1hu3056 0af01 Z 8b93286701002imb5 DC Servo Motor Siemens Manual PDF

DATASHEET
SIEMENS
1HU3056-0AF01-Z
OTHER SYMBOLS:
1HU30560AF01Z, 1HU30560AF01 Z, 1HU30560AF01-Z, 1HU3056 0AF01Z, 1HU3056 0AF01 Z, 1HU3056 0AF01-Z,
1HU3056-0AF01Z, 1HU3056-0AF01 Z, 1HU3056-0AF01-Z
RGB ELEKTRONIKA AGACIAK CIACIEK

SPÓŁKA JAWNA
Jana Dlugosza 2-6 Street

51-162 Wrocław www.rgbelektronika.pl
Poland
biuro@rgbelektronika.pl
+48 71 325 15 05
www.rgbautomatyka.pl
www.rgbautomatyka.pl
www.rgbelektronika.pl
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~ SIEMENS
SIMODRIVE 210
Transistor DC Chopper for DC Feed Drives
Instruction Manual Edition 10.90
..
Manufacturer Documentation
--- - --- --- -- --

SIMODRIVE 21 0
Transistor DC Chopper for DC Feed
Drives
Instruction Manual
Manufacturer Documentation
Edition 10.91
SIMODRIVE® Documentation
Printing history
Briet 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 "Remarks " column :
A New documentation.
B Unrevised reprint with new Order-No.
e Rev ised 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.
Edition Order-No. Remarks

10.90 6RB2101-0AA76 (GWE 462 112.9600.76 Jg- 101) A
Other fun c ti o ns no t de sc ribed In th is oocu m en t unon iTHgh t be

ex ec u ta ble in the c o n t r o l. Thi s d O ~ 5 110 1 ho weve r -e o resen t an
ob lig a tion t o s upp ly suc h fun c tions w it h cl new cor uro t o r w hen
se rv ic urq.
This pubtic anon w as p rod uc ed on rhe Siemens 5800 Ot tlc a

Sy s tem .
Sub jec t t o cna nq e wit ho ut o n or no nce
The r ep roduc tm n . u a ns m. ss mo or use c l ~ h l<:; d oc ume nt or -ts

c o n t en t s oe n rut te d wrth ou t ex pres s wen t en a ut ho r it y .
IS 110 1
Olt enders w il l b e Ii able lor dEJ. ITlil q e s 4.11 n q n ts, mctuc u rq ri ghts
cre at ed by pa ten t g ran t or r eq. s tr a u cn 0 1 a u tili t y m od el or
.tes iq n. al e re s e rved
© Siemens AG 1987 A ll Rights Reservec

.. ,
SIMODRIVE@ Documentation
Editions
The following editions have been published so far. The sections changed since the previous
edition are indicated in the "Changes" column .
Edit ion Order No. Changes
01870.5 GWE 462 112.9600.00 Ja-1 0 1 First edition

05870 .5 GWE462112 .9600.00Jb-l01 Revised edition
01880 .5 GWE462112 .9600.00Jd-10l Revised edition
03881 .0 GWE462112 .9600.00Jd-l01 Unchanged reprint
02890.5 GWE462112.9600.00Je-l01 Revised edition
07900.5 GWE462112 .9600.00Jg -l01 Revised edition
NOTE
These instructions apply only to units with controller modules 6RB21 OO-ONAO 1
6RB21 OO-ONA 11
6RB2100-0NA21
The SIMODRIVE unit may not be connected to a supply with ELCBs (permitted under DIN VDE
0160, Section 6.5).
In the operational state, prote ction against dir ect contact is afforded in a form to rend er the units
suitable for installat ion in electrical operating areas (DIN VDE 0558 . Part t a, Section 5.4.3.2.4). "'''''·'"1',;
In compliance with DIN VDE 0160 i05 .88, all SIMODRIVE units are subjected to a high-voltage test at
the time of routine testing . If the electri cal equipment of machine tools undergoes high-voltage
testing , all connectors must be separated or terminals opened (permiss ible under DIN VDE 0113 ,
Part 1, Sect ion 13.2). Damage to sensitive electronic components can thus be prevented .
Pertinent wiring manual 6RB21 01-0BAOO
This Instruction Manual is also available in the following other languages :

German Order No.: 6RB2101-0AAOO
French 6RB2101-0AA77
Spanish 6RB2101-0AA78
Italian 6RB2101 -0AA72
CAUTION
~ The modules of the unit include electrostatically sensitive devices. Before

touching a PCB the person carrying out the work must hims elf be
~
electrostatically discharged . The simplest way of accomplishing this is to
touch an electrically condu cting earthed object (e.g. a bare metal part of a
switchboard or the protect ive-earth contact of a socket outlet).
,"!IIltllll~I! : 1
2 Siemens AG GWE 462 112 .9600 .76 J9-10 1

SIMODRIVE Instructions
Contents Page
Safety instructions 5
1 Description of the unit 6
1.1 Appl ication 6
1.2 Mode of operation 6
1.3 Techni cal da ta 7

1.3.1 Ordering data overview 7
1.3.1.1 Casing 7
1.3.1.2 Power modules 7
1.3.1.3 Options 8
1.3.2 Rated d ata 8
2 Installation 10
2.1 Installat io n of units 10
2.2 Connecti ng i nstructi o ns 10
2.3 Inrush current lim itation 11
2.4 Screen connect ion and strain relief of cables 12
2.5 Term in als 13
3 Comm issioning 14
3.1 Matchi ng t he control system 14

3.1.1 Match ing to feed motors 14
3.1.1.1 Setting th e current limit 14
3.1.1.2 Setti ng t he speed -dependent curren t lim it 15
3.1.1.3 Match ing tables f or 1HU mo to rs 16
3. 1.2 Current setpoint li mitati on, "H ol d aga inst mechan ical stop" funct ion 23
3.1.3 Tacho-gen erat or 24
3.1.3.1 Tacho-generator in put 24
3.1.3.2 Tacho-generator monitoring 24
3.1.3.3 Tacho-gene rator simulation 25
3.1.4 Speed controller adaptation 25
3.1.5 Electr ical we ight compensation 26
3.1.6 Current-controlled operation 27
3.1.7 Current setpoint for parallel opera t ion 28
3.1.8 External po we r supp ly for controll er enabling 29
3.1.9 External vo ltage i np ut for storage of fau lt memory signals 29
- 3.1.10 Chang ing of variab le components in t he speed setpoint channel 30
Sieme ns A G GW E 462 112.9 600 .76 Jg-10 1 3

SIM O DRIVE Instr uct ions
Page
3.1.11 Monitoring circuit "Speed controller at stop" 30

3.1.12 Operation of control axes without power circu it module 31
3.1.13 Matching the current controller gain 31
3.1.14 Test ing t he load cycle 32
3.2 Signals 33
3.2.1 Readylfault signals 33
3.2.2 Reset fault memories 33
3.2.3 12t signa l 33
3.3 Test sockets, display elements 34
3.4 Start-up 35
4 Maintenance 37
4.1 Maintenance i nst ruct ions 37
4.2 Faults 37
4.3 Spare parts 39
4.4 Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
5 Block diagram 41
6 Term inal connection diagram 42
7 Circuit diagram 44
8 Wiring of different power module variants 49
9 Dimens ion drawing 50
10 Setting elements 52
Setting data 53
Notes on electrostatic charges 54
Addresses 56
Standards and specifications 56
NOTE
These inst ruct io ns do not purport to cover all details or var iations in equipment, nor to
provide for every possible con t inge ncy to be met in connect ion with inst all ati o n,
ope ration or ma intenance.
Should further in fo rmati on be desired or should particular problems arise which are not
covered sufficien tly for t he Purchaser 's purposes, t he ma tter should be refe rred to t he
local Siemens Sales Office.
The contents of this instruction manual shall not become part or modify any pr ior or
existing agreement, comm itment or relationsh ip . The Sales Contract con ta ins the entire
obligations of Siemens. The warranty conta ined in the contract between th e parties is the
sole warranty of Siemens. Any statements contained here in do not create new warranties
or mod ify the exist ing warranty.
4 Sle m e nsAG GWE462 112.9600 .76Jg-l01

SIM O DRIVE lnst ruct ro ns
Safety instructions
WARNING
Hazardous voltages are present in this electrical equipment during

operation .
Non-observance of the safety instructions can result in severe
personal injury or property damage.
Only qualified personnel should work on or around this equipment
after becom ing thoroughly fam iliar with all warnings, safety notices,
and maintenance procedures contained herein.
The successful and safe operation of th is equ ipment is dependent on
proper handling, installation, operation and maintenance.
Definitions
• QUALIFIED PERSON
For the purpose of th is instruction manual and product labels, a "qual ified person" is one
who is familiar with the installation, construction and operation of the equipment and the
hazards involved.
In addition, he has the following qualifications:
1. Is tra ined and authorized to energize, de-energize, clear, ground and tag circuits and
equipment in accordance w ith established safety practices .
2. Is trained in the proper care and use of protective equipment in accordance with
established safety practices.
3. Is trained in rendering first aid .
• DANGER
-- For the purpose of this instruction manual and product labels, "Danger" indicates death,
severe personal injury or substantial property damage will result if proper precautions are
not taken.
• WARNING
For the purpose of this instruction manual and product labels, "Warning" indicates death,
severe personal injury or substantial property damage can result if proper precautions are
not taken.
• CAUTION
For the purpose of this instruction manual and product labels, "Caution" indicates minor
personal injury or property damage can result if proper precautions are not taken.
- • NOTE
For the purpose of this instruction manual, "Note" indicates information about the product
or the respective part of the instruction manual which is essential to highlight.
SiemensAG GWE462112 .9600.76Jg-101 5

SIMODRIVE Inst ruct io ns
1 Description of the unit
1.1 Application
Transistor DC choppers of type 6RB21.. are used in conjunction with DC servomotors such as
the 1HU series in the range up to approx. 90 Nm for driving the feed axes of machine tools .
They operate in four-quadrant operation and satisfy highest demands on the dynamic
control response.
Complete units for driving 1 to 6 feed axes with a maximum DC output voltage of 210 V are
available.
1.2 Mode of operation
Transistor DC choppers control the speed of the drive by means of a pulse-width-modulated

DC output voltage .
Speed Current Pulse-width Chopper

regulator DC Tache-
-
controller controller modu lation servomotor generator
nrll'---~Ilc:::::HMI .I~ ~
Actual current value
Actual seed value
Fig. 7.7 Block diagram of the verieble -speed DC feed drive
6 SiemensAG GWE462112.9600 .76Jg-101

1.3 Technical data
1.3.1 Ordering data overview
1.3.1.1 Casing
I. Basic un its ------.~l~ Extension modules
--,-- -,...-_ ..
I I I I I
Posi- Posi- Posi-
t ions t ions t io ns
I I I I I
for for fo r
I I I I I
con- con- power Posit ions f o r power mod ules I I
trol t rol supply
I I
mo- mo- rno-
I I I I I
dules du les dules
I I I I I
Axes Axes
I I I I I
1 to 3 4 t06
I I I I I
I I I I I
1 2 3 4 5 6 7 8 9 10
Casing w idth
. 6RB2101-2A .1 238m m
•
.1
0lI( 6RB2101-3A 339mm
• 6RB2101·4A 440 mm
0lI( 6RB2101-SA 550 mm (440 + 1 xl 10)
0lI( 6RB2 101-6A • 660mm(440 + 2x110)
Fig.7 .2 Casing
1.3.1.2 Power modules
Number Curre nt Order No .

Designat ion *) Notes
of axes IN/lma • Expa nsion set
A1S.E 15. H15.F 15 1 1 ax is on one mo du le 6RB2105-05D80

A2S. E2S . H25. F25 2 5/15 A 2 axes on one module 6RB2105-05F80
A35, D5 . H35. F35 3 3 axes on one mod ule 6RB2105-0SG80
A19, E19.H19.F 19 1 1 axis on one modul e 6R82 110-0FD80

A29, E29. H29, F29 2 10130 A 2 axes on one mod ule 6R82110 -0FF80
A39, E39, H39, F39 3 3 axes on one mod ule 6R82110-0FG80
A20.E20.H20.F20 1 20/60 A 1 mod ule per axis 6R82120-0FD80
A30, DO . H30, F30 1 30/90 A 1 module per ax is 6R82130-0FD80
A40, E40. H40, F40 1 40/120A 1 module per axis 6R82140-0FD80
A60. E60. H60 . F60 1 60/180 A 2 mod ules per axis 6R82 160-0F880
MO, E90, H90, F90 1 90/270 A 2 modules per axis 6R82 190-0FB80
A98, E98, H98. F98 1 150/300 A 4 modules per axis Cannot be retrof itted
Tabfe 7.7 Powermodufes
- *) A '" Installed
E "'Installa t ion prepared
H '" Design f or ma in spindle ope rat ion (insta lled)
F '" Prepared fo r mai n spindle opera t io n
5iemensAG GWE462112 .9600 .76 Jg-101 7

51MODRIVE Instructions
1.3.1.3 Options
Deslg nation Notes Expansion set
G10") Link -circuit voltage limitation 0.3/30 kW 6SC6100·0AAB1

(continuous/short-time rat ing)
G20") Link-c ircu it voltage limitation 09190 kW 6SC6100-0ABBO

(continuous/short-time rating)
B11
B12 Terminal str ip for connecting power
BB cables with cross-sections exceeding those
6SC6101-0SA20
B14 laid down by DIN VDE 0 100 (depend ing
B15 on casing width)
B16
.) G10 and G20 must not be connected In parallel
Table 7.2 Options -

...
1.3.2 Rated data
Rated supply voltage 3 AC 50/60 Hz 165 V or 220 V DC *} + 10 %, - 15 %

Rated output voltage DC 0 V to ± 210 V
Short-time limit current 3 X IN (200 ms)
Efficiency Approx . 95 %
Number of feed axes 1 to 6
Power loss Pv Pv ::: 0.05 x P
Permissible ambient temperatures
- Inlet air temperature o QC to + 60 QC (also refer to Fig. 1.4)
- Storage temperature - 25 QC to + 85 QC
P Q Power supplied to a load under typical feed drive conditions

IN " Rated current
.) With direct supply via P200 and M200
with pre-Ioad without pre-Ioad
- -
it
.. t 2 65 s
~
JJ
---- t
~10s ..
Fig 7.3 Rated load cycles for power modules in operation with short-time limit current
In operation without short-time li mit current, a continuous current of 1.1 times the rated
current is permissible (also see Section 3.1 .14).
8 SiemensAG GWE462112 .9600 .76Jg·101

IN [% ]
100 +--------...,..,.. I
I
I
80 I
I
I
60 -----------------r------------ I
I
I
I
40 I
I
I
I
20 I
I
I
o
10 20 30 35 40 50 60
6 u [ OCl
Fig. 1.4 Power reduction with raised inlet air temperature
Site altitude
Load [%]
100
r-, 1'00....
The specified load values refer to site
alti tudes of up to 1000 m above sea level. At
alii tudes over 1000 m. the load values must
80
60
---r---- ---- be reduced as shown in the diagram below .
40
20
o
o 1000 2000 3000 4000 5000
Site altitude [m)
Fig . 1.5 Derating at site altitudes > 1000 m above sea level
-- I [A]
IlI MIT t--~ ......................_{/
Limitation by the power section (UCE morutonnq) , IlI MIT cannot be exceeded
even for short times.
Limitation by 12t monitonng
Maximum current adjustable with switch S2 on the

adjustment module.
Possible setting range: 0.23 . 'lIMIT:S IMAX:S 'LIMIT
-------f----------
Thermally permissible continuous current
Thermally permissible current for rated load cycle

~~~ .. ~--- --------
- Fig. 1.6
'--
Effective current limits

... t
SiemensAG GWE462 112 .9600 .76Jg-101 9

2 Installation
2.1 Installation of units
A minimum clearance of 100 mm must be available above and below the units to ensure
unobstructed air supply.
The unit must be installed so as to be protected aga inst conductive dust accumulations and
vapours (degree of protection DIN 400S0-IPOO) .
For mounting dimensions and location of the fixing points refer to the dimension drawings
NOTE
• The front cover provides protection against contact with live parts according to DIN
VDE 0106, Part 7.
• The unit's internal power supply for the fans is not potentially isolated from the mains
L..-
supply . . _
2.2 Connecting instructions
The units are connected to the mains via an autotransformer or an isolating transformer.
When an isolating transformer is used, M200 on the power module must be earthed.
Depending on the transformer and unit size, an inrush current limiting circuit must be
prov ided if necessary (see Section 2.3 " Inrush current limitation").
Rating of mains Fuse

Line pro t ect io n
fuse chara cte r istic
Operation w itho ut 6x transformer Not obt ai ned Trme -laq

inr ush curren t lim it . rated curre nt
Operation w ith Inr ush 1.3x transformer Obtain ed Trme -laq

curre nt lim itation rated current
Table 2.'
Connect the units as recommended by the manufacturer and in accordance with the circuit
diagram supplied by the customer. The current limiting circuit, the tacho input and the
current controller gain of the .unit must be matched to the type of motor used. For details
refer to 3.1 "Match ing the control system".
NOTE
• The reference and actual value cables must be shielded and installed separately from
the power cables.
• Twisted leads are recommended for the motor conductors.
• The control cables for the controller enabling circuits must be inst al led separate f rom
the contactor control cables.
The chassis earth connection between the NC and the PWM drive should be kept as short as
possible using minimum conductor cross-sections of 4 mrn". Connect terminal + GO-X 131 to
the earthing point of the NC or, in systems w ithout an NC, to earth .
10 Siemens AG GWE 462112 .9600.76 Jg-l0l

---f------------------ L1
---+---<l~--------------- L2
----11---+--....------------- L3
.- . _ ._ . _.- . _ . _ . - . _ . - ..... _._ .- ._. _ .- PE
I
I
I
I
I
~
• Earthing
I bus for
I switchqear cubicle
I
I
~ ~ 4 mm?
I
u v W
2) i~ 4mm l 56 }
, 4 r-C------~--:. n,et
r ·- ·- ·.J . :
Electronic scree~U
-- 65C61
transistor
screen
I..
4)
, •
Load
I
i Earthing bus
i In transistor DCchopper
~._._ • ...J
~~~o~~r. _ .
I
._._~._._._._.
I
.--1
L1 I L2
1) Appl ies only to transformer with separate w indings
2) Wire link in trans istor DC chopper
3) Cross-section to DIN VDE 01 13 and DIN VDE 0100
4) In the case of larger cross-sections, use external
bus. Connect bus t o earth ing stud
Fig. 2 . 1 Earthing concept
2.3 Inrush current limitation

If a matching transformer rated higher than 5 kVA (in the case of autotransformers) or 8 kVA
(in the case of isolating transformers) is required, resistors should be fitted for inrush current
li mit at ion.
If inrush current lim itation is requ ired, this should be installed as shown in connect ion
diagram 462 112.9600.00 KL Sheet 2 (Section 6).
-
SiemensAG GWE 462112 .9600 .76 Jg-101 11
SIMODRIVE Inst r ucti o ns
2.4 Screen connection and strain relief of cables
Cable
Earthing _-+~:::::j
rail
Earthing
clamp
1) One to three cable screenscan be connected depend i nq on distance a between screws

2) Important! Screen of setpoint cables from NC must not be connected to chassis earth
3) Alternative method of connecting the cable screens
length a
Axes
[mm]
1 and 4 150
2 and 5 80
3 and 6 20
'''''''''~ ~ I I I II
Insulation stripped for earthing of cable screen and strain relief
1 1, ,~I*IIiIiI~!I,
12 SlemensAG GWE462112 .9600 .76Jg-l0l

2.5 Terminals
Term inal Location Funct ion Type Typical voltage Maximum pe rm issible
**.*) conductor cross-section
Power section
U,V,W - Mains connection E 3 AC 165 V Terminal for MB **}
-L
-- - PEconductor E OV Termi nal for M8 **)
M200 - Isolating transformer only E OV Term inal for M6 **)

busbar Mass connection
Motor connect ions A DC 210 V

5/1 5 A, 10130A 1.5 rnrn?
20/60 A , 30190 A, 40/1 20 A 16 m m l
60/180 A, 90 /270 A 25 rnrn?
1501300 A Term ina l for M6 **)
Supply voltages
7 +GO-X111 Auxiliary vo ltage (+ 1B - 30 V) A + 24 V, 50 mA max . 1.5 mm l
10 + GO-X1 11 Auxi liary vo ltage (-1 B - - 30 V) A - 24 V, 50 mA max. 1.5 mm l
45 +GO-X111 Electron ics voltage A + 15 V, 10 mA ma x. 1.5 rnrn?
44 +GO-X111 Electron ics voltage A -15V,10mAmax . 1.5 rnrn?

9,19 +GO-X 121 Enabl ing voltag e E/A + 24 V, OV 1.5mm l
11 +GO-X 11 1 External auxil ia ry voltage E ± 24 V, l A ***) 1.5 rnrn-'

15 + GO-X111 Elec. ground internally A OV 1.5 mm ?
+GO-X131 Ref . ear th } connected E/A OV Terminal for M6 **)
--
Electronic signals
R +GO-X111 Fault latch reset E OV 1.5 rnrn?
56, 14 + No -X1 01 Speed setpo int I E ± 10 V 1.5mm l
24,8 + No-X4 o 1 Speed setpoint [I E ± 10V 1.5 rnrn-'
6 +N o-Xl o1 Integrator inhi bit ion E + 15 V 1.5 mm l
96 + No-X1 0 1 Ext. current lim it reduct ion E - 15 V 1.5mm l
63 +GO-X121 Pulse enabling E + 12 Vto +30 V 1.5mm 1
64 +GO-X121 Drive enabling E + 12 V to + 30 V 1.5 mm?
65 +N o-Xl o1 Speed controller enabling E + 12 Vto + 30 V 1.5 mrn?
16 + No-X4 01 Current actual value A ±10V(R j = 2kQ) 1.5 mm l
5B + No -X4 0 1 Current serpoint E ± 10V 1.5 rnrn?
Tacho generator
55.1 + No-X1 o 1 Speed actual value n ael E ± 20 V 1.5 rnrn ?
55.2 E ±40 V 1.5mm l
55.3 E ± 60 V 1.5 rnrn?
13 Reference potential nael E oV (no frame) 15 mm?
Messages
5 + GO-X 111 Ilt s- A o V, 50 mA 1.5 mm l
74,73.1 (NC)* } +GO-XI2 1 Relals contact, drive A AC 250 V, 5 A or 1.5 rnrn?

72,73.2 (NO}*) fault/ready Signals DC30V ,SA
-- Table 2.2
*}
**}
***)
Terminals 73.1 and 73 .2. are Inte rconnected via a 0 Q resistor
For cable lugs to DIN 46234 X4 01 '" X4 11,X421.X431
Tolerance : + 19 V to 30 V (see Chap ter 3.1.9)
****} E QlnputA:>OutputN oQN1,N2 Xl o1QXll1,X121,X131
Siemens AG GWE 462 1129600.76 Jg-l 0 1 13

SIMODRIVE Inst r uct ions
3 Commissioning
WARNING
5afe operation is dependent upon proper handling and installation

by qualified personnel under observance of all warnings conta ined in
th is i nst ructi on manual.
Non-observance can result in death, severe personal inj ury or
substantial property damage.
The modules of the unit contain electrostatically sensitive devices.
Before touch ing a PCB the person carrying out the work must himself
be electrostatically discharged . The simplest way of accompl ishing
this is to touch an electrically conducting earthed object (e.g . a bare
metal part of a switchbaord or the protective-eath contact of a
socket outlet) .
3.1 Matching the control system
3.1.1 Matching to feed motors

The data requ ired for matching the transistor chopper to feed motors of the 1HU series are
given in the matching tables for 1HU motors in Section 3.1.1.3.
3.1.1.1 Setting the current limit

The settings are made by the switches 51,52,53 on the adjustment module.
5witches S1, 52, 53 Current l im it Imax in A

Contacts Power sections
2 3 4 5 6RB2105 6RB2110 6RB2120 6RB2130 6RB2140 6RB2160 6RB2190
0 0 0 0 15.0 300 600 900 120 lBO 270
x 0 0 0 12.8 25 .5 51.0 765 102 153 230
0 x 0 0 10.2 20 .4 410 61.2 82 122 184
x x 0 0 9 .2 18 3 36.6 54.9 73 110 165
0 0 x 0 7.5 15.0 30.0 45 .0 60 90 135
x 0 x 0 6.9 13.8 27.6 4 1.4 55 83 124
0 x x 0 6.2 12.3 24 .6 36.9 49 74 111
x x x 0 5.9 11.7 23 .4 35 1 47 70 105
0 0 0 x 5.4 10 8 21.6 32.4 43 65 97
x 0 0 x 5.1 10 .2 20 .4 30 .6 41 61 92
0 x 0 x 4.5 90 18 .0 27.0 36 54 81
x x 0 x 4.4 8.7 17.4 26.1 35 52 78
0 0 x x 3.9 78 15.6 23.4 31 47 70
x 0 x x 3.8 75 15.0 22.5 30 45 68
0 x x x 3.6 7.2 14.4 21.6 29 43 65
x x x x 3.5 6.9 13 8 20 .7 28 41 62
Table 3.1
0'" Contact in normal position (OFF)

x '" Contact in ON position
14 SiemensAG GWE462112 .9600 .76Jg- 101

- 3.1.1.2 Setting the speed-dependent current limit
For 1HU motors see 3.1.1.3.
Characteristics 0 to 15 (Figs. 3.1 and 3.2) are set by switches S1, S2 and S3 on the adjustment
module.
As shown in Table 3.1, the 100 % value of current I corresponds to the Im a x current limit set
and the 100 % value of the speed corresponds to the rated speed of the motor.
A minimum inductance (Lmotor + Lreactor :::: 1 mH) is required for motors w ith disc-type
rotors because of the temperature rise. Speed-dependent current limitation is not requ ired
in this case but the following diodes must be removed: V48 (axes 1 and 4), V82 (axes 2 and 5)
and V 100 (axes 3 and 6); or adjust characteristic 8 if necessary.
t
15
50 SWitch 51,52. S3
Character-
Contacts
ist ic
number
-
12 6 7 8 9
'--::..._....~ 7.6.5,10
0 0 0 0 0
1 0 0 0 x
o
o 50 2 0 0 x 0
Fig. 3.7 Adjustable characteristics of 3 0 0 x x

speed-dependent current limitation
4 0 x 0 0
-
100 ,----....;.;...,---'r'--;,----.,------,
% 5 0 x 0 x
t 6
7
0
0
x
x
x
x
0
8 x 0 0 0
9 x 0 0 x
0.9 10 x x x x
50
13
11 11 x 0 x x
1
12 x x x 0
13 x 0 x 0
14 x x 0 x
15 x x 0 0
- Fig.3.2
50
Adjustable characteristics of
speed-dependent current limitation
n- 100
% Table 3.2
o Q Contacts in norma l posrt ion (OFF)
x Q Contacts in ON pos .tron
-
Siemens AG GWE 462 112 .9600 .76 Jg- 10 1 15
3.1.1.3 Matching tables for 1HU motors
' '11'' '11111111'.,.
Matching table for SIMODRIVE power modules 6RB2105-... (5/15 A)

Short designation A 15, A25, A35, H15, H25, H35
Settings by means of switches S1, S2 and S3 on the adjustment module.
Speed-dependent current
Servomotor Current limit
limit
n,.ted Contacts Contacts Term inal

1HU Mo [Nm ] 'o[AI 'm•• lA]
rev/mi n 2 3 4 5 6 7 8 9 X1.1
3054-0ACO1· * 2.2 3.3 2000 0 0 0 0 15.0 0 X X 0 55.2

3054-0AF01·· 2.2 4.7 3000 0 0 0 0 15.0 X X 0 X 55.3
3056-0AC01·· 4.5 6.7 2000 0 0 0 0 15.0 X 0 0 0 55.2

3056-0AF01 4.5 10.0 3000 0 0 0 0 15.0 X 0 0 0 553
3058-0ACOl ** 6.0 8.8 2000 0 0 0 0 15.0 X 0 0 0 55.2

3058-0AF01 6.0 12.7 3000 0 0 0 0 15.0 X 0 0 0 553
3070-0ACOl 3.2 45 2000 0 0 0 0 15.0 X 0 0 X 55.2

3070-0AF01 3.2 6.4 3000 0 0 0 0 150 X 0 0 0 55.3·
3071-0AC01 5.0 71 2000 0 0 0 0 15.0 X 0 0 0 55.2

3071 -0AF01 5.0 10.7 3000 0 0 0 0 15.0 X 0 0 0 55.3 •
3073-0AC01 7.0 10.0 2000 0 0 0 0 15.0 X 0 0 0 55.2·

3073-0AF01 7.0 13.8 3000 0 0 0 0 15.0 X 0 0 0 55.3 *
3074-0AC01 7.0 9.7 2000 0 0 0 0 15.0 X 0 0 0 55.2 •

30 74-0AF01 7.0 13.5 3000 0 0 0 0 15.0 X 0 0 0 55.3 1r
3076-0AC01 10.0 12.5 2000 0 0 0 0 15.0 X 0 0 0 55.2 •
3100-0AC01 7.0 9.5 2000 0 0 0 0 15.0 X 0 0 0 55.2 1r

3 100-0AF01 7.0 14 .2 3000 0 0 0 0 15.0 X 0 0 0 55.3 1r
3101-0ACOl 10.0 13.4 2000 0 0 0 0 15.0 X 0 0 0 55.2 *
3102 -0AD01 18.0 15.0 1200 0 0 0 0 15.0 X 0 0 0 55.1 1r
5040-0AC01 1.2 19 2000 0 0 X 0 7.5 X X 0 X 55.2

5040-0AF01 1.2 2.8 3000 0 X 0 0 10.2 X X 0 X
55.3
5042-0AC01 1.75 2.7 2000 0 X 0 0 10.2 X X 0 X 55.2

504 2-0AF01 1.75 40 3000 0 0 0 0 15.0 X X 0 X 55.3
5044-0AC01 2.5 3.6 2000 0 0 0 0 15.0 0 0 0 X 55.2

5044 -0AF01 2.5 5.3 3000 0 0 0 0 15.0 0 0 0 0 55.3
Table 3.3
o Q Contact In normal position (OFF)

X Q Contact in ON position
Contact 51.1,52.1,53.1 : no function

Contact 51.10 or resisto r R200: Contact 51.10 in ON position or R200 prov ided in the form of a Jumper :
All three axes are operated in curren t loop.
1r The dynamic response can be increased still fu rt her by removing diodes V48 (Axes 1 and 4). V82 (Axes 2 and 5)
and V100 (Axes 3 and 6); the speed-dependent current limitation then becomes inoperat ive.
** Also refer t o Cha p. 3.1.13 Matching the current controller gain .

""."Ii""q"
Separately-ventilated motors can be used inst ead of the non -vent ilated motors.
-OA .0 1 Q non-ventilated motor
-05.01 Q separately-ventilated motor
16 Siemens AG GWE 462 112 .9600 .76 19- 101

SIMODRIVE Inst r uct ions
.- Matching table for SIMODRIVE power modules 6RB211 0-...
.-- Short designation A 19, A29, A39, H19, H29, H39
(10/30 A)
Settings by means of switches S1,52 and S3 on the adjustment module.
Servomotor Speed-dependent current

Current limit
limit
n,aled Contacts Contacts Terminal
lHU Mo[Nm] 10 [A] Ima< [A]
rev/min 2 3 4 5 6 7 8 9 Xl .l
3054-0AFOl u 2.2 4.7 3000 0 0 0 0 30 .0 0 x x 0 55 .3
3056-0ACOl u 4.5 6.7 2000 0 0 0 0 30.0 0 0 x 0 55 .2

3056-0AFOl *" 4.5 10.0 3000 0 0 0 0 30 .0 0 0 0 x 55 .3
3058-0ACOl ** 6.0 8.8 2000 0 0 0 0 30 .0 0 0 0 x 55 .2

3058-0AFOl *" 6.0 12.7 3000 0 0 0 0 30 .0 0 0 0 x 55 .3
3070-0ACOl 3.2 4.5 2000 0 x 0 0 20.4 x 0 x x 55 .2

3070-QAFOl 3.2 6.4 3000 0 0 0 0 30 .0 x 0 x 0 55 .3
3071-0ACOl 5.0 7.1 2000 0 0 0 0 30 .0 0 0 x x 55 .2

3071 -OAF01 5.0 10.7 3000 0 0 0 0 30 .0 x x 0 0 55.3
3073-0ACOl 70 10.0 2000 0 0 0 0 30 .0 x x 0 0 55.2

3073-0AFOl 70 13.8 3000 0 0 0 0 30 .0 x 0 0 0 55 .3
3074-0ACOl 70 9.7 2000 0 0 0 0 30 .0 x 0 0 0 552

3074-0AFOl 7.0 13.5 3000 0 0 0 0 30.0 x 0 0 0 55 .3 *
-
3076-QACOl 10.0 12.5 2000 0 0 0 0 30 .0 x 0 0 0 55 .2 *
3076-0AFOl ** 10.0 20 .0 3000 0 0 0 0 30 .0 x 0 0 0 553·
3078-0ACOl 14.0 17.0 2000 0 0 0 0 30 .0 x 0 0 0 55 .2 *

3078-0AFOl u 14.0 25 .0 3000 0 0 0 0 30 .0 x 0 0 0 55 .3 *
3100-0ACOl 7.0 9.5 2000 0 0 0 0 30 .0 x x 0 x 55 .2

3100-0AFOl 70 14.2 3000 0 0 0 0 30 .0 x 0 0 0 55 .3
3101 -0ACOl 10 .0 13.4 2000 0 0 0 0 30 .0 x x 0 0 552

3101-0AFOl 10.0 20 .5 3000 0 0 0 0 30 .0 x 0 0 0 55 .3
3102-0ADOl 18.0 15.0 1200 0 30 .0 x 0 0 0 55 .1
--
0 0 0
3102-0AHOl 18.0 24 .0 2000 0 0 0 0 30 .0 x 0 0 0 55 .2 *
3102-0SDOl 29 .0 23 .0 1200 0 0 0 0 30 .0 x 0 0 0 55 .1
3103-0ACOl 12.5 15.7 2000 0 0 0 0 30 .0 x 0 0 0 55 .2

3103 -0AFOl 12.5 235 3000 0 0 0 0 30 .0 x 0 0 0 55 .3 *
3104-0ADOl 25 .0 19.5 1200 0 0 0 0 30 .0 x 0 0 0 55 .1 *

3104-0AHOl 25 .0 31 .0 2000 0 0 0 0 30.0 x 0 0 0 552 *
3106-0ADO1 32.0 24 .0 1200 0 0 0 0 30 .0 x 0 0 0 55 .1 *
3108-0ADOl 38 .0 31.0 1200 0 0 0 0 30 .0 x 0 0 0 55 .1 *
3132-0ACOl 47 .0 31 .0 1000 0 0 0 0 30 .0 x 0 0 x 55 .1
5042-0AFOl 1.75 4.0 3000 0 0 x 0 15.0 x x 0 x 55 .3
5044-0ACOl 2.5 3 .6 2000 0 0 x 0 15 .0 0 0 0 x 55 .2

5044-0AFOl 2.5 5.3 3000 0 x 0 0 20.4 x x 0 x 55.3
-
Table 3.4
Explanations see Table 3.3
Siemens AG GWE 462 112 .9600 .76 Jg-l01 17

Match ing table f or SIMODRIVE power modules 6RB2120·... (20/60 A)
Short designation A20 , H20
Settings by means of switches S1 , S2 and S3 on the adjustment module.
Servomo tor Current lim it Speed-dependent current

limit
nrated Con tacts Con tacts
l HU Mo lNm ) Te rmin a l
'or Al Ima • lA]
rev /m in 2 3 4 5 6 7 8 9 Xl .l
3056 -0ACO1 t1t 4.5 6.7 200 0 x 0 0 0 51.0 0 x x x 55.2

3056 -0AFOl t1t 4.5 10 .0 3000 x 0 0 0 510 0 x x x 55.3
3058 -0ACO 1** 6.0 8.8 2000 0 0 0 0 60 .0 0 x x 0 55.2
3058·0AFO 1** 6.0 12.7 300 0 0 0 0 0 60 .0 0 0 x x 55.3
30 71-0AC01 5.0 7.1 2000 0 0 x 0 300 0 0 x x 55 .2
3071 -0AF01 5.0 10.7 3000 x 0 0 0 510 0 0 x x 55 .3
3073-0AC01 7.0 10 .0 2000 x 0 0 0 51.0 0 0 x 0 55 .2
3073 -0AF01 7.0 13.8 3000 0 0 0 0 60 .0 0 0 x 0 55.3
3074-0ACOl 7.0 9 .7 2000 0 0 0 0 60 .0 0 0 0 x 55 .2
3074·0AFOl 7.0 13.5 3000 0 0 0 0 60 .0 0 0 0 x 55.3
3076·0ACOl 10 .0 12.5 200 0 0 0 0 0 60 .0 0 0 0 x 55.2
3076 -0AFOl 10.0 20 .0 3000 0 0 0 0 60 .0 0 0 0 x 55.3
3078 ·0AC01 14.0 17.0 2000 0 0 0 0 600 x 0 0 0 55 .2
3078-0AF01 14.0 25.0 3000 0 0 0 0 60 0 x 0 0 x 55.3
31OO-OACO 1 70 9.5 2000 0 x 0 0 41 .0 0 0 x 0 55 .2
3100- 0AFOl 7 .0 14.2 3000 0 0 0 0 600 0 0 x 0 55.3
3101 -0ACO l 10.0 13.4 2000 0 0 0 0 600 0 0 x x 55 .2
3101 -0AFOl 10 .0 20 .5 3000 0 0 0 0 60 .0 x 0 0 x 55.3
310 2-0ADO l 18.0 15 .0 1200 0 0 0 0 60 .0 0 0 x 0 55 .1
3102 ·0AHOl 18 .0 24.0 2000 0 0 0 0 60 .0 x x 0 0 55 .2
3102 -0SDOl 29 .0 23.0 1200 0 0 0 0 60 .0 0 0 x 0 55.1
3102-0SHOl 29 .0 39 .0 2000 0 0 0 0 60 .0 x 0 0 x 55.2
3103-0ACOl 12.5 15 7 2000 0 0 0 0 60 .0 0 0 x 0 55. 2
3103- 0AFOl 12.5 235 3000 0 0 0 0 60 .0 x x 0 0 55.3
3104·0ADOl 25 .0 195 1200 0 0 0 0 60.0 x x 0 0 55.1
3104-0A HO l 25 .0 31 .0 2000 0 0 0 0 600 x 0 0 0 55 .2
3104 -0SDOl 40 .0 310 1200 0 0 0 0 60 .0 x 0 0 x 55.1
3104 -0SHOl 40 .0 500 2000 0 0 0 0 60 .0 x 0 0 0 55.2
3106-0ADOl 32 .0 24.0 1200 0 0 0 0 60 .0 x 0 0 0 55 .1
3106-0AHOl 32.0 42 .0 2000 0 0 0 0 60 0 x 0 0 0 55 .2*
3106 ·0SDOl 50 .0 38 .0 1200 0 0 0 0 60 .0 x 0 0 0 55.1
3108-0ADOl 38 .0 31.0 1200 0 0 0 0 60 .0 x 0 0 0 55.1*
3108-0AH0 1 38 .0 46 .0 2000 0 0 0 0 600 x 0 0 0 55 .2*
3108-0SDOl 60 .0 48.0 1200 0 0 0 0 600 x 0 0 0 55.1
3132-0ACOl 47 .0 31.0 1000 0 0 0 0 600 0 0 x 0 55 .1
3132-0AF01 47 .0 45 .0 1500 0 0 0 0 60 .0 x 0 0 x 55 .1
313 2-05CO l 72.0 48 .0 1000 0 0 0 0 60.0 0 0 x x 55.1
3134- 0ACO l 65 .0 43 .0 1000 0 0 0 0 60 .0 x 0 0 0 ss.I
3134-0AFOl 650 62 .0 1500 0 0 0 0 60 .0 x 0 0 0 55 .1
3136 ·0ACOl 90 .0 59 .0 1000 0 0 0 0 60 .0 x 0 0 0 55 .1
3136 -0AFO l 90 .0 83 .0 1500 0 0 0 0 60 .0 x x 0 0 55 .1
Table 3.5
Explana t ions see Table 3.3
18 Siem ens AG GWE 462 112.96 00 .76 Jg-l0 1

SIMO DRIVE Instructi o ns
Matching table for SIMODRIVE power modules 6RB2130... (30/90 A)
Short designation A30, H30
Settings by means of switches S1,52 and 53 on the adjustment module.
Servomotor Current limit Speed-dependent current

lim it
n,ated Contacts Contacts Terminal
1HU Mo[Nm] lo[A] Imax [A]
rev/min 2 3 4 5 6 7 8 9 X1 .1
3073 -0AF01 7.0 13.8 3000 x 0 0 0 76.5 0 0 x 0 553
3074-0AC01 7.0 9.7 2000 x 0 0 0 76 .5 0 0 )( 0 552

3074-0AF01 7.0 13.5 3000 x 0 0 0 76.5 0 0 )( 0 55.3
3076-0AC01 10.0 12.5 2000 0 x 0 0 61 .2 0 0 0 )( 55 .2

3076-0AF01 10.0 20.0 3000 0 0 0 0 90.0 0 0 )( )( 553
-
3078-0ACOl 14.0 17.0 2000 x 0 0 0 76.5 0 0 0 0 552
3078-0AF01 14.0 25.0 3000 0 0 0 0 90 .0 0 0 )( 0 55 .3
3100-0AF0 1 70 14.2 3000 0 )( 0 0 61 .2 0 0 )( 0 55 .3
3 101-QACOl 10 .0 13.4 2000 0 )( 0 0 61.2 0 0 x x 55 .2

3101-0AF01 10.0 20.5 3000 )( 0 0 0 76 .5 0 0 )( 0 553
3102-0A001 18.0 15.0 1200 )( 0 0 0 76 .5 0 0 )( )( 551

3102 -0AH01 18.0 24.0 2000 0 0 0 0 90 .0 0 0 )( 0 55.2
3102 -05001 29 .0 230 1200 0 0 0 0 900 0 )( )( x 55 .1
3102-05H01 290 39 .0 2000 0 0 0 0 900 0 0 x 0 552
- 3103-0AC01
3103-0AF01
3104-0A001
12.5
12.5
25 .0
15.7
23 .5
19.5
2000
3000
1200
)(
0
0
0
0
0
0
0
0
0
0
76.5
90 .0
90 .0
0
0
0
0
0
0
)(
0
x
0
x
55.2
55 .3
551
3104-0AH01 25 .0 31.0 2000 0 0 0 0 90 .0 x 0 0 0 55 .2
3104 -05001 40 .0 31 .0 1200 0 0 0 0 90 .0 0 0 x 0 55.1
3104-05H01 40 .0 50.0 2000 0 0 0 0 90 .0 0 0 0 0 552
3106-0A001 32 .0 24.0 1200 0 0 0 0 90 .0 0 0 0 )( 55.1

3106 -0AH01 32 .0 42 .0 2000 0 0 0 0 90 .0 x 0 0 0 55 .2
3106-05001 500 38.0 1200 0 0 0 0 90 .0 0 0 0 )( 55 .1
3106-05H01 50 .0 65.0 2000 0 0 0 0 90.0 x 0 0 0 552
310B-OAOOl 3B.0 31.0 1200 0 0 0 0 90 .0 )( 0 0 0 55 .1

310B..QAH01 3BO 46.0 2000 0 0 0 0 90 .0 )( 0 0 0 552
310B-05001 60.0 4B.0 1200 0 0 0 0 90 .0 x )( 0 0 551
310B-05HOl 600 72.0 2000 0 0 0 0 90 .0 x 0 0 0 552
3132-0ACOl 47 .0 31.0 1000 0 0 0 0 90 .0 0 )( )( )( 55 .1

3132-0AF01 47.0 45 .0 1500 0 0 0 0 90 .0 0 0 )( 0 55.1
3132-05COl 720 4B.0 1000 0 0 0 0 90.0 0 )( )( )( 55 .1
3132-05F01 72 .0 70.0 1500 0 0 0 0 90 .0 0 0 0 )( 55.1
3134-0AC01 65 .0 430 1000 0 0 0 0 90 .0 )( )( )( 0 551

3134-0AFOl 65 .0 62.0 1500 0 0 0 0 90 .0 x )( 0 0 55.1
3134-05COl 100.0 66.0 1000 0 0 0 0 90 .0 )( )( 0 x 55 .1
3136-0ACOl 900 59.0 1000 0 0 0 0 900 0 0 x 0 551

3136-0AF01 90.0 B30 1500 0 0 0 0 90 .0 0 x 0 0 551
3136-05COl 135 .0 89 .0 1000 0 0 0 0 90 .0 0 0 x 0 55 .1
-
3138-0AC01 115.0 80.0 1000 0 0 0 0 900 )( )( 0 x 55 .1
Table 3.6
Explanations se e Table 3.8
Siemens AG GWE 462 112.9600 .76 Jg 19

51MOORIVE Betriebsanle itung
.-..,.,
Matching t able ' or SIMODRIVE power modules 6RB2140- ... (40/120 A)

Sett ings by means of switches 51 ,52 and 53 on th e adju stment module.
Servomotor Current lim it Speed-dependent

current lim it
"rated Co nt acts Co nta cts
lH U Term inal
Mo lNmJ 'o IA] Imax lA]
re v/mi n 2 3 4 5 6 7 8 9 X1.1
3076-0AFO l 10 20 3000 0 )( 0 0 82 0 0 0 )( 55 .3
307 8-0AFOl 14 25 3000 )( 0 0 0 102 0 0 x x 55 .3

3101 -0AFOl 10 205 3000 )( 0 0 0 102 x x x x 55.3
3102 -0AHOl 18 24 2000 x 0 0 0 102 0 0 x x 55 .2
310 2-05DOl 29 23 1200 x x 0 0 73 0 0 x 0 55 .1
3102-05HOl 29 39 200 0 )( 0 0 0 102 0 0 x x 55 .2
3103-0AFOl 12.5 23 5 3000 0 0 0 0 120 0 x x 0 55 3
3104-0AD0 1 25 19 .5 1200 0 x 0 0 82 0 0 0 x 55 .1
3104-0AH0 1 25 31 2000 0 0 0 0 120 0 0 0 x 55.2
3104-05 DOl 40 31 1200 0 x 0 0 82 0 0 0 )( 55.1
3104-05H01 40 50 2000 0 0 0 0 120 0 0 0 x 55 .2
3106-0ADOl 32 24 1200 )( 0 0 0 102 0 0 x 0 55 .1
3106- 0AHOl 32 42 2000 0 0 0 0 120 0 0 0 x 55 2
3106 -0SDOl 50 38 1200 x 0 0 0 102 0 0 x 0 55 .I
3106-05 HOl 50 65 2000 0 0 0 0 120 0 0 0 x 55 .2
3108 -0 ADOl 38 31 1200 0 0 0 0 120 x x 0 x 55 .1
3108·0A H01 38 46 2000 0 0 0 0 120 x x 0 0 55 .2
3108-05DOl 60 48 1200 0 0 0 0 120 )( x 0 x 55 .1
3108-05HOl 60 72 2000 0 0 0 0 120 x x 0 0 55 .2
3132 -0ACOl 47 31 1000 0 0 0 0 120 0 x x x 55.1
3 132· 0 AF0 1 47 45 1500 0 0 0 0 120 0 x x 0 55 .1
313 2-05C0 1 72 48 1000 0 0 0 0 120 0 x x x 55 .1
3132-05 FO l 72 70 1500 0 0 0 0 120 0 )( x 0 55 .1
3134-0AC01 65 43 1000 0 0 0 0 120 0 0 x x 55 .1
3134-0AF01 65 62 1500 0 0 0 0 120 0 0 )( 0 55 .1
313405COl 100 66 1000 0 0 0 0 120 0 0 x x 55 .1
3136-0ACOl 90 59 1000 0 0 0 0 120 0 0 x 0 55 .1
3136·0AFOl 90 83 1500 0 0 0 0 120 0 0 0 x 55 .1
3136-05COl 135 89 1000 0 0 0 0 120 0 0 x 0 55 .1
3136-05FOl 135 125 1500 0 0 0 0 120 0 0 0 x 55 .1
3 138-0ACOl 115 80 1000 0 0 0 0 120 x )( x 0 55 .1
3138-05COl 165 116 1000 0 0 0 0 120 x )( x 0 55 .1
Table3.?
Expla na tio ns se e Ta ble 3.8
20 5iemensAG GWE 46 2 112.9600 .76 Jg- l01

51MO DRIVE Inst ru cti o ns'
Short designa t ion AGO, HGO
Settings by means of switches S1, S2 and S3 on the adjustment module.
Servomotor Current li mit Speed-dependent

curren t limit
nrated Contacts Conta cts Ter m inal
1HU Mo lNm] 10 [A] Im ax [A]
rev/mi n 2 3 4 5 6 7 8 9 X1.1
3102-05001 29 23 1200 0 x x 0 74 0 0 x x 55.1

3102-05H01 29 39 2000 0 0 x 0 90 0 0 x 0 55.2
3104-QAH01 25 31 2000 0 x 0 0 122 0 0 0 x 55.2

3104-050 01 40 31 1200 x 0 x 0 83 0 0 0 x 55.1
3104-05H01 40 50 2000 0 x 0 0 122 x x 0 x 55.2
3106-0AH01 32 42 2000 0 0 0 0 180 0 0 x 0 55.2

3 106-0500 1 x 110 x
--
50 38 1200 x 0 0 0 0 0 55.1
3106-05H0 1 50 65 2000 x 0 0 0 153 x x 0 x 55.2
3108 -0A00 1 38 31 1200 0 x 0 0 122 x x 0 x 55.1

3108-0AH0 1 38 46 2000 0 0 0 0 180 0 0 x 0 55.2
3 108-05001 60 48 1200 x 0 0 0 153 0 0 x 0 55.1
3108-05 H0 1 60 72 2000 0 0 0 0 180 0 0 x 0 55.2
313 2-0AC01 47 31 1000 x x 0 0 110 0 x x x 55.1

3132-0A F0 1 47 45 1500 x 0 0 0 153 0 x x x 55.1
313 2-05C01 72 48 1000 x x 0 0 110 0 x x x 55.1
3132·05 F01 72 70 1500 x 0 0 0 153 0 x x x 55.1
3134-QAC01 65 43 1000 x 0 0 0 153 0 x x x 55.1

3134-0AF01 65 62 1500 x 0 0 0 153 0 x x x 55 .1
3134-05C0 1 100 66 1000 0 x 0 0 122 0 0 x x 55.1
3136-0AC01 90 59 1000 0 0 0 0 180 0 x x x 55 1

3136-0AF01 90 83 1500 0 0 0 0 180 0 0 x x 55 .1
3136 -05(0 1 135 89 1000 0 0 0 0 180 0 x x x 55.1
3136-05F01 135 125 1500 0 0 0 0 180 0 0 x x 55 1
3138-0ACOl 115 80 1000 0 0 0 0 180 0 0 x 0 55.1

3138-0AF 0 1 115 134 1aOO 0 0 0 0 1aO )( )( 0 x 55.2
3138-05C01 165 116 1000 0 0 0 0 180 0 0 x 0 55.1
Tab/e3 .8
o Q Contact in no rmal posit ion (OFF)

x Q Contact to ON
Contac t 51.1,52 .1,53 .1: no functio n
Contact 51.10 or resist or R200 : Cont act 51.10 in ON position or R200 prov ided in the fo rm o f a j um pe r:
All t hre e axes ar e operat ed in current loop.
Separately-vent ilat ed mot ors can be used instead of the no n-ventila ted motor s.
-OA .0 1 Q non-vent ilated motor
-05.0 1 Q separ at ely-ventil ate d motor
Siemens AG GWE 462 112.9600.76 J9-1 01 21

51 M ODRIVE Inst ru ct ions
Settings by means of switches Sl, S2 and S3 on the adjustment module.
Speed-dependent
Servomotor Current limit
current limit
n rated Contacts Contacts Terminal

lHU MolNml 'olAl
rev/min 2 3 4 5
'ma. lA] 6 7 8 9 Xl .1
3104 -05HOl 40.0 50.0 2000 0 0 x 0 135 x x x 0 55.2
3106-05HOl 50.0 65.0 2000 0 x 0 0 lB4 0 0 x 0 55.2
3108 -0AHOl 38.0 460 2000 x x 0 0 165 0 0 0 x 55.2

3108-05DOl 60.0 480 1200 0 0 x 0 135 0 0 x 0 55.1
3108-05HOl 60 .0 72.0 2000 0 x 0 0 lB4 x x x 0 55.2
3132-0AFOl 47 .0 450 1500 x x 0 0 165 0 x x x 55.1

3132 -05COl no 48 .0 1000 x 0 x 0 124 0 x x x 55.1
3132-05FOl 72.0 70.0 1500 x x 0 0 165 0 x x x 55.1 -....
3134-0AFOl 65.0 62 .0 1500 )( x 0 0 165 0 x x x 55.1
3134·05COl 100 .0 66 .0 1000 0 0 x 0 135 0 x x x 55.1
3136-0ACOl 90 .0 59.0 1000 0 x 0 0 184 0 x )( x 55.1

3136 -0AFOl 90 .0 83 .0 1500 0 0 0 0 270 0 x x x 55.1
3136 -05COl 135.0 89 .0 1000 0 x 0 0 184 0 x x x 55.1
3136 -0SFOl 135.0 125.0 1500 0 0 0 0 270 0 x x x 55.1
313B-OAC01 115.0 BO.O 1000 0 0 0 0 270 0 x x x 55.1

313B-OAFO l 115 .0 134.0 1800 0 0 0 0 270 x x x 0 55.2
3138-05C01 165.0 116 .0 1000 0 0 0 0 270 0 x x x 55.1
Table 3.9
o Q Contact in norma l position (OFF)

x Q Contact to ON
Contact S1.1. S2.1, 53.1: no function
Contact 51.10 or resistor R200 : Contact 51.10 in ON position or R200 provided in the fo rm of a j um per :
All three axes are operated in current loop.
Separately-ventilated motors can be used inst ead of the non-ventilated motors.

-OA.Ol Q non -ventilated motor
-05.0 1 Q separately -ventilated motor
22 Siemens AG GWE 462 112.9600.76 Jg-l 0 1

3.1.2 Current setpoint limitation, "Hold against mechanical stop" function
.~
When voltage is applied to terminal 96 (Figs. 3.3 and 3.4), the "Speed controller at
maximum" monitoring system is deactivated .
Iset
[%]
'ma.
lOO - -"""" .....r--..
90
80
1'."",-
70
I"r--..
60
r'-r--
50 UTerm.96 = - 15 V
ro--ro--
40
"I"-
-- 30
20
10
1"01'-""""
r-.r--- 11~1
\ l I j 1
1.5 2.2 3.3 4.7 68 10 15 22 33 47 68 lOO 150 220 330 560 1000
2.7 3.9 56 8.2 12 18 27 39 56 82 Axes 1 and 4 : R31
Axes 2 and 5 : R54
Axes 3 and 6 : R93
Fig. 3.3 Current setpoint limitation as a function of R31, R54, R93 on the adjustment module
[%)
lOO
90
80
70
60
50
40
30
20
10
[VI
-1 -2 -3 -4 -5 -6 -7 -8 -9 - 10 -1 1 -12 -13 -14 -15
- Fig.3.4 Current setpoin: limitation as a function of the voltage applied at terminal 96

(The input resistance of terminal 96 amounts to 12 kG)
U Term 96
Siemens AG GWE 462 112 .9600 .76 Jg- 101 23

SIMO DRIVE Instructions
3.1.3 Tacho-generator
.>•• '11I11I'1':
3.1.3.1 Tacho-generator input

The transistor chopper is set at the factory to a tacho-voltage of 20 V/1000 rev/min (e.g. by
tacho-generator 1HU1052).
Connect the tacho-generator to the terminals as shown in Table 3.10. Higher tacho voltages
must be reduced via an external divider. The internal resistance of the tacho-generator input
is about 13 kQ.
Rated speed in rev Imi n 1000 I, I

200 1500 1800 12000 3000
Terminal 55 1 55 .2 55.3
Table 3. 70
With an actual speed value of 3 VI1000 rev/min, the resistors on the controller module must
be changed according to Table 3.11.
New resistance val ue

Axes 1and 4 Axes 2 and 5 Axes 3 and 6
in k l1
R181 R241 R248 56

R433 R436 R441 470
Table 3. 77
3.1.3.2 Tacho-generator monitoring

The tacho-generator mon itoring is set at the factory for tacho-generators with an internal
resistance of RI > 1 kQ.
If tacho-generators with a lower internal resistance are used, remove the following resis-
tors:
- R704 (Axes 1 and 4)

- R705 (Axes 2 and 5)
- R706 (Axes 3 and 6)
When these resistors are removed, the tacho-generator cable is no longer monitored for
short circuit, but only for cable breakage .
To deactivate the tacho-generator monitoring:
- Remove R428
- Remove V79, V80 and R270 (Axes 1 and 4)
- Remove V92, V93 and R276 (Axes 2 and 5)
- Remove V 112, V 113 and R41 0 (Axes 3 and 6)
,,"/N ltlillllMlllli.,
24 SiemensAG GWE 462 112 .9600.76Jg-101

SIMODRIVElnstrU'Ctions
3.1.3.3 Tacho-generator simulation
A tacho-generator simulation can be used for a voltage range of 7 V < UT < 11 V . Terminal
55.2 is used for this purpose.
Adaptation is carried out with short-circuit links:
- Link X21 and X29 (axes 1 and 4)

When the tacho-generator simulation is used, disable the tachogenerator monitoring (see
3.1.3.2 "Tacho-generator monitoring").
3.1.4 Speed controller adaptation
The reset time TNrated of the speed controller can be set with potentiometers R135 (axes 1
and 4), R235 (axes 2 and 5) and R335 (axes 3 and 6). In order to adaptively reduce the reset
time TN of the speed controller at lowest speeds, the adjustment module must be fitted with
resistor R15 (axes 1 and 4), R46 (axes 2 and 5) and R77 (axes 3 and 6). The reset time can be
reduced to TNadapt with the following resistance values:
With 0.1 kn to 5 % of TNrated With 10 kn to 72 % of TNrated

With 3.9 kQ to 50 % of TNrated
Pot.R135(axes1 and4)
Pot. R235 (axes 2 and 5)
Pot. R335 (axes 3 and 6)
TNrated - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -*"--1~------
~.
R15 (axes 1 and 4) R94 (axes 1and4)

R46 (axes 2 and 5) R97 (axes 2 and 5)
R77 (axes 3 and 6) R100 (axes 3and 6)
,
TNadapt
nW t 1 n
Adaptation full y effective Transition range Adaptation Ineffective
Fig.3.5 RelatIOnship between reset time and speed
With the version supplied from the factory (R94 (axes 1 and 4), R97 (axes 2 and 5), R100 (axes
=
-
3 and 6) 1.5 kO), reset time reduction starts at nset 1 Q approx. 60 mV and reaches the set
minimum value at nset 2'" aprox . 12 mV.
SiemensAG GWE462112 .9600 .76 Jg-l01 25

The po int at which adaptation becomes effective is set via the following resistors : R94 (Axes
1 and 4), R97 (axes 2 and 5) and Rl00 (axes 3 and 6) accord ing to the following table (values
apply to versions from B onwards) .
R in k O n,et 1 in m V n,et2 in m V
01 20 4
1.0 50 10
1.5 60 12
2 .2 80 15
4 .7 110 20
10.0 140 30
op e n 200 33
Table 3.12
3.1.5 Electrical weight compensation
Resistors R3 , RS (axes 1 and 4) , R32, R36 (axes 2 and S) and R63, R67 (axes 3 and 6) are
soldered into the adjustment module in order to achieve- weight compensation w ith
mechan ically preloaded axes. When setting the resistance values, note that Iwe ight
comp ensat io n must not be allowed to exceed Irated·
[% ] Iweight compensa t ion /1m..
100 -f- - ~ .......

80
...............
60
40
"t".....
r-,
30 -
.... ~
20
........r-....
10 f-
r-,
<,
8 f-
6
4
.......
........ ,
<,
3 -
~~
<.
2 r-
[knJ
I'
) ) I
5 5.6 6.81 0 15 2227 39 47 5668 100 150 220 390 470 680 1000
Axe s 1 and 4 : R3 and R5

Axes 2 and 5 : R3 2 and R36
Axe s 3 and 6 : R63 and R67
Fig. 3.6 Supplementary current setpo int for electr ical weight compensation
A positive cur ren t setpoi nt on test socket T1 (axes 1 and 4), T2 (axes 2 and S), T3 (axes 3 and 6)
indi cat es that resistors RS, R36 and R67 have been fitted in the adjustment modu le . A
negative current setpo int is obtained by f itting resistors R3, R32 and R63 in the adjustment
modu le .
1 " II I!ilI II ~~IiI; ,
26 Sieme ns AG GWE 462 1 12.9600 .76 Jg- l 01

SIM O DRIVE Inst ruct io ns
3.1.6 Current-controlled operation
Apply the current setpoint (Iset) to the following terminals:
X4ll :58 and X4ll:8 (axes 1 and 4)

X42l : 58 and X42l :8 (axes 2 and 5)
X431 :58 and X431:8 (axes 3 and 6)
Then implement the central pulse and controller enabling (connect terminal X121 :63 and
X121 :64 to terminal X12l:9 on the power supply) .
The procedure subsequently adopted depends on the adjustment module version concerned
and whether the current of the 3 (6) axes is to be controlled in common or individually.
Operate all 3 (6) axes under current control (with P component only)
a) 9-pole switch 51
r - offset
Tacho -qene rat or

Kp In)
TN I n I
- Insert link R200 in the adjustment module
-Implement axis-specific controller enabling :
Link Xlll :6 5 and X11l:9 (axes 1 and 4)

Link X121 :65 and X121:9 (axes 2 and 5)
Link X131 :65 and X131:9 (axes 3 and 6)
'"
-
x ...J ' CON TROL : R200
L
1 - Not conne cted
- } I MAX
= ~
_ } IU M (n act)
Fig.3.7a
b) 10-pole switch 51
r offset
Tacho-qenetator
Kp ( n
TN I n I
J
- Set switch S1.10 on adjustment module to ON
-Implement axis-specific controller enabling:
Link X1ll :6 5 and X111 :9 (axes 1 and 4)

Link X121 :6 5 and X121 :9 (axes 2 and 5)
~ = Not connected
' MAX
Link X13l :65 and X13l:9 (axes 3 and 6)
- ~
}
- 1IU M (n act!
9_1
10 - ICON TROL
SiemensAG GWE 462 112 .9600 .76 Jg- 101 27

SIMODRIVE Inst ructi o ns
In order to operate individual axes under current control (with P component only)
a) 9-pole switch S1 - Link R200 removed
b) 10·pole switch S1 - Set switch S 1.10 on the adj ustment module to
OFF
- Remove the following resistors from the con-
trol module :
R263 (axes 1 and 4)
R369 (axes 2 and 5)
R327 (axes 3 and 6)
- Implement axis-specific control lock -out :
Open Xlll :65 and Xlll:9 (axes 1 and 4)
Open X121 :65 and X121:9 (axes 2 and 5)
Open X131 :65 and X131:9 (axes 3 and 6)
Current-controlled operation with PI current controller

The P controller alone is not a sufficiently accurate current-control mechanism for special
applications which emp loy pure torque control and do not permit a steady-state deviation.
Furthermore, the feedback of the actual speed value to the current setpo int across the short-
circu ited speed controller (0.5 kQ in feedback circuit) with max . 600 mV causes an additional
control error.
Torque-controlled operation with PI-current controller in which the actual speed value is not
influenced can be implement ed as follows:
- Activate term inal 6 on the controller module with + 15 V, thus disabling the int eg ral-
action component of the speed controller. """'1111",,,.
- Remove (using pincers) resistor R9 (l st axis) on the adjustment modu le . The actual speed
value is now decoupled.
- To eliminate the effect of the speed controller offset, the potentiometers for Kp and TN
should be turned as far as possible to the left (minimum gain) . The drift should also be
compensated (1* = 0 V, test socket T = 0 V).
- The current setpoint is input via terminal 58-8.
- Terminal 56 must be connected to terminal 14.
All other terminals and switches must be set as for speed-controlled operation, i.e. term inals
63,64,65 enabled and switch S 1.1 0 to OFF .
The current limits remain effective in current-controlled operation .
3.1.7 Current setpoint for parallel operation

Var iable-speed axis 1 or 4 of the contro l module can act as master and feed its current
setpo int to slave axes 2 and/or 3 (or slave axes 5 and/or 6). The following modifications are
made to the control module for this purpose :
- Axis 2 or 5 operates as slave:
Open link R431
Insert link R430
Feed -15 V to X 121:96 ("Speed controller at maxim urn" deactivated)
- Ax is 3 or 6 operates as slave:
Open link R449
Insert link R448
Feed - 15 V to X131 :96 ("Speed controller at max imum" deactivated)
1IIIIlilfllit!!l111
28 Siemens AG GWE 462 1 12.9 600 .76 Jg-101

SIMODRIVE Inst ru cti o ns
.-.
3.1.8 External power supply for controller enabling
The internal power supply for control enabling can be deactivated by removing resistors R20
and R21 from module GO. An external isolated power supply (+ 24 V) can be connected via
terminal X 121: 19 (reference potential) and terminal X121 :9 of the power supply.
3.1.9 External voltage input for storage of fault memory signals

In order to be able to store the fault indications even when the unit is switched off, a non-
stabilized voltage of + 24 V DC can be applied to terminals X111 : 11 and X 111: 15 of the
power supply module. The tolerance range for this external voltage is 19 V to 30 V including
ripple (see Fig. 3.8).
UTerm. 11
s 30 V
~19V
'----------------------.t
Fig.3.B
If this function is utilized, it should be noted that each time the unit is switched off, the ± 15
V monitoring and the group fault memory w ill operate and produce a fault indication via
the relay contact at termina ls 72, 73.1, 73.2 and 74, owing to non-availabil ity of the negative
electronics voltage .
A distinction must therefore be made between the following cases:
1) The unit is switched off in the absence of a fault signal.

Consequence: The ± 15 V monitoring and the group fault memory operate and cause
LEDs + GO-V2 and + GO-V1 to light up. The ready signal at terminals 72,
73.1, 73.2 and 74 disappears and a fault signal is output (see Chapter
3.2.1).
2) The unit is switched off in consequence of a fault signal.

Consequence a: When the unit has been switched off, the ± 15 V fault indication lights up
in addition to the original fault lamp. In this case, the ± 15 V fault
indication should be ignored.
Consequence b : Only the ± 15 V fault lamp and the group fault memory lamp light up
when the unit has been tripped . In th is case, the cause of the fault lies in
the ± 15 V electronics voltage.
SiemensAG GWE 4621 12.9600.76Jg-101 29

SIMO DRIVE Instructions
3.1.10 Changing of variable components in the speed setpoint channel
The smoothing time constant i n the speed setpoint channel can be increased by the add ition
of capacitors (301 (axes 1 and 4). C302 (axes 2 and 5) and C303 (axes 3 and 6) on the
controller module (see Fig. 3.9).
The input resistance of the speed setpoint channel can be adjusted by the add ition of R450
(axes 1 and 4), R461 (axes 2 and 5) and R471 (axes 3 and 6).
R461
J. CJD' J1' CJDlD

~303
002 (100
Fig.3.9 - = Soldering pins (provided on controller modules in versions from J onwards)
3.1.11 Monitoring circuit "Speed controller at stop"
If the speed controller is at the stop for more than approx. 200 ms, pulse and controller
inhibition will be ini t iated.
If necessary. this monitoring time can be extended by increasing the resistance value of R605
(axes 1 and 4). R646 (axes 2 and 5) and R656 (axes 3 and 6) on the controller module (as of
version N on solderi ng pi ns).
Monitoring time for axis 1 (example):
1.:::: R605. 055

s MQ .
30 SiemensAG GWE46211 2.9600.76Jg-101

-- 3.1.12 Operation of control axes without power circuit module
If no motor is connected to one of the axes, interconnect terminals 13 and 55.1 on

connectors X111 (axes 1 and 4), X 121 (axes 2 and 5), X131 (axes 3 and 6) on the control
module using a 4.7 kohms resistor (see Fig. 3.10).
4.7 kQ
DD DDDDDD
13 55.1
Fig.3.10 Connector Xl. 7
The pulse cables must be provided with a terminating connector in order to prevent
- disturbances during operation without power circuit module.
Order No.: 6SC6101-0XBOO (16-way)

6SC61 01-0XB12 (34-way)
Adapter 1 x 34-way to 2 x 16-way

Order No.: 6SC61 01-0LA17
- 3.1.13 Matching the current controller gain
Stability problems may arise in the control circuit when DC servomotors are used which have
a relatively high armature circuit inductance (La> 20 mH, e.g. 1HU3056-0A(01) or with low
inductance (La < 2 mH, e.g. 1HU3078-0AF01). In this case the gain of the current controller
must be increased for motors with high inductance or reduced for motors with low
inductance.
The current gain can be varied by resistors R95 (axes 1 and 4), R98 (axes 2 and 5) and R101
(axes 3 and 6) on the adjustment module (Table 3.13).
The current gain has been adjusted in the works to Kp(l) = approx. 2.6 with R95, R98 and
R101 set to 680 ohms.
R95,R98,Rl01 Current gain Kp(l)
1000hms -14
150 ohms -10
390 ohms -4
680 ohms - 2.6
1 kohm - 2
2.7 kohms -1
Table 3. 73
Siemens AG GWE 462 112.9600 .76 Jg-101 31

3.1.14 Testing the load cycle
The 12t curve (Fig. 3.11) describes the following monitoring function :
The actual current value is approximately squared and the result subsequently integrated . If
the actual current value is larger than 1.1 times the rated current, the voltage excursion of
the integrator is negative, otherwise it is positive .
If the integrator, starting from rest (start-up of the un it or reset command), has a negative
total voltage excursion of about -15 V, the current setpoint limitation takes effect.
To calculate the given load cycle of the total voltage excursion, proceed as follows :
1) Divide the load cycle i nt o t ime sections M i (i =1, .. ., n) w ith constant current I.
2) Use the following formula to calculate the part voltage excursion ~U i (i = 1, ."r n) for
each time section depending on the sign:
~UI Mi I
- == -.[2.2 - 2.(_)2]
V s lrated
3) Add the part voltage excursions according to sign .
. < - 15 V Load cycle irnperrnissible

4) Total voltage excursion > - 15 V Load cycle perm issible
III rated [%]

200
\
180
\ -"
160
140
120
110 - --- ---
" ",,-
-- - - -
............. ~--
--- ---- ---- -- --- - --- --- --- -- --- - -
100
2 4 6 8 10 12 14 16 18 20 22 24 26 28 t[sl
Fig. 3.11 /It curve Q thermally permissible time duration of overcurrent
32 Siemens AG GWE 4621 12.9600 .76 Jg-l01

.- 3.2 Signals
No fault indication w ill appear any earlier than about 1 s after power-up.
3.2.1 Ready/fault signal

The ready indication can be changed into a fault indication by removing diode VB on the
power supply module (GO).
A fault ind ication occurs if the ± 15 V monitoring, the DC link voltage monitoring (UZK ~) or
if the "Speed controller at maximum" monitoring operate.
The ready ind icati o n occurs if none of the aforementioned fault cond itions applies and if the
enable signal is present at terminals 63 and 64.
3.2.2 Reset fault memories

The fault memories in the chopper can be reset by applying an M signal to terminal R of
connector Xll1 on the power supply module or by switching the unit off and then on again.
NOTE
The DC-link voltage must have dropped to at least 25 V before the unit is switched on
again to ensure that an internal reset signal is generated. The link voltage takes
approximately 10 s (depending on chopper version) to drop to the correct value .
-- 3.2.3 12t signal

Terminal 5 at location + GO-Xll1 provides a common output (open collector) for this signal
for all axes. A relay can be connected across this output and terminal 7 or some other power
supply (connect freewheel diode in parallel !) (Fig. 3.12) . The relay is activated when the
signal is active.
Relay data: UN = 12 Vor 15 V, IN :S 50 mAwhen using the internal voltage at terminal 7.

When using an external voltage of 24 V, a 24 V relay can be used (UN = 24 V,
IN :S SO mAl.
If terminalS is direct-connected to the programmable logic controller (PLC), a pull-up re-

sistor of 1.0 kQ (1.0 W) must be connected to terminals 5 and 7 or some other power supply
(indication active s L signal) (Fig. 3.13).
+GO-Xll1 + GO-Xlll
DC 18 to 30 V, l max = 50 mA
7 1--- - --,
1,0 krl
lW
51------' 51---111------ PLC

-----'
- Fig. 3 . 12 Connection ofa relay Fig . 3 .13 Connection to the PLC

resistor only necessary with power supplies
6SC6100·0GAOO and ·OGBOO
SiemensAG GWE462112 .9600.76Jg-l0l 33

NOTE
The motor overtemperature indication has no effects in the unit.
The \2t indication is followed with a delay by a current reduction to the thermally
perm issible continuous current of the power section.
The unit does not cut out. To clear the fault indicat ion, the unit must either be switched
off or reset.
3.3 Test sockets, display elements
X Speed actual value

R Speed setpoint
w Current actual value = set cur re nt lim it
T Current setpoint
V1 (V5, V9) All the val ues are standard ized to 10 V DC

V2 (V6 , VIO)
NZ Input for supply of
V3 (V7, V11)
supplemen ta ry setpoint
(e g . by battery box)
M15 Electron ic ground
56
14
V1 Tacho-m onitoring
V2 ,"'1""""",.
Speed cont roller ampl ifie r dr iven to maximum
V3 Ft m on itoring
Fig. 3.14 Test sockets and display elements on controller modules N1 and N2
(29 V4
V4 Enabling
o
V3 UOC·l ink ~
V2 ± 15 V monitoring
V3
~-fault
o
V1
V2
o V1
63
Fig. 3. '5 Display elements on power supply module GO
"III!I~llilll~!lI',
34 SiemensAG GWE462 I 12.9600.76Jg-101

SIMODR IVE Instructions
3.4 Start-up
,-- WARNING
Safe operati on is dep end ent upon proper handling and installation by
qualified personnel under observance of all warnings contained in this
instruction manual
The DC link capacitors cause high voltag e to persist for a short time (about 4
minutes) after dis conn ection from the supply ,
Parts of the equipm ent may be live even when the motor is stationary ,
Non-obs ervance can result in death , severe personal injury or substantial
property dama ge
Data see Sect ion 3,1,1
Fault indi cat ion on module GO, remove diode V1 3
- Disconnect machine w ir ing from term ina ls 63, 64 , 65 and terminals 56/14
- Connect term in als 63,64 to term mal 9
• Connect term inal 65 via an open switch to te rm inal 9
- Manua lly tu rn the machme car riage int o the safe rang e
. Check pote nt io rnete r settings and /o r adjust mac hine-specific emp ir ical values
Set contact SI ,10 on adjus tmen t modu le to ON Negative tra vel

direction and
Enab le term ina l 65; carefully apply positive setpo int to test sockets
negative tacho
T/M 15 by battery box (T positive w ith respect to M 15), voltage
NO
Siemens AG GWE 462112 ,9600 ,76 Jg-101 35

Disable terminal 65. Set contact S1 10 on the
adjustment module to ..OFF" .
Enable term inal 65.

Apply set POint to te rm ina l 56/14 or to measunng socket NZ by battery box .
NO R120
RnO
R320
Speedbalancing R111 (211 .311) ~

e.g. adjust to 10 % rap id feed speed via tacho voltage at },;, 0 .8 V at terminal 56114
test socket X by R11 1 (211.311); (8 V';' nN motor)
Exact data depend on the machine and NC
Max . setpoint = max . rapid fe ed speed of NC
Open connect ions between term ina ls 63/64 /65 and term ina l 9
Note down potentiometer sett ing and any changes made in the
circu it diagram or logboo k.
Disconnect measuring instr umen ts. reestab lish any connect ions
opened for measur ing purposes and retig hten term inal screws.
ICOMMISSIONING completed
CAUTION
In the even t of f ault s, the DC-link circuit is still li ve fo r approx . 4 m inu tes af -
ter disconnection of the unit. For t his reason the master switch must be
opened and t he DC-link circu it discharged before any work is carried out on
"'H' ' ' 'III,..
t he unit with the cover removed .
,"II!ItI~!lI "
36 Siemens AG GWE 462 112.9600.76 Jg-10l

N1, N2
.r - -
4 Maintenance Te$t LE O.
GO
~
WARNING X R
• V1
W
M15 NZ .
T
• V2
V3
Hazardous voltages are present in t his 56
45
44
electrical equipment during operation. 14
10
Failure to properly main ta in the equip- 9
15
ment can result in deat h, severe personal 65
IS
96
inj ury or substantial property damage.
6
11
The instruct ions contained in this chap- 55.1
12
55 .2
ter and on product labels have to be fol- 5
553
low ed.
13
• Mai ntenance shall be performed only x R • VS
by qualified personnel. W
M1 5 NZ. V7
T
• V6
• Always de-energ ize and ground the 56

equipment before main tenance. 14
9
The DC-link capacitors cause high vo lt- 65 lEO$
age t o persist for a short time (about 96
• V4
4 minutes) after disconnection from 6
• V3
the supply. 55.1
• V2
Some parts remain li ve even when the

55 .2
55.3
•63
VI
motor is stat ionary. 13 9

x R • V9 9
Use only authorized spare parts in the w T 64
• Vl
repa ir o f the equ ipment. M'~ NZ. 0 19
56
14
9 74
65
4.1 Maintenance instructions 96 731
6 73 2
The transistor DCchopper does not require any maintenance. 55 .1
55.2 72
553
The bear ings of the unit fans are permanently lubricated.
13
Mo d ules for slots NI . N2 and

GO
4.2 Faults
Type of fault Displays Meaning Possible causes
Mo t o r defect ive (e .g. does not r un

Surf ace f in ish is poor smooth at low setpoi nt s). P am plif ie r of
spe ed contr o ller set t oo low ( p o t e ri t ro -
or inaccurate
meters R12S. R225. R325) ; mutu al Inter-
posit ion ing
ference of axes (du e t o wrong shield ing
o r wro ng Installati o n of earth wore)
Fault In po w er section,
F1O. F110 or F310 blow check mo to r
Remed ial action: Replace m od ule
-
Fuses blow Fault in powe r suppl y and morutonnq
system or in t he DC link voltage
F247
mon itoring CIrCUit 0.3/30 kW (G1O)
Remedi al act ion : Repla ce both modu les
- Tab le 4.1a
Siem ensAG GWE 462 112.9600 .76 Jg-101 37

SIMODRIVE Instruct ions
Type of fault Displays Meaning Possible causes
Green LED + GO-VII No enabl ing signal at Customer's int erl ocki ng circu it act ivated ;
li ght s up, term inals 63 and/or 64 R20, R21 discon nected
red LEDsdo not light
up
External ma in fu se blown or not Inserted
No LED li ght s up
or power supply defective
Red LED + GO ·V1 lights
up , red LEDS
(No) do not light up
Ax is does not move + GO-V2 lig ht s up ± 15 V out of tolerance
even though the or not available
reference value IS
appl ied toterminal56 + GO-V3 lights up Voltage of DC-link Supply voltage too high, load inerti a too
CIrCUit too high high, current lim it mismatched
Red LED + GO ·V1 lights Tacho monitoring Tacho or tacho cable defective
up circurt responded
Red LED + No·V1 *
lights up
Red LED + GO-V1 light s Cont rolle r mon itoring Motor line int err upt ed, mechan ical
up circuit responded system blocked , pow er section (A 1 t o A6)
Red LED + N o-V2* (speed cont roller defective, ribbon cable between contro l
lights up ampl if ier driven to and power section defective. motor or
maximum) tacho connected w ith wrong pola r ity
Load moment of inert ia too high . current
Red LED + GO-V1 lights li m it not matched to motor, motor speed
up Overvoltage In DC-link exceeds rated speed , resistor for voltage
Red LED + GO ·V3 lig ht s CIrCUit dunnq brak ing limitat ion overloaded, no load ing by
up frict io nal forces , vertica l axis w ithout
we ight balan ce
Axis moves, but unit is
Red LED + GO-V1 lights Acceleration or Current lim it ati on set too low or load
de-energized aga in .
up revers ing t ime exceeds inerti a too high
Red LED + No·V2* lim it value (more t han
lights up 200 ms)
Effective torque t oo high, ACClDEC too
Red LED + No·V3* l 1 t mon itoring circu it
often, machin ing forces too high , motor
lights up responded
defective
Table 4. 7 b
No = N1,N2
+ No-V1* '" + N o-V1/-V5/-V9 '" Tacho monitoring + GO - V1 Q E-fault
+ No·V2* '" + N o-V2/-V6/-V10 '" Speed controller ampl ifier + GO - V2 '" ± 15 V
at maximum
+ No-V3* '" + No-V3/-V7/·V11 Q 11t mon itoring circuit + GO- V3 '" UD C.link ~
+ GO - VII '" Enabling
38 Siemens AG GWE 462112.9600 .76 Jg-101

S IMODR~VE Instructions
4.3 Spare parts
Function Designation Order No.
Power supply and monitoring GO 6SC61OO-OGA 11

Power supply and monitoring including voltage limitation G10 (0.3/30 kW) GO 6SC61OO-OG BOO
DC-link voltage limitation G20 (09/90 kW) AO.2 65C6100-0ABOO
Resistor for Gl0, G20 - 65Y9058
Controller, analog 1 axis Nl, N2 6RB21 OO-ONAO 1

with 2 axes 6RB2100-0NAll
adjustment module 3 axes 6RB2100-0NA21
Adjustment module 1 axis 6RB2100-05A01

separately 2 axes 6RB2100-05Al1
3 axes 6RB2100-05A21
Power modules 5/15 A 1 ax.s Al toA 10 6RB21 05-05DO 1

5/15 A 2 axes 6RB21 05-05FO1
5/15 A 3 axes 6RB2105-05GOl
10/30A 1 axis 6RB2110-0FDOl

10130A 2 axes 6RB2110-0FFOl
10/30 A 3 axes 6RB2110-0FGOl
-
20/60 A 1 axis 6RB2120-0FD01
30/90 A 1 axis 6RB2130-0FD01
40/120A 1 axis 6RB2140-0FD01
60/180 A 1/2 axis 6RB2160-0FBOO

90/270 A 1/2 axis 6RB2190-0FBOO
150/300 A 1/4 axis L+ 6RB2190-0FAOl
150/300 A 1/4 axis L- 6RB2190-0FA51
Pulse distributor for 150/300 A power section - 65C6190-0FUOO
- Rectifier
Capacitor
90 A, 180 A
6000 ~F/350 V
VO
CO 1 to CO 5
65Y9056
6ZY 1o73-0AAOO
Fan Type 3314124 V DC EOltoEO.5 65Y9057
Wiring material (assembly) - 65C6101-05AOO
Wiring accessories Control for 1 axis 65C61 01-05A 12
Ribbon cable (only for 6RB2101-2A to 6RB2101-4A) -

50pole to 3 x 16pole 65C6101-0LAOO
50pole to 1 x 34pole and 1 x 16pole 65C61 0 1-0LAO 1
50pole to 1 x 16pole and 1 x 34pole 6SC6101-0LA04
50pole to 50pole 6SC6101-0LA05
Table 4.2 Spare parts
SiemensAG GWE462112.960076Jg-l01 39
4.4 Connectors
VerSIOn
Order No. Connectors
.
Location
Cont.
in:
4620000109.01
6SC6101-0XCOl
DDDDDDDDDDDDD GO
X 121
65C61
6R821
72 73.2 73.1 74 19 64 9 9 63
Nl/N2
4620000109.02
65C6101-0XC02
DDDD X411
X421
65C61
6R821
16 58 8 24 X431
4620000109.03
65C610 1-0XC03
DDDDDDDDDDDD A.
X 231
65C61
2L3 2L2 2L1 lL3 1L2 1L1
4620000109.04 3L3 3L2 3L1 A. 65C61

65C6101-0XC04
00000 X 232
Nl/ N2
462000.0109.05
65C6101-0XC05
DDDDDD X 111
X 121
65C61
6 96 65 9 14 56 X 131
462000010906
65C6101-0XC06
DDDDDDDDOD GO
X 111
65C61
6R821
5 12 11 R 15 15 10 44 45 7
Nl/N2
4620000109.07
65C6101-0XC07
ODDDDDODDO X 111
X 121
6RB21
13 553 55.2 551 6 96 65 9 14 56 X 131
462000.0109.08
65C6101-0XC08
DDDDDDODDDDD A.
X 231
6RB21
3L2 3Ll 2L2 2L 1 1L2 1L1
462000.0109.09
6SC6101-0XC78
ODD A.
X 231
6RB21
1L2 11l
4620000109.10
6SC6101-0XClO
DDDDDDD A.
X 231
6RB21
2L2 2Ll 1L2 11l
462000.0109.11
6SC6101-0XCll ID
Ul
ODD
Vl Wl
QEl---9 W91 AO.3
X 126
65C61
6RB21
4620000109.12 AO.2 65C61

65C6101-0XC12 1000000j
6 5 4 3 2 1
X 501 6RB21
40 Siemens AG GWE 462 112.9600.76 J9- 101

5 Block diagram
o o
I I
JI
I
I
,!.
§
....'
..,
N
~
W
,..,
I.:J -
~
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z
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0
::;
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N ~
eo ~
a: i;
IPUO!SlZ1 A eo
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l l Y'OZHSlIU!I fE'Ulalul~I\ OW~JJ ~

Aldd n s je u fus jeUJOtl xOiI I Qj
{ f
1\ 17l ,),)1. 1C' 1U" ' od 10
1 UO IU "UUO) • 0"
-
(pi AE' lap)
6U!]qeui iM!JO ~
6 U IJ O II UOLU'll 1
(p aAl'lap un)
UOI1~ l IUJII
6u! IQeui iSlnd lu.um) ,eU J<lllf3
l u'OO h U
,
(P<l.(l:"l i P) ) ~JI ) ~d s·s ! xt' l U ;)iJ; n) I E'UJ 'n q I, 0~
6u!lqeu~ jOHlIO ) paads ~
__
-,. .- ....._ -........- ,-_...-..-.--._--....,
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_ 0" " _ _ ... _ _....... _ .. _
_ . e -_ ~ ":":"'--:.":..: :::.."=-:=::'' '2
- ,...
..._ 10.,
Siemens AG GWE 4621 12.9600 .76 J9-1 0 1 41

SIMO DRIVE Inst r ucti o ns
.",.
v etces not give n in bra ckets a pply to .u el I la]
en
IV
JIP E
SO' ' ' Hz A( =3 I ,
~;
II
Valu e s giv en in b -eckeu appl y 10 .. "t\ 4 to 6
1st (4 th ) axis 2nd (5th) a xis 3rd (6th) axis

11 For hJ" fl9
conne ch on se e
In stru ( t .o,,\
"fl U "1:: -t
...
ID
II
·- -- ·r· ·· PE
I
GWE 462 1119600 00 J
3
I I
I <1> i M ol, im um pl!'rmlss, ble
:s
-
i J load1nq of J( 22
Q)
i A(2 \O V I S A
I1 !
I i :
K1 [Z}- i
DC JOV I S A
t '\
Ij J i 0
I I t
(7)
i An y p hau' Se'qu f n( f'
:s
I1 • I J i TJ ( hO vo ll .l 9f
to I t" m in als
::::J
.:
ID
! 1
, 1I 20/60 A
·Kt 55.1'
U ,z4 V
t'\
~.
lO/9 0A
!1 1 -· X111
7P24
401110 A Kt. 55 2 '
U • (0 V
0
:s
45
"
PIS
NI5
50160 Hz
A( 16S V
JI PE 5115 A
_ 10 13 0 A
KI. 553
U .60 V _.
a.
Q)
<3 >
I"f
Cljlli
10
IS
IS
R
N24
H
H
RESET
601180 A
90 127 0 A 1 [Wh en an isolatIng
tr;:tnsfor mf ' is used :
.- c
...
\C
DJ
11 M200 !!!1!1!be
3
fl11[,'s]
co nnected to PE.
11 vacant
. IS01l0 0A
S il t sign..1
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r.
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o
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- .4-
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BI'ilsn@r
U' Ip' I [ rt " E". d

Siemena AG
.....""1---..
Conne cti on d iagra m 6R B21
Stromleufplen /C~~
, e
I - -I !
3GE 462 112.9600
I
.0 0 Kl
...
d
J
,". 1
, Z-81 I
'" \
!
; J !
1 ,
~
) )
) ) ) ) ) )
Vl
- Vl
t
~.
N
5: 3 <>
o It>
o :J Connection of uniU in conjunction w ith DC link volt.lge Iimiter ] Any phase sequ ence
;xl '"
- »
~ Mo"mum
6SC6 100·0ABOO(option G20) and inru \ h current limi ting cir c ui t
~ Cl S load '1 A
f ~i I DC link voltage Iimit er

A( 2SOV SA I
,i , OC JOV/SA
...:J
'"
Cl
;: I I
r ~ 'twisted po;r
C m~ i I I I L 6
::l !!! I +-
~
l:>
- .
o
~
0'
N l ~ ;
, f 1 T I I
\ Master ~wi tch
i-
-1----
~
N
iD
0'
; • t
r i,
!! 1 n:-
Rl? xtern
I
I •- AO 2 Ir
XS01 - 1 DClink vcl taq e limiter
tf- .18
I
E I ...
0 I ! I 0.9 /90k W
0 Ull " ' kW
'" i!i I L<S >

- -
J
--- --
6 S ( 6 100- 0A8 0 0 s-,
0'
; ! I
<9 ~ ~ I r-
0
v Kl [l}---\:" _ l,- _-l
I L
.... .-
I I
I -
L
I-
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t KZ CZJ--j__-\__ r l - I J <6> I Kl cb
-f
t! !l 1111 l
I -l e
IL i ISO,"
I
H 1
t
Ill!!
f: t~ I
L
-
-rn
Inrush current limiti ng circui t ;... .1-
,-..
,l! i! I
!'fr
"1,. I
H' .l~.. i1 I
L r
--
ib i~
Jri !~
u
3/ PE
V '"
~
L::..-
I +.AO. 2
L
I Maste r switch
--
I 10
< J, SO/ 60Hz
A( 16SV ,
I R extern
["GI n
I Kl ,l
;...
-
'-
' . GO
• X12' 6J
I
I -
~f I I K3 rh T im~ t~lay -- T-
r. I
\: -- - - - - l....l,--J with I SPlcK-upd(('l ay
--
, ",
q;
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h
K1 j I
I
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}
it ; I -
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-
L~ I K2 cb
l
n:
~ ,
I
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r •
~ ;
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I 100
:i: I
I 0( tro '11 ..3 ; •
b ! C1 1)? 6 ) ~ ~ ~ !?~ Ru I.0 .. _ 10 4
~ e :8i~e!>n('r
e6
c. .,
I SL~~,!n..:'_~G J conneet,on diaq re rn 6RB2 1 I I:
-l'>o
w
o
.• • • ,
slIn
I ... , .. " ...,
.0, 0188 c~
0....... . . .-.1.......
. . _
"'1
I •.
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- ~' -" ..: ""~--- -
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• , 6 1 •
~
~ NO
-....J
[ '
"
XI DUD Fo r del c'llf ,
n
, C l. )
see , h Pt l 2
( o" ",e cl ln g mod ul e ._

...
n
• J
i ~
1
!· 1I 1,
,.
C
IJ j 1
sv~
"'~'
Un i ve rsal dutnbuuon
Control modul I!
_.
C.
QJ
~ 1 1
! 1
!i
t
I
RO ,2
Po wer su p p l y
...
~
QJ
I , • t
__ r- '
B and m onl lo ri n g
EO ,2
i'l EO,3 rnodute
3
il
I ~A~
- - -- - - - _. .~
iLl
Vol t age Il m l l in g
rnocut e G 10
o JIlO' W
<1>
L-'l[
501 d>
vcttaq e lim it in9
m o c ute G 20
r-'-- '~ 09190 'W
CII'
ti"
'If'i
dfU
I I'.
,8,
M.2 I
'-7-L N1 "'J [ '
·L <I' J N2
10 ~ Ret"""
G l0andG2 0mu st
not be con nected
inp,), .II.1
-lc
- ~,'
0 11 1
I 11 ( O"" f ct O' SO pote
~. ~;
l& P/OO I f
11)
If!if
dt l1
.
_ ' -I. . ~l -1:~ 'lOI.
~
tl!ll .
01 Hl.l
D"ving
<I> o
I
( 1)
Power m o dul es . Pow er modu les

Vl
o rH lJAt' 16 mm
ro ) dU' S rn a J.lm u m 3 dU?\ maximum .
~
3 ~ " t:
Il>
pt I d " 1,1 "
'"
'"
P/ OO P/OO • .. 01 5 "
~
Cl
11 !: I RO.l CO.l CO . 3
FI- 80 0.089 AWG Z8
Cl
'I';
Vl ~
m
~ .s:>
Ltl M/OO MIOO
it;! , ft · BOO.089AWG 18
0 Nen v
0 llll
• 11 k
m po te
Bu ~ bar
~
Ill' j; - Llnk--- - - - -
_ _.J
\~
<: N
I,!!
<10' 100
m \D 1
en
0
1 .6! --_._----
0
'"
'"
"
r+
en
0( 100 > 16 5, ~ \
C
:4.0-
( . ---+- ~ ! U L
b _~ ill _ _
c O) 09 88 Gd
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T
'U
Of1_ ' _L t~~
a..", Bltesner Siemens AG Circu it d iag ra m 6RB2 1
-"-"1_.---..
o .:.. d -!-li ~ ) ~ · ) 1_ 1 ? e ~ Rv ~. _~ e.---.,_ ,. ...-,.
'~ d
? , - . . .
- - - - 0.1
-.- '-( ! .
~ 0 I", " rod I ~ "' ...... I ~_
'" , 46 1 ~ ,,} }o &l 00 SP St1omla vtplt n f C irc:ult d leQnI"l ~
1
I )
J j
.
t
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\
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j
) ) ) ) )
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'" 11)
3
~~I
0 11) Connection of GS 1.5/15 A (A1SI Connection of GS 2.5115A (A2S1 Connection of GS 3. 511SA (A35)
0 ::J 1.10130 A (A 191 GS 2.1OIJOA (A291 GS MOIJOA(A391
:xl
<: '"~
"l
?OI60A (A201 A
30/90A (AJOI
I .III,
m Cl
1l
A
D'iVing~l
"0/1l0A (MOl
....
Sl Cl
....
: " Dri ving Ddving
) I
/.,6 pole
c :i:m I I I I
~ ~
(5 O'l
::J
'"
""
~
"" An An An
iD I
O'l
I
~". L~J
0
0
....
J
O'l P?OO M100 I An = insertion place n
M200. r for power modules
<9
0 L. _c
_k _k -k
i I ai
! ~i; c
cl tit! P200 M200 P100 M200 P200 M200
11 I .Connector 50 pole
;itH
lhH Connection of GS 60 1180 A (MOl
12 ~Connector 34 pole
~ Cormectcr
Bm GS 90 1270 A (A901 Power module variants 13 16 pole
U<,H
.~
illu ,. 16 pole
~
Driving
t1! \i D
Dd~tH X7l1 < 13>
(NI. G~mm
t. NI. GAF "mm

An An.' I-
~FI800.019 AWG 21
~
P200 M200 P200 11200 ,'-
~ Busbar
~" V.v .~
'00
, P20D M200
< 100:> ,< :);,
19096
73079
"71611
}11289 Rv.
:61 &7·,lh
.2' 986" t
Siemens AG Circuit diagram 6RB21
Connection of power modules
3CiE.t.62
r ilic
~ "1"".. (_,I {,.d Slfcml~ulplan'CirCV'1 d'.9'ilrn
VI ,'.. '.. •......l
~
0'1
A
,- I
( on tl oUer mo dules
1' (11l 1
ir - An - X211
- - - - - - -- -
>-- -, ;
- - - - Pow er modules
-An - X211
~
I
- An - X211
I
.,--
.,
"'.
<>
15 1 d llS pe r
po w er module
'6 ~ 1 .'.'P"
A
"~lL1
I M1S
3 'i==
f-
2
lS 11
po we r modul.
J ~He\ per
• lL 1 -
.. "
S
6
L - powe r mc d c te
.. ~ [ - 6
7 L - 7
. 1L2- ~l ( 15) ( 15,
o 8 8
~ ~
0- 9
10
9
10
~ .f.ri 11 11 A " '" l n~ e tl l o n QI,) ( en Ja
.; creen
---;JOV 12 12 for pow e r module s
I' 30 \,' 13 13
L JTJOv" r -- -
14
' IS
14
lS
r
,nov 16 16
acant
I er I II 17 (1 6 > • An -X211 17
18 -!' L - 18
19 &. 19
;\1S 20 ...
COO l- 20
21 l-- 11
rl : l
"1TI -
; . Zl1- n _ - 11
Hl~ , I U" 2l2+ 23 23
cl tjfi 11' I 1.r 1l2 -
24
2S
_ 24
( 17> -. C
~
IS
~I <15> 26 26
ln' )i H:r ~
a
27 27
H n~ is I r:~een 28 28 ~
-d ! i!~ 29 -29 g . 1-
JO ~
~~!
P~ i f 31
:H
l" !f
<• L - 11
.~
- 33
~ ! ~p ' An - X211 c 16> 34
fI j i! r--- I L 35
DI .:) \ ~ ~ 2 36 o
J' NI 3 n f-
Vl
JS COO 4 38
39 ir JL1+
iD' S
3
,n tr 3L1- 6 6
39
40 t
.1., I lrJl2-
lr
JL2-
. >--- I 9~ '!I(lS>
~
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::J ; i ;' 8 c 15 > 41
'" i; !~ 9 '0 ~ 43
l> d ·
10 a 10 - 44
Cl ; ~~ , P1S -o
11 11 _ "5
H ~~
S'(';;en
12 11 46
Cl
~ srn 'w
9
nJ 'JOV
ru e V
1]
14
13
14 -
47
48
f
ilif ~-- I~~
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s: ';. 11 " Uli30V 16
'--J
49
50 r-
oo IV
~
<
m
'"
IV
iD
o'"
JI
; ; . ':
~~ l--
1001
~ ~
........ < 100 > I" , 1'.
,.,2 '"
~
.... <0
o' 0.:.
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I "
/ " ";
-------l
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, j ) .i :1 1
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.. ..i " :;) I b l ' \I
lJ1..l2J~
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v> v>
~ 3
0
jii '
" fn X1 l1.!..EJ xz . i
0 It>
:> I ~ ITrt"r.:] x, n;:tT;:] X5 VD ~ 31E =
;0
<: '"»
m Cl
A !,
l :
r--r-1I~r14-d J-Ii -l+, -, -....,""
6-r-
T I
~ ~_
et sv X6
• _
-W
<D h V _1
I
0C1";o,
4 run;. o,s.' d,s' nb'l<On
1-""
-
-
A
5" •1
1
; I' XS1 I
X53 I
- -I
'
Eo 1 EOl .. [ OJ \ W 5 t:£ on lrOI mcd ute =
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I
I XI1 , 2> 6 :
c
~
m
l:> - ! !r j W [' - ~
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I
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-
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~ 10~ulsod;slnb'hon _
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i" Jllf
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54 11 __ -.11 IL-.J r-'-
IV
\0 B ! I r Xl' I h "0 > -b ' - -
'" : li I t-- L
0
0 1 L-jXJI ' I
r Nl
1.-1' 11' Ul 20::I0 other powe r SOChO"!:
r- -
~
'" !!
j
A0.2 t-- '"
XZ11 ,/ I
p' . A AA A A I. ~ =
<9
0 M100
<I>
P IOO
d )O r- -
' 1----.-
-
- ---- 9
-
I r-
f-
~:lOt 'lfIed at =
_
-
Jp . l . ~R 8 21 0 1 .. 11·2 _
c m~l ---- a f, I ~=1I99 =c

llili!l i~§
COl P100 /k
C0 2 COJ
~~ W R01 ~~ := =
Il 1
·,-1 ' -1-----"'1- ·
MIOO
'-:: »->: - c
- -
I ~
1---
~
-- -
11
1 "1
il.:
i 1' a ~
.-- .------------ rHl OO PIOO Lf- a
~l-- ---------- 1'1 100 PIOO Lt- • l- -
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8 Wiring of different power module variants
50 pole (3 axes)
34pole (2 axes)
16pole (1 ax.s)
X321
X221
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M200
P200
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1x20/60A 1,2,3 lC 51 15A
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-
SiemensAG GWE462112.9600.76J9-101
49
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Sieme ns AG GWE 462 112 9600.7 6 J9- 10 1
SIMO DRIVE Inst r uct ions
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Siemens AG GWE 462112 .9600 .76 J9-101 51
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Setting data
Serial No.:
No function
I
I Speed-dependent
Servo motor Current limit current limit
Power
module Moin 10 in nrated
Contact~
swrtc es
pf,52,53
DIL- Conhacts?f DIL-
sw.tc es 5 ,52,53 Ter-
'max
Axis lHU in mrnal
Nm A rnirr 1 2 3 4 5 inA
6 7 8 9 Xll
Setting of potiometers:
Tacho Kp(n) TN(n) Tacho Kp(n) TN(n) Tacho Kp(n) TN(n)
- Axis 1
Axis4
Axis 2
Axis 5
Axis 3
Axis6
Tacho-generator
R181 R433 R704 V79 V80 R270 X21 X29
Axis 1
Axis4
R241 R436 R705 V92 V93 R276 X24 X30
Axis2
Axis 5
R248 R441 R706 V112 Vl13 R410 X27 X31
Axis 3
Axis 6
R428
Axes 1 - 3
- Axes 4 - 6
Siemens AG GWE 462112.9600.76 Jg-l0l 53

Speed contoller adaption
R15 R94 R46 R97 Rn R100
Axis 1 Axis 2 Axis 3
Axis4 Axis 5 Axis6
Electrical weight compensation
R3 R5 R32 R36 R63 R67
Axis 1 Ax is 2 Ax is 3
Axis4 Axis 5 Axis 6
Speed setpoint channel
C301 R450 C302 R461 C303 R471
Ax is 1 Axis 2 Axis 3
Axis4 Axis 5 Axis 6
Monitoring circuit "Speed controller at stop", current controller gain
R605 R95 R646 R98 R656 R101
Axis 1 Axis 2 Axis 3

......,.
Axis4 Axis 5 Ax is6
Machine-dependent values
Axis 1 Axis 2 Axis 3 Axis4 Axis 5 Ax is6

(X) (Y) (2) (U) (V) (W)
Setpoint at V max .
Tacho voltage at V m ax .
Motor speed at V m ax .
Miscellaneous:
Date: Commissioning engineer :
54 SiemensAG GWE462112 .9600 .76Jg-101

Notes on electrostatic charges
Electrostatically sensitive devices (ESD)

Generally, PCBs shou ld not be touched unless work has to be carried out on them.
Before touch ing a PCB, the pe rson carr yi ng out the work must himself be ele ctros tatically d ischarged . The simplest
way of do ing this is to touch an electr ically conduct ing earthed object (e.g. a ba re me tal part of a switchboa rd or t he
protective earth contact of a socket outlet) .
PCBs must not be allowed to come In contact with electrically insulating materials such as plastic foil, Insulating
table tops or clothing made of synt hetic fibres .
PCBs may only be set down or stored on electrica lly co nducting surfaces .
When carrying out solde ring j obs o n PCBs, ma ke sure t hat the soldering tip has been ea rthed
PCBs and electron ic components should gene ral ly be packed in electrically conducting containers (such as
-
metall ized-plastic boxes or meta l cans) before be ing stored o r shipped .
If the use of non-conducting pac king cont aine rs cannot be avo ided , PCBs must be wrapped In a conduct ing ma te ria l
before be ing put in them . Examp les o f such mate rials include electrically conduct ing foam rubber or household
aluminium foil.
For easy reference , the protective measures necessary when dea ling w ith sensitive electronic components are
ill ust rat ed in the sketches be low
a = Condu ctive floor ing d = Anti-static overall

b = Anti-static table e = Anti -static chain
c = Anti-static footwear f = Earthing connect ions of cabinets
f f f f f
+ -L
a + + a
-L
Seated work station Standing work station Standing I seated work station
.-
Siemens AG GWE 462112 .9600.76 J9-101 55
.., V)...
Addresses
Messrs. Euchner
Kohlhammerstr.16
D-7022 Leinfelden-Echterd ingen 1
Du Pontde Nemours GmbH

Max-Planck-Str. 11
D-6057 Dietzenbach
Messrs. Kabelmetall Electro

Postfach 25 51
D-8500 NOrnberg 1
Standards and specifications

DIN 40050 IP Degrees of protection
DIN 46234 Cable lugs
DIN VDE 0100 Specifications for the installation of power-current systems with operating
voltages of up to 1000 V
DIN VDE 0106 Protection against electric shock
DIN VDE 0113 Electrical equ ipment for industrial mach ines
DIN VDE 0558 VDE specifications for semiconductor converters
Ava ilable from: DIN standards DIN VDE specifications
Beuth-Verlag GmbH VDE-Auslieferungsstelle
Postfach 1145 MerianstraBe 29
D-1000 Berl i n 30 D~6050 Offenbach
"'IIIIII~!l~I!' ,
56 Siemen sAG GWE462112 .9600 .76Jg.l01 .

SIMODR IVE Instruct ion s
To Suggestions
Siemens AG Corrections
concerning booklet:
AUT E234
SIMODRIVE 210
Postfach 4848 Transistor PWM Inverter for Three-Phase
W-8500 Nurnberq 1 Feed Drives with Analog Control
Manufacturer -Documentation
Instruction Manual
Sender
Order-No.: 6RB2101-0AA76
Name (GWE 462 112.9600.76 Jg-101)
Edition: 10.90
Firm/Department
Address: If you have discovered any printing errors
when reading this document, please send us
details using this printed form . We would
Telephone : / also be very grateful for any ideas and
suggestions for improvement.
Suggestions and/or corrections
--
Published by Siemens AG
Automation Group
Automation Systems for
Machine Tools, Robots, and
Special-Purpose Machines
Postfach 48 48, W-8500 Nurnberq 1 © Siemens AG 1987 All Rights Reserved ",,:..2;;i:":~',~Sj
Federal Republic of Germany Subject to chan ge without prior notice n progress .
_ _ _ _ _ _ __ _ _ _ _ _ __ _ _ __ __ _ _ _ _ __ _ _ _ _ __ _ _ _ - meutomstion:
Siemens Aktiengesellschaft Ord er No.: 6RB2 10 1-0AA76 ~ens

Printed in the Fed. Rep. of Germany
11910.3 GWE 462 112.9600 .76 J g-1 01
- - - - - - - -- - - - - - - -

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--- - --- --- -- --

Edition Order-No. Remarks

Other fun c ti o ns no t de sc ribed In th is oocu m en t unon iTHgh t be

This pubtic anon w as p rod uc ed on rhe Siemens 5800 Ot tlc a

The r ep roduc tm n . u a ns m. ss mo or use c l ~ h l<:; d oc ume nt or -ts

© Siemens AG 1987 A ll Rights Reservec

Edit ion Order No. Changes

01870.5 GWE 462 112.9600.00 Ja-1 0 1 First edition

Pertinent wiring manual 6RB21 01-0BAOO

This Instruction Manual is also available in the following other languages :

~ The modules of the unit include electrostatically sensitive devices. Before

2 Siemens AG GWE 462 112 .9600 .76 J9-10 1

1 Description of the unit 6

1.1 Appl ication 6

1.2 Mode of operation 6

1.3 Techni cal da ta 7

2.1 Installat io n of units 10

2.2 Connecti ng i nstructi o ns 10

2.3 Inrush current lim itation 11

2.4 Screen connect ion and strain relief of cables 12

2.5 Term in als 13

3.1 Matchi ng t he control system 14

Sieme ns A G GW E 462 112.9 600 .76 Jg-10 1 3

3.1.11 Monitoring circuit "Speed controller at stop" 30

3.3 Test sockets, display elements 34

4.1 Maintenance i nst ruct ions 37

4.3 Spare parts 39

6 Term inal connection diagram 42

8 Wiring of different power module variants 49

9 Dimens ion drawing 50

4 Sle m e nsAG GWE462 112.9600 .76Jg-l01

Hazardous voltages are present in this electrical equipment during

SiemensAG GWE462112 .9600.76Jg-101 5

1.2 Mode of operation

Transistor DC choppers control the speed of the drive by means of a pulse-width-modulated

Speed Current Pulse-width Chopper

Actual seed value

Fig. 7.7 Block diagram of the verieble -speed DC feed drive

6 SiemensAG GWE462112.9600 .76Jg-101

1.3.1 Ordering data overview

1.3.1.2 Power modules

Number Curre nt Order No .

A1S.E 15. H15.F 15 1 1 ax is on one mo du le 6RB2105-05D80

A19, E19.H19.F 19 1 1 axis on one modul e 6R82 110-0FD80

A20.E20.H20.F20 1 20/60 A 1 mod ule per axis 6R82120-0FD80

A30, DO . H30, F30 1 30/90 A 1 module per ax is 6R82130-0FD80

A40, E40. H40, F40 1 40/120A 1 module per axis 6R82140-0FD80

Tabfe 7.7 Powermodufes

5iemensAG GWE462112 .9600 .76 Jg-101 7

Deslg nation Notes Expansion set

G10") Link -circuit voltage limitation 0.3/30 kW 6SC6100·0AAB1

G20") Link-c ircu it voltage limitation 09190 kW 6SC6100-0ABBO

.) G10 and G20 must not be connected In parallel

Table 7.2 Options -

1.3.2 Rated data

Rated supply voltage 3 AC 50/60 Hz 165 V or 220 V DC *} + 10 %, - 15 %

P Q Power supplied to a load under typical feed drive conditions

with pre-Ioad without pre-Ioad

8 SiemensAG GWE462112 .9600 .76Jg·101