monitor the maximum speed.
When the threshold is exceeded, the pulses are canceled and fault message
F90 is output.
FW 3
AM/2-23
07.94
Cable interruption
monitoring
If BERO pulses are not received for a calculated speed greater than 1200 RPM/
pulse number, then it can be assumed that the cable is interrupted. F90 is also
output.
Table 2-8
Parameter attributes
Number
Change
effective
P051
Setting range
Description
P131.M
online
10
0...10 1 RPM
P132.M
online
10
0...65535 RPM
Torque limits
Table 2-9
Torque limits
Parameter attributes
Number
AM
Change
effective
P051
Setting range
Description
P039.G
online
10
0...399 %
P041.G
online
10
0...399 %
Motor temperature
monitoring
AM/2-24
07.94
Table 2-10
Parameter attributes
Number
Change
effective
P051
P053.M
online
10
0...FFFFhex
P063.M
online
10
0...170 degrees C
P064.M
online
10
0...170 degrees C
P065.M
online
10
Control word
Bit value
13
KTY84 motor temperature sensor
0000H
2000 PTC motor temperature sensor
H
Max. motor temperature
only effective for KTY84. The shutdown threshold
cannot be parameterized for PTC.
Fixed temperature
The motor temperature monitoring is activated by
entering the value zero.
0...600 s
Motor temperature
simulation
Table 2-11
Parameter attributes
Number
P175.M
A
M
Change
effective
online
P051
10
Setting range
0.0...500 min
Description
Note
A temperature model is calculated for every motor parameter set.
However, quantities such as fan effect and air intake temperature cannot be
taken into account. Thus, it is preferable if the temperature is monitored
motor temperature sensor.
AM/2-25
07.94
Oscillation mode
Table 2-12
Reciprocation
Parameter attributes
Number
Change
effective
P051
Setting range
Description
P154
online
10
32000...32000
RPM
Oscillation setpoint 1
P155
online
10
32000...32000
RPM
Oscillation setpoint 2
P156
online
10
0.002...60 s
P157
online
10
0.002...60 s
Speed [RPM]
P154
P155
P156
P157
Time [s]
A
M
AM/2-26
07.94
2.3
Multimotor operation
The following applications can be combined with one another:
parallel operation
parameter set changeover
motor changeover
Motor selection
Table 2-13
Motor selection
Parameter attributes
Number
Change
effective
online
P056
P051
10
0...4
Motor selection
The actual motor is selected
0
selected via freelyprogrammable terminal
function 20, 21.
1...4 motor 1...4 active
Note
If P053, bit 1 = 0, then changeover is only realized after the pulses have
canceled.
2.3.1
Parallel operation
Several motors can be operated simultaneously from one induction motor module. The motors are supplied with the same voltage and frequency as they are
fed in parallel. Thus, the motors must have the same voltagefrequency characteristic, i. e., the ratios of rated voltage to rated frequency of the individual motors must be the same. If different motor types are used, an output ratio of 1 : 10
should not be exceeded.
If the motors, connected in parallel, have the same pole pair number, then they
rotate at approximately the same speed.
Warning
With different loads, the speeds differ by the slip speed differences, i. e., an
individual motor can have a different speed than the calculated speed of the
complete system, and can exceed a set speed limit.
AM/2-27
AM
07.94
The tendency to stall is higher in parallel operation than in singlemotor operation. In order to be able to correct load surges, it is recommended that the current limit P059 is set to 150 % of the total current. If a steadystate rated torque is required in the lower speed range, P057 should also be increased
(current in the openloop controlled range). The induction motor module should
be dimensioned for this current rating and it should be ensured that the motors
are adequately cooled.
In parallel operation, the total current can only be sensed, which is subdivided
between the individual motors, depending on the load. Thus, these should be
externally and individually thermally monitored. If a monitoring function responds, it is not permissible that the power cables are interrupted before pulse
cancellation.
For highspeed special motors (fmax > 150 Hz), it is recommended that a reactor is switched between the induction motor module and the motor group.
Pulse enable
SIMODRIVE 611A
analog system,
induction motor
module
T. 663
U2 V2 W2
1)
AM
M1
3~
Motor 1
M2
3~
Motor 2
M3
3~
Motor 3
M8
3
Motor 8
AM/2-28
Parallel operation from the SIMODRIVE 611A analog system, induction motor
module
07.94
Parallel operation
Parameter attributes
Number
Change
effective
P051
Setting range
P158.M
online
10
0.000...65.000
mH
P160.M
online
10
0.00...650.00 kW
P161.M
online
10
0.00...650.00 A
P162.M
online
10
0.00...650.00 V
P163.M
online
10
0...65000 RPM
Description
P rated
i
P rated
P164.M
online
10
0...1200.0 Hz
P174.M
online
10
0...32000 RPM
P178.M
online
10
0.000...1.000
total
Asynchrono
us
load
r
n
<
Rateda
Rated
f frequen
r
r
> a
a
Max.
motor
Lowest max.
s
the
maximum
To
optimize
nthm (f r
6
a
at
(p=pole
pair
n
Power
Current
weigh
I rated
i
rated
P018.M
online
10
P036.M
online
10
4.0...100.00 ms
0...7 hex
rated i
eed
manufacturers data
eed of the motor group reduced by
lip difference.
noload current, enter
s/min)/p, otherwise F60
mber)
os 1)
ed average power factor value
cos
total
Initial roundingoff
applicationspecific
For motors with deepbar squirrelcage rotors:
Increase parameter to approx. 30 ms
Inverter clock frequency
The current controller dynamic performance is
improved when the switching frequency is increased, however the permissible continuous current load
capability is reduced.
The switching frequency should be selected as
high
as possible, especially for highspeed motors, but
still maintaining the specified derating.
The current controller must be reoptimized if the
switching frequency is changed.
AM/2-29
AM
07.94
Parameter attributes
Number
AM
Change
effective
P051
Setting range
2
Description
P159.M
online
10
0.0...6535.5
gm
P219.M
online
10
0...15
kgm
P166.M
online
10
0. rated pwr.
..I section
P167.M
online
10
0.000...65.000
P168.M
online
10
0.000...65.000
P169.M
online
10
0.000...65.000
P170.M
online
10
0.000...65.000
P171.M
online
10
0.00...650.00
P175.M
online
10
0.0...500.0 min
P172.M
online
10
0...32000 RPM
AM/2-30
manufacturers
data
Lowest time constant of the motor
group
External individual monitoring is recommended.
refer to Section 2.2.3
07.94
Parameter attributes
Number
Change
effective
P051
Setting range
Description
P173.M
online
10
0...32000 RPM
P176.M
online
10
0...32000 RPM
AM
AM/2-31
07.94
2.3.2
2.3.3
Motor changeover
The induction motor module allows four complete motor data sets to be simultaneously setup. The current data set can be selected via freelyprogrammable
terminals (refer to Section 3.2.2) or via parameter P056. There are freelyprogrammable relay functions for the four motor data sets (refer to Section 3.3.1),
which indicate which data set is active.
If various motors are to be operated from the induction motor module, one after
another, then this function can be used for motor changeover.
In this case, bit 1 should be set to 0 in parameter P053. Thus, after a motor
changeover request, the motor data are first changedover, when the induction
motor module pulses are inhibited (refer to Section 1.3). The user can decide
which of the enable terminals is used for pulse inhibit. The pulse inhibit is
latchedin for approx. 20 ms during the changeover operation.
This latch is then canceled and the relay motor ... active of the newly loaded
motor, pullsin. This relay signal can be used to control a contactor for motor
changeover. The currently valid motor data set is displayed in the first position
at the left in the operating display (P000,KP100).
K
AM
1H
2H
3
2
3
Motor 3
AM/2-32
K
1H
2H
4H
07.94
Pulse enable
4
1
2
0
T.K663
K
K
3K2 4
01K311
4
3En
Em
analog system
K
IM module
P053 bit 1 = 0
SIMODRIVE 611
3
3H
2
K
K1
K4
4H
Relay outputs
3
Aw
Ax
Az
Ay
K
K 321
Motor
4
3 AM/2-33
AM
K4
Select terminal input
Motor selection
Bit 0
Bit 1
0
U2 V2 W2
1)
K1
3H
K2
K
M1
M2
K
K
K
Motor 1
1)
Fig. 2-2
Motor 2
Motor changeover
M3
M4
2.4
12.94
!
Pulse number
P131
Parameter
settings
Warning
All parameters which physically represent a speed with the units RPM, as
as the BERO pulse number P131, are entered or displayed decreased by a
factor as follows:
Motor speed
Factor
32000...64000 RPM
1/2
1/3
In order to be able to operate motors with a maximum motor speed > 32000
RPM, settings must be made according to Table 213.
AM
AM/2-34
07.94
Table 2-15
Parameter attributes
Number
P163.M
P174.M
P153
Change
effective
online
online
online
P051
Setting range
10
0...64000 RPM
10
10
0...64000 RPM
1 ... 1 dec
Description
1)
Rated motor
Asynchronous speed at rated frequency and rated load
n r
60 s/min)/p
ra
< te
a motor
speed
Input
32000...64000 RPM
Max. motor
speed
motor speed
1)
P153
online
10
1 ... 1 dec
Input
32000...64000 RPM
32000...64000 RPM
Controller data
P114: Speed for the
max. useful motor speed 1/2
P029: Speed limiting 1/2
P172: Changeover speed,
open/closedloop control 1/2
P173:Speed at start of
field weakening 1/2
P176:
Stall torque speed 1/2
P114: Speed for
max. motor useful speed 1/3
P029: Speed limiting 1/3
P172: Changeover speed,
open/closedloop control 1/3
P173: Speed at start of
field weakening 1/3
P176:
Stall torque speed 1/3
If speed setting values with units of RPM are manually entered, all values must
be multiplied by factors 1/2 or 1/3.
1)
AM/2-35
AM
2.5
07.94
Monitor function
Address contents (data in the RAM area) of the induction motor module can be
read via parameters P249 to P251.
Note
A list of important measurement quantities (RAM variables) and their
are provided in the Appendix (Section 6.5).
Table 2-16
Monitor function
Parameter attributes
Number
Change
effective
P051
Setting range
Description
P249
online
10
0...FFFF hex
P250
online
10
0...FFFF hex
(P251)
0...FFFF hex
AM
AM/2-36
07.94
Overview
Speed setpoint
channel selection
Table 3-1
Parameter attributes
Number
P113
Change
effective
online
P051
4
0...9 hex
digital setpoint 0
1H:
2H:
3H:
4H:
6H:
digital setpoint from the electronic motorized
potentiometer
9H:
24
(10)H: digital setpoint; is internally input from the
firmware during selfoptimization
AM/3-37
12.94
Normalization, analog
speed setpoint
Table 3-2
Parameter attributes
Number
A
M
Change
effective
P051
P014.M
online
P024
online
P015
online
P025
online
P019
online
Setting range
32000...32000
RPM
2...10 V
E000...2000 hex
2...10 V
E000...2000 hex
Description
Fixed setpoints,
motorized potentiometer setpoint
Table 3-3
Parameter attributes
Number
Change
effective
P051
Setting range
Description
P114.F
online
32000...32000
RPM
Fixed setpoint 1 to 7
Adjustable speed setpoint
Selected via freelyprogrammable terminal function
17, 18, 19 (refer to Section 3.2.2).
P119.F
online
32000...32000
RPM
Fixed setpoint 8 to 15
Selectable speed setpoint
Selected via freelyprogrammable terminal function
17, 18, 19, 24 (refer to Section 3.2.2)
from FW 2.00
P114.8
online
32000...32000
RPM
AM/3-38
04.97
Setpoint priority
Table 3-4
Priority
Setpoint
Setpoint source
Selectable using
High
Low
I m =0
Effect
Desig.
T63 or
T663
Open
Pulse enable
inhibited
n=0
T81
Open
Rampfunction
generator fast stop
n=0
T64 or
T65
Open
Controller enable
inhibited
n=0
T.fct. 16
Open
Setpoint enable
inhibited
n min
n
P030
Value
entry
Min. steadystate
speed
P054
P055
Value
entry
Range suppression
n = +n/n
T.fct. 12
Act
ivated
Cw/ccw phase
sequence
n = P114.8
P113 = 6
Value
entry
Increase/decrease setpoint
n1 = P154
n2 = P155
T.fct. 2
Con
trolled
oscillation
reciprocation
n1 = P
to
n7 = P114.7
n8 = P
to
n15 =
P119.8
T.fct. 17
T.fct. 18
T.fct. 19
T.fct. 24
Con
trolled
Fixed setpoint
Standard
setpoint
source
P113
AM
Value
entry
Standard setpoint
AM/3-39
07.94
3.2
Input terminals
3.2.1
Warning
When the motor pulses are canceled, there is no information on the motor
speed. The calculated speed actual value is then set to 0. Thus, all of the
speed actual value signals, and relay signals, which monitor the speed a |
m , rampup
a
, a |
s ) no longer provide any
if the motor pulses have been canceled. The motor pulses can be canceled
removing the enable signals or with fault signals.
Warning
If a drive is shutdown using a rampfunction generator fast stop (terminal 81
open), and is kept at zero speed for a longer time with the inverter enabled,
then adequate motor cooling must be ensured, as a current is impressed in
motor which is approximately the rated current (percentage in P057).
Caution for selfventilated motors.
Table 3-5
AM
Terminal function
Description
Axisspecific
pulse enable
Controller enable
Ramp
function generator
fast stop
Terminal
number
663
65
81
Note
To start a motor, the enable signals must be provided step by step in the sequence of their priority (refer to Table 3-5).
AM/3-40
07.94
3.2.2
Warning
It is only permissible to program terminal function parameters P081 to P
when the pulses are canceled (terminal 63 or terminal 663 open).
Overview
Terminal function
assignment
Table 3-6
Parameter attributes
Number
P081
to
P089
Change
effective
online
P051
4
1...24 dec
AM
AM/3-41
07.94
Terminal
functions
Table 3-7
Terminal functions
Description
If this function is selected, the 2nd torque limit in P041 becomes active, if
changeover speed from P050 is exceeded.
Oscillation
E1 (P081)
Rampup time
0
E1 (P081)
Gearbox stage
E1 (P081)
10
E1 (P081)
Bit
0
Bit
1
Bit
Clockwise/ 2
counter clockwise
AM
Fc Input termi.
nals, as
No supplied
.
1
E1 (P081)
Terminal
function
0 1 0 1
0 1 0 1
0 0 1 1
0 0 1 1
0 0 0 0
1 1 1 1
11
12
Rampfunction
generator 2
If this function is selected, the 2nd parameter set P042 and P043 of the
internal rampfunction generator is activated.
13
Increase
setpoint
14
16
Decrease
setpoint
Setpoint enable
Fixed setpoint
selection
Bit
0
Bit
1
Bit
2
Bit
3
Motor selection
Bit
0
Bit
1
AM/3-42
0 1 0 1
0 1 0 1
0 1 0
0 0 1 1
0 0 1 1
0 0 1
0 0 0 0
1 1 1 1
0 0 0
0 0 0 0
0 0 0 0
1 1 1
0 1 0 1
0 0 1 1
A total of 15 binary
coded fixed values
P114.1 to P114.7
and P119.1 to
P119.8 can be selected using these
terminals. If all of
these terminals remain opencircuit,
setpoint, defined in
P113,
remains valid.
d
A t t l f 4 bi
dt
motor 4 can be selected using these terminals.
d
E1 (P081)
15
17
E1 (P081)
18
E1 (P081)
19
E1 (P081)
24
20
21
07.94
3.3
3.3.1
Output terminals
Warning
When the motor pulses are canceled, there is no information on the motor
speed. The calculated speed actual value is then set to 0. Thus, all of the
speed actual value signals, and relay signals, which monitor the speed a |
m , rampup
a
, a |
s ) no longer provide any
if the motor pulses have been canceled. The motor pulses can be canceled
removing the enable signals or with fault signals.
Caution
All relays dropout when the electronics power supply fails or is shutdown.
Terminal
function
Description
Terminal
number
Bit
Value
0000H
0
0001H
Checkback
signal, start
inhibit
672
673
674
AS1
AS2
AM/3-43
AM
07.94
3.3.2
Warning
It is only permissible to program the relays (P241 to 247) when the pulses
inhibited (terminal 63 or 663 open).
Overview
Assignment of the signals/messages
Relay functions
Signals which can be parameterized
Control word, signals
Note
The relay signals are updated with 20ms
for the standard speed controller clock.
For a fast speed controller clock with 10ms (refer to P090, bit 3, FW 3.00).
AM
Assignment of the
signals/messages
Table 3-9
Parameter attributes
Number
P241
to
P246
AM/3-44
Change
effective
online
P051
4
1...20 dec
Programmable messages 1 to 6
Functions 1 to 20 are assigned to relay outputs A11
to A61 by entering the function number. The factory
setting can be taken from the following table.
04.97
Relay functions
Table 3-10
Relay functions
Relay function
Description
Funct.
No.
Relay output,
as supplied
| a |
min
n
<
n comRampup
pleted
The relay pullsin, if the calculated speed falls below the current value set in
P021.1 to P021.8.
A31 (P243)
The relay pullsin if, after the setpoint jump, the calculated speed actual
enters the actual tolerance
bandwidth around the new setpoint, and has remained within this tolerance
bandwidth for at least 200 ms.
If the tolerance bandwidth is exited before the 200ms has expired, the acceleration ended relay remains inactive.
The tolerance bandwidth is set via P027.1 to P027.8.
The signal is interlocked (latched) in the activated setting, until the speed setpoint changes.
If the tolerance bandwidth is exited after 200 ms, the signal remains active,
unless, the setpoint has, in the meantime, changed.
The relay does not dropout as a result of speed
fluctuations due to load changes.
A61 (P246)
The relay pullsin, if the torque falls below the actual limit value.
The limit value is set via P047.1 to P047.8.
If the relay a = s dropsout during speed setpoint changes, the
| |
d relay can dropout only 800ms after the
a
s has
pulledin again.
c = e
The relay pullsin if the speed falls below the threshold. n
The setting is realized via P023.1 to P023.8.
n
The relay dropsout, if the actual thermal motor model is overloaded. The
mal time constant setting for each motor is separately realized in P175.1 to
P175.4.
The user is responsible in responding to this alarm.
The function of the fan and air intake temperature are not taken into account.
Thus, it is preferable if a temperature sensor is evaluated.
A21 (P242)
A41 (P244)
A51 (P245)
Drive converter
overtemperatur
alarm
Variable
relay function 1
Reserved
Reserved
10
One of these relays pullsin if the appropriate motor data set is active. Using
this relay function, the external contactor can be controlled for motor changeover.
It is recommended that the contactor
pulse enable are mutually interlocked.
11
12
13
14
The relay dropsout when the motor temperature is too high. If the fault
tion remains, the drive converter shuts down after the time, set in P065, with
the fault message F14.
From FW 3.00
16
The relay pullsin, if the calculated speed actual value enters the tolerance
bandwidth around the setpoint before the rampfunction generator and has
remained in this tolerance bandwidth for at least 200 ms.
The tolerance bandwidth is set using P027.1 to P027.8 .
If the tolerance bandwidth is exited, the relay a
s immediately
out.
= e drops
c
The relay dropsout as a result of speed fluctuations due to load changes.
20
| |
M <
M
dx
|n a |
x
<
n
I
talarm
Variable
relay function 2
Motor 1 active
Motor 2 active
Motor 3 active
Motor 4 active
Motor
overtemperature
alarm
n a
=
n
set
AM
A11 (P241)
AM/3-45
07.94
Messages which
can be parameterized
Table 3-11
Parameter attributes
Change
effective
Number
P051
Setting range
Description
a
m
1
n
n for a < signal
Response value for a freelyprogrammable relay
signal
a
4
<
Tolerance bandwidth for s = a signal
Tolerance for freelyprogrammable
e
crelay signal 1
rampup completed and for freelyprogrammable
relay signal 20 s
a
n
=
c
M d for
de signal
Response value for freelyprogrammable relay signal 3
d
M setting< refers
x to the actual torque limit.
The
P021.G
online
2...16000 RPM
P023.G
online
0...32000 RPM
P027.G
online
0...29000 RPM
P047.G
online
0...100 %
Control word
messages
A
M
Table 3-12
Parameter attributes
Number
P247
Change
effective
online
P051
4
0...FFFF hex
AM/3-46
Bi
t0
Value
0001H
0002H
0004H
0008H
0010H
0020H
07.94
3.3.3
Table 3-13
Parameter attributes
Number
Change
effective
P051
P185
to
P189
P185
online
0...FFFF hex
P186
online
0...FFFF hex
P187
online
0.00...10.00 s
P188
online
0.00...10.00 s
P189
online
0...7FFF hex
Hysteresis, monitoring 1
Hysteresis for threshold P186
P190
to
P194
P190
online
0...FFFF hex
P191
online
0...FFFF hex
P192
online
0.00...10.00 s
P193
online
0.00...10.00 s
P194
online
0...7FFF hex
Hysteresis, monitoring 2
Hysteresis for threshold P191
P247
online
0...FFFF hex
0000H
0100H
0000H
0200H
0000H
1000H
0000H
12
13
AM
Value
2000H
AM/3-47
07.94
Note
A list of important measured quantities (RAM variables) and their addresses
are listed in the Appendix (Section 6.5).
3.3.4
Analog outputs
Note
Analog outputs are not possible for MLFB (Order No.) 6SN11220BA11
0AA0.
Overview
Function
technical data
Parameterization, DAU 1, DAU 2
connection for analog displays
Function
Analog output of RAM variables for measurement purposes via two 8bit
D/A converters.
AM
Note
A list of important measured quantities (RAM variables) and their addresses
are listed in the Appendix (Section 6.5).
Technical data
AM/3-48
07.94
Parameterization
DAU 1, DAU 2
Table 3-14
AM/3-49
Parameter attributes
P051
Setting range
Description
Number
Change
effective
P066
online
0...FFFF hex
Address, DAU 1
Address of the RAM variables which are to be output at DAU 1.
Presetting: 11B6H absolute calculated speed actual value
P067
online
0...F hex
P012
online
1000.0...1000.0
%
Normalization, DAU 1
Fine normalization of the selected data value
P078
online
127...127 dec
Offset, DAU 1
Compensation of a possible offset for DAU 1
P068
online
0...FFFF hex
Address, DAU 2
Presetting: 11B8H utilization
P069
online
0...F hex
P013
online
P079
online
1000.0...1000.0
%127...127 dec
AM
Output voltageV
1st overflow
2nd overflow
3. overflow
4. overflow
+10.0
10.0
0000
H
2000H
4000H
Shift factor = 0
Shift factor = 2
6000H
8000
H
A000H
Offset = 0
Fine normalization = 100 %
V
C000H
E00
0H
FFFFH
Hex numerical value
Connection for
analog displays
Table 3-15
07.94
Parameter attributes
Number
Change
effective
P051
Setting range
Description
P012
online
1000.0...1000.0
Normalization, DAU 1
P066 =
display
a
For
P012 = 100 % and P067 = 0H, the following
11B6H
is
valid:
Standstill = 0 V
Max. speed (minimum from P029,
P174) = +10 V
1 V corresponds to 10 %
P013
online
1000.0...1000.0
Normalization, DAU 2
P068 = 11B8H
utilization
Displays the utilization in the following ranges
Constant torque:
/ d
M
Mm
Constant
power:
a
P/P
(taking into account the
actual torque limits P039,
P041 and the current and power limits P059
and
P060)
For P013 = 100 % and P069 = 0H, the following
is
valid:
Noload = 0 V
Max. torque or power = + 10 V
1 V corresponds to 10 %
AM
Output voltage [V]
No overflow
+10.0
10.0
0000
H
2000H
4000H
Shift factor = 0
Shift factor = 2
AM/3-50
6000H
8000H
A000H
C00
0H
Offset = 0
Fine normalization = 100 %
V
E000
H
FFFFH
Hex numerical value
04.97
4 Controller optimization
Induction motor modules (AM)
Controller optimization
Warning
During the automatic optimization runs, the motor is under voltage and can
reach its maximum speed. The optimization runs involved are identified with the
following symbol:
Note
When using an UE module, to reduce the regenerative power, the ramp
down
time P017 or P043 must be increased, until braking can be achieved from
maximum motor speed down to 0 without a fault message being issued (DC
link overvoltage).
AM
Table 4-1
Control optimization
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Optimization: Controller data of the actual motor with the drive enabled
Optimization, current controller, refer to Section 4.2
P204
online
P205
online
10
0...8 dec
0...1 dec
P204
online
P205
online
10
1)
0...8 dec
offset
Input 2 selection: Power offset adjustment
0...1 dec
1)
P031
online
P032
online
0.0...255.9
10.0...6000.0 ms
AM/4-51
4 Controller optimization
Induction motor modules (AM)
Table 4-1
Control optimization
Parameter attributes
Number
12.94
Change
effective
P051
Setting range
Description
online
0.0...600.0 A/V s
P035
online
5.0...600.0 ms
P204
online
P205
online
10
0...8 dec
0...1 dec
P204
online
P205
online
0...8 dec
10
0...1 dec
P204
online
P205
online
10
0...8 dec
0...1 dec
P204
P205
online
online
10
0...8 dec
0...1 dec
AM
P204
P205
P204
online
online
online
P205
online
P052
online
AM/4-52
04.97
10
0...8 dec
0...1 dec
0...8 dec
10
4
0...1 dec
0...1 hex
4 Controller optimization
Induction motor modules (AM)
Note
If the noload current adjustment with F60 is aborted, a possibly effective
speed limiting via the noload speed should be increased.
If the adjustment with F60 is aborted due to voltage limiting, the sequence
be repeated with a lower value in P166, or the DC link voltage can be
sed to 625 V (refer to the NE module).
Note
To adjust the total moment of inertia, the rampup time (accelerating time)
P016 and P042 should be set to the lowest possible value (preferably to
zero).
If the speed controller requires an integral action time P032 > 250 ms, then
the total moment of inertia adjustment must be manually executed according
Section 4.7.
To reduce the regenerative power in conjunction with a UE module, the
down time P017 and P043 can be increased.
Note
If the motor shaft rotates when optimizing the current controller, then the
mization point must be repeated by entering speed setpoint zero (e.g. using
terminal 81 HSS).
AM/4-53
SIMODRIVE 611A Installation and StartUp Guide/IAA/04.97 Edition
4.1
Overview
12.94
Speed controller
AM
Rampfunction generator
Gain, integral action time
Speed contr. adaptation
Speed controller clock
Total moment of inertia
Rampfunction generator
Table 4-2
Rampfunction generator
Parameter attributes
Number
AM
Change
effective
P051
Setting range
Description
Rampup time, rampfunction generator 1
(From n = 0 to m P174)
n
a
Rampdown time,
rampfunction generator 1
(From m P174 to n = 0)
n
a time, rampfunction generator 2
Rampup
(From n = 0 to m P174)
n
a
Rampdown time,
rampfunction generator 2
(From m P174 to n = 0)
n
a
Initial roundingoff
Torque setpoint smoothing
P016.M
online
0.00...320.00 s
P017.M
online
0.00...320.00 s
P042.M
online
0.00...320.00 s
P043.M
online
0.00...320.00 s
P018.M
online
4.00...100.00 ms
P053
online
0...FFFF hex
Control word
Bi
t
3
Speed
Rampfunction
generator output
Spee
Value
0000H
0008H
Rampfunction
generator output
d
Speed
setpoint
AM/4-54
Time [s]
With rampfunction generator
tracking
07.94
Gain,
integral action
time
Table 4-3
Parameter attributes
Number
Change
effective
P051
Setting range
P031.M
online
0.0...255.9
P032.M
online
10...6000 ms
Description
When calculating the controller data P153 = 1, the speed controller parameters are, among other parameters, defined.
In several cases, the control characteristics can still be improved (refer to Section 4.7)
Speed controller
adaptation
Table 4-4
Parameter attributes
Number
Change
effective
P051
Setting range
Description
AM
P195.M
online
0...32000 RPM
P196.M
online
0...32000 RPM
P197.M
online
0.0...255.9 dec
P198.M
online
0.0...255.9 dec
P199.M
online
1...150 %
P203.M
online
0...1 hex
P gain [dec]
P197 P199
P198 P199
P195
P196
Speed [RPM]
AM/4-55
07.94
Speed controller
clock
Table 4-5
Parameter attributes
Number
Change
effective
P051
4
P090
Setting range
Description
0...FFFFHex
Control word
Bit
Word
0000H
0008H
Total moment of
inertia
Table 4-6
Parameter attributes
Number
AM
Change
effective
P051
P159.M
online
0.0...6535.5
gm
P219.M
online
0...15
kgm
AM/4-56
04.97
4.2
Current controller
Overview
Current controller
!
Table 4-7
Warning
The module could be destroyed if the current controller P gain, P115 or P
is set too high.
If the inverter clock frequency is increased, then the power derating,
in Table 48 must be maintained.
Parameter attributes
Number
P036.M
(P037)
Change
effective
online
P051
4
0...3 hex
2.8...7.8 kHz
4.7 kHz
3.9 kHz
2
3
6.3 kHz
6
7
5.0 kHz
7.8 kHz
5.9 kHz
AM/4-57
AM
07.94
Table 4-8
Power
module
type
AM
In / Is6 / Imax
in A
Order Nos.
In / Is6 / Imax
in A
In / Is6 / Imax
in A
In / Is6 / Imax
in A
6SN11231AA0
6SN11231AA0
6SN11231AA0
Code
8A
0HA
3/3/3
2/2/2
15 A
0AA
5/5/8
25 A
0BA
8 / 10 / 16
50 A
0CA
24 / 32 / 32
20 / 26 / 26
15 / 20 / 20
10 / 14 / 14
No.
:3.2kHz
:4.7kHz
:6.3kHz
:7.8kHz
80 A
0DA
30 / 40 / 51
26 / 34 / 44
21 / 28 / 36
17 / 23 / 29
108 A
0LA
13
45 / 60 / 76
39 / 52 / 65
32 / 43 / 54
26 / 34 / 43
120 A
0GA
45 / 60 / 76
39 / 52 / 65
32 / 43 / 54
26 / 34 / 43
160 A
0EA
60 / 80 / 102
51 / 68 / 86
41 / 54 / 69
31 / 42 / 53
200 A
0FA
10
85 / 110 / 127
73 / 95 / 109
60 / 78 / 90
48 / 63 / 72
300 A
0JA
11
81 / 102 / 131
62 / 78 / 101
400 A
0KA
12
Power
module
type
In / Is6 / Imax
in A
Order Nos.
6SN11231AA0
6SN11231AA0
6SN11231AA0
Code
No.
: 2.8 kHz
In / Is6 / Imax
in A
: 3.9 kHz
In / Is6 / Imax
in A
: 5.0 kHz
In / Is6 / Imax
in A
: 5.9 kHz
from FW3.00
8A
0HA
3/3/3
15 A
0AA
5/5/8
25 A
0BA
8 / 10 / 16
7.5 / 9.3 / 15
6 / 7.5 / 12
50 A
0CA
24 / 32 / 32
22 / 29 / 29
19 / 25 / 25
16 / 21 / 21
80 A
0DA
30 / 40 / 51
28 / 37 / 48
25 / 33 / 42
22 / 30 / 38
108 A
0LA
13
45 / 60 / 76
42 / 56 / 71
37 / 50 / 63
34 / 45 / 57
120 A
0GA
45 / 60 / 76
42 / 56 / 71
37 / 50 / 63
34 / 45 / 57
160 A
0EA
60 / 80 / 102
56 / 74 / 95
49 / 65 / 83
43 / 58 / 73
200 A
0FA
10
85 / 110 / 127
79 / 103 / 119
71 / 91 / 106
63 / 82 / 95
300 A
0JA
11
98 / 122 / 157
400 A
0KA
12
86 / 108 / 139
144 / 180 / 185
P115.M
online
0...255 dec
P116.M
online
0...300 dec
P116.M
AM/4-58
255(255P115.M)
P173.M
P174.M
07.94
Noload motor
current
Table 4-9
Parameter attributes
Change
effective
Number
online
P166.M
4.3
P051
4
Setting range
0.00. rated LT
..I
Description
Field controller
Gain,
integral action
time
Table 4-10
Parameter attributes
Number
Change
effective
P051
Setting range
Description
P034.M
online
0.0...600.0
100 A/Vs
P035.M
online
5.0...600.0 ms
AM
When calculating the controller data P153 = 1, the field controller parameters
are, among other parameters, defined.
In several cases, the control behavior can be improved (refer to Section 4.7)
AM/4-59
4.4
07.94
Warning
If a drive is operated for a longer period of time in the openloop controlled
speed range, adequate motor cooling should be ensured, as a current is impressed in the motor which is approximately the rated current (percentage in
P057).
Caution for selfventilated motors.
Table 4-11
Parameter attributes
Number
Chan
effective
P051
Setting range
Description
P057.M
online
0...150 %
P058.M
online
0...399 %
P172.M
online
0...32000 RPM
AM
Note
If the current is limited by the maximum available converter current when
erating, then the torquegenerating components are reduced.
A reduction of the current in P057 in this case shortens the rampup time.
AM/4-60
07.94
4.5 Limits
Induction motor modules (AM)
4.5
Limits
Table 4-12
Limits
Parameter attributes
Number
Change
effective
P051
P174.M
online
0...32000 RPM
P059.M
online
0...399 %
Current limiting
Percentage of the rated motor current
P060.M
online
0...399 %
Output limiting
Percentage of the rated motor output
P029.G
online
P039.G
online
0...399 %
P041.G
online
0...399 %
P050.G
online
0...32000 RPM
0...32000 RPM
Speed limiting
Highest required motor speed
1st torque limit
Percentage of the rated motor torque
2nd torque limit
Percentage of the rated motor torque
Selected via freelyprogrammable terminal function
1.
Changeover, if the actual changeover speed from
M d
d , P050, is exceeded.
to
1
2
Changeover
speed from d
d2
Changeover condition for the limit value
changeover
Note
If a drive is to be operated in the overload range, the limits must first be increased after the controller has been optimized.
The various limits are always simultaneously taken into account.
If an overload is permitted, then generally more than one limit has to be increased.
If the rampup time is to be shortened, it is also practical to make a change
the openloop controlled range.
AM/4-61
A
M
4.6
07.94
Overview
Steadystate
minimum speed
Table 4-13
Parameter attributes
Number
P030.M
Change
effective
online
P051
4
Setting range
0...32000 RPM
AM
Description
Steadystate minimum
200
200
200
input setpoint [RPM]
200
AM/4-62
07.94
Speed
range
suppression
Table 4-14
Parameter attributes
Change
effective
Number
online
online
P054.M
P055.M
P051
4
4
Setting range
Description
0...32000 RPM
0...32000 RPM
AM
Shutdown without
overshoot
Table 4-15
Parameter attributes
Number
P022.M
Change
effective
online
P051
4
Setting range
Description
2...32000 RPM
AM/4-63
4.7
12.94
Manual optimization
Overview
current controller
speed controller
field controller
Noload motor current
main field reactance
motor and external moment of inertia
motor rotor resistance
If manual optimization is required, the specified signals at the appropriate measuring points should be traced using a storage oscilloscope, and the parameters set, so that the required signal characteristics are obtained. The sequence
can be triggered by the first of the specified signals.
For several adjustments, the settling characteristics of setpoint jumps have to
be evaluated (if possible, rampup time P016 or P042 = 0) (step response).
These can be entered using the oscillation generator (refer to Section 2.2.3). In
this case, braking energy can be fed back into the supply when I/R modules are
used.
When UE modules are used, this energy is converted into heat.
Rampdown time P017 or P043 can be increased to reduce the braking
power.
AM
Current controller
Signal name
Test point
Parameterization
Address
Phase current
AM/4-64
test socket
Shift factor, e.
g.
07.94
Phase current
Phase current
Fig. 4-1
t [ s]
Phase current
P115 correct
t [ s]
t [ s]
P gain
300
Max. value
25
P116 = 300
200
5
AM
P116 = 200
75
P115 = 75
Base speed
range
Fig. 4-2
Speed [RPM]
P174
From the field weakening speed P173, the current controller gain is linearly
increased, and, at maximum speed P174, reaches the value of P116, but, a
maximum of 255.
If a value > 255 is entered in P116, the current controller gain reaches the
maximum value already at speeds < P174.
P116.M
255(255P115.M)
P173.M
P174.M
AM/4-65
07.94
In some cases, the behavior can be further improved using a somewhat higher
value.
Table 4-17
No.
Fault profile
No.
Fault profile
F11
F11
Table 4-18
No.
Fault profile
No.
Fault profile
F11
Spontaneous stall
AM
AM/4-66
07.94
Speed controller
Signal name
Test point
Parameterization
Address
Torquegenerating
current
X1 test socket
P076 = 10D2H
Shift factor, e.
g.
P077 = 0H
X2 test socket
P072 = 1110H
P073 = 4H
Torquegenerating
current
Torquegenerating
current
Torquegenerating
current
AM
t [ms]
Speed actual value
t [ms]
Speed actual value
t [ms]
P031 too low
Fig. 4-3
t [ms]
Speed actual value
t [ms]
t[ms]
P031 correct
AM/4-67
07.94
Table 4-20
Fault profile
Table 4-21
Fault profile
Speed oscillations with a low period
interval for speed steps
Fault profile
Fault profile
Long settling characteristics when
speed changes occur
AM
AM/4-68
07.94
Field controller
Signal name
Test point
Parameterization
Address
X1 test socket
P076 = 1110H
Shift factor, e.
g.
P077 = 0H
Fieldgenerating
current
X2 test socket
P072 = 10CAH
P073 = 2H
t [ms]
Fieldgenerating
current
t [ms]
Fieldgenerating
current
t [ms]
P034 too low
t [ms]
Fieldgenerating
current
t [ms]
P034 correct
AM
t [ms]
P034 too high
Fig. 4-4
AM/4-69
07.94
Table 4-23
P166
Noload motor
current
No.
Fault profile
No.
Fault profile
F11
F11
Note
If the value of parameter P166 is changed, the main field reactance P171
should be readjusted.
Table 4-24
Signal name
Test point
Parameterization
Address
Phase current
IR test socket
Shift factor, e.
g.
Motor current
(P007) display
(P010) display
Table 4-25
AM
Procedure
P172
P057
Speed
setpoint
Adjust so that
(P005) =
U A
(P162/P164)
3 P158 P
+2
with UA output voltage, induction
motor module
161
UA
400 V
at UDClink = 600 V
UA
420 V
at UDClink = 625 V
UA
0.8 Usupply
at UDClink uncontrolled
P057
P166
AM/4-70
P172
P057
07.94
P171
Magnetizing reac-
tance
Note
If the value of parameter P171 is changed, the motor noload current P
must be readjusted.
Table 4-26
Signal name
Test point
Parameterization
Address
Integral component,
field controller
X1 test socket
Shift factor, e.
g.
P077 = 2
P076 = 116A
Set with the drive enabled at the field weakening speed P173.
Adjust the field controller integral component with parameter P171 to zero.
Integral component,
field controller
Integral component,
field controller
t[ms]
Integral component,
field controller
t[ms]
P171 correct
A
M
t [ms]
Fig. 4-5
AM/4-71
12.94
P159
motor and external
moment of inertia
P219
additional moment
of inertia
Table 4-27
Parameterization
Signal name
Test point
X1 test socket
P076 = 1110H
P077 = 0H
Integral component,
speed controller
X2 test socket
P072 = 117CH
P073 = 2H
Address
Shift factor, e. g.
Setting with load coupled and the drive enabled in the oscillation mode.
Enter setpoint steps from n = 2 P172 to n
max with
Set the speed controller integral component with parameter P159 or P219 so
that this remains at approximately zero during acceleration.
AM
t[ms]
Integral component,
speed controller
t [ms]
Integral component,
speed controller
t[ms]
Integral component,
speed controller
Friction torque
0
t [ms]
t [ms]
t [ms]
Fig. 4-6
AM/4-72
07.94
P168
motor rotor
resistance
Note
Motor rotor resistance setting is not required for motors with deepbar
cage rotors.
Table 4-28
Signal name
Test point
Parameterization
Address
Shift factor, e. g.
X1 test socket
P076 = 1110H
P077 = 0H
Integral component,
speed controller
X2 test socket
P072 = 117CH
P073 = 2H
AM
t [ms]
Integral component,
speed controller
t [ms]
Integral component,
speed controller
t [ms]
Integral component,
speed controller
Friction torque
t [ms]
P168 too low
t [ms]
P168 correct
t [ms]
P168 too high
Fig. 4-7
AM/4-73
07.94
AM
AM/4-74
04.97
AM/5-75
5.1
Diagnostic aids
5.1.1
Table 5-1
Warning
When the motor pulses are canceled, there is no information regarding the
tor speed. The calculated speed actual value is then set to zero. Thus, all
speed actual value displays no longer provide any information.
In addition to P133, BERO speed actual value if the speed is monitored.
ParameterAttribute
Number
Change
effective
P051
(P001)
(P101)
32000...32000
RPM
Speed setpoint
(P002)
(P102)
32000...32000
RPM
(P003)
399.0...399.0 %
(P004)
0.0...100.0 %
(P005)
1250...1250 Hz
(P006)
(P007)
399.0...399.0 %
Motor current
Referred to the rated motor current
(P008)
0.0...399.0 %
(P009)
0.0...399.0 %
Active power
Referred to the rated motor output
(P010)
(P110)
0...450 eff
V
0...170
C
(P133)
0...65535 RPM
(P037)
0...700 V
Torquegenerating current
Referred to the rated motor current
Utilization
Referred to the effective limiting
Motor frequency
DC link voltage
Realized via NE or the monitoring module or using
P061
5.1.2
07.94
Status displays
P000, P100
operating display
P011
Status of the binary inputs
Table 5-2
Display
Display
value
AM
Term. 63
Term. E9
Term. E5
Term. E1
central
pulse enable
freelyprogramm. via
P089
freelyprogramm. via
P085
freelyprogramm. via
P081
Term. 64
Term. 663
Term. E6
Term. E2
central
drive enable
axisspecific
pulse enable
freelyprogramm. via
P086
freelyprogramm. via
P082
Term.
open 112
settingup
operation
Term. 65
axisspecific
controller
enable
Term. E7
freelyprogramm. via
P087
Term. E3
freelyprogramm. via
P083
Term. R
Term. 81
open
ramp
function
generator fast
stop
Term. E8
freelyprogramm. via
P088
Term. E4
freelyprogramm. via
P084
central fault
nowledgment
ack-
AM/5-76
07.94
P254
Display of active
functions 1
Table 5-3
Display
Display
value
Fct. No. 13
rampfunction
generator 2
gearbox stage
bit 0
Fct. No. 14
Fct. No. 10
increase
setpoint
Fct. No. 15
decrease
setpoint
Fct. No. 16
Fct. No. 9
setpoint
enable
gearbox
stage
bit 1
Fct. No. 11
gearbox
bit 2
Fct. No. 1
2nd torque
limit
Fct. No. 2
oscillation
Fct. No. 7
Fct. No. 3
rampup time
T
=0
reset fault
memory
(fault acknowledgment)
Fct. No. 12
clockwise/
counter
wise phase
sequence
AM
AM/5-77
12.94
P255
Display of active
functions 2
Table 5-4
Display
Display
value
Fct. No. 21
motor
selection
bit 1
Fct. No. 24
fixed setpoint
3
Fct. No. 17
fixed setpoint
bit 0
Fct. No. 18
fixed setpoint
1
Fct. No. 19
AM
fixed setpoint
bit 2
Fct. No. 20
motor
selection
bit 0
AM/5-78
07.94
5.1.3
Diagnostic parameters
P020
Executed selfsetting
Table 5-5
Display
Display
value
self
optimization
5
setting,
of inertia
self
optimization
1
optimization,
phase current
controller
self
optimization
6
self
optimization
2
setting, rotor
resistance
setting, power
offset
self
optimization
7
self
optimization
3
calculation,
speed
controller
self
optimization
8
setting, field
weakening
speed
AM
setting, no
current
self
optimization
4
setting, main
field
AM/5-79
12.94
Table 5-6
ParameterAttribute
Change
effective
Number
(P028)
P051
0...FFFFH
Diagnostics
Bi
t13
(P200)
5.1.4
0...FFFFH
Value
2000H
Division interrupt
Error in the calculation routine by
incorrect data entry
Checksum, parameter
At every backup (P052=1H), the checksum is formed over the parameter contents.
Thus, a change in the drivemotor data is
identified.
Overview
Function
technical data
assignment
Normalization, IR
AM
Function
Technical data
Analog output of the phase current actual value and RAM variables for measurement and diagnostic purposes.
AM/5-80
07.94
Assignment
X1
X2
IR
Fig. 5-1
X1:
X2:
IR:
M:
Normalization IR
Table 5-7
Normalization, IR
Normalization, IR
8 A corresponds to 8.25 V
15 A corresponds to 8.25 V
25 A corresponds to 8.25 V
50 A corresponds to 8.25 V
80 A corresponds to 8.25 V
10
11
12
13
AM/5-81
AM
07.94
Parameterization
X1 (DAU 3),
X2 (DAU 4)
Table 5-8
ParameterAttribute
Change
effective
Number
AM
P051
Setting range
Description
P076
online
0...FFFF hex
Address, DAU 3
Address of the RAM variables which are to be
output
at DAU 1.
Presetting: 1110H calculated speed actual value
1 V corresponds to 15000 RPM
P077
online
0...F hex
P080
online
127...127 dec
Offset, DAU 3
Compensation of a possible offset for DAU 3
P072
online
0...FFFF hex
P073
online
Address, DAU 4
Presetting: 10D2H
Torquegenerating current
1 V corresponds to 1.6
rated motor
I
Shift factor, DAU 4
P074
online
0...F hex
127...127 dec
Offset, DAU 4
2nd overflow
3. overflow
4. overflow
+5.0
+2.5
0.0
0000H
4000
H
200
Shift factor0H
=0
Shift factor = 2
6000H
800
A000H
0H
Offset = 0 V
Fine normalization = 100 %
C000
H
E000H
FFFFH
Hex numerical value
Note
A listing of important measured quantities (RAM variables) and their
is listed in the Appendix (Section 6.5).
AM/5-82
07.94
5.1.5
Function
Table 5-9
ParameterAttribute
Number
Change
effective
P051
Setting range
Description
P181
online
0...FFFF hex
P179
online
0...3 hex
(P182)
0...FFFF hex
(P183)
0...FFFF hex
Note
A listing of important measured quantities (RAM variables) and their
is listed in the Appendix (Section 6.5).
A
M
AM/5-83
07.94
5.1.6
Function
Simultaneous tracing of two RAM variables and output via test sockets X1 and
X2.
Technical data
Parameterization
Table 5-10
Parameterization
ParameterAttribute
Number
AM
P207
Change
effective
online
P051
4
Setting range
0...C hex
Description
P212
online
0...FFFF hex
Address signal 1
A list of all of the important measured quantities
(RAM variables) and their addresses are provided
the Appendix (Section 6.5).
P213
online
0...FFFF hex
Address, signal 2
AM/5-84
07.94
Table 5-10
Parameterization
ParameterAttribute
Number
Change
effective
P051
Setting range
Description
P208
online
0...FFFF hex
P209
online
0...FFFF hex
P210
online
0...FFFF hex
P211
online
0...FFFF hex
P206
online
0...1 hex
P215
online
0...15 dec
P216
online
0...15 dec
P217
online
0...FFFF hex
Trigger signal 1
Trigger signal amplitude low for D/A converter output with 1 ms duration.
An edge is output, which follows the traced signal
when entering various signal levels in P217 and
P218.
P218
online
0...FFFF hex
Trigger signal 2
Trigger signal amplitude high for 1 ms D/A converter output.
P214
online
0...1 hex
Note
A listing of important measured quantities (RAM variables) and their
is listed in the Appendix (Section 6.5).
AM/5-85
AM
5.1.7
07.94
Warning
If a drive is operated for a longer period of time in the openloop controlled
speed range, it should be ensured that the motor is adequately cooled, as a
current is impressed in the motor which is approximately the same as the
current (percentage in P057).
Caution for selfventilated motors.
Function
Function
information
Table 5-11
AM
ParameterAttribute
Number
Change
effective
P051
Setting range
Description
P057.M
online
0...150 %
P058.M
online
0...399 %
P172.M
online
AM/5-86
0...32000 RPM
07.94
5.2
Fault analysis
5.2.1
Fault display
Display
1 fault
Inactiv
e
key
Fault acknowledgment
using the
P
key
Depress the
If the fault can be acknowledged, the system returns to the operator control
program.
If the fault cannot be acknowledged, for example, there is a defect, then this
can be temporarily suppressed in the display.
remote acknowledgment
One of the following terminals is energized, with the controller inhibited:
terminal R reset at the NE or monitoring module
terminal reset fault memory (freelyprogrammable terminal
function) at the induction motor module
terminal 65 interrupt controller enable (only if P053, bit 5 =1)
powerdown
Powerdown the converter and after the display has disappeared after approx. 2 s, powerup again.
Fault suppression
using the
key
The system returns to the operator control program for approx. one
minute after depressing the
AM/5-87
AM
5.2.2
Table 5-12
Warning
When the motor pulses are canceled, there is no information regarding the
tor speed. The calculated speed actual value is then set to 0.The motor
ses can be canceled by fault messages.
Fault message
F04
03.96
Fault
D/A conversion
error
Cause
if the control board repeatedly manifests defects
all enable signals have been issued, but no motor is connected or
a motor contactor has not pulledin.
F05
Motor current = 0
all enable signals have been issued, but at least one of the
parameters
P160, P166, P057, P059 is zero.
DC link fuse ruptured
DC link busbar interrupted
AM
F08
cessful on FEPROM
Irretrievable data
loss
if the error message repeatedly occurs during data save, then the
FEPROM is defective.
if the error message occurs directly after the converter is powered
up, the converter was previously powereddown during a data save
then
operation. The last parameter changes have therefore not been
saved.
The data save must be repeated.
defective FEPROM replace module
ribbon cable between the control and gating board is defective or is
not connected
motor is not connected or a phase is missing
defective power supply of the gating board
F13
Field controller is at
its limit
do not coin-
AM/5-88
04.97
Table 5-12
Fault message
Fault
Cause
motor overloaded
Overtemperature,
F14
motor
F15
Overtemperature,
converter
F17
code number
I 0
rated
power
>
mot section
Temperature sensor,
motor
interrupted
F19
15 K only by
AM
short circuit
only KTY 84
F51
F52
F53
Parameterizing error:
Rated torque too
high
Parameterizing error:
Torque constant
inadmissible
illegal ratio
Parameterizing error:
Rated motor current
too low
of
from FW 2.00
P164.M
P160.M P
161.M
163.M
P171.M
Ratio of the rated motor current to rated power module current too low
F60
F90
Maximum speed
BERO exceeded
AM/5-89
07.94
Faults
after
supply ON
Operating control display inactive
at least two phases missing (NE module)
at least two input fuses have ruptured (NE module)
defective electronics power supply in the NE module
AM
AM/5-90
07.94
6 Appendix
Induction motor modules (AM)
Appendix
AM
yes
Section 5.2.2)
yes
Section 5.2.2)
AM/6-91
No
6.1
07.94
2
Fault (refer to
Warning
The drive accelerates up
s if a fault on the NE module is
parameter values can be reset after acknowledging
fault
message
(refer
Siemens AG
1997
All Rights
reserved
Fault
(refer
to F07
Note
If data save is interrupted due to a power failure or the power being
ted, then the values which were changed since the last data save are lost,
the drive converter displays fault message F07 after the power returns.
The
to Section 5.2.2).
START
AM
AM/6-92
07.94
Set P051 to 4H
(remove write protection)
Set P097 to 0H
(start initialization)
Set P052 to 1H
(write into FEPROM)
Wait until P052 is again set to 0H,
then switch the converter off and 1 s
after the operating display has been
canceled, powerup again.
AM
Set P051 to 4H
(remove write protection)
No
Yes
Enter P061 fixed DC link
voltage (V)
AM/6-93
12.94
3
Enter the following parameters1)
P158
P160
P161
P162
P163
P164
P174
AM
P166
P167
P168
P169
P170
P171
No
Yes
Yes
Enter P1591) motor and external moment of inertia (gm2). If the set value is too low, enter P2191)
additional moment of inertia (kgm2).
AM/6-94
07.94
4
Set P052 to 1H
Wait until P052 is again set to 0H. The
entered values are
transferred into the FEPROM.
No
Yes or
unknown
No
Yes
Observe derating
(refer to Section 4.2)
AM
10
AM/6-95
07.94
Status of the two center digits of the operating display P000 after
switching (refer to Section 2.2.1)
Controller enable
Connect the enable voltage to terminal 65 at the IM module.
No
Is
terminal fct. 16
Yes
(setpoint enable)
activated?
Remove rampfunction gene-
AM
Remove rampfunction generator fast stop. Connect the enabled voltage to terminal 81.
Yes
No
F05
F11
Refer to
Section 5.2.2
AM/6-96
07.94
7
No
1)
AM
Caution!
The motor rotates at the no
load speed, with a clockwise
phase sequence.
Note:
Set P174 and P029 to at
least the rated synchronous
speed to optimize the noload
current.
No
Yes
Fault (refer to
Section 5.2.2)
AM/6-97
12.94
8
Caution!
The motor runs with the field weakening speed, clockwise phase sequence.
No
Yes
Fault (refer to
Section 5.2.2)
Caution!
Oscillation up to the maximum
speed with clockwise phase
sequence (if required, limit with
P029).
No
AM
Speed controller
integral action time
P032 > 250 ms
Caution!
Oscillation up to the maximum
speed with clockwise phase
sequence (if required, limit with
P029).
No
Yes
Yes or unknown
Caution!
Oscillation up to the
maximum speed with clockwise phase sequence.
Yes
Fault (refer to
Section 5.2.2)
8a
AM/6-98
07.94
8a
10
Yes
No
Set P204 to 7
(set P031, P032, P205, speed controller setting
calculation to 1)(start selfsetting)
Wait until P205 is set to 0
Set P051 to 4H
(remove write protection)
AM
9
AM/6-99
07.94
normalization nset
offset correction nset
normalization nset
P016
P017
P029
P021 to P023,
P027
P039 to P043
P047
AM
P057 to P058
opencontrolled range
P059 to P060
limits
P081 to P089
freelyprogrammable
terminal functions
P113 to P114
speed setpoints
P185 to P194,
P241 to P246
freelyprogrammable
Relay functions
11
AM/6-100
07.94
11
Values changed?
No
Yes
A
M
Set P051 to 0H.
Set write protection
End
AM/6-101
07.94
6.2
Table 6-1
Power
mod.
type
Order No.
6SN11231AA0
6SN11241AA0
6SN11401BA1
Rated
current [A]
Power module
code number
P095
8A
0HA
FW 2.10
15 A
0AA
FW 2.10
25 A
0BA
10
16
50 A
0CA
24
32
32
80 A
0DA
30
40
51
108 A
0LA
45
60
76
13
120 A
0GA
45
60
76
160 A
0EA
60
80
102
200 A
0FA
85
110
127
10
300 A
0JA
120
150
193
11
FW 2.00
400 A
0KA
200
250
257
12
FW 2.00
FW 2.10
AM
(MLFB No.)
Fig. 6-1
AM/6-102
07.94
6.3
6.3 Connections
Induction motor modules (AM)
Connections
Overview
Warning
The shields and unused cores of power cables (e.g. unused brake
in the cable) must be connected to PE potential in order to discharge
currents cause by capacitive coupling effects.
Hazardous voltages could be present, resulting in death or serious injury, if
is not observed.
Note: When non-PELV circuits are used at terminals AS1, AS2, connector coding must be used so that the connector cannot be interchanged (refer to
EN602041, Section 6.4)
Order No. of the coding connector, refer to Catalog NC60.1
AM
AM/6-103
6.3 Connections
07.94
Connection diagram
SIMODRIVE 611 analog system
NE module
IM module
74
Ready
signal
Group signal
I2t temperature
monitoring
72
Pulse enable
Drive enable
X141
X161
Signal. contact
Line contactor
X171
FR
7
45
44
10
15
15
R
P24
P15
N15
N24
M
M
RESET
U1 V1 W1
PE1
FN L K
L1
L2
L3
Warning!
EN+
nset22)
IF
External
RF
HSS
T. 11)
T. 21)
T. 31)
EN+
24
A92
8
X431
RS232C
interface
X441
81
A21
A31
A41
E9
EN+
289
E7
E8
T. 91)
663
65
E5
E6
T. 81)
X451
A91
E3
E4
T. 61)
T. 71)
Motor temperature
sensor3)
56
14
E1
E2
T. 41)
T. 51)
A11
A51
A61
672
673
674
AS1
AS2
X411
X442
Equipment bus
DC link
DAU 12)
DAU 22)
Internal
Relay 11)
Relay 21)
Relay 31)
Relay 41)
Relay 51)
Relay 61)
Ready
Fault
Signal.
contact
Start inhibit
X
P 600
M 600
U2 V2 W2 PE1 PE2
X
at
PE
EN+
Signal.
contact
5 VStart inhibit
UNIT
VDC
M500 link>>
P500
2U1
X
1U1
2V1
1V1
2W1
1W1
X181
X2
IR
nset1
AS1
AS2
SPP
EXT
X1
X421
NS1
NS2
X172
Fig. 6-2
5.3
5.2
5.1
63
9
9
64
19
9
112
48
111
213
113
Settingup
contactor control
AM
BERO input3)
73.2
73.1
X121
X412
X432
X111
from the NC
If a power contactor is used between the motor and the induction motor module, then it
must be ensured that this contactor is only switched in a nocurrent condition. (When
shutting down, first cancel the pulses (terminal 663), then 40 ms later, the contactor).
connecting diagram
AM/6-104
04.97
6.3 Connections
Induction motor modules (AM)
Connecting terminals
Table 6-2
T.
No.
Terminals
Location
Typ
Function
1)
Typ. voltage/
limit values
Max. crosssection
Acc. to configuring guide
U2
V2
W2
Motor connection
3ph. 0...450 V
AC
PE1
PE2
Protective conductor
Protective conductor
I
O
0V
0V
P600
M600
DC link
DC link
I/O
I/O
+300 V
300 V
Busbar
Busbar
I/O
Various
Ribbon cable
I
I
I
I
I
I
I
I
I
I
I
I
I
I
I
I
O
10 V
(max. 11
10 V V)
(max. 11
V)
+21 V...+33 V
+13 V...+30 V
+13 V...+30 V
+13 V...+30 V
+13 V...+30 V
+13 V...+30 V
+13 V...+30 V
+13 V...+30 V
+13 V...+30 V
+13 V...+30 V
+13 V...+30 V
+13 V...+30 V
+24 V
O
O
O
O
10 V 3 mA
0V
10 V 3 mA
0V
O
O
O
O
0 V...5 V 3 mA
0 V...5 V 3 mA
10 V 3 mA
0V
X151/351
Equipment bus
56
14
24
8
X421
X421
X421
X421
663
65
81
E1
E2
E3
E4
E5
E6
E7
E8
E9
9 4)
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
A91
M
A92
M
X451
X451
X451
X451
X1
X2
IR
M
Speed setpoint 1
(differential input)
Speed setpoint 2
(differential input)
2
2
)
)
2
)2
)2
)2
)2
)
2
)
2
)
Bolt
Bolt
2
1.5
2
1.5
2
mm
1.5
2
mm
1.5
mm
2
1.5
2
1.5
2
mm
1.5
2
1.5
2
mm
1.5
2
mm
1.5
2
mm
1.5
2
mm
1.5
2
mm
1.5
2
mm
1.5
2
mm
1.5
2
mm
1.5
2
mm
1.5
mm
2
1.5
2
1.5
2
1.5
2
mm
1.5
mm
Test socket, 2 mm diameter
Test socket, 2 mm diameter
Test socket, 2 mm diameter
Test socket, 2 mm diameter
1) I = input
O = output
2) can be freelyprogrammed via operator control parameters
3) Function not possible with Order No. 6SN11220BA110AA0
4) Refer to Section NE 3.1... 3.2
AM/6-105
AM
6.3 Connections
Induction motor modules (AM)
07.94
Relay terminals
Table 6-3
relay terminals
T.
Locatio
No.
289
n
X441
A11
A21
A31
A41
A51
A61
X441
X441
X441
X441
X441
X441
672
673
674
X441
X441
X441
AS 1
AS 2
X441
X441
Typ
Function
Typ. voltage/
limit values
1)
2)
2)
2)
2)
2)
2)
Signal.
contact
Start inhibit
30 V/6.0 A max
NO
NO
NO
NO
NO
NO
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
NO
I
NC
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
I
NC
6.4
Interfaces
6.4.1
AM
Signal name
Max. crosssection
1.5
mm
1.5
1.5
mm
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
mm
1.5
1.5
mm
1.5
1.5
mm
2
2
2
2
2
2
2
2
2
2
2
2
Explanation
10
EN+
+24V
14
BERO
Signal
15
FR
Ground
6.4.2
Signal name
14
+ Temp
15
Temp
6.4.3
1) I = input
Signal name
TxD
RxD
M5
NC = NC contact
NO = NO contact
AM/6-106
07.94
6.5
Variable
Addres
s
11B6H
7FFFH
Utilization
11B8H
7FFFH
1110H
7FFFH
37499 RPM
Torque setpoint
10ECH
2000H
10C6H
2000H
10C4H
2000H
10D2H
2000H
10CAH
2000H
0E02H
7FFFH
I mot. n
37499 RPM
1140H
10000H
1142H
10000H
1148H
2000H
114AH
2000H
P S rated
P S rated
117CH
2000H
116AH
2000H
M drated
I mot. n
10E6H
2000H
I mot. n
Value
Corresponds
ntomax
(P174/P029)
M drated
I mot. n
I mot. n
I mot. n
AM
AM/6-107
07.94
6.6
generallyvalid parameters
motordependent parameters
AM
% %
0 0 0
% % % V
% %
V V
m
2
1
1 1
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
2 5 5 5 5 5 5 5 5 5 5 5 3 3 3 3 4 4 4 3 5 3 2 3 3 3 3 5
E 0 0
2 0 2 2 0
0
E
AM/6-108
na<x
07.94
A V S N N S
R R
O E
N N
P P P P P P
nmfa<m
M
nx
7
(
( ( (
( (
h h
m m
AM/6-109
mh
5
S
4
m m
AM
0
0 0
1 1
0 0
s
S
M
M M M
M G M G
O S S T
07.94
5
S
4
m m d d
1 4
1 0 5
s s
% %
k
0
5 5
5 9
h d h
m m
% % % % V
0 0 1 0 0 0
6
s
d d
0
1 1 1
AM
0 0
s
S
0 0
0 00
0 0
0 0
0 0 0
0 0 0
1 1 1 1 1 1 1 3 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
2 4 4 4
G M M M M M M
1 14 1
2 2 4 4 3 4
G G M M G G
M M
4 2
M M M M
4 4 4
4 2
d
D
Mdfd<d
S M P
P
I
P P P P P P P
AM/6-110
I I
1 A2
P P PP P P
R R
C W T
C S S
FF T
C MA C O
P P P PP P P P PP P P P
07.94
5
S
4
hh
h h
0
h h
0
hi
0 0
i i i
0
0 0 0 1 7 3 1 1 1 9
31 1
0 0
0
AM
0
s
S
1 1 1 1
1 1 1 1 1 1 1 1 1
0 0
0
s
1 1
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
3 3 3 3 5 5 5 5 5 3 3 5 3 3 3 3 3 3 3 3 3 1 2 2 2 2 2 5
M
A S A S A S
S O OT OT T T T T T T T
P P P P P P P P P P P P P P P P P P P P P P P P P
FC P
( ( (
AM/6-111
07.94
5
S
4
d
1
m
0
AM
m
0
m
0
s
m
m
1
I
0
1
2
F s
3
F
2
M
2
M
M M F
D
S
AM/6-112
P P
07.94
5
S
4
m m
s
h
AM
0
F s
M M
M M
M C
M A
M M
0 0
AM/6-113
07.94
5
S
4
d h h
d d h h h h h h
h hd h
0 0 0 0 0 0 0 0
0 0 0 0
1
1
2
k
d d d d d d h h h
4 5 2 20 0 0 1
7
h h
AM
0 0 0
0 0 0 0
F ws
S
1 1 1 1 1 1 1 1
4 4
5 5 5 5 5 5
0 0
1 1
0 0
0 0
1 1 1 1 1 1
0 0 0 0 0 0
1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 1 1 1
4 3 3 3 3 3 3 3 2 2 2 5 5
55 55 5 5 5
S S S
P P P P P P P P
AM/6-114
S S S T T
P P
P P
A
P P
P P P P
P P P P P P P P P P
S AC V
D D
(( (
07.94
DC
2
U
U
A
mmm
dd1
ddd
k g
hh
U
I M
k AV
S 3
88
7S
0
R
H
m
PPPP
N
PPPPPPP
1 155 2 2
N
PPPPPPPPP
N
PPP
PPPPPPPP
h m
AM
( (
PP
C IP
P MM F MP R R R R R M
PC EPM SR SR
MSSCPP
C
PP
SP
I M CS
I OO
AM/6-115
07.94
AM
AM/6-116
Compone
.....................................................
nts
....
Accessori . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
es
.....
2.1
Connecto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
rs
....
2.2
Cab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
le
.....
2.3
Fus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
es
.....
2.4
Connecting clamps for cable
..........................
shields
..
ES/1-3
ES/2-5
ES/2-5
ES/2-6
ES/2-6
ES/2-6
ES
07.94
ESi
1 Components
Components
ES
1 Components
ES/1-3
07.94
ES
ES/1-4
07.94
2.1 Connectors
Spare parts (Sp)
ES/2-5
Accessories
2.1
Connectors
When required, the connectors listed in Table 2-1 (customer interfaces) can be
ordered as spare parts.
Table 2-1
Connectors
Grid dimension
5.08
6SY9433
5.08
6SY9906
5.08
6SY9432
5.08
6SY9896
5.08
6SY9898
8
8 1)
5.08
6SY9897
7.60
6SY9900
12
5.08
6SY9901
13
5.08
6SY9903
15
5.08
6SY9902
Power connector
motor connection
3 pin
6SY9904
Power connector
pulsed resistor connection
3 pin
6SY9905
3507661
Crimp contacts
9268841
ES
2.2
07.94
2.2
Cable
50 mm equipment bus cable, Item No. 462 0080126.00
2.3
Fuses
Refer to the Planning Guide for recommended line fuses.
2.4
ES
ES/2-6
07.94
Index
A
Adaptation tables, VS/1-5, VR/1-5
Address, RAM variables, HS/6-112
Addresses, RAM variable, AM/6-107
Analog output, HS/3-65
Fine normalization, HS/3-67
M/Mrated display, HS/3-67
nact display, HS/3-67
P/Pmax display, HS/3-67
Parameterization DAU 1, DAU 2, HS/3-66
Analog outputs, AM/3-48
Connection for analog displays, AM/3-50
Parameterization DAU, AM/3-49
Bit, HS/1-6
Block diagram, component side, VR/9-32
Block diagram, MSD option board, VS/9-52
Block diagram, parameter board, VS/9-53
Block diagram, solder side, VR/9-33
Board code, HS/2-25
Builtin motors, HS/6-102
C axis, HS/2-30
Caxis, HS/2-24, HS/3-57
Caxis operation, VS/5-39
Cable, ES/2-6
Changeover speed, AM/2-18, AM/2-21
Code numbers for the power module and standard motors, HS/6-99
Component replacement, HS/1-7, AM/1-8
Component side, VR/3-18, VR/9-32
Connection overview
Connecting diagram, HS/6-104
Connecting terminals, HS/6-105, AM/6-105
Connection diagram, AM/6-104
Relay terminals, HS/6-106, AM/6-106
Star/delta changeover, HS/6-107
Connections, HS/1-13, AM/1-14
Connector assignment, VR/9-35
for Bero, HS/6-109
Motor encoder signal output, HS/6-110
Spindle encoder cable, HS/6-109
Connectors, ES/2-5
Control parameters, AM/1-10
Current actual value normalization, VS/1-4,
VR/1-5
Current controller, HS/4-75, AM/4-57
Current controller gain, VS/1-4, VR/1-5
Index-1
07.94
Index-2
07.94
Parameters
Attributes, AM/1-5
gearboxstage dependent, HS/1-8
list, HS/1-5
Number, HS/1-8
number, HS/1-5
Setting range, HS/1-5, HS/1-6, AM/1-5,
AM/1-6
Subparameter number, HS/1-8
Value, HS/1-8
Write protection, HS/1-9, AM/1-6
Phase sequence of tracks A, B (WSG), VR/3-17
Pole numbers, VR/1-3
Position processing, VR/3-17
Power derating, AM/4-57
Power module code number, HS/6-99, AM/2-16
Poweringup, VR/7-27
Proportional gain Kp, VR/2-15
Proportional gain Kp with adaptation, VS/2-21
Proportional gain Kp without adaptation, VS/2-18
Pulse number of the WSG interface, VR/3-17
Index-3
07.94
Index-4