Compendium Edition: AH

simovert
masterdrives
Motion Control
01.2002 Definitions and Warnings

Definitions and Warnings

Qualified personnel For the purpose of this documentation and the product warning labels,
a "Qualified person" is someone who is familiar with the installation,
mounting, start-up, operation and maintenance of the product. He or
she must have the following qualifications:
♦ Trained or authorized to energize, de-energize, ground and tag
circuits and equipment in accordance with established safety
procedures.
♦ Trained or authorized in the proper care and use of protective
equipment in accordance with established safety procedures.
♦ Trained in rendering first aid.

DANGER indicates an imminently hazardous situation which, if not avoided, will

result in death, serious injury and considerable damage to property.

WARNING indicates a potentially hazardous situation which, if not avoided, could

result in death, serious injury and considerable damage to property.

CAUTION used with the safety alert symbol indicates a potentially hazardous
situation which, if not avoided, may result in minor or moderate injury.

CAUTION used without safety alert symbol indicates a potentially hazardous

situation which, if not avoided, may result in property damage.

NOTICE NOTICE used without the safety alert symbol indicates a potential
situation which, if not avoided, may result in an undesireable result or
state.

NOTE For the purpose of this documentation, "Note" indicates important

information about the product or about the respective part of the
documentation which is essential to highlight.

Siemens AG 6SE7087-6QX50 (Version AF)

SIMOVERT MASTERDRIVES Compendium Motion Control 1
Definitions and Warnings 01.2002

WARNING Hazardous voltages are present in this electrical equipment during

operation.
Non-observance of the warnings can thus result in severe personal
injury or property damage.
Only qualified personnel should work on or around the equipment
This personnel must be thoroughly familiar with all warning and
maintenance procedures contained in this documentation.
The successful and safe operation of this equipment is dependent on
correct transport, proper storage and installation as well as careful
operation and maintenance.

NOTE This documentation does not purport to cover all details on all types of
the product, nor to provide for every possible contingency to be met in
connection with installation, operation or maintenance.
Should further information be desired or should particular problems
arise which are not covered sufficiently for the purchaser's purposes,
the matter should be referred to the local SIEMENS sales office.
The contents of this documentation shall not become part of or modify
any prior or existing agreement, commitment or relationship. The sales
contract contains the entire obligation of SIEMENS AG. The warranty
contained in the contract between the parties is the sole warranty of
SIEMENS AG. Any statements contained herein do not create new
warranties or modify the existing warranty.

6SE7087-6QX50 (Version AF) Siemens AG

2 Compendium Motion Control SIMOVERT MASTERDRIVES
 System Description

Configuration and Connection

Examples

Instructions for Design of Drives

SIMOVERT MASTERDRIVES in Conformance with
EMC Regulations

MOTION CONTROL Function Blocks and Parameters

Compendium Parameterization

in Volume 1 Parameterizing Steps

Functions

Communication

Technology Option F01

Process Data

Engineering Information

Function Diagrams

Parameter Lists

in Volume 2
Faults and Alarms

Version AH
Lists of Stored Motors
6SE7087-6QX50 Dimension Drawings
Contents 01.2002

Contents

1 SYSTEM DESCRIPTION..................................................................................1-1

1.1 Overview ...........................................................................................................1-1

1.2 System Description ...........................................................................................1-2

1.3 Construction Sizes ............................................................................................1-3

1.4 Communication .................................................................................................1-4

2 CONFIGURATION AND CONNECTION EXAMPLES .....................................2-1

2.1 Compact PLUS type units .................................................................................2-1

2.1.1 Single-axis drive ................................................................................................2-1
2.1.2 Multi-axis drive up to 3 axes..............................................................................2-1
2.1.3 Multi-axis drive ..................................................................................................2-2
2.1.4 Configuration and Connection Examples (Compact PLUS) .............................2-5

2.2 Compact and chassis-type units .......................................................................2-9

2.2.1 Water-cooled units ............................................................................................2-9
2.2.2 Single-axis drive with Compact or chassis-type units .......................................2-9
2.2.3 Multi-axis drive with Compact or chassis-type units..........................................2-9
2.2.4 Explanations relating to the configuration examples (Compact and
chassis-type units)...........................................................................................2-13

2.3 Points to look out for when using certain option boards and CUMC...............2-16
2.3.1 Encoder interface connections........................................................................2-16
2.3.2 TB boards........................................................................................................2-17
2.3.3 EB boards........................................................................................................2-18
2.3.4 CUMC..............................................................................................................2-18

3 INSTRUCTIONS FOR DESIGN OF DRIVES IN CONFORMANCE

WITH EMC REGULATIONS.............................................................................3-1

3.1 Foreword ...........................................................................................................3-1

3.2 Principles of EMC..............................................................................................3-2

3.2.1 What is EMC? ...................................................................................................3-2
3.2.2 Noise emission and noise immunity..................................................................3-2
3.2.3 Industrial and domestic applications .................................................................3-3
3.2.4 Non-grounded systems .....................................................................................3-3

3.3 The frequency converter and its electromagnetic compatibility ........................3-4

3.3.1 The frequency converter as a noise source ......................................................3-4
3.3.2 The frequency converter as a noise receiver ....................................................3-7

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01.2002 Contents

3.4 EMC planning....................................................................................................3-8

3.4.1 The zone concept............................................................................................3-10
3.4.2 Use of filters and coupling elements ...............................................................3-12

3.5 Design of drives in conformance with EMC regulations..................................3-13

3.5.1 Basic EMC rules..............................................................................................3-13
3.5.2 Examples ........................................................................................................3-19

3.6 Assignment of SIMOVERT MASTERDRIVES, radio interference

suppression filters and line reactors................................................................3-26

3.7 Specified standards.........................................................................................3-26

4 FUNCTION BLOCKS AND PARAMETERS.....................................................4-1

4.1 Function blocks .................................................................................................4-1

4.2 Connectors and binectors .................................................................................4-2

4.3 Parameters........................................................................................................4-4

4.4 Connecting up function blocks (BICO system) .................................................4-8

5 PARAMETERIZATION .....................................................................................5-1

5.1 Parameter menus..............................................................................................5-1

5.2 Changeability of parameters .............................................................................5-5

5.3 Parameter input via the PMU ............................................................................5-6

5.4 Parameter input via the OP1S ........................................................................5-11

5.4.1 General............................................................................................................5-11
5.4.2 Connecting, run-up..........................................................................................5-13
5.4.2.1 Connecting ......................................................................................................5-13
5.4.2.2 Run-up.............................................................................................................5-14
5.4.3 Operator control ..............................................................................................5-16
5.4.3.1 Operator control elements...............................................................................5-16
5.4.3.2 Operating display ............................................................................................5-17
5.4.3.3 Basic menu .....................................................................................................5-18
5.4.3.4 Slave ID...........................................................................................................5-19
5.4.3.5 OP: Upread .....................................................................................................5-20
5.4.3.6 OP: Download .................................................................................................5-21
5.4.3.7 Delete data ......................................................................................................5-22
5.4.3.8 Menu selection ................................................................................................5-23
5.4.3.9 Issuing commands via the OP1S ....................................................................5-29
5.4.4 Bus operation ..................................................................................................5-30
5.4.4.1 Configuring slaves...........................................................................................5-30
5.4.4.2 Changing slaves..............................................................................................5-31
5.4.5 Technical data.................................................................................................5-31

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Contents 01.2002

5.5 Parameter input with SIMOVIS / DriveMonitor ................................................5-32

5.5.1 Installation and connection..............................................................................5-32
5.5.1.1 Installation .......................................................................................................5-32
5.5.1.2 Connection ......................................................................................................5-32
5.5.2 Bus configuration (SIMOVIS) ..........................................................................5-33
5.5.2.1 Creating a project............................................................................................5-33
5.5.2.2 Setting the interface ........................................................................................5-34
5.5.2.3 Selecting a device ...........................................................................................5-35
5.5.2.4 Testing the connection ....................................................................................5-37
5.5.3 Drive configuration DriveMonitor .....................................................................5-38
5.5.3.1 Setting the interface ........................................................................................5-38
5.5.3.2 Drive settings...................................................................................................5-39
5.5.4 Parameterization .............................................................................................5-42
5.5.4.1 Calling up the drive window (SIMOVIS) ..........................................................5-42
5.5.4.2 Drive window ...................................................................................................5-42
5.5.4.3 Operating modes.............................................................................................5-44
5.5.4.4 Parameterization options (Menu Parameter) ..................................................5-45
5.5.4.5 Structure of the parameter lists, parameterization with SIMOVIS / DriveMonitor ..5-48
5.5.5 Operation with USS.........................................................................................5-49
5.5.5.1 Requirements..................................................................................................5-49
5.5.5.2 Operating functions .........................................................................................5-51
5.5.6 Service functions .............................................................................................5-53
5.5.6.1 Upread (Upload) / download ...........................................................................5-53
5.5.6.2 Script files........................................................................................................5-54
5.5.6.3 Trace ...............................................................................................................5-60
5.5.6.4 Diagnostic menu .............................................................................................5-66
5.5.6.5 Menu prompted start-up..................................................................................5-66
5.5.6.6 Learning a database........................................................................................5-70

6 PARAMETERIZING STEPS .............................................................................6-1

6.1 Parameter reset to factory setting .....................................................................6-3

6.2 Detailed parameterization .................................................................................6-5

6.2.1 Power section definition ....................................................................................6-5
6.2.2 Board configuration ...........................................................................................6-8
6.2.3 Drive setting ....................................................................................................6-12
6.2.4 Motor identification ..........................................................................................6-19
6.2.5 Function adjustment........................................................................................6-19

6.3 Quick parameterization procedures ................................................................6-20

6.3.1 Parameterizing with user settings ...................................................................6-20
6.3.2 Parameterizing by loading parameter files (download P060 = 6)....................6-21
6.3.3 Parameterizing with parameter modules (quick parameterization, P060 = 3) ...6-24

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01.2002 Contents

7 FUNCTIONS .....................................................................................................7-1

7.1 Basic functions ..................................................................................................7-1

7.1.1 Time slots..........................................................................................................7-1
7.1.1.1 Time slots T0 to T20 .........................................................................................7-1
7.1.1.2 Processing sequence........................................................................................7-3
7.1.1.3 Assignment of function blocks to time slots ......................................................7-4
7.1.2 Processing sequence of the function blocks.....................................................7-6
7.1.2.1 Time monitoring ................................................................................................7-7
7.1.2.2 Influencing the time response ...........................................................................7-8

7.2 Technology functions ........................................................................................7-9

7.2.1 Comfort ramp-function generator......................................................................7-9
7.2.2 Technology controller ......................................................................................7-10
7.2.3 Basic positioning .............................................................................................7-11
7.2.3.1 Functions.........................................................................................................7-15
7.2.3.2 Normalization ..................................................................................................7-23
7.2.3.3 Operating modes.............................................................................................7-26
7.2.3.4 Preprocessing of position setpoint ..................................................................7-41
7.2.3.5 Application example ........................................................................................7-43
7.2.3.6 Change history ................................................................................................7-46

7.3 Converter functions .........................................................................................7-47

7.3.1 Friction characteristic function (function diagram 399) ...................................7-47
7.3.1.1 Friction characteristic ......................................................................................7-47
7.3.1.2 Friction characteristic recording (automatic procedure)..................................7-47
7.3.2 Torque constant adaptation for synchronous motors
(function diagram 393) ....................................................................................7-49
7.3.3 Tr adaptation function (function diagram 394) ................................................7-51
7.3.4 Position test function .......................................................................................7-52
7.3.5 Function "PRBS signal with recording" (function diagram 796) ......................7-55
7.3.6 Function "speed filter" (function diagram 361) ................................................7-57
7.3.7 "Speed controller characteristic" function (function diagram 360) ..................7-61

7.4 Special functions .............................................................................................7-62

7.4.1 Loading firmware.............................................................................................7-62

6SE7087-6QX50 (Version AF) Siemens AG

4 Compendium Motion Control SIMOVERT MASTERDRIVES
Contents 01.2002

8 COMMUNICATION...........................................................................................8-1

8.1 Universal Serial lnterface (USS) ....................................................................8.1-1

8.1.1 Protocol specification and bus structure ........................................................8.1-2
8.1.1.1 Protocol specification .....................................................................................8.1-2
8.1.1.2 Bus structure ..................................................................................................8.1-7
8.1.2 The structure of net data ..............................................................................8.1-10
8.1.2.1 General structure of the net-data block........................................................8.1-10
8.1.2.2 PKW area.....................................................................................................8.1-11
8.1.2.3 Process-data area (PZD) .............................................................................8.1-19
8.1.3 Interface overview ........................................................................................8.1-20
8.1.4 Connecting-up ..............................................................................................8.1-23
8.1.4.1 Bus cable connection ...................................................................................8.1-23
8.1.4.2 Fitting the bus cable .....................................................................................8.1-24
8.1.4.3 EMC measures ............................................................................................8.1-25
8.1.4.4 Bus termination, USS protocol .....................................................................8.1-28
8.1.5 Start-up.........................................................................................................8.1-31
8.1.5.1 Parameterization of the USS protocol (1st step)..........................................8.1-32
8.1.5.2 Parameterizing the parameterizing enable and process-data
interconnections (2nd step)..........................................................................8.1-36

8.2 PROFIBUS .....................................................................................................8.2-1

8.2.1 Product description of the CBP communications board.................................8.2-1
8.2.2 Description of the CBP's functions on the PROFIBUS-DP ............................8.2-3
8.2.2.1 Cyclical data transmission..............................................................................8.2-5
8.2.2.2 Acyclical data transfer ..................................................................................8.2-10
8.2.2.3 Acyclical master class 1, automation (PLC).................................................8.2-12
8.2.2.4 Acyclical master class 2 - Configuration (DriveES)......................................8.2-16
8.2.2.5 Acyclical master class 2 - Operator control (SIMATIC OP) .........................8.2-17
8.2.3 Mechanisms for processing parameters via the PROFIBUS .......................8.2-18
8.2.4 PROFIdrive V3: Acyclic parameter accessing with data block 47................8.2-25
8.2.4.1 Comparison between parameter tasks to PROFIdrive version 2 and 3.......8.2-27
8.2.4.2 Example of "Request parameter value", simple...........................................8.2-28
8.2.4.3 Example of "Change parameter value", simple............................................8.2-29
8.2.4.4 Example of "Request parameter value", more than one array element.......8.2-30
8.2.4.5 Example of "Change parameter value", more than one array element........8.2-31
8.2.4.6 Example of "Request parameter value", multi-parameter............................8.2-32
8.2.4.7 Example of "Change parameter value", multi-parameter.............................8.2-34
8.2.4.8 Request description, individual.....................................................................8.2-36
8.2.4.9 Request description, total.............................................................................8.2-37
8.2.4.10 Request text, individual ................................................................................8.2-38
8.2.5 Mounting methods / CBP slots.....................................................................8.2-39
8.2.5.1 CBP mounting slots in MC Compact PLUS units.........................................8.2-39
8.2.5.2 CBP slots in Compact units and chassis-type units with the CUs of
function classes Motion Control (CUMC) and Vector Control (CUVC) ........8.2-40
8.2.5.3 CBP slots in Compact and chassis-type units with the CUs of function
classes FC (CU1), VC (CU2) or SC (CU3) ..................................................8.2-42
8.2.6 Connecting up the CBP to the PROFIBUS ..................................................8.2-43
8.2.6.1 Assignment of plug-in connector X448 ........................................................8.2-43
8.2.6.2 Connecting up the bus cable by means of the RS485 bus connecting
system ..........................................................................................................8.2-43
8.2.6.3 Connecting the bus cable with the fiber-optic cable system ........................8.2-47
8.2.6.4 Shielding of the bus cable / EMC measures ................................................8.2-49

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01.2002 Contents

8.2.7 Starting up the CBP......................................................................................8.2-52

8.2.7.1 Basic parameterization.................................................................................8.2-52
8.2.7.2 Process data interconnection in the units ....................................................8.2-57
8.2.7.3 Process data interconnection via standard telegrams .................................8.2-64
8.2.7.4 Process data monitoring ..............................................................................8.2-66
8.2.8 Settings for the PROFIBUS-DP master (Class 1)........................................8.2-68
8.2.8.1 Operating the CBP with a SIMATIC S5........................................................8.2-70
8.2.8.2 Operating the CBP with a SIMATIC S7........................................................8.2-72
8.2.8.3 Operating the CBP with a non-Siemens system ..........................................8.2-74
8.2.8.4 Operating the CBP2 with extended functions with a SIMATIC S7 ...............8.2-75
8.2.8.5 CBP2 with cross traffic operated with a SIMATIC S7 ..................................8.2-76
8.2.8.6 CBP2 with clock synchronization operated with a SIMATIC S7...................8.2-78
8.2.8.7 CBP2 with clock synchronization on a PROFIBUS master in
accordance with PROFIdrive V3 ..................................................................8.2-81
8.2.9 MASTERDRIVES as PROFIdrive V3-Slave.................................................8.2-83
8.2.9.1 Incorporation of drives in automation systems / plant characterization........8.2-85
8.2.9.2 Communication model .................................................................................8.2-89
8.2.9.3 Drive control .................................................................................................8.2-90
8.2.9.4 Checkback messages (status words) ..........................................................8.2-91
8.2.9.5 Setpoints / Actual values ..............................................................................8.2-92
8.2.9.6 Dynamic Servo Control (DSC) .....................................................................8.2-93
8.2.9.7 Communication interface ...........................................................................8.2-101
8.2.9.8 Clock synchronous application...................................................................8.2-101
8.2.9.9 Encoder interface (from SW 1.6) ...............................................................8.2-102
8.2.10 Diagnosis and troubleshooting ...................................................................8.2-112
8.2.10.1 Evaluating the possibilities of hardware diagnosis .....................................8.2-112
8.2.10.2 Fault and alarm display on the basic unit ...................................................8.2-114
8.2.10.3 Evaluating CBP diagnostic parameters......................................................8.2-117
8.2.10.4 Meaning of information in the CBP diagnostic channel..............................8.2-120
8.2.10.5 Additional methods of diagnosis for start-up personnel .............................8.2-124
8.2.10.6 CBP2 diagnostic parameters .....................................................................8.2-130
8.2.10.7 Special CBP2 diagnosis for start-up personnel..........................................8.2-133
8.2.11 Appendix ....................................................................................................8.2-136

8.3 SIMOLINK ......................................................................................................8.3-1

8.3.1 General principles ..........................................................................................8.3-1
8.3.2 Peer-to-peer functionality ...............................................................................8.3-5
8.3.3 Application with peer-to-peer functionality......................................................8.3-6
8.3.4 Components of the peer-to-peer functionality ................................................8.3-8
8.3.5 Parameterization of the peer-to-peer functionality .......................................8.3-10
8.3.6 Diagnostics of the peer-to-peer functionality................................................8.3-14
8.3.7 Synchronization of the control circuits by means of the bus cycle
time (MC only) ..............................................................................................8.3-16
8.3.8 Synchronization diagnostics (MC only) ........................................................8.3-18
8.3.9 Switchover of the synchronization source (MC only) ...................................8.3-18
8.3.10 Special data and application flags................................................................8.3-20
8.3.11 Configuration (example of peer-to-peer functionality) ..................................8.3-21
8.3.12 Master/slave functionality .............................................................................8.3-25
8.3.13 Application with master/slave functionality ...................................................8.3-26

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Contents 01.2002

8.4 CBC Communications Board .........................................................................8.4-1

8.4.1 Product description ........................................................................................8.4-1
8.4.2 Mounting methods / CBC slots.......................................................................8.4-4
8.4.2.1 Mounting positions of the CBC in MC Compact PLUS units..........................8.4-4
8.4.2.2 Mounting positions of the CBC in Compact and chassis units of
function classes MC (CUMC) and VC (CUVC) ..............................................8.4-5
8.4.2.3 Mounting positions of the CBC in Compact type and chassis type units
with the CU of the function classes FC (CU1), VC (CU2) or SC (CU3) .........8.4-6
8.4.2.4 Mounting positions of the CBC in VC Compact PLUS units ..........................8.4-7
8.4.3 Connecting .....................................................................................................8.4-8
8.4.3.1 Connection of the bus cable...........................................................................8.4-9
8.4.3.2 EMC measures ............................................................................................8.4-10
8.4.3.3 Bus termination of the CAN bus (jumper S1.2)............................................8.4-13
8.4.3.4 Ground connection (jumper S1.1) ................................................................8.4-13
8.4.3.5 Interface X458 / X459 with jumper strip S1..................................................8.4-14
8.4.3.6 Recommended circuits ................................................................................8.4-15
8.4.4 Data transfer via the CAN bus .....................................................................8.4-16
8.4.4.1 General.........................................................................................................8.4-16
8.4.4.2 Parameter area (PKW) ................................................................................8.4-17
8.4.4.3 Process data area (PZD) .............................................................................8.4-24
8.4.5 Start-up of the CBC......................................................................................8.4-31
8.4.5.1 Basic parameterization of the units ..............................................................8.4-32
8.4.5.2 Process-data softwiring in the units .............................................................8.4-45
8.4.6 Diagnosis and troubleshooting .....................................................................8.4-52
8.4.6.1 Evaluation of hardware diagnostics..............................................................8.4-52
8.4.6.2 Fault displays and alarms on the basic unit .................................................8.4-54
8.4.6.3 Evaluation of the CBC diagnostic parameter ...............................................8.4-56
8.4.6.4 Meaning of CBC diagnosis...........................................................................8.4-57
8.4.7 Appendix ......................................................................................................8.4-60

8.5 CBC CANopen communication board............................................................8.5-1

8.5.1 Object directory ..............................................................................................8.5-5
8.5.2 Commissioning the CBC ..............................................................................8.5-16
8.5.2.1 General settings ...........................................................................................8.5-16
8.5.2.2 NMT state.....................................................................................................8.5-27
8.5.2.3 Relation between PDO/PZD and SDO/PKW ...............................................8.5-29
8.5.2.4 PDO mapping...............................................................................................8.5-34
8.5.3 Manufacturer-specific objects ......................................................................8.5-48
8.5.3.1 Parameter editing.........................................................................................8.5-48
8.5.3.2 Example: Change parameter value with object 4001h.................................8.5-52
8.5.3.3 Setting factory values (defaults) via CANopen.............................................8.5-53
8.5.3.4 Changing the baud rate and bus address (on MASTERDRIVES MC only)....8.5-54
8.5.4 Faults and alarms.........................................................................................8.5-55
8.5.4.1 Structure of object 1003h (pre-defined error field) .......................................8.5-55
8.5.4.2 Error codes...................................................................................................8.5-56
8.5.5 Life guarding / node guarding.......................................................................8.5-59
8.5.6 The state machine........................................................................................8.5-60
8.5.6.1 Control word .................................................................................................8.5-61
8.5.6.2 Status word ..................................................................................................8.5-62
8.5.6.3 Modes of operation ......................................................................................8.5-64
8.5.7 Description of individual modes ...................................................................8.5-65
8.5.7.1 Profile Position mode ...................................................................................8.5-65
8.5.7.2 Profile Velocity Mode....................................................................................8.5-68

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8.5.7.3 Synchronous mode ......................................................................................8.5-70

8.5.7.4 Homing mode...............................................................................................8.5-71
8.5.7.5 Profile Torque mode.....................................................................................8.5-97
8.5.7.6 Setup mode..................................................................................................8.5-97
8.5.7.7 Automatic Position mode .............................................................................8.5-98
8.5.7.8 Automatic Single Block mode ......................................................................8.5-98
8.5.8 Diagnostics and troubleshooting ..................................................................8.5-99
8.5.8.1 Error and alarm displays on basic unit .........................................................8.5-99
8.5.8.2 Evaluation of CBC diagnostic parameter ...................................................8.5-103
8.5.8.3 Meaning of CBC diagnostics ......................................................................8.5-104
8.5.9 CANopen EDS ...........................................................................................8.5-106
8.5.10 Parameterization ........................................................................................8.5-107
8.5.10.1 Parameterization for the CBC CANopen with MASTERDRIVES MC_F01
and MASTERDRIVES MC_B-Pos .............................................................8.5-107
8.5.11 Logical interconnections for control and status words ...............................8.5-108
8.5.12 General plans of interconnections in MASTERDRIVES MC......................8.5-116
8.5.13 Terms and abbreviations............................................................................8.5-133

9 TECHNOLOGY OPTION F01...........................................................................9-1

9.1 Enabling Technology Option F01 ......................................................................9-1

9.2 Overview of the Documentation ........................................................................9-1

9.3 Application Areas ..............................................................................................9-3

9.3.1 General Functions .............................................................................................9-3
9.3.2 Positioning.........................................................................................................9-5
9.3.3 Synchronization .................................................................................................9-7
9.3.4 Technology Functions Already Included in the Standard Software.................9-13
9.3.5 Seamless Integration in SIMATIC Automation Solutions ................................9-14

9.4 Brief Description of the Technology Functions................................................9-15

9.4.1 Overview of the Function Diagrams ................................................................9-15
9.4.2 Integrating the Technology into the Basic unit [801] .......................................9-16
9.4.3 General Information on Position Encoder Evaluation [230] ... [270] ...............9-16
9.4.4 Resolver Evaluation [230] ...............................................................................9-18
9.4.5 Optical Sin/Cos Encoder [240] ........................................................................9-19
9.4.6 Multiturn Encoder Evaluation [260, 270] .........................................................9-21
9.4.7 Pulse Encoder Evaluation [250, 255] ..............................................................9-30
9.4.8 Position Sensing System for Motor Encoder [330]..........................................9-33
9.4.9 Using absolute encoders for positioning of motors with load-side gearing
and rotary axis.................................................................................................9-46
9.4.10 Linear axis with absolute encoder when the traversing range is greater
than the display range of the encoder. ............................................................9-49
9.4.11 Position Sensing System for External Machine Encoder [335] .......................9-50
9.4.12 Position Control System [340] .........................................................................9-51
9.4.13 Technology Overview and Mode Manager [802].............................................9-54
9.4.14 Machine Data [804] .........................................................................................9-56
9.4.15 Parameter Download File POS_1_1 [806] ......................................................9-57
9.4.16 Positioning Control Signals [809] ....................................................................9-58
9.4.17 Positioning Status Signals [811]......................................................................9-58
9.4.18 Digital I/Os for Positioning [813] ......................................................................9-59

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9.4.19 Evaluation and Control of the Position Sensing System,

Simulation Mode [815].....................................................................................9-59
9.4.20 Setpoint Output and Enabling [817] ................................................................9-60
9.4.21 Faults, Warnings, Diagnostics [818] ...............................................................9-60
9.4.22 Setup Mode [819] ............................................................................................9-61
9.4.23 Homing Mode [821].........................................................................................9-62
9.4.23.1 Homing with homing switch only .....................................................................9-65
9.4.23.2 Homing with encoder zero mark only..............................................................9-66
9.4.23.3 Use of a reversing switch during homing ........................................................9-66
9.4.24 MDI Mode [823]...............................................................................................9-67
9.4.25 Control Mode [825]..........................................................................................9-71
9.4.26 Automatic and Automatic Single-Block Mode [826, 828] ................................9-72
9.4.27 Roll Feed [830] ................................................................................................9-72
9.4.28 Synchronization Mode - Overview [831]..........................................................9-73
9.4.29 Virtual Master Axis [832] .................................................................................9-81
9.4.30 Real Master with Deadtime Compensation [833]............................................9-82
9.4.31 Engaging/Disengaging Cycle [834] .................................................................9-83
9.4.32 Gearbox Function [835]...................................................................................9-87
9.4.33 Generation of the Position Setpoint [836]........................................................9-88
9.4.34 Catch-up Function [837]..................................................................................9-88
9.4.35 Cam [839]........................................................................................................9-89
9.4.36 Synchronization to master value [841] ............................................................9-95
9.4.37 Displacement Angle Setting [841] ...................................................................9-96
9.4.38 Position Correction [843] .................................................................................9-97
9.4.39 Referencing "on the fly" for synchronization [843]...........................................9-98

9.5 Communication with the Technology ..............................................................9-99

9.5.1 Process Data Communication (PZD)..............................................................9-99
9.5.2 Parameter Transfer (PKW) ...........................................................................9-102
9.5.3 Standard Function Blocks for PROFIBUS-DP and USS ...............................9-103
9.5.4 Additionally Available SIMATIC S7 Software ................................................9-104
9.5.5 USS Interface................................................................................................9-106
9.5.6 SIMOLINK .....................................................................................................9-107

9.6 Configuration .................................................................................................9-109

9.6.1 Encoders for the Position Sensing System ...................................................9-109
9.6.2 Requirements of Position Encoders for Rotary Axes ....................................9-110
9.6.3 Brake Controller ............................................................................................9-111

9.7 Application Examples ....................................................................................9-112

9.7.1 Positioning of a Linear Axis via PROFIBUS ..................................................9-112
9.7.2 Positioning and Synchronization with Virtual Master Axis
(Suitable for Self-Study) ................................................................................9-112
9.7.2.1 Task Description ...........................................................................................9-112
9.7.2.2 Overview Diagram.........................................................................................9-113
9.7.2.3 Connection of Digital Inputs ..........................................................................9-116
9.7.2.4 Connection and Parameters of the Position Sensing System.......................9-119
9.7.2.5 Velocity Normalization P353 [20.5] and P205 [340.2] ...................................9-120
9.7.2.6 Machine Data Input U501 and U502 [804] ...................................................9-121
9.7.2.7 Connecting the Technology to the Speed and Position Controllers ..............9-123
9.7.2.8 Setting the Parameters for the Positioning Modes........................................9-124
9.7.2.9 Testing the Positioning Functions of the Application Example......................9-125
9.7.2.10 Setting the Parameters for the Virtual Master Axis .......................................9-126

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SIMOVERT MASTERDRIVES Compendium Motion Control 9
01.2002 Contents

9.7.2.11 Testing the Virtual Master Axis .....................................................................9-127

9.7.2.12 Configuring the Synchronization Function.....................................................9-127
9.7.2.13 Configuring the SIMOLINK Master................................................................9-128
9.7.2.14 Setting the Parameters for Drive 1 (SIMOLINK Slave) .................................9-129
9.7.2.15 Testing the Synchronization in the Application Example...............................9-129
9.7.3 Synchronism with the virtual master axis by means of clock-synchronized
Profibus (suitable for private study)...............................................................9-131
9.7.4 Roll Feed .......................................................................................................9-140
9.7.5 Application Using the SIMATIC S7 GMC Software.......................................9-140

9.8 Commissioning the Technology ....................................................................9-140

9.8.1 Measurement and Diagnostics Resources ...................................................9-140
9.8.2 Commissioning the Technology ....................................................................9-141
9.8.3 Checking the Speed/Position Controller .......................................................9-142
9.8.4 Defining the Actual Speed Value Normalization............................................9-143
9.8.5 Commissioning the MASTERDRIVES Basic Functions................................9-144
9.8.6 Defining the Length Unit LU ..........................................................................9-144
9.8.7 Defining the Actual Value Weighting Factor (AVWF) ...................................9-145
9.8.8 Defining the Maximum Traversing Velocity...................................................9-147
9.8.9 Procedure for Using the "GMC-BASIC" S7 Software....................................9-148
9.8.10 Defining the Positioning Input Signals...........................................................9-149
9.8.11 Defining the Positioning Status Signals.........................................................9-150
9.8.12 Connection and Parameters of the Position Sensing System.......................9-151
9.8.13 Machine Data Input MD1...MD50 ..................................................................9-153
9.8.14 Connecting the Technology to the Speed and Position Controller................9-154
9.8.15 Setting the Parameters for the Positioning Modes........................................9-155
9.8.16 Safety Information, Hardware Limit Switches ...............................................9-156
9.8.17 Commissioning the Positioning Modes .........................................................9-157
9.8.18 Configuring and Testing the Virtual Master Axis ...........................................9-159
9.8.19 Setting the Parameters for the Synchronization Block ..................................9-160
9.8.20 Configuring and Testing the SIMOLINK Drive Connection ...........................9-162
9.8.21 Testing the Synchronization Functions .........................................................9-162
9.8.22 Help, My Axis Won't Start! ............................................................................9-163
9.8.23 General Commissioning Information.............................................................9-164

9.9 Faults, Warnings, Diagnostics ......................................................................9-166

9.10 Hardware and Software Replacement Measures .........................................9-167

9.11 Modification History of Technology Option F01.............................................9-168

9.11.1 Software Version V1.0...................................................................................9-168
9.11.2 Software Version V1.1...................................................................................9-168
9.11.3 Software Version V1.2...................................................................................9-169
9.11.4 Software Version V1.3...................................................................................9-171
9.11.5 Software Status V1.4.....................................................................................9-174

9.12 References, Software Products and Accessories.........................................9-178

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10 Compendium Motion Control SIMOVERT MASTERDRIVES
Contents 01.2002

10 PROCESS DATA............................................................................................10-1

10.1 Description of the control word bits .................................................................10-1

10.2 Description of the status word bits ..................................................................10-9

11 ENGINEERING INFORMATION.....................................................................11-1

11.1 Clarification of the type of drive, technical data and other border conditions ..11-2

11.2 Specification of the travel curve ......................................................................11-3

11.3 Calculation of the maximum speed under load and the

maximum load torque, selection of the gear ...................................................11-4

11.4 Selection of the motor ...................................................................................11-12

11.5 Selection of converters or inverters...............................................................11-17

11.6 Selection of the rectifier unit for multi-axis drives..........................................11-19

11.7 Selection of the braking units and braking resistors .....................................11-21

11.8 Selection of other components......................................................................11-22

11.9 Calculating example......................................................................................11-25

11.9.1 Calculation of the x-axis as the travel gear ...................................................11-25
11.9.2 Calculating the y-axis as the travel gear .......................................................11-34
11.9.3 Calculating the z-axis as the lifting drive .......................................................11-35
11.9.4 Selection of the rectifier unit..........................................................................11-43
11.9.5 Selection of the braking resistor....................................................................11-44

Annex

Function diagrams

Parameter lists

Faults and Alarms

Lists of stored motors

Dimension Drawings

Siemens AG 6SE7087-6QX50 (Version AF)

SIMOVERT MASTERDRIVES Compendium Motion Control 11
The following editions have been published so far: Edition Internal Item Number
AB 475 500 4050 76 J AB-76
AC 475 500 4050 76 J AC-76
AD 475 500 4050 76 J AD-76
AE 475 500 4050 76 J AE-76
AF A5E00391503
AG A5E00391503
AH A5E00391503

Version AH consists of the following chapters:

Chapter Changes Pages Version
date
1 System Description reviewed edition 4 01.2002
2 Configuration and Connection Examples reviewed edition 18 01.2002
3 Instructions for Design of Drives in reviewed edition 26 01.1999
Conformance with EMC Regulations
4 Function Blocks and Parameters reviewed edition 9 01.2002
5 Parameterization reviewed edition 71 01.2002
6 Parameterizing Steps reviewed edition 40 01.2002
7 Functions reviewed edition 67 01.2002
8 Communication reviewed edition 1 01.2002
8.1 Universal Serial lnterface (USS) reviewed edition 43 01.2002
8.2 PROFIBUS reviewed edition 137 06.2005
8.3 SIMOLINK reviewed edition 27 01.2002
8.4 CBC Communications Board reviewed edition 60 01.2002
8.5 CBC CANopen communication board first edition 133 01.2002
9 Technology Option F01 reviewed edition 180 01.2002
10 Process Data reviewed edition 14 10.2000
11 Engineering Information reviewed edition 44 11.1999

Function Diagrams reviewed edition 196 01.2006

Parameter Lists reviewed edition 297 01.2002
Faults und Alarms reviewed edition 35 06.2005
Lists of Stored Motors reviewed edition 8 01.2002
Dimension Drawings reviewed edition 10 11.1999
 We reserve the right to make changes to functions, technical data,
standards, drawings and parameters.

The reproduction, transmission or use of this document or its con-

tents is not permitted without express written authority. Offenders
will be liable for damages. All rights, including rights created by
patent grant or registration of a utility model or design, are
reserved.

We have checked the contents of this document to ensure that

they coincide with the described hardware and software.
However, differences cannot be completely excluded, so that we
do not accept any guarantee for complete conformance.
However, the information in this document is regularly checked
and necessary corrections will be included in subsequent editions.
We are grateful for any recommendations for improvement.
SIMOVERT Registered Trade Mark
Siemens AG
Automation and Drives
Motion Control Systems
P.O. Box 3180, D – 91050 Erlangen © Siemens AG 2006
Subject to change without prior notice
Germany Order No.: 6SE7087-6QX50

www.siemens.com/motioncontrol Printed in Germany