Simo Drive 611

SIMODRIVE 611 analog
StartUp Guide 10.2000 Edition
Transistor PWM Inverters for AC Feed Drives and AC Main Spindle Drives
Manufacturer/Service Documentation
Overview of Documentation for SIMODRIVE 611 analog

General Documentation
SINUMERIK SIMODRIVE
SINUMERIK SIROTEC SIMODRIVE Accessories
Catalog Order Document NC 60
Catalog Accessories and Equipment for Special Purpose Machines Order Document NC Z
SIMODRIVE
SIMODRIVE 611
SINUMERIK SIROTEC
SIMODRIVE 611A
SIMODRIVE 611A
Planning Guide Motors AC Motors for Feed and Main Spindle Drives
Planning Guide Transistor PWM Inverters for AC Feed Drives and AC Main Spindle Drives
EMC Guidelines for SINUMERIK and SIROTEC Controls
Description SIMODRIVE 611 analog Startup Software for Main Spindle and Induction Motor Modules
Startup Guide SIMODRIVE 611 analog Transistor PWM Inverters for AC Feed Drives and AC Main Spindle Drives
Electronic Documentation
SINUMERIK SIMODRIVE 840D/810D/ FMNC/611/ Motors
DOC ON CD The SINUMERIK System
Foreword General Information Supply Infeed Feed Modules
AL NE VS VR HS AM ES A
SIMODRIVE 611 analog Transistor PWM Inverters for AC Feed Drives and AC Main Spindle Drives
StartUp Guide
Feed Modules, Resolver Control Main Spindle Modules Induction Motor Modules Spare Parts Attachment Short reference NE/VS Short reference VR Short reference HS Short reference AM Overall Index
Valid for Equipment series 6SN11
10.00 Edition
SIMODRIVE documentation
Edition coding Brief details of the Edition and previous editions are listed below. IThe status of each Edition is shown by the code in the Remarks column. Status code in the Remarks column: A . . . . . New documentation. B . . . . . Unrevised reprint with new Order No. C . . . . . Revised edition with new status. If factual changes have been made on the page since the last edition, this is indicated by a new Edition coding in the header on that page. Edition 07.94 10.94 12.94 03.96 04.97 10.00 Order No. 6SN11970AA600BP0 6SN11970AA600BP1 6SN11970AA600BP2 6SN11970AA600BP3 6SN11970AA600BP4 6SN11970AA600BP5 Remarks A C C C C C
This Manual is also included in the documentation on CDROM (DOCONCD) Edition 10.00 Order No. 6FC52986CA000BG0 Remarks C
Trademarks SIMATICr, SIMATIC HMIr, SIMATIC NETr, SIROTECr, SINUMERIKr and SIMODRIVEr are registered trademarks of Siemens. Other names in this publication might be trademarks whose use by a third party for his own purposes may violate the rights of the registered holder.
You will find additional information in the Internet under: http://www.ad.siemens.de/simodrive This document was generated with Interleaf V 7 The reproduction, transmission or use of this document or its contents 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.
Functions may be executable in the control but are not described in this documentation. No claims can be made on these functions if included with a new shipment or when involved with service. We have checked the contents of this document to ensure that they coincide with the described hardware and software. The information in this document is regularly checked and necessary corrections are included in reprints. We are thankful for any recommendations for improvement. Subject to change without prior notice.
Siemens AG 2000. All rights reserved.
Order No. 6SN11970AA600BP5 Printed in the Federal Republic of Germany
SiemensAktiengesellschaft
Foreword
This document is part of the documentation developed for SIMODRIVE. All documents are available individually. The documentation list, which includes all advertising Brochures, Catalogs, Overviews, Short Descriptions, User Manuals and Technical Descriptions can be obtained from your local Siemens office with Order No., location and price. This Manual does not purport to cover all details or variations in equipment, 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 purchasers purposes, the matter should be referred to the local Siemens sales office. The contents of this Guide shall not become part of nor modify any prior or existing agreement, commitment or relationship. The sales contract contains the entire obligation of Siemens. Any statements contained herein neither create new warranties nor modify the existing warranty.
Siemens AG 2000 All rights reserved SIMODRIVE 611 analog StartUp Guide (IAA) 10.00 Edition
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Definitions
Qualified personnel For the purpose of this documentation and product labels, a qualified person is someone who is familiar with the installation, mounting, startup and operation of the equipment and the hazards involved. He or she must have the following qualifications:
S Trained and authorized to energize, deenergize, clear, ground and tag circuits and equipment in accordance with established safety procedures.
S Trained in the proper care and use of protective equipment in accordance

with established safety procedures.
S Trained in rendering first aid

Danger This symbol indicates that death, severe personal injury or substantial property damage will result if proper precautions are not taken.
Warning This symbol indicates that death, severe personal injury or property damage can result if proper precautions are not taken.
Caution This warning (with warning triangle) indicates that minor personal injury can result if proper precautions are not taken.
Caution This warning (without warning triangle) indicates that material damage can result if proper precautions are not taken.
Notice This warning indicates that an undesirable situation or condition can occur if the appropriate instructions/information are not observed.
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Important This symbol appears in the documentation if a particular issue is significant.
Note For the purpose of this documentation, Note indicates information about the product or the respective part of the document which is essential to highlight.
Warning Operational electrical equipment has parts and components which are at hazardous voltage levels. Incorrect handling of these units, i.e. not observing the warning information, can therefore lead to death, severe bodily injury or significant material damage. Only appropriately qualified personnel may commission/startup this equipment. This personnel must have indepth knowledge regarding all of the warning information and service measures according to this Guide. Perfect, safe and reliable operation of this equipment assumes that it has been professionally transported, stored, mounted and installed as well as careful operator control and service. Hazardous axis motion can occur when working with the equipment.
Note When handling cables, observe the following
S they must not be damaged, S they must not be strained and S they must not come into contact with rotating components.
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Note It is not permissible to connect SIMODRIVE equipment to a supply system with ELCBs (this restriction is permitted acc. to DIN VDE 0160 / 05.88, Section 6.5). When operational, protection against direct contact is provided in a form to allow the unit to be used in enclosed electrical equipment rooms (DIN VDE 0558 Part 1 / 07.87, Section 5.4.3.2.4) In compliance with DIN VDE 0160 / 05.88, all SIMODRIVE units are subject to a highvoltage test at the time of routine testing. If the electrical equipment of industrial tools is subject to a highvoltage test, all connections must be disconnected so that sensitive electronic components in the SIMODRIVE converter are not damaged (permissible acc. to DIN VDE 0113 / 06.93, Part 1, Section 20.4).
Warning Startup/commissioning is absolutely prohibited until it has been ensured that the machine in which the components described here are to be installed, fulfills the regulations/specifications of the Directive 89/392/EWG.
Warning The information and instructions in all of the documentation supplied and any other instructions must always be observed to eliminate hazardous situations and damage.
S For special versions of the machines and equipment, the information in the
associated catalogs and quotations applies.
S Further, all of the relevant national, local and plant/systemspecific regulations and specifications must be taken into account.
S All work should be undertaken with the system in a novoltage condition!
Warning Before commissioning SIMODRIVE 611 analog it should be checked that the encoder cable does not have a ground fault. If ground faults occur for loads which extert a force on the drive (e.g. hanging, vertical axes), uncontrolled movement could occurr. This no longer occurs for 6SN11180DV2V0AA0, Version B.
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ESDS information
Electrostatic discharge sensitive devices Components which can be destroyed by electrostatic discharge are individual components, integrated circuits, or boards, which when handled, tested or transported, could be destroyed by electrostatic fields or electrostatic discharge. These components are designated as ESDS (ElectroStatic Discharge Sensitive Devices). Handling ESDS boards:
S The human body, working area and packing should be well grounded when
handling ESDS components!
S Electronic boards should only be touched when absolutely necessary. S Components may only be touched, if
you are continuously grounded through an ESDS bracelet, you are wearing ESDS shoes or ESDS shoe grounding strips in conjunction with an ESDS floor surface.
S Boards may only be placed on conductive surfaces (desk with ESDS

surface, conductive ESDS foam rubber, ESDS packing bag, ESDS transport containers).
S Boards may not be brought close to data terminals, monitors or television

sets (a minimum of 10 cm should be kept between the board and the screen).
S Boards may not be brought into contact with materials which can be
chargedup and which are highly insulating, e.g. plastic foils, insulating desktops, articles of clothing manufactured from manmade fibers.
S Measuring work may only be carried out on the boards, if

the measuring equipment is grounded (e.g. via the protective conductor) or for floating measuring equipment, the probe is briefly discharged before making measurements (e.g. a bare control housing is touched).
S Only touch the control boards at the front panel
Note Startup software is available for startingup/commissioning the main spindle and induction motor modules. Startup software Order No.: 6SN11532AX10 VABV Documentation Order No.: 6SN11970AA300 VPV
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SINUMERIK and SIMODRIVE

Enhanced productivity as a result of fast, reliable commissioing
Handling
Sophisticated industrial electronics, as are involved here, have to be handled especially carefully. We regularly evaluate and investigate equipment which is returned, and in so doing, we have identified some of the main fault causes, which in some cases results from incorrect handling during commissioning and troubleshooting. The following check list should help you to simply commission the components we have supplied and guarantee a high availability when used in conjunction with your product or equipment.
Check list
S Observe all of the ESD measures when handling components. S Tightenup all bolts and screws to the specified torque. Pay special
attention to the DC link bolt connections (1.8 Nm tightening torque).
S Correctly insert all connectors and lock/screw into place. S Screw the control components into the power module. S Observe the poweron sequence in the Planning Guide.
If the unit is frequently powereddown and up, the DC link charge circuit is lockedout. The DC link can only be charged again after it has cooled down for several minutes with the supply off.
S Are there line supply/motor contactors connected to the drive converter?

These are only switched in a nocurrent condition.
S Ground all components and connect all of the shields. Connection X131 is
grounded.
S Observe the load capability of the central power supply. S Only discharge the unit at the DC link buses through a minimum of 10 . S In operation, units with hard disks may only be stressed with a max. of 1 g
read/write error; defective).
S Are OEM components (ISA/PCMCIA card) used? Their current drain must
lie within the specified values.
S CRT monitors may not be subject to magnetic fields (e.g. power supply unit
coils).
S When commissioning and fault finding, always proceed in a modular step

bystep fashion. This means: First commission the central controller and line supply module, then connectup and commission the components one after another.
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S The units are designed for the specified mechanical, climatic and electrical
ambient conditions. None of the limit values may be exceeded, neither in operation nor during transport. Please pay specific attention to the following: line supply conditions pollutants damaging gases climatic ambient conditions storage/transport shock stressing vibration stressing ambient temperature
Further information
Further detailed information is provided in the Planning Guides and Installation Startup Guides associated with our products. J
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Space for notes
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AL
General Information (AL)
Permissible Combination of Power Modules and Control Boards . . . . . . .
AL/1-3
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AL Space for notes
ALii
10.00 07.94 General Information (AL) 1 Permissible Combination of Power Modules and Control Boards
AL
Permissible Combination of Power Modules and Control Boards
1
IM control, analog Fixed setpoints, motorized pot 6SN11220BA110AA0 IM control, analog Anal. speed f. setp. mot. pot. 6SN11220BA120AA0 MSD control, analog Ext. position output 6SN11210BA130AA0 6SN11210BA110AA1 6SN11220BA110AA1
IM: 3/3/3 A IM: 5/5/8 A IM: 8/10/16A IM: 24/32/32A IM: 30/40/51A IM: 45/60/76A IM: 45/60/76A IM: 60/80/ 102A IM: 85/110/ 127A IM: 85/110/12 7A
Table 1-1
FD control, analog 1axis, userfriendly interface
SIMODRIVE 611 components
Selection list to set the current controller referred to the resulting power module currents
MSD control, analog Dir. meas. system, TTL signal 6SN11210BA120AA0
FD control, analog 1axis, standard interface
6SN11180AA110AA
6SN11180AD110AA
6SN11180AE110AA
MSD control, analog No direct measuring system 6SN11210BA110AA0
FD resolver control, analog 1axis, standard interface
FD resolver control, analog 2axis, standard interface 6SN11180BK110AA0
6SN11180BJ110AA0
MSD control, analog
Parameter board FD analog userfriendly

Required _____ _____ _____ _____ _____ _____ _____ _____ _____
_____
6SN11140AA010AA0 HS option FD analog userfriendly

Possible _____ _____ _____ _____ _____ _____ _____ _____
_____
_____
6SN11140AA020AA V Power module, 8A 6SN112V1AA0V0HAV Power module, 15A 6SN112V1AA0V0AAV Power module, 25A 6SN112V1AA0V0BAV Power module, 50A 6SN112V1AA0V0CAV Power module, 80A 6SN112V1AA0V0DAV Power module, 120A
_____ 6SN112 V1AA0 V0GA V _____ _____ _____ _____ MSD: 45/60/76A MSD: 45/60/76A MSD: 45/60/76A IM: 45/60/76A IM: 45/60/76A MSD: 45/60/76A FD: 40/80A FD: 40/80A _____ FDR: 28/56A _____ MSD: 30/40/51A MSD: 30/40/51A MSD: 30/40/51A IM: 30/40/51A IM: 30/40/51A MSD: 30/40/51A FD: 25/50A FD: 25/50A _____ FDR: 18/36A _____ MSD: 24/32/32A MSD: 24/32/32A MSD: 24/32/32A IM: 24/32/32A IM: 24/32/32A MSD: 24/32/32A FD: 12.5/25A FD: 12.5/25A _____ FDR: 9/18A _____ _____ _____ _____ IM: 8/10/16A IM: 8/10/16A _____ FD: 7.5/15A FD: 7.5/15A _____ FDR: 5/10A _____ _____ _____ _____ IM: 5/5/8 A IM: 5/5/8 A _____ FD: 4/8A FD: 4/8A _____ FDR: 3/6A _____ _____ _____ _____ IM: 3/3/3 A IM: 3/3/3 A _____
Power module, 108A

_____ _____ _____ _____ _____
6SN112V1AA0V0LAV Power module, 160A 6SN112V1AA0V0EAV Power module, 200A 6SN112V1AA0V0FAV Power module, 200A pipe connection 6SN112V1AA0V0FAV
FD: 100/200A FD: 100/200A _____ _____ _____ FD: 80/160A FD: 80/160A _____ _____ _____
MSD: 45/60/76A
MSD: 45/60/76A
MSD: 45/60/76A
IM: 45/60/76A
IM: 45/60/76A
MSD: 45/60/76A
MSD: 60/80/ 102A
MSD: 60/80/ 102A
MSD: 60/80/ 102A
IM: 60/80/ 102A
IM: 60/80/ 102A
MSD: 60/80/ 102A
MSD: 85/110/ 127A
MSD: 85/110/ 127A
MSD: 85/110/ 127A
IM: 85/110/ 127A
IM: 85/110/ 127A
MSD: 85/110/ 127A
FD: 100/200A
FD: 100/200A
_____
_____
_____
MSD: 85/110/12 7A
MSD: 85/110/12 7A
MSD: 85/110/12 7A
IM: 85/110/12 7A
IM: 85/110/12 7A
IM: 85/110/12 7A
AL/1-3
IM control, analog
_____ _____
General Information (AL) 07.94 1 Permissible Combination of Power Modules and Control Boards
AL
Table 1-1
MSD control, analog Dir. meas. system, TTL signals 6SN11210BA120AA0 FD control, analog 1axis, userfriendly interface
SIMODRIVE 611 components
Selection list to set the current controller referred to the resulting power module currents
IM control, analog Fixed setpoints, motorized pot. 6SN11220BA110AA0 IM control, analog Anal. speed f. setp. mot. pot. 6SN11220BA120AA0
MSD control, analog No direct measuring system 6SN11210BA110AA0
6SN11180BK110AA0
MSD control, analog Ext. position output 6SN11210BA130AA0
6SN11210BA110AA1
6SN11180AA110AA
6SN11180AD110AA
Power module, 300A

_____ _____ _____ _____ _____
6SN112V1AA0V0JA V Power module, 400A

_____ _____ _____ _____ _____
MSD: 120/150/ 193A
MSD: 120/150/ 193A
MSD: 120/150/ 193A
IM: 120/150/ 193A
IM: 120/150/ 193A
IM: 120/150/ 193A
IM: 120/150/ 193A
6SN112V1AA0V0KA0 Power module, 2x8A

_____ _____
MSD: 200/250/ 257A
MSD: 200/250/ 257A
MSD: 200/250/ 257A
IM: 200/250/ 257A
IM: 200/250/ 257A
IM: 200/250/ 257A
IM: 200/250/ 257A
6SN112V1AB0V0HA0 Power module, 2x15A

_____ _____
FD: 2x4/8A
_____
FDR: 2x3/6A
_____
_____
_____
_____
_____
_____
_____
6SN112V1AB0V0AA0 Power module, 2x25A

_____ _____
FD: 2x7.5/15A
_____
FDR: 2x5/10A
_____
_____
_____
_____
_____
_____
_____
6SN112V1AB0V0BAV Power module, 2x50A

_____ _____
FD: 2x12.5/ 25A
_____
FDR: 2x9/18A
_____
_____
_____
_____
_____
_____
_____
6SN112V1AB0V0CAV
FD: 2x25/50A
_____
FDR: 2x18/36A
_____
_____
_____
_____
_____
_____
_____
This StartUp Guide appropriately applies to the following drive modules: 6SN11301AA110VA0 6SN11301AA120 VA0 6SN11301AD110VA0 6SN11301AE110VA0 6SN11351BA1V0VA0 6SN11401BA1V0VA0 FD module, 1axis, userfriendly interface FD module, 1axis, userfriendly with MSD option FD module, 1axis, standard interface FD module, 2axis, standard interface MSD module IM module
AL/1-4
6SN11220BA110AA1
6SN11180AE110AA
6SN11180BJ110AA0
MSD control, analog
IM control, analog
07.94
General Information (AL) 1 Permissible Combination of Power Modules and Control Boards
AL
Note This document describes the steps which are necessary to startup (commission) an installed SIMODRIVE drive group. Please refer to the associated Planning Guides for additional technical information, e.g. regarding
S ambient conditions S recommended circuits S connection diagrams S dimension sheets/dimension drawings

SIMODRIVE 611 Transistor PWM Inverters for AC Feed Drives and AC Main Spindle Drives Order No.: 6SN11970AA000 VPV SIMODRIVE AC Motors for Feed and Main Spindle Drives Order No.: 6SN11970AA200 VPV
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General Information (AL) 1 Permissible Combination of Power Modules and Control Boards
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AL Space for notes
AL/1-6
Supply Infeed (NE)

NE
1 2 Standard Settings, NE Modules (UE and I/R Modules), Monitoring and Pulsed Resistor Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . NE/1-3 Service and Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 3 Terminals and relay functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . NE/2-7 NE/2-8 NE/3-13 NE/3-14 NE/3-16
Attachment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 3.2 Terminals, NE, monitoring and pulsed resistor modules . . . . . . . . . . . Terminals, UE module 5/10 kW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Space for notes NE
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Supply Infeed (NE) 1 Standard Settings NE Modules, Monitoring and Pulsed Resistor Modules
Standard Settings, NE Modules (UE and I/R Modules), Monitoring and Pulsed Resistor Modules
NE
Important Observe the information/instructions regarding closedloop sinusoidal current control for I/R modules! If you do not observe the difference between sinusoidal/squarewave current control, the equipment could be destroyed!
There is a switch S1 on the upper side of the NE and monitoring module which is used to select the following functions:
ON:
S1
OFF: Vsupply=400V"10% VDC link = 600 V1) Ready signal Regenerative feedback on S1.1 active Controlled infeed Squarewave current control
Vsupply=415V"10% VDC link= 625 V1) 1 Fault signal Regenerative feedback off 1) Vsupply 2 3
=480V+6%10%; S1.1 inactive 4
Controlled infeed off Sinusoidal current control
5 6
Standard setting
Fig. 1-1
DIL switch S1
! !
Important For I/R modules. Order No. 6SN114V1VV0V0VV1 the basic setting is closedloop sinusoidal control . Observe the information on NE/15!
Important Before the system is poweredup/down using the main switch or a line contactor, terminal 63 (pulse enable) and/or terminal 48 (start terminal, contactor control), must be deenergized or disconnected!
1) only possible for I/R module, monitoring thresholds are increased for all NE modules
NE/1-3
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Switch S 1.1 :
OFF:
NE
ON:
I/R moduleVsupply =400V"10%; VDC link=600V (DC link voltage) UE module Vsupply =400V"10%; VDC link=1.35*Vsupply Monitoring thresholds: (I/R, UE, monitoring modules) Pulsed resistor on =644V (pulsed res. switchon threshold); Pulsed resistor off =618V (pulsed res. switchoff threshold) VDC link>> =710V (DC link overvoltage threshold); I/R module Vsupply =415V"10%; VDC link=625V UE module Vsupply =415V"10%; VDC link=1.35*Vsupply Monitoring thresholds: (I/R, UE, monitoring modules) Pulsed resistor on =670V; Pulsed resistor off =640V VDC link>> =740V;
Comment: Only active, if S1.4 OFF
Switch S 1.2 :
OFF: ON:
Ready signal (X111: Ready relay) Fault signal (X111: Ready relay )
refer to NE/Section 2.1
Switch S 1.3 :
OFF:
Standard setting, regenerative feedback active I/R modules are capable of regenerating into the line supply UE module: The pulsed resistor in the module is effective Regenerative feedback is disabled I/R module: Regenerative feedback operation is inhibited UE module: The pulsed resistor in the module is not effective Comment: The function is only effective for UE 10kW from Order No.[MLFB]: 6SN11461AC000AA1 onwards (not for UE 28kW)
ON:
Switch S 1.4 :
OFF: ON:
S1.1 active Vsupply = 480V+6%10%; VDC link=1.35*Vsupply in the regenerative feedback direction Monitoring thresholds: (I/R, UE, monitoring modules) Pulsed resistor on = 744V; Pulsed resistor off =718V VDC link>> = 795V
Comment: Uncontrolled operation in the regenerative feedback direction. (valid for Order No. [MLFB] 6SN114V1VV0V0VV1) Note Only in conjunction with power modules, Order No. [MLFB] (6SN114V1VV0V0VV1). For motors with shaft heights < 100 mm: Utilized up to max. the 60 K values. Please observe the Planning Guide, Motors. S1.4 ON overwrites the functions of S1.5 and S1.1.
NE/1-4
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Switch S 1.5 :
This function is only available in conjunction with I/R modules Order No.: 6SN114V1VV0V0VV1 OFF: Standard setting, controlled infeed active. ON: Uncontrolled operation in the regenerative feedback direction VDC link=1.35*Vsupply . Regenerative feedback starts at VDC link=600 or 625V, depending on the setting of S1.1.
NE
Switch S 1.6 :
OFF: ON: (Standard)
Closedloop squarewave current control (current square waveform is drawn from the line supply) This function is only available in conjunction with I/R modules 6SN114V1VV0V0VV1 closedloop sinusoidal current control (sinusoidal current is drawn from the line supply)
Sinusoidal current is only permissible if the following secondary conditions are fulfilled:
I/R 16 kW 6SN114V 1BV010BA1 HF reactor 16 kW 6SN1111 0AA000BA0 Line filter sinusoidal current 1) 16 kW 6SN1111 0AA012BA0 I/R 36 kW 6SN114V 1BV020CA1 HF reactor 36 kW 6SN1111 0AA000CA0 Line filter for sinusoidal current 1) 36 kW 6SN1111 0AA012CA0 I/R 55 kW 6SN114V 1BV0V0DA1 HF reactor 55 kW 6SN1111 0AA000DA0 Line filter for sinusoidal current 1) 55 kW 6SN1111 0AA012DA0 I/R 80 kW 6SN114V 1BB000EA1 HF reactor 80kW 6SN1111 0AA001EA0 Line filter for sinusoidal current 1) 80 kW 6SN1111 0AA012EA0 I/R 120 kW 6SN114V 1BB010FA1 HF reactor 120kW 6SN1111 0AA001FA0 Line filter for sinusoidal current 1) 120 kW 6SN1111 0AA012FA0
Important For all combinations which are not listed, only closedloop squarewave current control is permissible .
1) In the sinusoidal line filters, contrary to the squarewave current filter modules, there are no HF commutating reactors. The HF commutating reactor must be separately mounted. The specified line filter types are also suitable for the squarewave current mode.
NE/1-5
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Space for notes NE
NE/1-6
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Supply Infeed (NE) 2 Service and Diagnostics
Service and Diagnostics
2
1 3 5 2 4 6
NE
Display elements on the monitoring and NE modules
1 LED red 2 LED red 3 LED green
Electronics power supply 15 V faulted 5 V voltage level faulted Ext. enable signal not available (terminal 63 and/or 64 missing)
4 LED yellow DC link charged 5 LED red Line supply fault (single or multiphase line supply failure at terminals U1, V1, W1) 1) No commutating reactor, incorrectly installed or incorrectly selected Fault level of the line supply or transformer too low DC link overvoltage Possible causes: Regenerative feedback off, settingup operation, line supply fault, for UE, pulsed resistor not operational or too small, line supply voltage too high, dynamic overload, line supply filter installed between the I/R and commutating reactor
6 LED red
Effects: 1 LED red bright: Pulses are deleted for the complete drive group 2 LED red bright: Pulses are deleted for the complete drive group 4 LED yellow dark: Pulses are deleted for the complete drive group 5 LED red bright: Only the I/O module pulses are deleted (regenerative feed back no longer possible. Axes initially continue to run, ready relay dropsout) 6 LED red bright: Pulses are deleted for the complete drive group
1) Line supply fault recognition time, approx. 30 ms Line supply fault is recognized when the threephase voltage is < 280 V. For a singlephase power failure, the drive axis pulses are deleted after approx. 1 min (saved signal) valid for Order No. [MLFB] 6SN1114V1VV0V0VV1
NE/2-7
Supply Infeed (NE) 2.1 Terminals and relay functions
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2.1
S
Terminals and relay functions

X111 Ready relay NO contacts NC contacts closed for ready open for ready
NE
terminals 72 73.1 terminals 73.2 74
Switch S1.2 OFF, the relay pullsin, if: internal main contactor CLOSED (terminals NS1 NS2 connected, terminal 48 energized) terminal 63, 64 = ON it is not permissible that a fault is present (this is also true for FD 611A Standard, 611D drives or MCU) FD with standard interface or resolver for the ready setting must be enabled (terminals 663, 65) NCU must have runup (SINUMERIK 840D, SINUMERIK 810D) the MCU must have runup Switch S1.2 ON, relay pullsin, if: internal main contactor CLOSED (terminal NS1 NS2 connected, terminal 48 energized) it is not permissible that a fault is present (this is also true for FD 611A Standard, or 611D drives or MCU) FD with standard interface or resolver for the ready setting must be enabled (terminals 663, 65) NCU must have runup (SINUMERIK 840D, SINUMERIK 810D) the MCU must have runup S X121 I2t prealarm and motor overtemperture NO contacts NC contacts open for no fault closed for no fault
Terminals 5.1 5.2 Terminals 5.1 5.3
This relay switches, if: at the I/R > the heatsink temperature monitoring responds at FD 611D > the motor temperature monitoring responds > heatsink temperature monitoring responds at FD 611A userfriendly > motortemperature monitoring responds (for resolvers: this is not saved, no shutdown!!) > heatsink temperature monitoring responds > I2t prealarm responds (this is not saved) at FD611A Standard > motortemperature monitoring responds > heatsink temperature monitoring responds > I2t temperature monitoring responds S X171 terminals NS1 NS2 (coil circuit of the internal line supply and precharging contactor) is used to provide electrical isolation from the line supply (signaling contact, terminals 111 213 must be interrogated) may only be switched when terminal 48 is opencircuit (without any restrictions from Order No. [MLFB] 6SN11451VV010VVV for 10, 16 and 55 kW Order No. [MLFB] 6SN11451VV020VVV for 36 kW, all 80 and 120 kW)
NE/2-8
10.00 07.94
Terminal 48
Start
has the highest priority sequence: precharging ON interrogate VDC link w 300V and VDC link w 2 S Vsupply 50 V. If yes, then 500 ms precharging contactor OPEN, interrogate whether actually OPEN, main contactor CLOSE 1 s internal enable signal (for I/R and module group) is saved during precharging S Terminal 63 Pulse enable
NE
has the highest priority for enabling the pulses for all of the modules acts instantaneously S Terminal 64 Drive enable
acts instantaneously on all modules when the signal is withdrawn, nset is set to 0 for all drives, and For MSD / IM 611A, after a selectable speed has fallen below, the pulses are cancelled. The drive is braked along a ramp. For VSA 611A, all of the controllers and pulses are inhibited after a selected time has expired (setting when supplied: 240 ms). The drive is braked along the current limit. For 611D drives, the pulses are deleted after a selectable speed has been fallen below or after a selectable time has expired. The drive is braked at the selected limit! (for spindles, the ramp can only be achieved along the regenerative limit [kW]!) S Terminal 112 opencircuit Settingup operation
The VDC link control is inhibited Regenerative feedback is not possible, i.e. when braking, VDC link can be > 600 V ! This function can be interrogated using the start inhibit signal, terminals AS1 AS2.
!
S
Caution Induction motors can reach high speeds even at low VDC link!
Terminals AS1 AS2
Start inhibit signal
Terminals AS1 AS2 closed means start inhibit is effective (i.e. terminal 48 = opencircuit, settingup operation) S Terminals 111, 113, 213 Terminals 111 113 Terminals 111 213 Signaling contacts, internal line contactor NO contacts NC contacts (for I/R 16 kW and UE 10 kW, only from Order No.[MLFB] 6SN11451VV010VVV)
NE/2-9
10.00 07.94
Terminal 19
FR
NE
Reference ground, enable voltage Floating (connected with the general reference ground terminal 15 via10 k) Terminal 19 may not be connected to terminal 15 (connect to PE rail, or to X131 ) S Terminal 9 FR+
Enable voltage : +24 V Maximum load capacity of the power supply (power supply): 500 mA (corr. to 8 EP;1 optocoupler input required 12 mA, for UE = 5 kW > 1A) S X 141 Electronic voltages
Term. 7 P24 +20.4 to 28.8 V / 50 mA Term. 45 P15 +15 V / 10 mA Term. 44 N15 15 V / 10 mA Term. 10 N24 20.4 to 28.8 V / 50 mA Term. 15 M 0V Terminal 15 may not be connected to PE (ground loop) Terminal 15 may not be connected to terminal 19 (shortcircuit via reactor, which internally connects terminal 15 to X131) S Terminals L1 L2 for 80 kW and 120 kW I/R Is used to supply the coil circuit of the internal line contactor directly supplied with 2ph. 400 V AC at the line supply (not between I/R and reactor) Fuse: IN w 4 A, version gL S Fan connection for 80 and 120 kW I/R 3ph. 360 to 510 V AC, 45 65 Hz directly from the line supply (not between I/R and reactor) Observe the direction of rotation! Fuse: IN u 1.5 A (motor protection circuitbreaker) S 6wire connection with additional power supply connection at the DC link: For this mode, terminals 2U1, 2V1 and 2W1 of the power supply must be supplied with the line supply voltage between the series reactor and I/R, as otherwise the power supply will be destroyed. The also applies to the montioring modules!
Note This is guaranteed by the jumpers inserted in the factory at connector X181.
Monitoring module with connection to the line supply and additional power supply connection at the DC link : For this mode, terminals 2U1, 2V1 and 2W1 of the power supply must be supplied with the line supply voltage between the series reactor and I/R, as otherwise, the power supply will be destroyed! Terminal 63 may only be energized (enabled) after the NE module has runup (ready). (Interrogation ready or terminal 111 113 213).
NE/2-10
10.00 07.94
Diagnostics
The overvoltage limiting module must be checked if a line supply fault is displayed or the yellow LED is dark. Procedure: 1. Powerdown the unit so that it is in a novoltage condition 2. Remove the overvoltage limiting module and insert connector X181 on the NE module. If the NE module functions, then the overvoltage limiting module is defective and must be replaced. Otherwise, check the line supply and if necessary check the NE module/group.
NE
Note In this way, continued operation is possible, without overvoltage protection.
3. Insert the overvoltage limiting module 566018.9415.00 up to its end stop, and insert connector X181 on the overvoltage limiting module.
Note Operation without overvoltage limiting module is not in conformance with UL!
NE/2-11
10.00 07.94
Space for notes NE
NE/2-12
07.94
Supply Infeed (NE) 3.1 Terminals, NE, monitoring and pulsed resistor modules
Attachment
Note
3
When using non PELV circuits at terminals AS1, AS2, terminal 111, terminal 113 and terminal 213, connector coding must be used to prevent connectors being interchanged. > refer to EN 602041, Section 6.4. Order No. for the coding connector > refer to Catalog NC 60.1. Only PELV circuits may be connected to terminal 19.
NE
NE/3-13
10.00 07.94
3.1
Table 3-1
Terminals, NE, monitoring and pulsed resistor modules

Terminal functions Desig. Function Line supply Type
1)
NE
Term. No. U1 V1 W1 L1 L2 PE P600 M600
Typ. voltage/limit values 3ph. 400 V/480 V AC
Max. crosssection Refer to the Planning Guide 16mm2/10mm2 4) 16mm2/10mm2 4) Bolt Busbar Busbar Busbar
Terminals available in 3) I/R, UE I/R 80/104 kW, 120/156 kW I/R, UE, MM, PR I/R, UE
Line supply for contactor Protective conductor DC link DC link Grounding bar 5)
I I I I/O I/O I/O
2ph. 400 V AC, directly at the line supply 0V +300 V 300 V 300 V
P600 M600 1R, 2R, 3R X131 X351 M500 X181 P500 X181 1U1 2U1 1V1 2V1 1W1 2W1 7 45 44 10 15 R 5.3 5.2 5.1 63 9 9 64 19 74 nc 73.2 73.1 nc 72 X181 X181 X181 X181 X181 X181 X141 X141 X141 X141 X141 X141 X121 X121 X121 X121 X121 X121 X121
DC link DC link Connection, internal/ external resistor Electronics M Equipment bus DC link power supply DC link power supply Output L1 Input L1 Output L2 Input L2 Output L3 Input L3 P24 P15 N15 N24 M RESET6) Relay contact Group signal I2t/motor temp. Pulse enable 2) Enable voltage 2)8) Enable voltage 2)8) Drive enable 2) Enable voltage, ref. potential
I I I/O
+300 V 300 V "300 V
16mm2/10mm2 4) 16mm2/10mm2 4) 16mm2/10mm2 4)
MM
PR I/O I/O I I O I O I O I O O O O O I NC NO I I O O I 0V Various 600 V/680 V DC 600 V/680 V DC 3ph. 400 V/480 V AC 3ph. 400 V/480 V AC 3ph. 400 V/480 V AC 3ph. 400 V/480 V AC 3ph. 400 V/480 V AC 3ph. 400 V/480 V AC +20.4...28.8 V/50 mA +15 V/10 mA 15 V/10 mA 20.4...28.8 V/50 mA 0V Term.15/RE = 10 k 50 V DC/0.5 A/12 VA max 5 V DC/3 mA min +13 V...30 V/RE = 1.5 k +24 V +24 V +13 V...30 V/RE = 1.5 k 0V 16mm2/10mm2 4) Ribbon cable 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 I/R, UE, MM I/R, UE, MM I/R, UE, MM, PR
I/R, UE, MM
I/R, UE, MM
X111 X111 X111 X111 X111 X111
NC Relay contact Ready signal I I NO
1ph. 250V AC/50V DC/2A max

5V DC/3mA min
I/R, UE, MM
NE/3-14
10.00 07.94
Table 3-1 Term. No.
Terminal functions Desig. Function Enable voltage 2)8) Settingup operation/ Normal operation2) Contactor control
2)
Type
1)
Typ. voltage/limit values +24 V +21 V...30 V/RE = 1.5 k +13 V...30 V/RE = 1.5 k +30 V/1 A (111113) 1ph. 250 VAC/50 V DC/ 2 A max 17 V DC/3 mA min 250V AC/1A/50V DC/2A max 5 V DC/10 mA min +24 V
Max. crosssection 1.5 mm2 1.5 mm2 1.5 1.5 1.5 mm2 mm2 mm2
Terminals available in 3) I/R, UE, MM
9 X161 112 X161 48 X161 111 X161X 213 161 113 X161
O I I I NC
7)
NE
Signaling contact Line contactor
I/R, UE
1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 PR
NO AS1 X172 AS2 X172 NS1 X171 NS2 X171 19 X221 50 X221 Signaling contact Start inhibit (term.112) Coil contact for line supply, precharging contactor Enable voltage ref. potential Control contact for fast discharge I NC O I O I I/R
I/R, UE
0V 0V
Notes: 1) I = Input, O = Output, NC = NC contact, NO = NO contact (for signal: closed = high, open = low) 2) Terminal19 is the reference ground (this is connected inside the module to general reference ground X131/terminal 15 with 10 kW). Terminal 15 may not be connected to PE or to terminal 19. Do not connect external voltage sources to terminal 15! Terminal 19 can be connected to X131 . 3) I/R = Infeed/regenerative feedback module; UE = Uncontrolled infeed; MM= Monitoring module; PR = Pulsed resistor module 4) The 1st data is valid with cable lug. The 2nd data is valid for finelystranded conductor without end sleeve. 5) The grounding bar is used to ground the DC link M bus via 100 k (this should be preferably inserted, for nongrounded line supplies, always insert). 6) RESET = Reset the fault memory, edgetriggered for the complete drive group (terminal R terminal15 = RESET) 7) Terminals 111213, positive opening NC contact (for I/R 16 kW and UE 10kW only from Order No.[MLFB] 6SN114V1VV010VVV). Terminals 111113, NC contact, not positively driven 8) Max. current load, terminal 9 terminal 19: 0.5 A
NE/3-15
Supply Infeed (NE) 3.2 Terminals, UE module 5/10 kW
10.00 07.94
3.2
Table 3-2
Terminals, UE module 5/10 kW

Terminal functions Desig nation Line supply Function Type
1)
NE
Term. No.
Typ. voltage limiting values 3ph. 400 VAC/480 V
Max. crosssection 4 mm2 finely stranded without end sleeve 6 mm2 with cable lug Thread M5 Thread M4 34 core ribbon cable Busbar Busbar Busbar 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2
U1 X1 V1 W1 PE1 PE2 X131 X351
Protective conductor Electronics M Equipment bus Grounding bar3) DC link DC link
I I I/O I/O I/O I/O I I O I O I O I NC NO I NC I I NO I O O I I O I NC O I I O I O
0V 0V Various 300 V +300 V 300 V 300 V +300 V 3ph. 400 V AC/480 V 3ph. 400 V AC/480 V 3ph. 400 V AC/480 V 3ph. 400 V AC/480 V 3ph. 400 V AC/480 V 3ph. 400 V AC/480 V 1ph. 50 V DC/0.5 A/12 VA max 1ph. 5 V DC/3 mA min 1ph. 250 V AC/50 V DC/2 A max 1ph. 5 V DC/3 mA min +13 V...30 V/RE = 1.5 k +24 V +24 V +13 V...30 V/RE = 1.5 k 0/+24 V 0V 1ph. 250 V AC/50 V DC/2 A 1ph. 17 V DC/3 mA min +24 V +13 V...30 V/RE = 1.5 k +13 V...30 V/RE = 1.5 k +24 V 0/+24 V 0V
P600 M600 M500 P500 1U1 2U1 1V1 2V1 1W1 2W1 5.3 5.2 5.1 nc 74 73.2 73.1 72 63 9 9 64 R 19 X181 X181 X181 X181 X181 X181 X181 X181 X121A X121A X121A X121A X121B X121B X121B X121B X141A X141A X141A X141A X141A X141A
DC link power supply DC link power supply Output L1 Input L1 Output L2 Input L2 Output L3 Input L3 Relay contact Group signal I2t/motor temp. Relay signal Ready/ Fault Pulse enable FR+ 2)4) FR+ 2)4) Drive enable 2) RESET 2) FR, reference ground, enable signal voltage Signaling contact Line contactor FR+ 2)4) Settingup/standard operation 2) Contactor control 2) Coil contact for line, precharging contactor M
2)
111 X161 213 X161 9 112 48 NS1 NS2 15 X141B X141B X141B X141B X141B X141B
Notes: 1) I = Input, O = Output, NC = NC contact, NO = NO contact (for signal: closed = high, open= low) 2) Terminal 19 is the reference terminal (this is connected inside the module to general reference ground X131 with 10 kW) . 3) The grounding bar is used to ground the DC link M busbar through 100 k (this should be preferably inserted; always insert for nongrounded line supplies). 4) Max. current load, terminal 9 terminal 19: 1 A
NE/3-16
Feed Modules(VS)
Short Commissioning, Standard Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 1.2 Tachometer adaptation for motors with tachometer voltages 3 16.5 V at rated speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Current controller settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VS/1-3 VS/1-4 VS/1-4 VS/2-17 VS/2-18 VS/2-19 VS/2-20 VS/2-21 VS/2-22 VS/2-23 VS/2-23 VS/2-23 VS/3-25 VS/3-25 VS/3-27 VS/3-29 VS/4-33 VS/5-35 VS/5-35 VS/5-35 VS/5-39 VS/5-41 VS/6-43 VS/7-45 VS/8-47 VS/8-47 VS/8-47 VS/8-49 VS/8-50
VS
Speed Controller Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 Tachometer calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting the proportional gain Kp without adaptation . . . . . . . . . . . . . . . Setting the integral action time TN without adaptation . . . . . . . . . . . . . Integral action time with adaptation (if required) . . . . . . . . . . . . . . . . . . P gain with adaptation (only userfriendly interface) . . . . . . . . . . . . . . Setting the adaptation range (generally not required) . . . . . . . . . . . . . Icomponent speed controller limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . Drift compensation (offset) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Supplementary Commissioning Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 3.1.1 3.2 Setting elements with the standard interface . . . . . . . . . . . . . . . . . . . . . Dimensioning the setting elements (Standard interface) . . . . . . . . . . . Setting elements with userfriendly interface . . . . . . . . . . . . . . . . . . . .
4 5
Setpoint Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning with the MSD Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 5.1.1 5.1.2 5.2 Presettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Settings with the control board withdrawn . . . . . . . . . . . . . . . . . . . . . . . Settings in operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 7 8
Free for Expansions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PoweringUp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service and Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1 8.1.1 8.1.2 8.2 Test sockets and display elements of the feed modules . . . . . . . . . . . Userfriendly interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Standard interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VSi
10.00 07.94
Attachments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1 9.2 9.3 9.4 9.5 9.6 Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Layout diagram MSD option board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Layout diagram, parameter board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Layout diagram, standard interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Layout diagram, speed control loop (userfriendly interface) . . . . . . . Motor encoder, assignment of X311/X313 (1st/2nd axis) . . . . . . . . . .
VS/9-51 VS/9-51 VS/9-53 VS/9-54 VS/9-55 VS/9-56 VS/9-57
VS
VSii
10.00 07.94
Feed Modules (VS) 1 Short Commissioning, Standard Settings
Short Commissioning, Standard Settings

The setting elements for the userfriendly interface are provided on the parameter board, and for the standard interface on the control (refer to Section 9 Attachment). For a standard commissioning procedure, the tachometer adaptation, current normalization and current controller gain parameters should be set.
1
VS
Commissioning stages of the FD modules with the userfriendly and standard interface
Commissioning is subdivided into various stages; after the standard settings have been made, an additional commissioning stage can follow, or the unit can be poweredup.
Short commissioning, standard settings Speed controller optimization Supplementary functions Setpoint interfaces Commissioning with MSD option
Sec. 1
Sec. 2
Sec. 3 Sec. 4 Sec. 5
Poweringup, Sec. 7
Service and diagnostics Attachment
Sec. 8 Sec. 9
VS/1-3
Feed Modules (VS) 1.2 Current controller settings
10.00 07.94
1.1
Tachometer adaptation for motors with tachometer voltages 16.5 V at rated speed
Only involves motors 1FT503VVAF71 and 1FT504VVAF71
Userfriendly and standard interface
All three contacts of switch S1 (S4 for a 2nd axis standard interface) = ON In addition, discrete resistors can be used for calibration, refer to Sections 3.1 - 3.2.
VS
1.2 Current controller settings
The settings for the current limit and current controller gain Kp(I) can be taken from the adaptation tables, Table 1-3 up to Table1-9. The values can be determined according to the formulas if the required feed module/motor combination cannot be found.
Userfriendly interface Standard interface
Parameter board, switch S2
Control board, switch S2 (S5 for a 2nd axis)
Note The following setting values apply for both control versions unless specific differences are referred to in individual cases.
Actual value normalization
Current limit =
Imax (set maximum current) Ilimit (peak power module current)
S 100
[%]
Table 1-1 S2.x or S5.x to ON (%)
Current limit 2 3 2 3 4 2 4 3 4 2 3 4 39 5 2 5 3 5 2 3 5 29 4 5 2 4 5 25 3 4 5 24 2 3 4 5 23
100
85
68
61
50
46
41
36
34
30
26
The current limit must be at least reduced to the peak value permitted for the particular motor. This may have to be further reduced depending on the mechanical system.
VS/1-4
10.00 07.94
Current controller gain Kp(I)
Kp(I) <
Imax LA
40 Imax = selected max. current of the axis in A LD = rotating field inductance of the motor in mH (refer to the Planning Guide, AC Motors for Feed and Main Spindle Drives)
Table 1-2 S2.x or S5.x to ON Kp(I) Current controller gain 6 7 6 7 8 6 8 7 8 9 6 9 7 9 6 7 9 8 8 9 7 8 9 11 6 7 8 9 11.5
VS
0.5
2.5
4.5
5.5
6.5
7.5
9.5
Userfriendly interface
The current controller gain setting range can be additionally increased using R15 on the parameter board. The following formula is valid for S2.6 to S2.9 closed (ON): Kp(I) + 11.5 ) 1230 W R15
Adaptation tables
Table 1-3 Adaptation table for 6SN112V1AV000HA1 4/8 A power module Servomotor 1FT... 5034VAK71 5036VAK71 5042VAF71 5042VAK71 5044VAF71 5044VAK71 5046VAF71 5062VAC71 5062VAF71 5062VAG71 5062VAK71 5064VAC71 5066VAC71 5070VAC71 5070VAF71 5070VAG71 5071VAC71 Mo [Nm] 0.5 0.75 0.66 0.66 1.3 1.3 2.6 2.2 2.2 2.2 2.2 4.5 6.5 3.0 3.0 3.0 4.5 Io [A] 0.93 1.4 0.75 1.2 1.5 2.3 3.0 1.3 2.0 2.7 3.9 2.7 3.9 1.8 2.6 3.6 2.9 nrated [RPM] 6000 6000 3000 6000 3000 6000 3000 2000 3000 4000 6000 2000 2000 2000 3000 4000 2000 Current limit 1) Contacts 2 x o x x o o o o o o o o o o o o o 3 o x o x x o o x o o o o o o o o o 4 x o o o o o o o o o o o o o o o o 5 o o x o o o o o o o o o o o o o o Imax [A] 3.68 5.44 2.72 4.88 5.44 8.0 8.0 5.44 8.0 8.0 8.0 8.0 8.0 8.0 8.0 8.0 8.0 Current controller gain Contacts 6 o o x x x x o x o o x o x x o x x 7 x x x x x o x x x o o x o x x o x 8 o o o o o o o x o x o o x x o x o 9 o o o o o o o x x o o x o x x o x Kp(I) 2.0 2.0 2.5 2.5 2.5 1.0 2.0 11.5 7.5 4.0 1.0 7.5 4.5 11.5 7.5 4.5 8.0
Definition:
o = Contact in the basic OFF setting x = Contact in the ON setting
1) The specified value is the maximum permissible current of the particular power module/motor combination. It may be necessary to reduce the specified value depending on the driven mechanical systems.
VS/1-5
10.00 07.94
Table 1-4
Adaptation table for 6SN112V1AV000AA1 7.5/15 A power modules Servomotor Current limit 1) nrated [RPM] 6000 6000 3000 6000 3000 6000 3000 6000 2000 3000 4000 6000 2000 3000 4000 2000 3000 2000 3000 4000 6000 2000 3000 4000 2000 2000 3000 2000 Contacts 2 o o x x x x x o x o o o o o o o o o o o o x o o o o o o 3 x o x x x x o o o o x o x o o o o o x o o o o o o o o o 4 x o x o x o o o o x o o o o o o o x o o o o o o o o o o 5 x x x x o o o o x o o o o o o o o o o o o o o o o o o o Imax [A] 3.68 5.44 3.45 4.5 5.85 9.15 12.7 15.0 5.1 7.5 10.2 15.0 10.2 15.0 15.0 15.0 15.0 7.5 10.2 15.0 15.0 12.7 15.0 15.0 15.0 15.0 15.0 15.0 Current controller gain Contacts 6 o o o o o o o x o x o x o x x o o x o x o x x x x o o o 7 x x o x o x o o x o x x o o x o o x o x o x o o x o o x 8 o o x o x o x o x o x o x o o x x x x o x x o x o x x x 9 o o o o o o o o x x o o x x o x o x x x o x x o x x o o Kp(I) 2.0 2.0 4.0 2.0 4.0 2.0 4.0 1.0 11.0 6.5 5.5 2.5 9.5 6.5 2.5 9.5 4.0 11.5 9.5 8.0 4.0 11.5 6.5 4.5 8.0 9.5 4.0 5.5
1FT... 5034VAK71 5036VAK71 5042VAF71 5042VAK71
Mo [Nm] 0.5 0.75 0.66 0.66 1.3 1.3 2.6 2.6 2.2 2.2 2.2 2.2 4.5 4.5 4.5 6.5 6.5 3.0 3.0 3.0 3.0 4.5 4.5 4.5 10.0 7.0 7.0 10.0
Io [A] 0.93 1.4 0.75 1.2 1.5 2.3 3.0 4.7 1.3 2.0 2.7 3.9 2.7 4.1 5.5 3.9 6.0 1.8 2.6 3.6 5.3 2.9 4.3 5.2 6.1 4.3 6.4 6.2
VS
5044VAF71 5044VAK71 5046VAF71 5046VAK71 5062VAC71 5062VAF71 5062VAG71 5062VAK71 5064VAC71 5064VAF71 5064VAG71 5066VAC71 5066VAF71 5070VAC71 5070VAF71 5070VAG71 5070VAK71 5071VAC71 5071VAF71 5071VAG71 5072VAC71 5073VAC71 5073VAF71 5100VAC71
Definition:
VS/1-6
10.00 07.94
Table 1-5
Adaptation table for 6SN112V1AV000BA1 12.5/25 A power modules Servomotor Current limit 1) nrated [RPM] 6000 3000 6000 3000 6000 2000 3000 4000 6000 2000 3000 4000 6000 2000 3000 4000 6000 2000 3000 4000 6000 2000 3000 4000 6000 2000 3000 4000 2000 3000 4000 6000 2000 2000 2000 3000 4000 2000 1200 2000 Contacts 2 x o o o o x x x x x o o o o o o o o x o o o o o o o o o o o o o o o o o o o o o 3 x x o o x x o o x o x o o x o o o x o x o o x o o o o o x o o o o o o o o o o o 4 x x o x o x o x o x o o o o o o o o x o o x o o o o o o o o o o o o o o o o o o 5 x x x o o x x o o o o o o o o o o x o o o o o o o o o o o o o o o o o o o o o o Imax [A] 5.75 6.0 9.0 12.5 17.0 5.75 8.5 10.25 15.75 10.25 17.0 25.0 25.0 17.0 25.0 25.0 25.0 7.5 11.5 17.0 25.0 12.5 17.0 25.0 25.0 25.0 25.0 25.0 17.0 25.0 25.0 25.0 25.0 25.0 25.0 25.0 25.0 25.0 25.0 25.0 Current controller gain Contacts 6 o o o o o x x o x x x o x o x x o x o o x x x x x x o x o x x x x o o o x o x o 7 x o x o x x x x x x o x x o o x x x x o o x x x x x o x o o o o x x o o x x x o 8 o x o x o x o x o x o x o x o o o x x x o x o o o x o o x o x o o x x x o x o x 9 o o o o o x x o o x x o o x x o o x x x x x x x o x x o x x o o x o x o o o x o Kp(I) 2.0 4.0 2.0 4.0 2.0 11.5 8.0 5.5 2.5 11.5 6.5 5.5 2.5 9.5 6.5 2.5 2.0 11.5 11.0 9.5 6.5 11.5 8.0 8.0 2.5 11.5 6.0 2.5 9.5 6.5 4.5 1.0 8.0 5.5 9.5 4.0 2.5 5.5 8.0 4.0
1FT... 5036VAK71 5044VAF71 5044VAK71 5046VAF71 5046VAK71 5062VAC71 5062VAF71 5062VAG71 5062VAK71 5064VAC71 5064VAF71 5064VAG71 5064VAK71 5066VAC71 5066VAF71 5066VAG71 5066VAK71 5070VAC71 5070VAF71 5070VAG71 5070VAK71 5071VAC71 5071VAF71 5071VAG71 5071VAK71 5072VAC71 5072VAF71 5072VAG71 5073VAC71 5073VAF71 5073VAG71 5073VAK71 5074VAC71 5076VAC71 5100VAC71 5100VAF71 5100VAG71 5101VAC71 5102VAA71 5103VAC71
Mo [Nm] 0.75 1.3 1.3 2.6 2.6 2.2 2.2 2.2 2.2 4.5 4.5 4.5 4.5 6.5 6.5 6.5 6.5 3.0 3.0 3.0 3.0 4.5 4.5 4.5 4.5 10.0 10.0 10.0 7.0 7.0 7.0 7.0 14.0 18.0 10.0 10.0 10.0 15.0 27.0 19.0
Io [A] 1.4 1.5 2.3 3.0 4.7 1.3 2.0 2.7 3.9 2.7 4.1 5.5 8.0 3.9 6.0 7.9 11.6 1.8 2.6 3.6 5.3 2.9 4.3 5.2 7.9 6.1 9.1 12.0 4.3 6.4 8.1 12.5 8.5 11.5 6.2 9.2 12.5 9.4 9.9 12.0
VS
Definition:
VS/1-7
10.00 07.94
Table 1-6
Adaptation table for 6SN112V1AV000CA1 25/50 A power modules Servomotor Current limit 1) nrated [RPM] 6000 3000 6000 4000 6000 2000 3000 4000 6000 2000 3000 4000 6000 3000 4000 6000 2000 3000 4000 6000 2000 3000 4000 6000 2000 3000 4000 6000 2000 3000 4000 6000 2000 3000 4000 2000 3000 4000 6000 2000 3000 4000 1200 2000 3000 Contacts 2 o o o x o o x o o x x o o o x o o o o o o x o o o x x o x o o o o o o x x o o x o o x o o 3 o x o o x o x o x x x x o x o o o x o x o o o o x x o o o o o o o o o x o o o o o o o o o 4 x o x x x x x x o x o o o x o x x x x o x o o o x o o o o o o o o o o o o o o o o o o o o 5 x x o x o x o o o o o o o x x o x o o o o o o o o o o o o o o o o o o o o o o o o o o o o Imax [A] 13.0 15.0 25.0 13.0 19.5 13.0 19.5 25.0 34.0 19.5 30.5 34.0 50.0 12.0 17.0 25.0 13.0 20.5 25.0 34.0 25.0 42.5 50.0 50.0 20.5 30.5 42.5 50.0 42.5 50.0 50.0 50.0 50.0 50.0 50.0 30.5 42.5 50.0 50.0 42.5 50.0 50.0 42.5 50.0 50.0 Current controller gain Contacts 6 x o x x x x x o x x x x o x o x x o x o x o x x x x o x x x x x o x x x x x x o x x x x x 7 x o x o o x x x x x x o o x o o x o x o x o o x x x x x x o o o x o x x o o x o o x x o x 8 o x o o x x o x o x o x x x x o x x o x x x o o x o o o x o x o x x o x o x o x x o x o o 9 o o o x o x x o o x x o o x x x x x x o x x x o x x x o x x o o x o o x x o o x o o x x o Kp(I) 2.5 4.0 2.5 6.5 4.5 11.5 8.0 5.5 2.5 11.5 8.0 4.5 4.0 11.5 9.5 6.5 11.5 9.5 8.0 4.0 11.5 9.5 6.5 2.5 11.5 8.0 7.5 2.5 11.5 6.5 4.5 1.0 11.0 4.5 2.5 11.5 6.5 4.5 2.5 9.5 4.5 2.5 11.5 6.5 2.5
1FT... 5044VAK71 5046VAF71 5046VAK71 5062VAG71 5062VAK71
Mo [Nm] 1.3 2.6 2.6 2.2 2.2 4.5 4.5 4.5 4.5 6.5 6.5 6.5 6.5 3.0 3.0 3.0 4.5 4.5 4.5 4.5 10.0 10.0 10.0 10.0 7.0 7.0 7.0 7.0 14.0 14.0 14.0 14.0 18.0 18.0 18.0 10.0 10.0 10.0 10.0 15.0 15.0 15.0 27.0 27.0 27.0
Io [A] 2.3 3.0 4.7 2.7 3.9 2.7 4.1 5.5 8.0 3.9 6.0 7.9 11.6 2.6 3.6 5.3 2.9 4.3 5.2 7.9 6.1 9.1 12.0 17.5 4.3 6.4 8.1 12.5 8.5 13.0 16.5 25.0 11.5 16.5 21.5 6.2 9.2 12.5 18.0 9.4 14.5 17.5 9.9 16.5 25.0
VS
5064VAC71 5064VAF71 5064VAG71 5064VAK71 5066VAC71 5066VAF71 5066VAG71 5066VAK71 5070VAF71 5070VAG71 5070VAK71 5071VAC71 5071VAF71 5071VAG71 5071VAK71 5072VAC71 5072VAF71 5072VAG71 5072VAK71 5073VAC71 5073VAF71 5073VAG71 5073VAK71 5074VAC71 5074VAF71 5074VAG71 5074VAK71 5076VAC71 5076VAF71 5076VAG71 5100VAC71 5100VAF71 5100VAG71 5100VAK71 5101VAC71 5101VAF71 5101VAG71 5102VAA71 5102VAC71 5102VAF71
Definition:
VS/1-8
10.00 07.94
Table 1-6
Adaptation table for 6SN112V1AA000CA1 25/50 A power modules, continued Servomotor Current limit 1) nrated [RPM] 2000 3000 4000 1200 2000 1200 1200 1200 Contacts 2 o o o o o o o o 3 o o o o o o o o 4 o o o o o o o o 5 o o o o o o o o Imax [A] 50.0 50.0 50.0 50.0 50.0 50.0 50.0 50.0 Current controller gain Contacts 6 x x o x o x x o 7 x x x x o x o x 8 o o o x x o o o 9 o o x x o x x x Kp(I) 8.0 2.5 2.0 11.5 4.0 8.0 6.5 7.5
1FT... 5103VAC71 5103VAF71 5103VAG71 5104VAA71 5104VAC71 5106VAA71 5108VAA71 5132VAA71
Mo [Nm] 19.0 19.0 19.0 37.0 37.0 45.0 55.0 60.0
Io [A] 12.0 17.5 23.0 14.0 22.5 17.0 20.5 22.5
VS
Definition:
VS/1-9
10.00 07.94
Table 1-7
Adaptation table for 6SN112V1AA000DA1 40/80 A power modules Servomotor Current limit 1) nrated [RPM] 6000 8000 4000 6000 6000 3000 4000 6000 2000 3000 4000 6000 6000 3000 4000 6000 2000 3000 4000 6000 2000 3000 4000 6000 2000 3000 4000 6000 4000 6000 2000 3000 4000 6000 4000 2000 3000 4000 6000 2000 3000 4000 6000 Contacts 2 o o o o o o o o o o o o o o x o o o o o o x o o o o o o o o x x o o o x o o o o o o o 3 o o o x x x o o x o o x x o o o o o x o o x o x o x o o o o x o o o o x o x o o x o o 4 o o o o x x o x x o x o o x o x o x o o x x x o x o o o o o o o o o o x x o o x o o o 5 o o o x x x x o x x o o x x x o x o o o x o o o o o o o o o o o o o o o o o o o o o o Imax [A] 80.0 80.0 80.0 24.0 19.2 19.2 28.8 40.0 19.2 28.2 40.0 54.4 24.0 20.8 27.2 40.0 28.8 40.0 54.4 80.0 20.8 31.2 40.0 54.4 40.0 54.4 80.0 80.0 80.0 80.0 48.8 68.0 80.0 80.0 80.0 31.2 40.0 54.4 80.0 40.0 54.4 80.0 80.0 Current controller gain Contacts 6 o x o x o x x o x x o x x o x x x o o o x x x x x o x x o x o x x o o x x o o x o x o 7 x o o x o x o o x x o o o o x o x o x x x x o x x x o x o x x o o x o x o x o x x o x 8 o o x o x o o x x o o x o x o x x x o x x o o o x o o o o o x o x o x x o x x o x x o 9 o o o o o x x o x x x o x x x o x x x o x x x o x x x o x o x x o o o x x o o x o o o Kp(I) 2.0 1.0 4.0 2.5 4.0 8.0 6.5 4.0 11.5 8.0 6.0 4.5 6.5 9.5 8.0 4.5 11.5 9.5 7.5 5.5 11.5 8.0 6.5 2.5 11.5 7.5 6.5 2.5 6.0 2.5 11.0 6.5 4.5 2.0 4.0 11.5 6.5 5.5 4.0 8.0 5.5 4.5 2.0
1FT 4101VSK71 4101VSN71 4102VSG71 5046VAK71 5062VAK71 5064VAF71 5064VAG71 5064VAK71 5066VAC71 5066VAF71 5066VAG71 5066VAK71 5070VAK71 5071VAF71 5071VAG71 5071VAK71 5072VAC71 5072VAF71 5072VAG71 5072VAK71 5073VAC71 5073VAF71 5073VAG71 5073VAK71 5074VAC71 5074VAF71 5074VAG71 5074VAK71 5074VSG71 5074VSK71 5076VAC71 5076VAF71 5076VAG71 5076VAK71 5076VSG71 5100VAC71 5100VAF71 5100VAG71 5100VAK71 5101VAC71 5101VAF71 5101VAG71 5101VAK71
Mo [Nm] 20.0 20.0 33.0 2.6 2.2 4.5 4.5 4.5 6.5 6.5 6.5 6.5 3.0 4.5 4.5 4.5 10.0 10.0 10.0 10.0 7.0 7.0 7.0 7.0 14.0 14.0 14.0 14.0 16.0 16.0 18.0 18.0 18.0 18.0 20.5 10.0 10.0 10.0 10.0 15.0 15.0 15.0 15.0
Io [A] 33.0 39.0 35.0 4.7 3.9 4.1 5.5 8.0 3.9 6.0 7.9 11.6 5.3 4.3 5.2 7.9 6.1 9.1 12.0 17.5 4.3 6.4 8.1 12.5 8.5 13.0 16.5 25.0 19.0 28.0 11.5 16.5 21.5 32.0 24.5 6.2 9.2 12.5 18.0 9.4 14.5 17.5 26.5
Definition:
1) he specified value is the maximum permissible current of the particular power module/motor combination. It may be necessary to reduce the specified value depending on the driven mechanical systems.
VS/1-10
10.00 07.94
Table 1-7
Adaptation table for 6SN112V1AA000DA1 40/80 A power modules, continued Servomotor Current limit 1) nrated [RPM] 1200 2000 3000 4000 2000 3000 4000 1200 2000 3000 1200 2000 1200 2000 1200 2000 1200 1200 1200 1200 1200 Contacts 2 o o o o o o o o o o o o o o o o o o o o o 3 o o o o x o o x o o o o o o o o o o o o o 4 x o o o o o o o o o o o o o o o o o o o o 5 o o o o o o o o o o o o o o o o o o o o o Imax [A] 40.0 80.0 80.0 80.0 54.4 80.0 80.0 54.4 80.0 80.0 80.0 80.0 80.0 80.0 80.0 80.0 80.0 80.0 80.0 80.0 80.0 Current controller gain Contacts 6 x o o x x o x x x x x o x x x x x o o o o 7 x o o x x o x x o x x x x o x o x o o x o 8 x x x o o o o x o o x x x x x x x x x o o 9 x x o o x x o x x o x o x o x o x x x x x Kp(I) 11.5 9.5 4.0 2.5 8.0 6.0 2.5 11.5 6.5 2.5 11.5 5.5 11.5 4.5 11.5 4.5 11.5 9.5 9.5 7.5 6.0
1FT 5102VAA71 5102VAC71 5102VAF71 5102VAG71 5103VAC71 5103VAF71 5103VAG71 5104VAA71 5104VAC71 5104VAF71 5106VAA71 5106VAC71 5108VAA71 5108VAC71 5132VAA71 5132VAC71 5132VSA71 5134VAA71 5134VSA71 5136VAA71 5138VAA71
Mo [Nm] 27.0 27.0 27.0 27.0 19.0 19.0 19.0 37.0 37.0 37.0 45.0 45.0 55.0 55.0 60.0 60.0 70.0 75.0 90.0 85.0 105.0
Io [A] 9.9 16.5 25.0 31.5 12.0 17.5 23.0 14.0 22.5 34.0 17.0 26.8 20.5 32.5 22.5 35.5 26.0 28.0 34.0 31.5 39.0
VS
Definition:
VS/1-11
10.00 07.94
Table 1-8
Adaptation table for 6SN112V1AA000EA1 80/160 A power modules Servomotor Current limit 1) nrated [RPM] 6000 8000 4000 6000 4000 6000 4000 6000 4000 6000 6000 3000 4000 6000 4000 6000 2000 3000 4000 6000 4000 6000 2000 3000 4000 6000 4000 6000 3000 4000 6000 2000 3000 4000 6000 1200 2000 3000 4000 3000 4000 2000 3000 4000 Contacts 2 o o o o o o o o o o o o o o o o o o o x o x o x o o o o x x o o o o x x o o o o o o o o 3 o o o o o o o o x o x o o o o x o x o x o x x o x o x o x x o o x o o x o x o x o o o x 4 o o o o o o o x x o x x o x x x x x x o x o o x o o o o o x x x x x o o x o o o o o x o 5 o o o o o o o x x x x x x o x o x o o o o o x o o o o o x o o x o o o x o o o o o x o o Imax [A] 160.0 160.0 160.0 160.0 160.0 160.0 160.0 41.6 38.4 57.6 38.4 41.6 57.6 80.0 41.6 65.5 41.6 65.6 80.0 97.6 80.0 97.0 48.0 73.6 108.8 160.0 108.8 160.0 46.4 62.4 80.0 41.6 65.6 80.0 136.0 46.4 80.0 108.8 160.0 108.8 160.0 57.6 80.0 108.8 Current controller gain Contacts 6 x x x x o x x x o x x o x o x o x x x x o x o o x o o o x x o o x x o x o o o x x x o x 7 o x x o x x o o o o o o x x o o x x o x x x o x o o x o x o o o o o o x o x x o o x o o 8 x o o x x o x x o x x x o x o x x o o o x o x o o x x x o o x x o x x x x x x x x o o x 9 o o x o o o o o x o o x x o x o x x x o o o x x x o o o x x o x x o o x x o o o o x x o Kp(I) 4.5 2.5 8.0 4.5 5.5 2.5 4.5 4.5 6.0 4.5 4.5 9.5 8.0 5.5 6.5 4.0 11.5 8.0 6.5 2.5 5.5 2.5 9.5 7.5 6.5 4.0 5.5 4.0 8.0 6.5 4.0 9.5 6.5 4.5 4.0 11.5 9.5 5.5 5.5 4.5 4.5 8.0 6.0 4.5
1FT 4101VSK71 4101VSN71 4102VSG71 4102VSK71 4104VSG71 4104VSK71 4106VSG71 5064VAK71 5066VAG71 5066VAK71 5071VAK71 5072VAF71 5072VAG71 5072VAK71 5073VAG71 5073VAK71 5074VAC71 5074VAF71 5074VAG71 5074VAK71 5074VSG71 5074VSK71 5076VAC71 5076VAF71 5076VAG71 5076VAK71 5076VSG71 5076VSK71 5100VAF71 5100VAG71 5100VAK71 5101VAC71 5101VAF71 5101VAG71 5101VAK71 5102VAA71 5102VAC71 5102VAF71 5102VAG71 5102VSF71 5102VSG71 5103VAC71 5103VAF71 5103VAG71
Mo [Nm] 20.0 20.0 33.0 33.0 45.0 45.0 59.0 4.5 6.5 6.5 4.5 10.0 10.0 10.0 7.0 7.0 14.0 14.0 14.0 14.0 16.0 16.0 18.0 18.0 18.0 18.0 20.5 20.5 10.0 10.0 10.0 15.0 15.0 15.0 15.0 27.0 27.0 27.0 27.0 34.0 34.0 19.0 19.0 19.0
Io [A] 33.0 39.0 35.0 47.0 46.0 60.0 56.0 8.0 7.9 11.6 7.9 9.1 12.0 17.5 8.1 12.5 8.5 13.0 16.5 25.0 19.0 28.0 11.5 16.5 21.5 32.0 24.5 36.0 9.2 12.5 18.0 9.4 14.5 17.5 26.5 9.9 16.5 25.0 31.5 31.5 39.5 12.0 17.5 23.0
VS
Definition:
VS/1-12
10.00 07.94
Table 1-8
Adaptation table for 6SN112V1AA000EA1 80/160 A power modules, continued Servomotor Current limit 1) nrated [RPM] 1200 2000 3000 3000 1200 2000 3000 3000 1200 2000 3000 1200 2000 3000 1200 2000 3000 1200 2000 1200 2000 1200 2000 1200 2000 1200 1200 Contacts 2 x o o o o o o o o o o o o o o o o o o o o x o x o o o 3 x x o o o x o o o o o x o o x o o x o x o o o o o o o 4 x o o o x o o o x o o o o o o o o o o o o o o o o o o 5 o o o o o o o o o o o o o o o o o o o o o o o o o o o Imax [A] 62.4 108.8 160.0 160.0 80.0 108.0 160.0 160.0 80.0 160.0 160.0 108.8 160.0 160.0 108.8 160.0 160.0 108.8 160.0 108.8 160.0 136.0 160.0 136.0 160.0 160.0 160.0 Current controller gain Contacts 6 x o x o x o x o x o o x x o x x x x x x x x x x x x x 7 x o o x x x o o x o o x x x x x x x o x o x o x o x x 8 x x o x x o x x x x x x o x x o x x o x o x o x o x x 9 x x x o x x o o x x o x x o x x o x o x x x x x o x x Kp(I) 11.5 9.5 6.5 5.5 11.5 7.5 4.5 4.0 11.5 9.5 4.0 11.5 8.0 5.5 11.5 8.0 5.5 11.5 6.5 11.5 6.5 11.5 6.5 11.5 6.5 11.5 11.5
1FT 5104VAA71 5104VAC71 5104VAF71 5104VSF71 5106VAA71 5106VAC71 5106VAF71 5106VSF71 5108VAA71 5108VAC71 5108VAF71 5132VAA71 5132VAC71 5132VAF71 5132VSA71 5132VSC71 5132VSF71 5134VAA71 5134VAC71 5134VSA71 5134VSC71 5136VAA71 5136VAC71 5136VSA71 5136VSC71 5138VAA71 5138VSA71
Mo [Nm] 37.0 37.0 37.0 48.0 45.0 45.0 45.0 57.0 55.0 55.0 55.0 60.0 60.0 60.0 70.0 70.0 70.0 75.0 75.0 90.0 90.0 85.0 85.0 110.0 110.0 105.0 140.0
Io [A] 14.0 22.5 34.0 44.0 17.0 26.8 42.5 54.0 20.5 32.5 50.5 22.5 35.5 47.5 26.0 41.0 55.5 28.0 47.0 34.0 56.0 31.5 47.5 41.0 61.5 39.0 52.0
VS
Definition:
VS/1-13
10.00 07.94
Table 1-9
Adaptation table for 6SN112V1AA000FA1 100/200 A power modules Servomotor Current limit 1) nrated [RPM] 6000 8000 4000 6000 4000 6000 4000 6000 4000 6000 6000 3000 4000 6000 4000 6000 2000 3000 4000 6000 4000 6000 3000 4000 6000 2000 3000 4000 6000 1200 2000 3000 4000 3000 4000 2000 3000 4000 1200 2000 3000 3000 1200 2000 3000 3000 Contacts 2 o x x o o o o o o o o o o o o o o x o o o o x o x x o x o x x o o x o o x x o o o o x x o o 3 x o o o o o o x x x x x x o x o o x o x o x x x o x x o x x x o x x x x o x x o x x x x o o 4 o o o o o o o o o x o o x x x x x x x o x o x o x x o x o x x x o o o o x o o x o o x o o o 5 o o o o o o o x x o x x o o o o x o o o o o x x o x x o o x o o o o o x o o x o o o o o o o Imax [A] 136.0 170.0 170.0 200.0 200.0 200.0 200.0 60.0 60.0 82.0 60.0 60.0 82.0 100.0 82.0 100.0 52.0 78.0 100.0 136.0 100.0 136.0 46.0 60.0 92.0 46.0 60.0 92.0 136.0 46.0 78.0 100.0 136.0 122.0 136.0 60.0 92.0 122.0 60.0 100.0 136.0 136.0 78.0 122.0 200.0 200.0 Current controller gain Contacts 6 x x o o x x o x x o o x x x o x x x o x x x x o x o o o o x o x x o o o x o x x o x x x o x 7 x x o x o x x o x x o x o x o x x x x x o x x o o o o o o x o o o x o o o x x x x o x x x o 8 o o x x o o x x o x x o o o o o x o x o x o o o x x o o x x x x x x x x o x x o x x x o x x 9 o o x o x o o o x o o x x o x o x x o o o o x x o x x x o x x o o o o x x o x x o o x x o o Kp(I) 2.5 2.0 9.5 5.5 6.5 2.5 5.5 4.5 8.0 5.5 4.0 8.0 6.5 2.5 6.0 2.5 11.5 8.0 5.5 2.5 4.5 2.5 8.0 6.0 4.5 9.5 6.0 6.0 4.0 11.5 9.5 4.5 4.5 5.5 4.0 9.5 6.5 5.5 11.5 8.0 5.5 4.5 11.5 8.0 5.5 4.5
1FT 4101VSK71 4101VSN71 4102VSG71 4102VSK71 4104VSG71 4104VSK71 4106VSG71 5066VAK71 5072VAG71 5072VAK71 5073VAK71 5074VAF71 5074VAG71 5074VAK71 5074VSG71 5074VSK71 5076VAC71 5076VAF71 5076VAG71 5076VAK71 5076VSG71 5076VSK71 5100VAF71 5100VAG71 5100VAK71 5101VAC71 5101VAF71 5101VAG71 5101VAK71 5102VAA71 5102VAC71 5102VAF71 5102VAG71 5102VSF71 5102VSG71 5103VAC71 5103VAF71 5103VAG71 5104VAA71 5104VAC71 5104VAF71 5104VSF71 5106VAA71 5106VAC71 5106VAF71 5106VSF71
Mo [Nm] 20.0 20.0 33.0 33.0 45.0 45.0 59.0 6.5 10.0 10.0 7.0 14.0 14.0 14.0 16.0 16.0 18.0 18.0 18.0 18.0 20.5 20.5 10.0 10.0 10.0 15.0 15.0 15.0 15.0 27.0 27.0 27.0 27.0 34.0 34.0 19.0 19.0 19.0 37.0 37.0 37.0 48.0 45.0 45.0 45.0 57.0
Io [A] 33.0 39.0 35.0 47.0 46.0 60.0 56.0 11.6 12.0 17.5 12.5 13.0 16.5 25.0 19.0 28.0 11.5 16.5 21.5 32.0 24.5 36.0 9.2 12.5 18.0 9.4 14.5 17.5 26.5 9.9 16.5 25.0 31.5 31.5 39.5 12.0 17.5 23.0 14.0 22.5 34.0 44.0 17.0 26.8 42.5 54.0
VS
Definition:
VS/1-14
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Table 1-9
Adaptation table for 6SN112V1AA000FA1 100/200 A power modules, continued Servomotor Current limit 1) nrated [RPM] 1200 2000 3000 1200 2000 3000 1200 2000 3000 1200 2000 1200 2000 1200 2000 1200 2000 1200 1200 Contacts 2 x o o o x o o x o x o x o o o o o x x 3 o x o o o o o o o x o x o x o x o o o 4 x o o x o o x o o o o o o o o o o o o 5 o o o o o o o o o o o o o o o o o o o Imax [A] 92.0 136.0 200.0 100.0 170.0 200.0 100.0 170.0 200.0 122.0 200.0 122.0 200.0 136.0 200.0 136.0 200.0 170.0 170.0 Current controller gain Contacts 6 x x x x o x x o x x x x x x x x x x x 7 x x o x o o x o o x x x x x x x x x x 8 x o x x x o x x o x o x o x o x o x x 9 x x o x x x x x x x x x x x x x x x x Kp(I) 11.5 8.0 4.5 11.5 9.5 6.5 11.5 9.5 6.5 11.5 8.0 11.5 8.0 11.5 8.0 11.5 8.0 11.5 11.5
1FT 5108VAA71 5108VAC71 5108VAF71 5132VAA71 5132VAC71 5132VAF71 5132VSA71 5132VSC71 5132VSF71 5134VAA71 5134VAC71 5134VSA71 5134VSC71 5136VAA71 5136VAC71 5136VSA71 5136VSC71 5138VAA71 5138VSA71
Mo [Nm] 55.0 55.0 55.0 60.0 60.0 60.0 70.0 70.0 70.0 75.0 75.0 90.0 90.0 85.0 85.0 110.0 110.0 105.0 140.0
Io [A] 20.5 32.5 50.5 22.5 35.5 47.5 26.0 41.0 55.5 28.0 47.0 34.0 56.0 31.5 47.5 41.0 61.5 39.0 52.0
VS
Definition:
VS/1-15
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Space for notes
VS
VS/1-16
07.94
Feed Modules (VS) 2 Speed Controller Optimization
Speed Controller Optimization
2
VS
(if necessary) (if necessary)
The additional smoothing functions in the controller loop (to dampen mechanical resonance points) are described in Section 3. Proceed as follows when optimizing the speed: 1. Tachometer calibration 2. Gain Kp 3. Integral action time TN 4. Adaptation TN 5. I component limiting 6. Drif compensation (offset) The unit must be poweredup to optimize the speed controller, regarding Sections 2.1, 2.2, 2.3 and 2.8. Therefore observe Section 7 Poweringup.
The potentiometer scaling is defined as follows (in the setting tables):

8 7 8 7 9/ 10 10
The setting shown in the diagram corresponds to 7 scale sections.
6 6 55 44
3 3 2 2
0 0/1 1
VS/2-17
Feed Modules (VS) 2.1 Tachometer calibration
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2.1
Tachometer calibration
For motors with a tachometer voltage 16.5 V, proceed as described in Section 1.1.
Potentiometer T Setting range 0.7 nrated nact N 2.2 nrated
VS
nact N/ nact 2.2 2 1.8 1.6 1.4 1.2 1 0.8 0.6 0 1 2 3 4 5 6 7 8 9 10 Tachometer potentiometer (scaling) Fig. 2-1 Tachometer calibration
Extended setting range using R3 and R10 (only for the userfriendly interface).
Function nact N > 0.7 nrated nact N < 2.2 nrated Component Increase R3 Insert R10 Value 0 (as supplied) Opencircuit (as supplied)
VS/2-18
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Feed Modules (VS) 2.2 Setting the proportional gain Kp without adaptation
2.2
Setting the proportional gain Kp without adaptation

The proportional gain Kp of the speed controller can be set using potentiometer Kp. The range can be extended, if required using a fixed resistor R50 (only userfriendly interface; R50 = 68 k (when supplied)). The gain, set using the Kp potentiometer is additionally influenced by the setting of the TN potentiometer.
Kp 170 160 140 120 100 80 60 40 20 0 0 1 2 3 4 5 6 7 8 9 10 Setting, potentiometer Kp Fig. 2-2 Proportional gain Kp as a function of the Kp potentiometer and TN potent. Center Lefthand end stop Potentiometer TN Right hand end stop
VS
VS/2-19
Feed Modules (VS) 2.3 Setting the integral action time TN without adaptation
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2.3
Setting the integral action time TN without adaptation

Speed controller integral action time is set using potentiometer TN, the range can be extended, when required, using C2 (only for the userfriendly interface).
TN in ms 45 40 30
VS
20 10 0 0 1 2 3 4 5 6 7 8 9 10
Setting, potentiometer TN Fig. 2-3 Integral action time TN as a function of potentiometer TN
VS/2-20
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Feed Modules (VS) 2.4 Integral action time with adaptation (if required)
2.4
Integral action time with adaptation (if required)

Resistor R34 (only for the userfriendly interface) or switch S3.5 (S6.5 for the 2nd axis) for the standard interface is used to activate and preset the adaptation.
R34 = open R34 = inserted
Adaptation inactive (as supplied) Adaptation operates according to the following diagrams
VS
TN R34 + pot. ADAPT Pot. TN
TNadapt
nx2 Adaptation fully effective
nx1 Transition range Adaptation ineffective
nx
Fig. 2-4
Adaptation of the integral action time
nx = jnset + nactj
TNadapt/TN 0.9 0.7 0.5 0.3 0.1 0 R34 = 10 kW R34 = 0 W or standard interface
10
Potentiometer setting ADAPT Fig. 2-5 Interdependency of adaptation TN
VS/2-21
Feed Modules (VS) 2.5 P gain with adaptation (only userfriendly interface)
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2.5
P gain with adaptation (only userfriendly interface)

Important Offsets can occur in the transition range. R38 is used to activate and preset adaptation (if required):
R38 = open R38 = inserted Adaptation inactive (as supplied) Adaptation operates according to the following diagrams
VS
Kp Kpadapt R38 Kp R50 + pot. Kp
nx2 Adaptation fully effective Fig. 2-6 Transition range
nx1 Adaptation ineffective
nx
Proportional gain Kp as a function of the speed
nx = jnset + nistj
Kpadapt/Kp 35 25 15 5 0 0 500 1000 1500 2000 2500 Fixed resistor R38 in W
Fig. 2-7
Adaptation Kp as a function of R38 in the adaptation fully effective range
VS/2-22
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Feed Modules (VS) 2.8 Drift compensation (offset)
2.6 Setting the adaptation range (generally not required)

The adaptation range can be set via the following resistors: R40 R543 R544
Rj Rj
Userfriendly interface Standard interface 1st axis (Order No.[MLFB[ 6SN11180AD110AA1) Standard interface 2nd axis (Order No.[MLFB] 6SN11180AE110AA1)
= open = inserted Max. adaptation range (as supplied) Adaptation, reduced acc. to the following diagram
R40 in kW 150 130 110 90 70 50 30 10 0 0 50 100 150 200 250 300 350 400 nx in mV Fig. 2-8 Adaptation range Adaptation fully effective Transition range Adaptation ineffective
VS
nx = jnset + nactj
2.7
Icomponent speed controller limiting

R52 R547 R550 Userfriendly interface Standard interface, 1st axis (from Order No. 6SN11180AD110AA1) Standard interface, 2nd axis (from Order No. 6SN11180AE110AA1)
Icomponent fully effective (as supplied) Icomponent, not effective
Rj = opencircuit Rj = 0
As limit for the speed controller I component, between 100 k and 2 M can be set for R52, e.g. for slipstick effects.
2.8
Drift compensation (offset)

This is calibrated using a potentiometer for nset = 0 (terminal 56 and terminal14 shortcircuited)
Potentiometer drift Control range "30 mV
VS/2-23
Feed Modules (VS) 2.8 Drift compensation (offset)
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Space for notes
VS
VS/2-24
12.94 04.97 07.94
Feed Modules (VS) 3.1 Setting elements with the standard interface
Supplementary Commissioning Functions
3
VS
3.1
Setting elements with the standard interface

Setting elements, switches S2 and S3 or S5 and S6 for the 2nd axis
Contacts, S2/S5 10 x DIL 1
OFF Motor, clockwise direction of rotation for a positive speed setpoint (motor shaft drive end) at terminal 56/14 Current normalization (Imax=100 %)1) Current controller gain (0.5)1) Closedloop speed controlled operation1)
ON Motor, counterclockwise direction rotation for a positive speed setpoint (motor shaft drive end) at terminal 56/14 Current normalization (Imax=23 %) Current controller gain (11.5) Closedloop current controlled operation
2...5 6...9 10
Contacts S3/S6 8 x DIL 1 2 3 4 5 6 7 8
Function Speed setpt. smoothing Speed actual value smoothing Speed contr. smoothing Current setpt. smoothing Speed contr. adaptation Ready/fault2) Master/slave3)4) Currentcontr. operation
OFF W/out smoothing1) W/out smoothing1) W/out smoothing1) W/out smoothing1) OFF
1)
ON with T= 2.2 ms with T= 280 s with T= 370 s with T= 110 s ON T Fault signal Slave4) W/out I component1)
Ready signal1) Master1) With I component
1) Status as supplied 2) Important! This acts on the BB relay of the NE/monitoring module. If the userfriendly and standard interface are operated together, or the standard interface alone, then if the enable is not present or there is a fault of the standard axes, the BB relay of the NE module dropsout. 3) Function only for a 2axis version 4) Slave axis must be operated in the closedloop current controlled mode with enabled I component.
VS/3-25
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The following supplementary functions can be set by mounting wired components on the basic board (from Order No.[MLFB] 6SN11180AD110AA1 (1 axis) or from Order No.[MLFB] 6SN11180AE110AA1 (2 axes).
Function Smoothing, speed controller Smoothing, nset Smoothing, nact Smoothing Iset C231 C232 C233 C234 C239 R539, R540, R541 R542 R543 R545 R547 R548/R549 R553 BKZ axis1 C235 C236 C237 C238 C240 R536, R537. R538 R542 R544 R546 R550 R551/R552 R554 BKZ axis 2 Value range 0 ... 100nF 0 ... 2.2 mF 0 ... 100nF 0 ... 100nF 0 ... 2.2 mF 0 ... 1 kW, 0.1%, 25ppm/K 62 kW ... 1 0 ... 1 kW 0 ... 1 kW 100 kW ... 2 MW 20 kW ... 1 0 ... 1 kW
VS
Timer stage speed controller at its endstop Tachometer adaptation Clock cycle frequency, PBM Adaptation range Speed setpoint adaptation Limit, speed controller Icomponent Electr. weight equalization pos./neg.
Response threshold
I2t
monitoring
Axial metal film resistors, packaging type 0204 (RM 7.62 mm) or radial MKT capacitors (RM 5.08 mm) should be mounted at the mounting locations provided. When adapting the tachometer, it should be noted that the (3) resistors have a relative accuracy of 0.1% with respect to one another and a Tk of < 25 ppm/K.
Note Important
The board can be damaged if incorrect materials are used. Only trained personnel may carryout any soldering work on the board (maintaining the ESD Guidelines).
VS/3-26
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3.1.1
Dimensioning the setting elements (Standard interface)

a) Smoothing functions Speed controller: T=C231(C235) 78 kW nset: T=C232(C236) 10 kW T=C233(C236) 10 kW (dep. on the tacho. pot. setting) nact: Iset: T=C234(C238) 5 kW b) Timer, speed controller at its endstop The monitoring time is, as standard 230 ms, and when required can be increased by mounting C239 (C240). In this case, the following relationship exists:
TZst= 1.15 +
C239 (C240) mF
) 200 ms
c) Tachometer adaptation The following equivalent circuit diagram is valid for the individual tachometer voltages: The tachometer voltage VTach is generally 40 V at rated speed, which provides a voltage VTachX of 10 V. Different values can be used corresponding to VTach R this criteria for a rated motor speed which deviates x significantly from the useful speed. The following formula applies:
4 kW 20 kW VTachX 8 kW Rx=
VS
[5kW (V V 1 1 4 (
Tach
VTachX
Tach
VTachX
) 7.5 kW] )
d) Clock cycle frequency PBM If noise problems develop (a motor which whistles), the clock cycle frequency of the PWM inverter can be adapted for both axes together (Fig. 31). However, it must be taken into account that the available current ( In, Imax) is reduced when the clock cycle freq. is increased (ref. to PJU Section 4.1). The I2t limiting is designed for a factoryset pulse frequency of 3.3 kHz and a max. ambient temperature of 40C. If these values are exceeded (pulse frequency and/or ambient temperature), the response threshold must be adapted (refer to Fig. 3-2).
8.0 7.5 7.0 6.5 Frequency [kHz] 6.0 5.5 5.0 4.5 4.0 3.5 3.0 2.5 0 10 Frequency Typ. value, series Fig. 3-1 100 R542 [kW] 1000 10000
Clockcycle frequency of the PWM inverter
VS/3-27
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e) Speed setpoint adaptation If the adjustment range of the tachometer potentiometer (for low speed ranges) is not sufficient, then the speed setpoint can be adapted using the setpoint voltage divider. The following circuit diagram applies:
Nset 20 kW 20 kW Rx N controller
virt. M
The following relationship is obtained for R545 (R546):
VS
Rx=10kW
nrequired nrated nrequired
f) Limiting, I component, speed controller (refer to 2.7) The maximum I component of the speed controller can be limited by inserting R547 (R550). g) Electronic weight equalization The value to be set for the electronic weight equalization is obtained from the current setpoint IsetGwa, which can be measured at test socket T with the axis enbled at standstill (Nset=0):
R= 10V IsetGwa
10kW
Caution: IsetGwa 5V R 20 kW!
After the resistor has been inserted, the value, with the axis inhibited, must be able to be measured at test socket T with the same sign (polarity). h) Response threshold I2t monitoring The I2t monitoring limits the current setpoint to the thermally permissible value. The response threshold is 55% of the peak power module current, and can be reduced, corresponding to the following characteristic by inserting R553 (R554):
Response threshold I2t monitoring 60 50 40 30
Response threshold [% I_limit]
20 10
0 1 10 100 R553 (R554) [kW] 1000
Fig. 3-2
Response threshold I2t monitoring
VS/3-28
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Feed Modules (VS) 3.2 Setting elements with userfriendly interface
3.2
Setting elements with userfriendly interface

Setting elements on the parameter board; Terminal = H connected to terminal 9, terminal = L opencircuit.
Function Ready/fault relay terminal 672/673/674 Speed/current control (permanently set via switch) Speed/current controlled (selected via terminal) Supplementary setpoint 1 via terminal 22 = H Supplementary setpoint 2 via terminal 23 = H Currentcontrolled operation with/without I component Controller and pulse inhibit via term. 65 Master-/slave oper.: master operation slave operation
Component(s) R33 = 0 (as supplied) R33 = open S2: 10 = OFF (as supplied) S2: 10 = ON R14 = 0 1); Term.22 = L R14 = 0 ; Term.22 = H R17 (as supplied = open)2) R16 (as supplied = open) R18 (as supplied = open) R21 (as supplied = open)2) R19 (as supplied = open) R22 (as supplied = open) R1 = 0 (as supplied) R1 = open R13 = open (as supplied) R13 = 0 R42 + R44 = 0 , S2: 10 = OFF R44 = 0 , R1 + R42 = open, S2: 10 = ON R54 = 360 k (as supplied) R54, as selected R32 = 0 (as supplied) R32 = open S2: 1 = ON (as supplied) S2: 1 = OFF C3 (as supplied = open) C4 (as supplied = open) C5 (as supplied = open) C6 (as supplied = open) R5 = 20 k (as supplied) R42 (as supplied = 0 )2) R12 acc. to Fig. 33 Condition: term. 96 connected to terminal 44 Ready signal Fault signal
Effect
Speedcontrolled Currentcontrolled Speedcontrolled Currentcontrolled Voltage divider at 10 V Voltage divider at 10 V Voltage divider at the reference point Voltage divider at 10 V Voltage divider at 10 V Voltage divider at the reference point I component inhibited P I component active PI Delayed Instantaneous Master operation, term. 258 = output Slave operation, term. 258 = input t = 230 ms R54 [k] =
VS
Timer, speed controller at its endstop Monitoring, speed controller at its endstop Direction of rotation reversal (direction of rotation for a positive setpoint at terminal 56/14) Speed controller smoothing Speed setpoint smoothing Speed actual value smoothing Current setpoint smoothing Speed setpoint adaptation (only terminal 56/14)
2)
t [ms] 47 0.56
Monitoring active Monitoring inactive Motor counterclockwise rotation, motor drive shaft end Motor clockwise direction of rotation, motor drive shaft end = C3 68 k = C4 10 k = C5 5 k = C6 1 k |100% nACT N|=11 ... 5V Isett10 V Limiting according to Fig. 33 speed controller monitoring inactive
Current setpoint adaptation Travel to fixed endstop (fixed setting via R12)
1) As supplied: R14 = open Nset Nrated 2) R= 10 V Nmax 0.5
) 40kW
VS/3-29
04.97 07.94
Function
Component(s)
Effect Limiting acc. to Fig. 3-4, Speed controller monitoring inactive Limiting acc. to Fig. 3-3, Speed controller monitoring inactive
Travel to fixed endstop (variable R12 = open (as supplied) via term. 96) Volt. at term. 96 acc. to Fig. 3-4 Settingup operation (central via term. 112 on the NE module) Current reduction after the timer, speed controller at endstop, has expired Current reduction after the I2t timer has expired R12 acc. to Fig. 3-3 KL112 = open (as supplied term. 112 connected to terminal 9) R2 acc. to Fig. 3-5 R32 = open R2 = open (as supplied) R32 = open R9 = 30 k (as supplied) R9 acc. to Fig. 3-6 R46 + R48 = open (as supplied) R46 for neg. Iset at socket T R48 for pos. Iset at socket T R6, R7, R8 tolerance 0.1%
Reduction, acc. to Fig. 3-5 speed controller monitoring disabled S1 duty = 1.1 Irated S1 duty = 1.1 Irated Limiting, acc. to 3-6 No weight equalization Supplementary I set according to Fig. 3-7 Supplementary I set according to Fig. 3-7
VS
Response threshold I2t Electronic weight equalization
Tachometer adaptation 1)
Rx= Clock cycle frequency R542
[5 kW (V
1 1 4
Tach
7.5 kW UTachX VTach VTachX
Refer to Fig. 3-1
Iset Imax 100 90 80 70 60 50 40 30 20 10 0
[%]
0.1
1.0
10.0
100.0
1000.0 R12 [kW]
Limit value 1%
Fig. 3-3
Current setpoint limiting as a function of R12, j30 Vj terminal 96 j12 Vj
1) refer to VS/Section 3.1.1
VS/3-30
04.97 07.94
Iset Imax 100 90 80 70 60 50 40 30 20 10 0 0

1
[%]
VS
Final value 1%
2 3 4 5 6 7 8 9 10
Vterm.96 [V]
Fig. 3-4
Current setpoint limiting as a function of the voltage at 96 (R12 = open)
Iset
Imax [%]
100 90 80 70 60 50 40 30 20 10 Initial 0 value 1.0 1% 10.0 100.0 R2 [k]
Fig. 3-5
Current setpoint limiting as a function of R2
VS/3-31
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Icont. Irated 110 100 90 80 70 60
[%] Inadmissible range
VS
50 40 30 20 10 0 10.0 100.0 1000.0 R9 [k]
Fig. 3-6
Response threshold, I2t monitoring as a function of R9
IWeightequal./Imax 1.0 0.8 0.6 0.4 0.3 0.2 0.1 0.08 0.06 0.04 0.03 0.02 0.01 5 6.8 10 5.6 Fig. 3-7 15 22 27 39 56 680 1000 100 150 220 390 47 68 470 Inadmissible range
R46 or R48 [kW]
Supplementary current setpoint for electronic weight equalization
Inverter clock cycle frequency PBM When noise problems develop (the motor makes a whistling sound), the clock cycle frequency of the PWM inverter can be changed by inserting R369 on the basic board. However, it should be noted, that the available current (In, Imax) is reduced when the clock cycle frequency is increased (refer to PJU Section 4.1) The I2t limiting is designed for a factoryset pulse frequency of 3.3 kHz and a max. ambient temperature of 40 C. If this value is exceeded (pulse frequency and/or ambient temperature), the response threshold must be changed (refer to Fig. 3-2). The characteristic according to Fig. 3-1 applies.
VS/3-32
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Feed Modules (VS) 4 Setpoint Interfaces
Setpoint Interfaces
4
VS
Definitions:
X Optimum, taking into account the properties of the setpoint input Possible Not permitted, also in some cases not possible
Table 4-1
Main setpoint supplementary setpoints Int. setpoint term. 22 Int. setpoint term. 23
Operating mode
Setpoint Main setpoint
Terminal 56/14 X
Terminal 24/20
Socket NZ
Terminal 258
Speed controlled
Suppl. setpoint Main setpoint
X X
Current controlled Slave I controlled current setpoint input MSD option MSD operation MSD option C axis
Suppl. setpoint Main setpoint Suppl. setpoint Main setpoint Suppl. setpoint Main setpoint Suppl. setpoint X X
X X
Table 4-2 Mode
Motor direction of rotation for a positive setpoint and S2.1 = ON Term. 56/14 Term. 24/20 Term. 22 R16/18 right Term. 23 R19/22 right R21/22 left R19/22 right R21/22 left Left Right (slave) Socket NZ Master/slave Term. 258
Speedcontrolled
Left
Right
R17/18 left R16/18 right
Currentcontrolled
Right
R17/18 left
When viewing the motor shaft drive end J
VS/4-33
Feed Modules (VS) 4 Setpoint Interfaces
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Space for notes
VS
VS/4-34
04.97 07.94
Feed Modules (VS) 5.1 Presettings
Commissioning with the MSD Option
5
VS
Control parameter settings for Caxis operation on the parameter board, control parameters for MSD operation on the option board. The components which can be modified for the MSD option are mounted on solder pins (layout, refer to Section 9). The scale divisions of the potentiometers (in the setting tables) are defined as follows:
10 9/ 9 10 88 77 6
0 0/1 1 2 2 3
The setting shown in the diagram corresponds to 7 scale units.
6 5 5
4 4
5.1
Presettings
Warning Changes on the parameter board: Remove R4, R5 and R54, if required, C4 (not mounted when supplied). Undesirable axis motion can occur if this information is not observed!
5.1.1
Settings with the control board withdrawn
Rampup time
Table 5-1 Rampup time from 0 V to 10 V in s via terminal 56/14, setting via potentiometer R20 and terminal 102 0 Terminal 102 open 0.01 Terminal 102 at terminal 9 0.1 1 0.11 1.08 2 3 4 0.4 4.04 5 0.5 5.03 6 0.6 7 0.7 8 0.8 8.01 9 0.9 10 1.11
0.21 0.31 2.07 3.06
6.02 7.01
9.04 11.05
The rampup time range via R20 can be changed by modifying R27/R60.
VS/5-35
04.97 07.94
Torque limiting
I/Imax R76 100
Constant power range
13
VS
Fig. 5-1
23

R213 70 R214
R225 n/nrated in %
100
Torque limiting
Table 5-2
Suitable start of the constant power range referred to nmax = 10 V in % via R214 0 1 2 3 4 5 6 7 8 9 10
Potentiometer R214 Start of the range in %
70
65
60
55
50
45
40
35
30
26
22
Table 5-3
Deviations of the selected power to the constant power at the point nmax in % via R213 0 1 2 3 4 5 6 7 8 9 10
Potentiometer R213 Start of the range in %
+20
20
Table 5-4 R76 in k Iset/Imax in %
Constant torque limiting Iset/Imax in % via R76 (solder pins), R76 is open when the equipment is supplied 3 10 4.3 20 6.2 30 8.2 40 11 50 15 60 18 70 22 80 27 90
36
100
Intermediate values are determined using interpolation

Table 5-5 R225 in k Iset/Imax in % Speeddependent torque limiting Iset/Imax in % via R225 (solder pins) for R226 = 20 k 2.4 1 4.7 10 7.5 20 11 30 16 40 22 50 30 60 47 70 70 80 100 85
12% Iset/Imax is set as standard. Intermediate values are obtained using interpolation.
VS/5-36
04.97 07.94
Normalization of the jM/Pj display

Table 5-6 Pot. R903 Normalization factor Normalization via potentiometer R903 (as supplied, factor = 1) 0 3 1 2.8 2 2.6 3 2.4 4 2.2 5 2.0 6 1.8 7 1.6 8 1.4 9 1.2 10 1
Relay function, output of two limit value stages
The terminal is selected using 0 resistors
VS
Term.214 T.127 Term.126
Term.110 Term.108 Term.115 T.114 R1081)
T.216 R1051)
R991)
R170
R1061)
R103
R971)
R98
R1711) |Iact |> Ix2)
R107 |nact |< nmin3)
R1041) |nact |< nx3) nact = nset3)
Fig. 5-2
Relay functions
1) As supplied 2) Relay dropsout 3) Relay pulssin if the function is fulfilled.
VS/5-37
04.97 07.94
Table 5-7 Limit value stage
Limit value functions Range Settings via fixed values Smoothing for relay bounce = C87 Suppression: nset step u31 mV, R180 = 0 hysteresis = 10 mV, R179 = 2 k 4 62 5 52 6 43 7 33 8 24 9 14 10 4.5
jIactjuIx Pot. R211
4.5 %...100 %
Pot. R211 Ix =in %
0 100
1 90
2 81
3 71
VS
jnactjtnmi
n
0.3 %...1.7 % nmax
Pot. R10 Pot. R10 nmin=in % jnactjtnx Pot. R43 Pot. R43 nx=in % 0 3.4 0 0.3 1 2 3 4
Smoothing for relay bounce = C68, Hysteresis 400 mV (as supplied), Inactive for C axis: R100 = 0 (as supplied) R274 = 300 k corr. to 20 mV hysteresis 5 1.02 6 1.16 7 1.31 8 1.45 9 1.59 10 1.74
0.44 0.58 0.73 0.87 3 %...100 % nmax 1 13 2 23 3 34 4 44
Smoothing for relay bounce = C68 5 54 6 64 7 74 8 84 9 94 10 104
nset = nset*
Only in MSD operation
Monitoring threshold: nset difft20 mV, R179 = 2 k Hysteresis = 10 mV, R180 = 0 Extension = 32 ms, C20 = 1 F
Functions via fixed values

Table 5-8 Settings via fixed values Function Rampfunction generator tracking Speed setpoint smoothing Correction setpoint for MSD operation (Terminal 65 brakes to the setpoint terminal 24)2) Current actual value/power display C axis/MSD operation Setpoint MSD: term. 56/14 Setpoint C axis: term.24/20 or Fixed setpt. via term. 22 or term. 23 Changeover speed, term. 61 Component(s) R270 = 0 (as supplied) R270 = open C40 R900 + R901 = open (as supplied) R900 + 901 = 40 k R160 = open, R207 = 1 k (as supplied) R160 = 1 k, R207 = open Terminal 61 = open Terminal 61 at terminal 9 Effect Tracking active Tracking inactive [ms] = 10 C40 [F] No correction setpoint Correction setpoint via term. 24/20 jM/Pj display jIactj display MSD operation C axis operation Changeover, refer to Fig. 53 1)
R77/78
1) Changeover speed = 2)
R77 . (47000 R78 . 15) R77 . 47 kW + R78 . (R77 + 47 kW)
[%]
Warning: The pulses are only cancelled after the noff threshold has been fallen below!
VS/5-38
04.97 07.94
Speed
MSD oper. Term.61=open
Braking range Term. 61 = H (with respect to term. 9)
n1
Parameter changeover point R77 and R78 t
Changeover speed
n2 n1 = MSD speed n2 = Caxis speed Fig. 5-3 Changeover, terminal 61
VS
Changingover parameters for Caxis operation
S Control parameters, drift setting, setpoint input S Adaptation enable S Switchin 200 ms timer stage S Inhibit several relay functions S Inhibit the noff shutdown
5.1.2
Settings in operation
Setting rule
1. The C axis parameters are set on the parameter board (tachometer, TN, KP, drift). Caxis parameters, refer to the speed controller optimization, VS/Section 2 2. MSD parameters are set using potentiometers located at the front of the option board:
Pot. R44 Pot. R35=left Pot. R35=right
0 2 15
10 1 1
Fig. 5-4
Extending the integral action time using potentiometer R44 and the influence of potentiometer R35 on the parameter board, TN extended by a factor
VS/5-39
04.97 07.94
Table 5-9
Reducing the proportional gain using potentiometer R45 and the influence of potentiometer R25 on the parameter board, Kp reduction in % 0 left 1 2 3 4 5 6 7 8 8.2 64.4 77.9 9 4.5 48.7 65 10 0.1 1.5 2.8
Pot. R45
33.1 29.5 26.3 23.3 20.4 17.5 14.6 11.5 90.9 89.4 87.8 85.9 83.7 81 77.5 72.4 87 83.7
Pot. R25
center right
95.1 94.3 93.3 92.3 90.9 89.3
VS
Table 5-10
Lowest speed before the controller and pulse inhibit (braking to noff for terminal 64/65 pulse cancellation) via potentiometer R1 0 1 0.47 2 0.61 3 0.74 4 0.88 5 1.02 6 1.15 7 1.29 8 1.42 9 1.56 10 1.69
noff as % of nmax
0.34
Table 5-11
Drift compensation using potentiometer R96 for nset = 0 Control range 30 mV
Potentiometer R96
VS/5-40
04.97 07.94
Feed Modules (VS) 5.2 Analog outputs
5.2
Analog outputs
Function Speed actual value Power display (utilization) Current actual value Terminal Term. 75 Term. 162 Term. 162 Limitation Nonnormalized speed actual value such as test socket X jM/Pj display (as supplied) Fig. 55, display jM/Pj , Table 56 , normalization jIactj display by changingover components (Table 58, settings via fixed values)
VS
M display P display nact M/P display M P [M /P ]
max max
Iact = Imax t Display jM/Pj
Fig. 5-5
VS/5-41
Feed Modules (VS) 5.2 Analog outputs
10.00 07.94
Space for notes
VS
VS/5-42
07.94
Feed Modules (VS) 6 Free for Expansions
Free for Expansions
6
J
VS
VS/6-43
Feed Modules (VS) 6 Free for Expansions
10.00 07.94
Space for notes
VS
VS/6-44
10.00 07.94
Feed Modules (VS) 7 PoweringUp
PoweringUp
Main breaker: OPEN
7
VS
Adapt the module to the motor, Standard settings, refer to VS/Section 1
Startup with battery box
S S S
Connect term. 48, 64, 65, 663 to term. 9 Switch (open) between term. 63 + term. 9 Term. 56/14 at the battery box
Main breaker: ON
Check the connection, motor/PWM inverter:
Set the setpoint from the battery box to 0V
S S S
L1, L2, L3 cyclically interchanged? Cable for the power connection Cable for the rotor position and tachometer
Briefly enable terminal 65 (jog)
Main breaker: OPEN
Open the connection between terminal 63 and terminal 9 Does the motor accelerate? no yes ! fault
S S
Enter a low setpoint (e.g. 0.1 V) Briefly enable terminal 65
Does the drive run continuously?
no ! fault
yes 1
VS/7-45
Feed Modules (VS) 7 PoweringUp
07.94
Enable terminal 65
Optimize the speed controller or set known values, Section 2
VS
Inhibit terminal 65
Startup completed
Inhibit (deenergize) terminal 63!
Main breaker: OPEN
S S
Open the connection between term.64, term. 65 and term. 9 Disconnect the battery box from terminal 56/14
VS/7-46
03.96 07.94
Feed Modules (VS) 8.1 Test sockets and display elements of the feed modules
8
VS
8.1
8.1.1
Test sockets and display elements of the feed modules

Test sockets
X W M R T NZ Speed setpoint (output) Current setpoint (output) Supplementary speed setpoint/supplementary current setpoint 2) (input)
Reference ground (output) Current actual value "10 V corresponds to the selected Imax (output) 1) Speed actual value "10 V at the rated speed (1FT503V/4V0AF71: "11 V) (output) All outputs have a 1 kW output resistance Fig. 8-1 Test sockets, userfriendly interface
Operating display
Par. board inserted Pulse enable 663 Controller enable 65 Current controlled
no no
yes no no no
yes no yes no
yes yes no no
yes yes yes no
yes yes yes yes
Closedloop speed controlled operation (standard operation)
1) Setting value Imax, refer to VS/Section 1.2 2) Closedloop speed/current controlled depending on the operating mode
VS/8-47
03.96 07.94
Fault display
Faule
I2t monitoring or heatsink overtemperature Rotor position encoder
X X X X X X Current limiting T. 5.x T. 291 Pulse cancel lation T. 297+ T. 672/ T. 674 T. 5.x T. 5.x T. 294 Pulse cancel lation T. 297+ T. 672/ T. 674 Pulse cancellation T. 672/ T. 674 Pulse cancel lation T. 288+ T. 672/ T. 674 Pulse cancel lation T. 288+ T. 672/ T. 674 Pulse cancel lation T. 672/ T. 6741) X X
VS
Speed controller at its endstop Tachometer monitoring Iact = 0 Motor overtemperature 5 V undervoltage (5 V level faulted) Effect:
Signal NE: Signal FD:
Sequence when the temperature or I2t monitoring responds
S I2t monitoring:
min. 250 ms before the limiting becomes active, a prealarm is output at terminal 5.x of the NE module (this is not saved) when the limiting becomes active, fault 1 is displayed and a signal is output at term. 291 (saved) when the heatsink shutdown temperature is reached, a prealarm is output at terminal 5.x of the NE module (this is not saved) after typ. 4 s, the pulses are inhibited, fault 1 is displayed and a signal is output at terminal 291 + terminal 672/terminal 674 (this is saved)
S Heatsink overtemperature monitoring:
Motor overtemperature The SIMODRIVE 611 feed modules with closedloop control for 1FT5 servomotors are equipped with an evaluation circuit for the PTC thermistors integrated in the motor windings. The monitoring combination is intended to protect the motors against inadmissibly high winding temperatures (trip temperature, 150 C). As the drive shouldnt randomly intervene in the machining process, when the response temperature is reached, this is only output as signal (no trip) at the SIMODRIVE 611 via the single fault signal, terminals 289/294/296 (this is saved) or centrally via terminals 5.1, 5.2 and 5.3 of the infeed module (this is saved). There is no internal system response to protect the motor. In the adaptation control, the user must ensure that there is adequate thermal recovery time for the motor immediately after the signal is output The motor should, if required, be immediately powereddown. It is not permissible to delay this. If the motor is not thermally monitored, then the complete drive could be destroyed when an overload condition develops, or if the drive converter has been overdimensioned.
1) Depending on the operating mode (ready/fault signal)
VS/8-48
04.97 03.96 07.94
8.1.2
Standard interface
Test sockets and fault displays

W T H2/M
Current actual value 10 V at Imax Current setpoint 10 V at Imax Red LED: Motor encoder fault tachometer fault, rotor position encoder fault Red LED: Axis fault Speed controller at its endstop Heatsink temperature Motor overtemperature I2t monitoring Speed actual value 10 V at the rated speed (1FT503V/4V0AF71: 11 V) General reference ground All of the outputs have a 10 kW output resistance Fig. 8-2 Test sockets, standard interface
M X
H1/A
VS
Sequence when the temperature or I2t monitoring responds
S I2t monitoring
A prealarm is output at terminal 5.x of the NE module min. 250 ms before the limiting becomes active (this is saved) Fault H1 is displayed when the limiting becomes active. When the heatsink shutdown (trip) temperature is reached, a prealarm is output at terminal 5.x of the NE module (this is not saved) After typ. 4 s, the pulses are inhibited, fault H1 is displayed and a signal is output at term. 72/term. 73/term. 74 of the NE module (this is saved)
S Heatsink temperature monitoring:
Motor overtemperature The SIMODRIVE 611 feed modules with closedloop control for 1FT5 servomotors are equipped with an evaluation circuit for the PTC thermistors integrated in the motor windings. The monitoring combination is intended to protect the motors against inadmissibly high winding temperatures (trip temperature, 150 C). As the drive shouldnt randomly intervene in the machining process, when the response temperature is reached, this is only output as signal (no trip) at the SIMODRIVE 611 or centrally via terminals 5.1, 5.2 and 5.3 of the infeed module (this is saved). There is no internal system response to protect the motor. In the adaptation control, the user must ensure that there is adequate thermal recovery time for the motor immediately after the signal is output The motor should, if required, be immediately powereddown. It is not permissible to delay this. If the motor is not thermally monitored, then the complete drive could be destroyed when an overload condition develops, or if the drive converter has been overdimensioned.
VS/8-49
Feed Modules (VS) 8.2 Troubleshooting
03.96 04.97 07.94
8.2
Table 8-1
Troubleshooting
Troubleshooting Fault, standard interface H1 H2 H1 H2 H1 H1 Possible fault cause RMS torque too high? Ambient temperature u40 _C? Actual value cable and shield connection correctly connected? Encoder in the motor defective? Motor overloaded, RMS torque too high? Refer to F2 Axis mechanically locked? RMS torque too high? Motor incorrectly connected? External moment of inertia too high? RMS torque too high (mechanically locked)? Motor feeder cable interrupted, motor cable shortcircuit/ground fault (Vce monitoring saved up to POWERON) Fault cannot be removed replace the module 5V level fault ! replace module
Fault, user-friendly interface 1 2
VS
3 4 5 6 7
VS/8-50
04.97 07.94
Feed Modules (VS) 9.1 Terminals
Attachments
9.1
Table 9-1 Term. No. U2 V2 W2 PE1 PE2 P600 M600
9
Function Type
1)
Terminals
Userfriendly interface Designation Type voltage/limit values Max. cross section acc. to the Planning Guide Stud Stud Busbar Busbar Ribbon cable 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2
VS
Motor connection Protective conductor Protective conductor DC link (DC link) DC link (DC link) X151/351 Equipment bus Speed setpoint 1 Differential input Checkb. sig. contact (feedback) Relay, start inhibit Pulse enable3) Enable voltage3)5) Controller enable3) Enable voltage3)5) Select int. fixed setpoint 13)/ currentcontrolled operation Select in. fixed setpoint 23) Speed setpoint 2/current setpoint Differential input Current setpoint limiting Electronics voltage Integrator inhibit, speed controller Current setpoint (master/slave) Norm. current actual value Relay signals, center contact Speed controller at its endstop I2t monitoring Motor overtemperature Tacho./rotor pos. encoder fault
O I I I/O I/O I/O I I NC I O I O I I I I I O I I/O O I NO NC NO NC NO NC NO NC NO I NC
3ph. 0...450 V AC 0V 0V +300 V 300 V 0V... 10V7) max. 250VAC/1A, 30 VDC/2A +21...30 V +24 V +13...30 V +24 V +13...30 V +13...30 V 0V...10 V (340 s smoothing)7) 0...30 V 15 V/10 mA +13...30 V 0 V...10 V 0 V...10 V/Ri=1 k
4)
56 X321 142) X321 AS1 X331 AS2 X331 663 9 65 9 22 23 X331 X331 X331 X331 X331 X331
202) X331 24 X331 966) 446) 66) 2586) 166) 289 288 290 291 293 294 296 297 299 X331 X331 X331 X331 X331 X341 X341 X341 X341 X341 X341 X341 X341 X341
max. 30 V/1 A max. 30 V/1 A max. 30 V/1 A max. 30 V/1 A max. 30 V/1 A max. 30 V/1 A max. 30 V/1 A max. 30 V/1 A 30 V/1 A4) 30 V/1 A 30 V/1 A
672 X341 673 X341 674 X341 X311 1) 2) 3) 4) 5) 6) 7)
Ready/fault signal Motor encoder
I=Input, O=Output, NC=NC contact, NO=NO contact (for signal: closed=high, open=low) Reference point of the differential input Reference ground, terminal19 (this is not connected with the general reference ground, terminal 15) Voltage refer to PE potential Refer to NE Section 3.1 ... 3.2 Reference ground is terminal 15 on the NE module. The common mode range of the diff. input is "24V with respect to PE potential, and this may never be exceeded.
VS/9-51
Feed Modules (VS) 9.1 Terminals
04.97 07.94
Table 9-2 Term. No. 1022) 612) 753) 1623) 110 108 115 114 216 214 127 126
MSD option (only possible for userfriendly interface) Designation X312 X312 X312 X312 X322 X322 X322 X322 X322 X322 X322 X322 Function TH = 1 : 10 Caxis operation nact Pact/Iact5) jIactjuIx jnactjtnmin jnactjtnx nset= nset* Type1) I I O O NO/NC4) I NO/NC4) I NO/NC4) I NO/NC4) I Typ. voltage/limit values +13 V...30 V/RE = 1.5 k +13 V...30 V/RE = 1.5 k 0 V...10 V 0 V...10 V 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max Max. cross section 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2
VS
Table 9-3 Term. No. U2 V2 W2 PE1 PE2 P600 M600
Standard interface Designation Function Type

1)
Typ. voltage/limit values
Max. cross section Acc, to the Planning Guide Stud Stud Busbar Busbar Ribbon cable 1.5 mm2 1.5 mm2 1.5 mm2
Motor connection Protective conductor Protective conductor DC link DC link Equipment bus Checkb. sig. contact, relay, start inhibit Pulse enable2) Enable voltage2) Speed setpoint/current setpoint (differential input) Controller enable2) Enable voltage2) Select, I controller2) Enable voltage2) Speed setpoint/current setpoint (differential input) Controller enable2) Enable voltage2) Select, I controller2) Enable voltage2)
O I I I/O I/O I/O NC I O I I I O I O I I I A I A
3ph. 0...450 V AC 0V 0V +300 V 300 V 250 V AC/1 A, 30 V DC/2A +21 V...30 V +24 V 0 V...10 V +13 V...30 V +24 V +13 V...30 V +24 V 0 V...10 V +13 V...30 V +24 V +13 V...30 V +24 V
7) 7)
X151/351 AS1 AS2 663 96) 56.1 14.1 65.1 96) 22.1 96) 56.2 14.2 65.2 96) 22.2 96) X321 X321 X321 X321 X331 X331 X331 X331 X331 X331 X332 X332 X332 X332 X332 X332
1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2
1) 2) 3) 4) 5) 6) 7)
I=Input, O=Output, NC=NC contact, NO=NO contact (for signal: closed=high, open=low) Reference ground term.19 (this is not connected to the general reference ground, terminal 15) Reference ground is terminal 15 at the NE module. Can be optionally changedover using jumpers The power display is set as standard Refer to NE Section 3.1 ... 3.2 The common mode range of the diff. input is "24V with respect to PE potential, and this may never be exceeded.
VS/9-52
07.94
Feed Modules (VS) 9.2 Layout diagram MSD option board
9.2
Layout diagram MSD option board
U5 X312 X322 R239 R2 R5 R96 R45 N6 R44 R1 1 N7 V20 3 2 1 V39 N8 R903 3 2 1 R211 C41 3 2 1 R207 1 R160 N13 R902 1
6.23
R124 R125 V9 V10 V14 R80 R85 V21 3 2 1 V22 C64 U6
R77 R78 R76 R226 R225 3 2 1 R214
V29 V31
C59 C61 R170
V30 U4 U7 V32 K4
VS
50 49
R171 R105 1 R106 R107 R103 R104 1 5 K2 5 K3 V12
N8
C39
R213 R100 R274
V45 V47 N1 V6 V8 V35 N3 V1
V17 V42 R10 3 2 1 R43 R31 C4 U1 X7 X8 C20 R33 C18 U3
C8 U2 3 2 1
C38
V4 3 2 1 R20 X11 N14
+ +
R99 1 R97 R98 R108 R48 R906 C5 R270 X10 1 C5 5 5 K1
C37
V52 R101 R102 R157
X12 C68 R901 R900 R285 R284
X9 N12 X3 X4 R180 V19 N11 N16
X1 C40 X2 R179 V18 R60 C28
N5 N17
X305 N5 1 2 N4 R111 R112
V43
R27 X5
X6 C87
N18
R161 R92 R16 R93
N10
C22 R164
Fig. 9-1
Layout diagram MSD option board
The capacitors are assigned to the adjacent solder pins.
VS/9-53
Feed Modules (VS) 9.3 Layout diagram, parameter board
07.94
9.3
Layout diagram, parameter board
X85
R1 R2 C4 X50 X55 X51 X56 R3 R20 C1 C5 X52 X57 R4 X53 X58 R11 R5 X54 X59 C2 R9 S1 X60 X69 R10 X61 X70 C3 R12 X62 X71 X83 R36 R7 R8
R13 R14 R15 R16 6 R17 R18 R19 S2 R21 1 R22 R23 1 R24 R26 R27 R28 R29 R30 R31 R32 R33 2
X72 R34 R37 R38 R39 R40 R41 R42 R43 R44 R45 R46 R47 R48 R49 R50 R51 R52 R53 R54 X81
X82
Drift Tach.
Kp(N)
R25
TN Adapt
R35 R6
C8
X84
X91
Fig. 9-2
Layout diagram, parameter board
VS/9-54
X304
VS
X88
X87
X86
10
04.97 07.94
Feed Modules (VS) 9.4 Layout diagram, standard interface
9.4
Layout diagram, standard interface
B 9 1 9
1 X311
15
15 8
S4
X321
A1
View of the component side (side 2)
with connected components
R473 R483 R472 R478 R484 R481 R479 R476 R482 X37 X35 R550 X34 X36 R546 R552 R547 R551 R545 C235 R549
B1
X331
R548 C231
C233
C232
C239
C237
C236
C240
C238
C234
R556
R555
X301
Fig. 9-3
Layout diagram, standard interface
X351
R542
R544 R543
S1
R554 R553
R541 R539 R540 R538 R537 R536 A B 2 4 6 8 10 12 14 16
X1
VS
VS/9-55
Feed Modules (VS) 9.5 Layout diagram, speed control loop (userfriendly interface)
04.97 07.94
9.5 Layout diagram, speed control loop (userfriendly interface)

1) R900 series = open correction setpoint in MSD operation via terminal 24/20 For the correction setpoint function, 40 kOhm resistors must be inserted for R900 and R901
VS
Fig. 9-4
PARAMETER BOARD
Layout diagram, speed control loop
VS/9-56
OPTION BOARD MSD
n.B. = not inserted
04.97 07.94
Feed Modules (VS) 9.6 Motor encoder, assignment of X311/X313 (1st/2nd axis)
9.6
Motor encoder, assignment of X311/X313 (1st/2nd axis)
PIN assignment connecting cable motor feed control

Table 9-4 Pin assignment, connecting cable Signal RLG S RLG T RLG R P15 Ground Tach. M Tach. T Shield PTC PTC Tach. R Tach. S Encoder connector 1 2 3 4 5 6 7 8 9 10 11 12 Feed control 13 5 6 4 2 14 7 1/9 11 12 8 15
VS
For terminating connectors for axes which are not used type Sub Min D 15pin (socket) connect pin13 to pin 2 and pin 11 to pin 12. J
VS/9-57
Feed Modules (VS) 9.6 Motor encoder, assignment of X311/X313 (1st/2nd axis)
10.00 07.94
Space for notes
VS
VS/9-58
10.00 07.94
Feed Modules (VS) Index
Index
Layout diagram, parameter board, VS/9-54 Layout diagram, speed control loop, VS/9-56 Layout diagram, standard interface, VS/9-55 Limit value stages, VS/5-37
A
Actual value normalization, VS/1-4 Adaptation tables, VS/1-5
M
Master/slave, VS/3-29 MSD option board, VS/9-53
C
Caxis operation, VS/5-39 Changeover parameter for Caxis operation, VS/5-39 Commissioning Commissioning stages, VS/1-3 Short commissioning, VS/1-3 Standard commissioning, VS/1-3 with the MSD option, VS/5-35 Current controller gain, VS/1-5 Current controller settings, VS/1-4
N
Normalization of the M/P display, VS/5-37
VS
O
Operating display, VS/8-47
P D
Diagnostics, VS/8-47 Drift compensation, VS/2-23 Parameter board, VS/9-54 Pin asignment X311 and X313, VS/9-57 Proportional gain Kp with adaptation, VS/2-22 Proportional gain kp without adaptation, VS/2-19
E
Electronic weight equalization, VS/3-30, VS/3-32
R
Rampup time, VS/5-35
F
Fault display, VS/8-48 Functions via fixed values, VS/5-38
S
Service and diagnostics, VS/8-47 Setting elements with standard interface, VS/3-25 with userfriendly interface, VS/3-29 Settings via fixed values, VS/5-38 Speed control loop, VS/9-56 Standard commissioning, VS/1-3 Standard interface, VS/1-4, VS/9-55 Standard settings, VS/1-3 Supplementary setpoint, VS/3-29
G
Gain Kp with adaptation, VS/2-22
I
Icomponent limiting, VS/2-23 Integral action time with adaptation, VS/2-21
T
Tachometer adaptation, VS/1-4 Tachometer calibration, VS/2-18 Test sockets and display elements standard interface, VS/8-49 userfriendly interface, VS/8-47 Timer, VS/3-29 Torque limiting, VS/5-36 Travel to fixed endstop, VS/3-29 Troubleshooting, VS/8-50
K
Kp gain without adaptation, VS/2-19
L
Layout diagram MSD option board, VS/9-53
VS/i-1
Feed Modules (VS) Index
10.00 07.94
U
Userfriendly interface, VS/1-4
W
Weight equalization, VS/3-30
VS
VS/i-2
Feed Modules, Resolver Control (VR)
Short StartUp, Standard Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 1.2 1.3 Pole numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed actual value normalization [RPM] . . . . . . . . . . . . . . . . . . . . . . . . Current controller settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR/1-3 VR/1-3 VR/1-4 VR/1-5 VR/2-11 VR/2-12 VR/2-13 VR/2-14 VR/2-14 VR/3-15 VR/3-15 VR/3-15 VR/3-16 VR/3-18 VR/4-19 VR/4-19 VR/4-20 VR/5-21 VR/6-23 VR/7-25 VR/8-27 VR/9-29 VR/9-29 VR/9-30 VR/9-30 VR/9-32 VR/9-33 VR/9-33 VR/9-34
Speed Controller Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 2.2 2.3 2.4 Tachometer calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting the proportional gain Kp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting the integral action time TN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Drift compensation (offset) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR
StartUp, Supplementary Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 3.2 3.3 3.4 Position processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Current setpoint limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Other functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating feed modules without a connected motor . . . . . . . . . . . . . .
Setpoint Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 4.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . External speed setpoint smoothing . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 6 7 8 9
Free for Expansions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Free for Expansions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PoweringUp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service and Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Attachments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1 9.2 9.2.1 9.2.2 9.3 9.3.1 9.3.2 Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Layout diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Layout diagram, resolver control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Layout diagram, DIL switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connector assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X311/X312, encoder interface axis 1/axis 2 . . . . . . . . . . . . . . . . . . . . . . X391/X392, angular encoder interface, axis 1/axis 2 . . . . . . . . . . . . . .
VRi
12.94 07.94
Startup stages of the VSA modules, resolver control
Startup is divided into various steps. After the standard settings have been made, an additional startup stage can be made before the equipment can be poweredup.
Brief Startup Standard settings Speed Controller Optimization Supplementary Functions Setpoint Interfaces
Sect. 1
Sect. 2
Sect. 3 Sect. 4
VR
Poweringup, Sect. 7
Service and Diagnostics Attachments
Sect. 8 Sect. 9
VRii
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Feed Modules, Resolver Control (VR) 1.1 Pole numbers
Short StartUp, Standard Settings
1
VR
The setting elements (switches) are provided on the board and must be set when installing the control board into the power module.
1.1
Pole numbers
Important The pole pair numbers for the motor and resolver must be set before commissioning the system. Otherwise, the drive will not run.
Axis 1: Axis 2:
Table 1-1 Pole numbers 2p motor Axis 1 Axis 2 S1.x ON S2.x ON
DIL switch, S1 contacts 14 DIL switch, S2 contacts 14
4
1 1
6
2 2
8
1+2 1+2
2p resolver
S1.x ON S2.x ON
4
3 3
6
4 4
8
3+4 3+4
The pole (pair) numbers of the motors are dependent on the shaft height.
Table 1-2 Shaft height Order No. [MLFB] Pole numbers of 1FT6 motors 36 1FT6031 1FT6034 48 1FT6041 1FT6044 63 1FT6061 1FT6062 1FT6064 6 80 1FT6081 1FT6082 1FT6084 1FT6086 8 100 1FT6102 1FT6105 1FT6108 8 132 1FT6132 1FT6134 1FT6136 6
Pole number 2p
Table 1-3 Shaft heights Order No. [MLFB]
Pole numbers of 1FK6 motors 36 1FK6032 48 1FK6040 1FK6042 6 63 1FK6060 1FK6063 6 80 1FK6080 1FK6083 6 100 1FK6100 1FK6101 1FK6103 8
Pole number 2p
The pole (pair) number of the standard resolver is 2p=2. The pole pair number of the resolver is specified on the motor rating plate.
VR/1-3
Feed Modules, Resolver Control (VR) 1.2 Speed actual value normalization [RPM]
10.00 07.94
1.2
Speed actual value normalization [RPM]

These normalizations are valid for standard resolver pole number 2p=2. We recommend that the correct normalization is set up to the rated motor speed. For motors with rated speeds of 4500 RPM, we recommend that that normaliztion is set, which is the closest to the required systemrated speed. For motors with rated speed 1500 RPM, the normalization should be set for 2000 RPM. Axis 1: Axis 2:
Table 1-4
DIL switch S4 contacts 14 DIL switch S4 contacts 58

Speed normalization nrated 2000 3000 1+3 5+7 3000 2+4 6+8 6000 1+2+3+4 5+6+7+8
Axis 1
S4.x ON S4.x ON
VR
Axis 2
alternatively possible
Refer to Section 2.1 for more detailed information about the speed ranges which can be set.
VR/1-4
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Feed Modules, Resolver Control (VR) 1.3 Current controller settings
1.3
DIL switch
Current controller settings

Axis 1: Axis 2: DIL switch S3 DIL switch S6
Current actual value normalization

Current limit
Imax (selected value)
Ilimit (power module)
[%]
Imax must be reduced as a minimum to the peak current permitted for the motor.
Table 1-5
Current actual value normalization [%] IMAX/ILIMIT [%] 100 70 1+2 1+2
VR
Axis 1 Axis 2
S3.x ON S6.x ON
Current controller gain

Kp (I)
Imax *
LA
Ilimit * current limit * LA
<
25
25
Imax = selected maximum current (RMS value) of the axis in A LA = rotating inductance of the motor in mH (RMS value) (refer to the Planning Guide, AC Motors for Feed and Main Spindle Drives). Roundoff calculated values to a selectable value!
Table 1-6
Current controller gain Kp (I)
Kp(I)
Axis 1 S3.x ON
2
3+7
3
4+8
4
3+4 + 7+8 3+4 + 7+8
5
5+9
6
3+5 + 7+9 3+5 + 7+9
7.5
4+5 + 8+9 4+5 + 8+9
8.5
3+4+ 5+7+ 8+9 3+4+ 5+7+ 8+9
9.5
3+6 + 7+10 3+6 + 7+10
10.5 11.5 12.5 13.5 14.5

4+6 + 8+10 4+6 + 8+10 3+4+ 6+7+ 8+10 3+4+ 6+7+ 8+10 5+6 + 9+10 5+6 + 9+10 3+5+ 6+7+ 9+10 3+5+ 6+7+ 9+10 4+5+ 6+8+ 9+10 4+5+ 6+8+ 9+10
16
3+4+ 5+6+ 7+8+ 9+10 3+4+ 5+6+ 7+8+ 9+10
Axis 2
S6.x ON
3+7
4+8
5+9
Adaptation tables
Definition:
o = Contact in the basic OFFsetting x = Contact in the ON setting
VR/1-5
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Table 1-7
Adaptation table for 6SN112V1AV000HA1 power modules, 3/6 A resolver control Servomotor Mo [Nm] 60 0.83 1.65 2.15 2.15 4.15 3.30 3.30 5.00 Io [] 60 1.2 2.15 1.55 2.55 2.50 1.60 2.25 2.30 nrated [RPM] 6000 6000 3000 6000 3000 2000 3000 2000 Curr. act. value norm. Axis 1: S3 Axis 2: S6 Contact 1+2 x o o o o o o o Imax [%] 70 100 100 100 100 100 100 100 Current controller gain Kp(I) Axis 1: S3 Axis 2: S6 Contacts 3+7 o x o x o x x x 4+8 o x x x x x x x 5+9 x o o o x x x o 6+10 o o x o o x o x Kp(I) 5.0 4.0 10.5 4.0 7.5 16.0 8.5 11.5
1FT 60314AK 60344AK 60414AF 60414AK 60444AF 60616AC 60616AF
VR
60626AC
1FK 60326AK 60406AF 60406AK 60426AF
Mo [Nm] 60 0.90 1.30 1.3 2.65
Io [] 60 1.40 1.10 2.2 2.20
nrated [RPM] 6000 3000 6000 3000
Contact 1+2 o x 0 o
Imax [%] 100 70 100 100
Contacts 3+7 x x x x 4+8 x o 0 x 5+9 o x 0 o 6+10 o o 0 o Kp(I) 4.0 6.0 2.0 4.0
Definition:
VR/1-6
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Table 1-8
Adaptation table for 6SN112V1AV000AA1 power modules, 5/10 A resolver control Servomotor Mo [Nm] 60 1.65 2.15 2.15 4.15 4.15 3.30 3.30 3.30 5.00 5.00 5.00 5.00 7.90 7.90 6.60 Io [] 60 2.15 1.55 2.55 2.50 4.85 2.25 3.35 4.10 2.30 3.40 4.80 6.40 3.50 5.00 3.40 nrated [RPM] 6000 3000 6000 3000 6000 3000 4500 6000 2000 3000 4500 6000 2000 3000 2000 Curr. act. value norm. Axis 1: S3 Axis 2: S6 Contact 1+2 x x o o o o o o x o o o o o o Imax [%] 70 70 100 100 100 100 100 100 70 100 100 100 100 100 100 Current controller gain Kp(I) Axis 1: S3 Axis 2: S6 Contacts 3+7 o o o x x x o x x o o o o o x 4+8 o x x o x x x x x x o x x x o 5+9 x x x x o x x o x o x o x x x 6+10 o x o x o x o o x x o o x o x Kp(I) 5.0 14.5 7.5 13.5 4.0 16.0 7.5 4.0 16.0 10.5 5.0 3.0 14.5 7.5 13.5
1FT 60344AK 60414AF 60414AK 60444AF 60444AK 60616AF 60616AH 60616AK 60626AC 60626AF 60626AH 60626AK 60646AC 60646AF 60818AC
VR
1FK 60406AK 60426AF 60606AF 60806AF
Mo [Nm] 60 1.30 2.65 5.00 6.60
Io [] 60 2.20 2.20 3.60 4.50
nrated [RPM] 6000 3000 3000 3000
Contact 1+2 x o o o
Imax [%] 70 100 100 100
Contacts 3+7 o o o o 4+8 x x x x 5+9 o x x x 6+10 o o o o Kp(I) 3.0 7.5 7.5 7.5
Definition:
VR/1-7
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Table 1-9
Adaptation table for 6SN112V1AV000BA1 power modules, 9/18 A resolver control Servomotor Mo [Nm] 60 4.15 3.30 3.30 3.30 5.00 5.00 5.00 7.90 7.90 7.90 7.90 6.60 6.60 6.60 6.60 10.40 10.40 16.20 16.20 22.40 Io [] 60 4.85 2.25 3.25 4.10 3.40 4.80 6.40 3.50 5.00 7.60 9.90 3.40 4.90 7.40 9.40 5.50 8.20 7.55 20.50 7.40 nrated [RPM] 6000 3000 4500 6000 3000 4500 6000 2000 3000 4500 6000 2000 3000 4500 6000 2000 3000 2000 6000 1500 Curr. act. value norm. Axis 1: S3 Axis 2: S6 Contact 1+2 o x o o o o o x o o o x o o o o o o o o Imax [%] 100 70 100 100 100 100 100 70 100 100 100 70 100 100 100 100 100 100 100 100 Current controller gain Kp(I) Axis 1: S3 Axis 2: S6 Contacts 3+7 x x x o x x o x o o o x o o o o x o o o 4+8 o x x x x x o x o o x x x o x x o x o o 5+9 x x o x x x x x x x o x o x o x x o o x 6+10 o x x o x o o x x o o x x o o x o x o x Kp(I) 6.0 16.0 11.5 7.5 16.0 8.5 5.0 16.0 12.5 5.0 3.0 16.0 10.5 5.0 3.0 14.5 6.0 10.5 1.0 12.5
1FT 60444AK 60616AF 60616AH 60616AK 60626AF 60626AH 60626AK
VR
60646AC 60646AF 60646AH 60646AK 60818AC 60818AF 60818AH 60818AK 60828AC 60828AF 60848AC 60848AK 61028AB
1FK 60606AF 60636AF 60806AF 60836AF 61008AF
Mo [Nm] 60 5.00 9.10 6.60 13.30 15.00
Io [] 60 3.60 6.60 4.50 8.50 10.20
nrated [RPM] 3000 3000 3000 3000 3000
Contact 1+2 x o o o o
Imax [%] 70 100 100 100 100
Contacts 3+7 x x o o o 4+8 o o o x x 5+9 o x x x o 6+10 x o x o o Kp(I) 9.5 6.0 12.5 7.5 3.0
Definition:
VR/1-8
10.00 07.94
Table 1-10
Adaptation table for 6SN112V1AV000CA1 power modules, 18/36 A resolver control Servomotor Mo [Nm] 60 5.00 5.00 7.90 7.90 7.90 6.60 6.60 10.40 10.40 10.40 16.20 16.20 16.20 16.20 22.40 22.40 22.40 22.40 22.40 22.40 22.40 41.50 41.50 22.00 Io [] 60 4.80 6.40 5.00 7.60 9.90 7.40 9.40 8.20 12.20 14.65 7.55 11.30 16.70 20.50 10.00 14.40 20.40 7.40 10.20 14.20 20.60 13.80 18.40 16.30 nrated [RPM] 4500 6000 3000 4500 6000 4500 6000 3000 4500 6000 2000 3000 4500 6000 2000 3000 4500 1500 2000 3000 4500 1500 2000 3000 Curr. act. value norm. Axis 1: S3 Axis 2: S6 Contact 1+2 x o x o o o o o o o x o o o o o o x o o o o o o Imax [%] 70 100 70 100 100 100 100 100 100 100 70 100 100 100 100 100 100 70 100 100 100 100 100 100 Current controller gain Kp(I) Axis 1: S3 Axis 2: S6 Contacts 3+7 x x x o x o x x x x o x x o x x x x x o o o x x 4+8 x o x x o x o o o x x o x x x x x x o x x x x x 5+9 o o x o x o x x x o x o o o x x o x x x o x x x 6+10 x x x x o x o x o o x x o o x o o x x o o x o o Kp(I) 11.5 9.5 16.0 10.5 6.0 10.5 6.0 13.5 6.0 4.0 14.5 9.5 4.0 3.0 16.0 8.5 4.0 16.0 13.5 7.5 3.0 14.5 8.5 8.5
1FT 60626AH 60626AK 60646AF 60646AH 60646AK 60818AH 60818AK 60828AF 60828AH 60828AK 60848AC 60848AF 60848AH 60848AK 60868AC 60868AF 60868AH 61028AB 61028AC 61028AF 61028AH 61058AB 61058AC 60848SF
VR
1FK 60636AF 60836AF 61008AF 61018AF 61038AF
Mo [Nm] 60 9.10 13.30 15.00 22.40 30.00
Io [] 60 6.60 8.50 10.20 14.40 19.00
nrated [RPM] 3000 3000 3000 3000 3000
Contact 1+2 x o o o o
Imax [%] 70 100 100 100 100
Contacts 3+7 o x x o o 4+8 x o o o x 5+9 x x x x o 6+10 o x o o o Kp(I) 7.5 13.5 6.0 5.0 3.0
Definition:
VR/1-9
10.00 07.94
Table 1-11
Adaptation table for 6SN112V1AA000DA1 power modules, 28/56 A resolver control Servomotor Mo [Nm] 60 5.00 7.90 7.90 6.60 10.40 10.40 10.40 16.20 16.20 16.20 22.40 22.40 22.40 22.40 22.40 22.40 41.50 41.50 41.50 58.00 58.00 62.00 62.00 62.00 79.00 79.00 95.00 22.00 22.00 22.00 29.50 50.00 Mo [Nm] 60 13.30 15.00 22.40 30.00 Io [] 60 6.40 7.60 9.90 9.40 8.20 12.20 14.65 11.30 16.70 20.50 10.00 14.40 20.40 10.20 14.20 20.60 13.80 18.40 27.70 18.50 24.00 18.50 25.00 37.00 24.00 31.50 28.00 16.30 22.90 31.00 22.30 25.00 Io [] 60 8.50 10.20 14.40 19.00 nrated [RPM] 6000 4500 6000 6000 3000 4500 6000 3000 4500 6000 2000 3000 4500 2000 3000 4500 1500 2000 3000 1500 2000 1500 2000 3000 1500 2000 1500 3000 4500 6000 3000 2000 nrated [RPM] 3000 3000 3000 3000 Curr. act. value norm. Axis 1: S3 Axis 2: S6 Contact 1+2 x
X
Current controller gain Kp(I) Axis 1: S3 Axis 2: S6 Contacts 3+7 x x x x o x x x x o x x x x x o x x x x x x o x x o o o x x x x 4+8 x x o o x x o x o o x o o x x o x o o x o x o o x x x x o x o x 5+9 o o o x x o x x x x x o x x o x x x x x o x x x x x x x x o o o 6+10 x x x o x x o x o o x x o x x o x x o x x x x o x x x x o o x x Kp(I) 11.5 11.5 9.5 6.0 14.5 11.5 6.0 16.0 6.0 5.0 16.0 9.5 6.0 16.0 11.5 5.0 16.0 13.5 6.0 16.0 9.5 16.0 12.5 6.0 16.0 14.5 14.5 14.5 6.0 4.0 9.5 11.5 Kp(I) 14.5 7.5 7.5 5.0
1FT 60626AK 60646AH 60646AK 60818AK 60828AF 60828AH 60828AK 60848AF
Imax [%] 70 70 100 70 70 100 100 100 100 100 70 100 100 70 100 100 70 100 100 100 100 70 100 100 100 100 100 100 100 100 100 100 Imax [%] 70 70 100 100
o x x o o o o o x o o x o o x o o o o x o o o o o o o o o o Contact 1+2 x x o o
VR
60848AH 60848AK 60868AC 60868AF 60868AH 61028AC 61028AF 61028AH 61058AB 61058AC 61058AF 61088AB 61088AC 61326AB 61326AC 61326AF 61346AB 61346AC 61366AB 60848SF 60848SH 60848SK 60868SF 61058SC 1FK 60836AF 61008AF 61018AF 61038AF
Contacts 3+7 o o o o 4+8 x x x o 5+9 x x x x 6+10 x o o o
Definition:
o = Contact in the basic OFF setting x = Contact in the ON setting J
VR/1-10
07.94
Feed Modules, Resolver Control (VR) 2 Speed Controller Optimization
Speed Controller Optimization
2
VR
The additional smoothing functions in the speed controller loop (damping mechanical resonance points) are described in section 3. Proceed as follows when optimizing the speed controller : 1. Tachometer calibration 2. Gain Kp 3. Integral action time TN 4. Drift compensation (offset) To optimize the speed controller, the equipment must be poweredup. Therefore observe Section 7 Poweringup.
The specification of the potentiometer scale (in the setting table) is defined as follows:
8 7 8 7 9/ 10 10
The settings shown in the diagram corresponds to 7 scale units.
6 6 55 44
3 3 2 2
0 0/1 1
VR/2-11
Feed Modules, Resolver Control (VR) 2.1 Tachometer calibration
03.96 07.94
2.1
Tachometer calibration
The actual drive speed for 10 V speed setpoint can be varied in the following range by the rated speed, set under Section 1.2:
Potentiometer T Setting range 0.6 nrated nact N 1,8 nrated
The following setting ranges are obtained for a 10 V speed setpoint according to the rated speeds, set in Section 1.2:
VR
2)
2)
nrated to 10800 RPM
3510 RPM nrated to
1760 RPM nrated to
5400 RPM
2)
1170 RPM
3600 RPM
nmotor N 1) nmotor N
2)
1500
2000 2000
3000 3000
4500
6000 [RPM] 6000 [RPM]
1) Rated motor speed 2) Rated speeds which can be set using the closedloop resolver control
Fig. 2-1
Setting ranges for a $10 V speed setpoint
When the speed setpoint is reduced, the setting range is also appropriately reduced. We recommend that the motors with a rated speed of 6000 RPM are operated using a 8 V speed setpoint, in order to limit the selectable maximum speed.
Warning Only the specified setting ranges are permissible! The setting range and the maximum speed setpoint must be defined, so that the maximum permissible speed of the connected motor is never exceeded. The maximum permissible motor speeds are specified in the Motor Planning Guide.
VR/2-12
04.97 07.94
Feed Modules, Resolver Control (VR) 2.2 Setting the proportional gain Kp
2.2
Setting the proportional gain Kp

The proportional gain Kp of the speed controller can be set using potentiometer Kp. The gain, set using the Kp potentiometer, is only insignificantly influenced by the setting of the TN potentiometer.
Kp 170 160 140 120 100 80 60 40 20 0 0 1 2 3 4 5 6 7 8 9 10 Setting KpPoti Fig. 2-2 Proportional gain Kp as a function of the Kp potentiometer
VR
If the electronic weight equalization is active (refer to Section 3.3), then this proportional gain is increased by the following factor:
Kp (with weight equalization) Kp Iweight equalization
1+
IMax
VR/2-13
Feed Modules, Resolver Control (VR) 2.4 Drift compensation (offset)
12.94 07.94
2.3
Setting the integral action time TN

The speed controller integral action time is set using potentiometerTN.
TN in ms 45 40 30 20 10 0
10
VR
Fig. 2-3
Setting,TN potentiometer Integral action time TN as a function of the TN potentiometer
2.4
Drift compensation (offset)

The drift is compensated for nset = 0 using a potentiometer
Potentiometer drift Control range "45 mV
VR/2-14
07.94
Feed Modules, Resolver Control (VR) 3.2 Current setpoint limiting
StartUp, Supplementary Functions
3
VR
3.1
Position processing
The angular encoder interface is not influenced by the controller inhibits (terminal 63, terminal 64, terminal 65, terminal 663) and the central RESET (terminal R). For encoder errors and for a poweron reset, the output signals are switched to a high ohmic state.
Switch for axis 1 Pole (pair) number, motor 1) Pole (pair) number, resolver 1) 4) Phase sequence of tracks A, B (angular encoder interface) Pulse number, angular encoder interface Zero offset 3) S1.x S1.x S1.6=OFF S1.6=ON S1.7=OFF S1.7=ON S1.8+S11.x=OFF S1.8=ON S11.1=ON S11.2=ON S11.3=ON S11.4=ON S11.5=ON
Switch for axis 2 S2.x S2.x S2.6=OFF S2.6=ON S2.7=OFF S2.7=ON S2.8+S11.x=OFF S2.8=ON S11.6=ON S11.7=ON S11.8=ON S11.9=ON S11.10=ON
Effect 2p=2, 4, 6, 8 corr. to p=1, 2, 3, 4 2p=2, 4, 6, 8 corr. to p=1, 2, 3, 4 A before B for clockwise rot. 2) B before A for clockwise rot. 2) 512 pulses/revolution 1024 pulses/revolution Shift by 0d mechanical Shift by 5.625d mechanical Shift by 11.25d mechanical Shift by 22.5d mechanical Shift by 45d mechanical Shift by 90d mechanical Shift by 180d mechanical
3.2
Current setpoint limiting

Function Switch for axis 1 S12.x=OFF S12.4=ON S12.3=ON S12.3+4=ON S12.2=ON S12.2+3=ON S12.1=ON Switch for axis 2 S12.x=OFF S12.8=ON S12.7=ON S12.7+8=ON S12.6=ON S12.6+7=ON S12.5=ON Effect Limiting to 100% Limiting to 75% Limiting to 55% Limiting to 45% Limiting to 25% Limiting to 20% Limiting to 5%
Current setpoint limiting by 1 Selecting terminal 96 or for SETTINGUP operation Caution! The same limit is effective for both functions.
1) 2) 3) 4)
The pole pair numbers must be set before commissioning (refer to Section 1) When viewing the drive shaft end The resulting zero offset is the sum of all of the selected offsets The number zero marks per mechanical revolution is the same as pole pair number P of the resolver
VR/3-15
Feed Modules, Resolver Control (VR) 3.3 Other functions
10.00 07.94
3.3
Other functions
Function Switch for axis 1 S5.1=OFF/ON S5.2=OFF/ON S5.5=OFF/ON S5.7=OFF/ON Component for axis 1 C1355) C1435) C1345) R4486) R3496) R3486) Switch for axis 2 S5.3=OFF/ON S5.4=OFF/ON S5.5=OFF/ON S5.6=OFF/ON S5.8=OFF/ON Component for axis 2 C1485) C1495) C1475) R4546) R3566) R3556) Effect Enable/inhibit Enable/inhibit Changeover, fault/ready signal 2nd axis as slave 3) 1 s / 300 ms Condition when shipped
Integrator inhibit, speed controller Integrator inhibit, I controller 1) Fault message Master/slave Timer 2) Function 4) Smoothing functions: Speed setpoint Speed actual value Speed controller TN limiting in the speed controller Weight equalization pos. ISET Weight equalization neg. ISET
VR
33 nF corresponds to 220 ms 1 nF corresponds to 160 ms
Calculating the smoothing time constants
Speed setpoint tset = C135(C148) 6.67 kW Speed actual value tact = C143(C149) 6.67 kW Speed actual value tnreg = C134(C147) 160 kW The following components are mounted on the component side (Page 2): C135, C143, C134, R348, R349, R454 The following components are provided on the solder side (Page 1): C148, C149, C147, R355, R356, R448
Dimensioning ext. speed setpoint smoothing
Refer to Section 4.2.
VR/3-16
07.94
Feed Modules, Resolver Control (VR) 3.3 Other functions
Parameterizing the electronic weight equalization
Iweight equalization/Imax
1.0 0.8 0.5 0.4 0.3 0.2 0.1 0.08 0.06 0.04 0.03 0.02 0.01 5 10 20 33 56 680 100 150 220 390 47 68 470 Illegal range
RX [kW]
Fig. 3-1
Supplementary current setpoint for electronic weight equalization
VR
Masterslave operation
Closedloop current controlled operation must always be selected for the slave axis using terminal 22. On the 2axis control, master and slave can only be operated with mutually opposite directions of rotation. When using a 1axis control as master, the directions of rotation of the master and slave can either be opposing or the same. This is selected by connecting the current setpoint output (terminal 258, terminal 15) to the current setpoint differential input (terminal24, terminal20).
1) This function is only effective in closedloop current controlled operation; in the closedloop speed controlled operation, the current controller integrator is always enabled 2) For terminal 65 and speed controller at its endstop monitoring 3) Caution: The master and slave have opposing directions of rotation! 4) Adaptation only for difficult operating conditions. Adaptation is realized, when required by soldering in SMD components 5) SMD component, packaging type 0805 6) SMD component, packaging type 0204/mini melf; equivalent, can be replaced by packaging type 0805
VR/3-17
Feed Modules, Resolver Control (VR) 3.4 Operating feed modules without a connected motor
07.94
3.4
Operating feed modules without a connected motor

Twoaxis modules can be operated as singleaxis module using the subsequently described measures. In order to permit correct operation of the drive group, the monitoring functions motor temperature and encoder fault must be suppressed at the axis which is not connected. In this case, the following signals on the encoder interface (X311/X312) of the axis which is not connected, must be connected together using jumpers.
Measure 1 2 3
Signal TEMP_PLUS SIN_PLUS SIN_MINUS
Pin 13 3 4
Connect with
Pin 25 9 11
Signal TEMP_MINUS RES_POS RES_NEG
VR
Warning If measure one is not implemented, the group signal I2t/motor temperature of the I/R or UE module will be set to fault (overtemperature). If measure 2.3 is not implemented, the ready relay of the I/R and UE module will signal fault/not ready.
VR/3-18
04.97 07.94
Feed Modules, Resolver Control (VR) 4.1 Overview
Setpoint Interfaces
4.1 Overview
4
VR
Definitions:
X
Optimum, taking into account the setpoint input properties Possible Not permitted, also, in some cases, not possible
Table 4-1
Main setpoint supplementary setpoints Mode Setpoint Main setpoint Suppl. setpoint Terminal 56/14 X X X Terminal 24/20 Terminal 258/151)
Cl.loop speed controlled
Cl.loop current controlled
Main setpoint Suppl. setpoint
Slave, cl.loop curr. contr. current setpoint input Master, cl.loop speed contr. current setpoint output
Main setpoint Suppl. setpoint Main setpoint Suppl. setpoint
1) only for a 1axis version, for 2axis version, is realized using an internal module connection
VR/4-19
Feed Modules, Resolver Control (VR) 4.2 External speed setpoint smoothing
04.97 07.94
4.2
External speed setpoint smoothing

Locations C135 and C148 are provided on the module for the internal speed setpoint smoothing (refer to Section 3.3). The locations are intended for SMD capacitors. Time constants of approx. 1 ms can be achieved. Higher time constants must be realized by connecting suitable components at the speed setpoint input outside the module. We recommend the following circuit configuration:
20k
Rext=2k
20k
S
Cext
f T. 56
VR
f
S S
T. 14 f 20k 20k
Rext=2k
External speed setpoint smoothing
Internal speed setpoint input
Fig. 4-1
External setpoint smoothing
The following is valid for the smoothing time constant of the speed setpoint: tset,total = tset + tset,external tset tset,external = internal speed setpoint smoothing (refer to Section 3.3) = Cext @ 2 @ Rext = Cext @ 4 k
VR/4-20
03.96 07.94
Feed Modules, Resolver Control (VR) 5 Free for Expansions
Free for Expansions
5
J
VR
VR/5-21
10.00 07.94
Space for notes
VR/5-22
03.96 07.94
Free for Expansions
6
J
VR
VR/6-23
10.00 07.94
Space for notes
VR/6-24
03.96 07.94
Feed Modules, Resolver Control (VR) 7 PoweringUp
PoweringUp
Main switch: OPEN
7
VR
Adapt the module to the motor, standard settings: Section 1
Startup with the battery box
S S S
Connect term. 48, 63, 64, 663 to term. 9 Switch (open) between term.65 and term. 9 Term.56/14 at the battery box Check the motor/PWM inverter connection: Main switch: CLOSE
S S S S
L1, L2, L3 cyclically interchanged? Power connection cable Encoder cable Settings of the pole pair numbers for motor and resolver
Set the setpoint to 0 V at the battery box
Briefly energize term. 65 (jog)
Main switch: Open
Open connection between terminal 63 and terminal 9 Does the motor accelerate? no yes ! fault
S S
Enter a low setpoint (e.g. 0.1 V) Briefly energize term. 65
Does the drive run continuously? yes 1
no fault
VR/7-25
Feed Modules, Resolver Control (VR) 7 PoweringUp
03.96 07.94
Energize terminal 65
Optimize the speed controller or set known values: Section 2
Inhibit terminal 65
When required commission supplementary funtions: Section 3
VR
Startup completed
Inhibit terminal 63!
Switch: OFF
S S
Open the connection between terminals 64, 65 and terminal 9 Disconnect the battery box from the terminals 56/14
VR/7-26
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Feed Modules, Resolver Control (VR) 8 Service and Diagnostics
8
VR
Test sockets
Terminal 16 = Iact and terminal75 =nact are available for measurements. Normalization: Term.16: 10 V corresponds to Imax Term.75: 10 V corresponds to nrated (refer to Section 2.1)
LED display
There is an LED on the front panel for fault diagnostics. Depending on the mode selected, either ready or fault is displayed.
Table 8-1
LED display LED dark LED bright A minimum of one axis is inhibited via the terminal or due to a fault message. A minimum of one axis is inhibited due to a fault message.
Effect in the ready mode Effect in the fault mode
Both axes of a 2axis module are enabled. None of the two axes of a twoaxis module is inhibited due to a fault message.
Table 8-2
Causes of fault messages Fault Effect Saved 1) Saved 1) Prealarm at the NE module, saved after 4 s 1) Prealarm at the NE module, not saved
Speed controller at its endstop Encoder fault Heat sink overtemperature Motor overtemperature
1) saved=pulse inhibit
VR/8-27
Feed Modules, Resolver Control (VR) 8 Service and Diagnostics
07.94
X391/X392
To support diagnostics, the following signals are available at the connector of the angular encoder interface.2) Signal level: HCMOS / 5V
Table 8-3 Signal READY
Signals for fault analysis Name Hardware RESET Pin 1 Status Power supply o.k. L=Low Status H=High
Power supply voltage not o.k.: runup after poweron P5 defective Fault: Heatsink temperature too high Fault: Speed controller is already at its limit since 1s/300ms Angular encoder interface enabled Signals A, B, R valid
ER_IL ER_TNR EN_WSG
I2t monitoring Speed controller end stop Enable angular encoder interface signals
9 10 11
No fault No fault Angular encoder interface inhibited Signals A, B, R high ohmic state hardware RESET active encoder fault
VR
Warning
2)
Internal module signals for fault analysis! Not intended for use in external modules!
VR/8-28
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Feed Modules, Resolver Control (VR) 9.1 Terminals
Attachments
9.1
Table 9-1 Ter. No. 56 14 24 20 75 15 16 96 9 22 9 663 AS1 AS2 9 65.1 9 65.2
9
Function Type
1)
Terminals
Terminals Designation 2) X321/322 X321/322 X321/322 X321/322 X321/322 X321/322 X321/322 X321/322 X321/322 X321/322 X331 X331 X331 X331 X332 X332 X332 X332 Typ. voltage/limit value 0V...10V Max. crosssection which can be connected 1.5 mm2 1.5 mm2 0V...10V 1.5 mm2 1.5 mm2 0V...10V 0V 0V...10V +13V...30V +24V +13V...30V 24V +21V...30V max. 250VAC/1A 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 30VDC/1A +13V...30V 24V +13V...30V 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2
Speed setpoint Differential input Speed/current setpoint Differential input Speed actual value Reference potential Active current actual value Poweron Iset limiting Enable potential Changeover, speed/curr. control Enable potential Pulse enable Relay, start inhibit Floating contact Enable potential Controller enable, axis 1 Enable potential 3) Controller enable, axis 2 3)
I I I I O O O I O I O I NC NC O I O I
VR
For the 1axis version, the following assignment is obtained for X332:
Table 9-2 Ter. No. 9 65.1 15 258 Terminals Designation 2) X332 X332 X332 X332 Function Enable potential Controller enable Reference potential Current setpoint Type
1)
Typ. voltage/limit value +24V +13V...30V 0V 0V...10V
Max. crosssection which can be connected 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2
O I O O
1) 2) 3)
I = Input, O = Output, NC = NC contact, NO = NO contact (for signal: closed= high, open= low) X321=1st axis, X322=2nd axis only for 2axis version
VR/9-29
Feed Modules, Resolver Control (VR) 9.2 Layout diagrams
12.94 07.94
9.2
9.2.1
Layout diagrams
Layout diagram, resolver control
X351 S3 S6 S5 Smoothing/axis 1
R323 R454 C172 R652 R348 R675 C134 R518 R151 C143 C135 C6 R624 R422 R566 R349 R623 R374 R371
VR
X321 S11 S2 S1 Siemens AG 2000 All rights reserved SIMODRIVE 611 analog StartUp Guide (IAA) 10.00 Edition S4
Fig. 9-1
Component side
VR/9-30
View of the component side (side 2)
X301
12.94 07.94
View of the solder side (side 1)
SMD components
VR
Smoothing/axis 2
Fig. 9-2
Solder side
R448 R355
C147
C148 C149 R356
VR/9-31
04.97 07.94
9.2.2
S1
Layout diagram, DIL switch

1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8
Pole number, motor Pole number, resolver NC Phase sequence of tracks A, B (ang. encoder) Pulse number angular encoder interface Zero offset Pole number, motor Pole number, resolver NC Phase sequence of tracks A, B (ang. encoder) Pulse number angular encoder interface Zero offset Current actual value normalization Current controller gain (active current) Axis1 Current controller gain (reactive current) Axis 2 Axis1
S2
S3
VR
S4
Speed actual value normalization, axis 1 Axis 1 and 2 Speed actual value normalization, axis 2 Integrator inhibit N controller, axis 1 Integrator inhibit I controller, axis 1 Integrator inhibit N controller, axis 2 Integrator inhibit I controller, axis 2 Ready/fault message 2nd axis as slave; is only valid for 2axis control Timer stage, axis 1 Timer stage, axis 2 Current actual value normalization Current controller gain (active current) Axis 2 Current controller gain (reactive current)
S5
Axis 1 and 2
S6
S11
Zero offset, axis 1 Axis 1 and 2 Zero offset, axis 2
S12
Current setpoint limiting, axis 1 Axis 1 and 2 Current setpoint limiting, axis 2
Fig. 9-3
DIL switch
VR/9-32
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Feed Modules, Resolver Control (VR) 9.3 Connector assignment
9.3
9.3.1
Connector assignment
X311/X312, encoder interface axis 1/axis 2
25pin subminiature D plug connector, screw locking UNC440 Connected via a preassembled cable
Table 9-3 Connector assignment X311/X312 Signal SIN_PLUS SIN_MINUS M COS_PLUS COS_MINUS RES_POS RES_NEG TEMP_PLUS TEMP_MINUS Resolver control 3 4 5, 8, 24 6 7 9 11 13 25 Motor 1 2 11 12 10 7 8 9
Resolver control
VR
Refer to Section 3.4 for axes which are not used.
VR/9-33
Feed Modules, Resolver Control (VR) 9.3 Connector assignment
04.97 07.94
9.3.2
X391/X392, angular encoder interface, axis 1/axis 2

15pin subminiature D plug connector, latch locking Connected via a preassembled cable
Table 9-4 Signal M A A_INV B B_INV R R_INV Connector assignment X391/X392 Comment AEI AEI
1) 1)
Resolver control
Type Ref. pin RS422A RS422A RS422A RS422A RS422A RS422A HCMOS ! HCMOS ! HCMOS ! HCMOS !
Resolver control 2 3 4 6 7 12 13 1 9 10 11
Numeric 11 1 9 10 3 4 12 NC NC NC NC
FMNC 9 15 14 13 12 10 11 NC NC NC NC
AEI 1) AEI
1)
AEI 1) AEI 1) AEI

1)
VR
READY ER_IKL ER_TNL
only X392 2) Diagnostics 2) Diagnostics 2)
EN_WSG Diagnostics 2)
1) Standard angular encoder interface (AEI), type: RS422A/driver: 75ALS192
Warning
2) The internal module signals for fault analysis! These are not intended for use in external modules! J
VR/9-34
10.00 07.94
Feed Modules, Resolver Control (VR) Index
Index
M
Master/slave, VR/3-16, VR/3-17 Mode of operation master speed controlled, VR/3-16, VR/3-18 slave current controlled, VR/3-16, VR/3-17, VR/3-18 Motion of operation, Master speed controlled, VR/3-17
A
Adaptation tables, VR/1-5
C
Component side, VR/3-16, VR/9-30 Connector assignment, VR/9-33 Current actual value normalization, VR/1-5 Current controller gain, VR/1-5 Current controller settings, VR/1-5 Current setpoint limiting, VR/3-15
P
Phase sequence of tracks A, B (WSG), VR/3-15 Pole numbers, VR/1-3 Position processing, VR/3-15 Poweringup, VR/7-25 Proportional gain Kp, VR/2-13 Pulse number, angular encoder interface, VR/3-15
VR
D
Diagnostics, VR/8-27 Drift compensation, VR/2-14
S
Service and diagnostics, VR/8-27 Setpoint interfaces, VR/4-19 Setting elements, with standard interface, VR/4-19, VR/4-20 Setting the integral action time, VR/2-14 Smoothing functions, VR/3-16 Solder side, VR/3-16, VR/9-31 Speed actual value normalization, VR/1-4 Standard settings, VR/1-3 Standard startup, VR/1-3 Startup short startup, VR/1-3 standard startup, VR/1-3
E
Electronic weight equalization, VR/3-17
F
Fault message, VR/3-16
G
Gain Kp, VR/2-13
T I
Integral action time limiting, VR/3-16, VR/3-18 Integral action time/Speed controller, VR/2-14 Integrator inhibit, VR/3-16 Tachometer calibration, VR/2-12 Terminals, VR/9-29 Test sockets, VR/8-27, VR/8-28 Timer, VR/3-16 TN (integral action time), VR/2-14
L
Layout diagram, component side, VR/9-30 Layout diagram, solder side, VR/9-31 LED display, VR/8-27
Z
Zero offset, VR/3-15
VR/i-1
Feed Modules, Resolver Control (VR) Index
10.00 07.94
Space for notes
VR
VR/i-2
Main Spindle Modules (HS)
First Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 1.2 1.3 1.4 1.5 Startup guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Startup instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operator and display elements, control parameters . . . . . . . . . . . . . . . Overview, setting data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HS/1-3 HS/1-4 HS/1-7 HS/1-8 HS/1-12 HS/1-13 HS/2-15 HS/2-15 HS/2-15 HS/2-17 HS/2-20 HS/2-25 HS/2-25 HS/2-26 HS/2-27 HS/2-30 HS/2-30 HS/2-31 HS/2-31 HS/2-44 HS/2-48 HS/2-48 HS/2-54 HS/3-55 HS/3-55 HS/3-58 HS/3-58 HS/3-59 HS/3-61 HS/3-61 HS/3-61 HS/3-64 HS/3-65 HS/3-66 HS/4-69 HS/4-69 HS/4-75
Determining and Setting the System Configuration . . . . . . . . . . . . . . . . . . . . 2.1 2.1.1 2.1.2 2.1.3 2.2 2.2.1 2.2.2 2.2.3 2.3 2.3.1 2.3.2 2.3.3 2.3.4 2.3.5 2.3.6 2.3.7 Motor and drive converter data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . System configuration with standard motors . . . . . . . . . . . . . . . . . . . . . . System configuration with special motors (noncatalog motors) . . . . System configuration with star/delta motors, 2 motors . . . . . . . . . . . . Standard applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Firmware version and module version . . . . . . . . . . . . . . . . . . . . . . . . . . Setting parameters for standard applications . . . . . . . . . . . . . . . . . . . . Additional applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Orientated spindle stop (using NC auxiliary function M19) . . . . . . . . . C axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Spindle positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Openloop torque controlled mode (master/slave) . . . . . . . . . . . . . . . Monitor function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . HPC axis (FW 2.00) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Maximum current limiting (I2t limiting, from FW 3.1) . . . . . . . . . . . . . .
HS
Parameterizing the Drive Converter Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 3.2 3.2.1 3.2.2 3.3 3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 Analog speed setpoint interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Input terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Permanentlywired terminal functions . . . . . . . . . . . . . . . . . . . . . . . . . . Freelyprogrammable terminal functions . . . . . . . . . . . . . . . . . . . . . . . . Output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Permanentlywired relay functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Freelyprogrammable relay functions . . . . . . . . . . . . . . . . . . . . . . . . . . . Variable relay function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor encoder signals for NC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Controller Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 4.2 Speed controller optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Current controller optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HSi
10.00 07.94
Diagnostics and Fault Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 5.1.1 5.1.2 5.1.3 5.1.4 5.1.5 5.1.6 5.1.7 5.2 5.2.1 5.2.2 Diagnostic resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Measured value displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Diagnostic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test sockets X1, X2, IR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Minimum/maximum value memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Transient recorder function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Current/Hz control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault display, fault acknowledgement . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault message list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HS/5-77 HS/5-77 HS/5-77 HS/5-78 HS/5-81 HS/5-82 HS/5-84 HS/5-84 HS/5-86 HS/5-87 HS/5-87 HS/5-88 HS/6-93 HS/6-94 HS/6-99
Attachment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1 6.2 6.3 6.4 6.5 Flow diagram for short startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Code numbers for power modules and standard motors . . . . . . . . . . .
Overview of connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . HS/6-103 Connector assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . HS/6-108 Addresses, RAM variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . HS/6-112 Setting and monitoring data (parameter list) . . . . . . . . . . . . . . . . . . . . . HS/6-113
HS
6.6
HSii
10.00 04.97 07.94
Main Spindle Modules (HS) 1 First Steps
First Steps
1
Warning Perfect and safe operation of this equipment assumes that it is professionally transported, professional stored, installed and mounted as well as careful operator control and service. If this warning information is not observed, this can result in severe bodily injury or material damage. The modules contain components which can be destroyed by electrostatic discharge. Please observe the ESDS information in the foreword.
Note The module Order No. [MLFB] 6SN11210BA110AA1 can only be used with firmware from 3.00. The modules, Order No. [MLFB]: 6SN11210BA110AA0 6SN11210BA120AA0 6SN11210BA130AA0 can only be used up to firmware 2.xx.
HS
Note Startup software is available to commission the main spindle motor control with analog setpoint interface. Ordering data for software: Refer to Catalog NC 60 Order No.: E86060K4460A101A8 Ordering data for documentation: Startup software for main spindle and induction motor modules Order No. 6SN11970AA300AP1
Note Motor definition Standard motor: Thirdparty motor: Special motor: The motors are listed in the Siemens Catalog. Motors manufactured by companies other than Siemens. Motor manufactured by Siemens to special customer specifications.
HS/1-3
Main Spindle Modules (HS) 1.1 Startup guidelines
12.94 07.94
1.1
Startup guidelines
Structure of the Startup Guide
The Startup Guide is structured in the sequence of the actual startup steps. When commissioning systems for standard applications, where the drive converter interfaces (Section 1.5) and controller optimization settings when supplied are generally adequate, only the startup steps which are printed in bold, are of significance.
1 First steps
2 System configuration
3 Drive converter interfaces
4 Controller optimization
S S S
Startup guidelines Startup info./ instructions Operator control and display elements, control parameters Overview, setting data Connections
Motor and drive converter data sets Standard motors Specialpurpose motors Star/delta motors, 2 motors Standard applications Other applications Auxiliary function M19 C axis Spindle positioning Torquecontrolled operation Monitor function HPC axis
S S S
Analog speed setpoint interface Input terminals Output terminals
S S
Speed controller Current controller
S S
HS
S S
5 Diagnostics, fault analysis
Diagnostic resources
Fault analysis
6 Appendix
S S S
Fig. 1-1 Startup steps
Flow diagram for short startup Code numbers for power modules and standard motors Overview of connections
S S S
Connector assignments Address, RAM variables Setting and monitoring data
HS/1-4
07.94
Parameter list
Warning The settings of parameters, which are not in the parameter list (refer to Section 6.6), may not be changed.
The parameter descriptions are information units, in the form of tables. The parameter sequence represents the procedure when parameterizing the equipment.
Table 1-1 Example of a parameter list Parameter attributes Number Mot. 1 Mot. 2 Change becomes effective Online, RESET, after initialization, after conversion P051 Setting range Description
P040.1
P270.1
4 10
Value range Dimensions
Parameter name Brief parameter description FW x.xx
HS
Parameter attributes
S Number
Mot. 1 generally valid parameters, parameters for motor 1 (star) when using star/delta motors or 2 motors Mot. 2 parameters for motor 2 (delta) when using star/delta motors or 2 motors (P001) display parameters P040.1 gearboxstage dependent parameters
HS/1-5
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S Changes becomes effective

online Change immediately becomes effective RESET The unit must be powereddown and up again after conversion A conversion program is initiated by setting to 1H; the parameter can then be automatically reset to 0H (P143, P177, P237, P239). after initialization Initialization is initiated by setting P097 to 1H.
S P051
Writeprotected parameters Write protection is removed by entering 4H or 10H
Setting range
For several control words, the functions are activated by setting bits. Example: Bit 8 Bit 9 0100H 0200H or or bit 6 bit 7 0040H 0080H
HS
A combination of several functions is entered in the form of hexadecimal additions. Example: Bit 8 + bit 9 0300H or bit 6 + bit 7 00C0H
Description
S FW x.xx
Firmware releasedependent coding of function and parameter extensions. The extension is available from the specified firmware release onwards.
HS/1-6
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Main Spindle Modules (HS) 1.2 Startup instructions
1.2
Startup
Startup instructions
Using
S Operator control and display elements (refer to Section 1.3) S RS232C interface with an IBM ATcompatible computer and
startup software (refer to the foreword)
Reinitializing the drive converter (if required)
If an already initialized drive converter is to be reinitialized, then the following procedure must be followed:
S If required, save the setting data (parameters) S Remove the write protection: Set P051 to 4H S Start initialization: Set P097 to 0H S Overwrite the parameters in the drivemachine data memory:
Set P052 to 1H and wait until P052 resets itself back to 0H.
S Poweron reset:
Powerdown the unit and approx. 2 s after the display has gone dark, powerup the unit again: P095 or P096 must be displayed.
S Initialize (Section 2.1)

Replacing firmware (if necessary)
From version V2.00, the firmware can be replaced using the userprompted startup software for main spindle and induction motor modules.
Module 6SN11210BA1V0AA0 6SN11210BA110AA1
HS
Firmware release Before FW 3.00 From FW 3.00
Procedure:
S Save the setting data (parameters) S Replace the firmware using the startup program S Initialize with the pulses and controller inhibited (Section 2.1) S Reload the setting data (parameters) which was saved S Save the setting data in the drivemachine data memory (Section 1.3)
Startingup series machines, replacing modules, replacing components
The drive converter setting data (parameters) can be saved on floppy disk using the startup software. The following procedure must be maintained for series startup of additional drive converters: 1. Initialize with the pulses and controller inhibited: Enter P095, power module code according to Tab. 61. 1) The motor code number and motor encoder pulse number are saved on the floppy disk, which means that they do not have to be entered. Start initialization. 2. Load the setting data from the floppy disk and save.
1) From FW 3.00, power modules with Order No. [MLFB] 6SN112V1AV0VVVA1, are automatically recognized. It is then no longer possible/necessary to enter P095.
HS/1-7
Main Spindle Modules (HS) 1.3 Operator and display elements, control parameters
07.94
1.3
Operator and display elements, control parameters
Operator and display elements
The following operator and display elements are provided on the front panel to startup and parameterize the SIMODRIVE 611 analog system MSD module:
S 3 operator keys ( + , S 6digit LCD display
and
key)
The operator element functions are shown using as an example, parameter P039. Gearboxstage dependent parameters are listed with subparameter numbers (e.g. P039.1 to P039.8).
<<
>>
<
>
HS
Parameter number
Subparameter number
Parameter value
<
>
<<
>>
HS/1-8
04.97 07.94
Control parameters
Note If data save (P052) is interrupted due to power failure or powerdown, then the modified values are lost, and the drive converter displays fault message F07 after it is poweredup again. The parameter values can be reset after fault message F07 has been acknowledged (refer to Section 5.2.2).
Table 1-2
Control parameters P051 4 Setting range 0...7FFF hex 0...1 hex Description Write protection Write protection is removed by entering 4H or 10H. Transferring parameters into the FEPROM Parameters are transferred into the drivemachine data memory by setting to 1H. The parameter is reset to 0H after transfer. Control word Bit Value 0000H 0 0001H 0000H 1 0002H 4 5 0000H 0010H 0000H 0020H Ready relay pullsin if there is no fault and the pulses and controller are enabled. The ready relay pullsin if there is no fault. For a rampfunction generator fast stop, the speed setpoint is digitally set to zero but the motor remains magnetized. The pulses are cancelled after the drive has been shut down. Speed setpoint smoothing inactive Speed setpoint smoothing active Speed actual value smoothing inactive Speed actual value smoothing active, if at the same time P090 bit 3=0 FW 3.0 Inverter clock Bit 10/Bit 9/Bit 8 cycle frequency [kHz] 0000H 0100H 0200H 0300H 0400H 0500H 0600H 0700H 3.2 2.8 6.3 5.0 4.7 3.9 7.8 5.9 FW 3.0 FW 3.0 FW 3.0 FW 3.0
Parameter attributes Number Change effective Mot. 1 Mot. 2 P051 P151 P052 P152 Online Online
P053
Online
0...FFFF hex
HS
8 9 10
Note: A pulse frequency > 3.2 kHz is only possible if the drive is derated (refer to Table 13).
HS/1-9
10.00 04.97 07.94
Table 1-2
Control parameters P051 Setting range 0000H Description Fault message F79 not suppressed, Fault message F79 suppressed Rampfunction generator tracking active Rampfunction generator tracking inactive Bipolar speed setpoint evaluation Unipolar speed setpoint evaluation FW 2.00 Cyclic parameter number display active Cyclic parameter number display inactive FW 3.0
Parameter attributes Number Change effective Mot. 1 Mot. 2 P053
11 0800H 12 0000H 1000H 0000H 2000H 0000H 8000H
13
15 P090 Online 10 0...FFFF hex
Control word Bit Value 0000H 0001H 0 Parameter format hex display Parameter format dec display CAUTION! Parameter setting limits are not effective in the hex format! Fault message F09 activated Fault message F09 suppressed FW 2.00 Extended monitoring for F-09 inactive Extended monitoring for F-09 active (shortcircuit M/P5) FW 3.00 Speed controller clock cycle [ms] Normal operation 1000 HPC axis without filter 500 with filter 600 Possible from FW 3.0 Normal operation 525 HPC axis without filter 300 with filter 350 Bit 3 can only be changed after first saving on the FEPROM and then poweroff/poweron Speed controller without integrator inhibit Speed controller with integrator inhibit (for M19) Fault message F-18 suppressed Fault message F-18 active (FW 3.00) Integrator, speed controller when limiting is set to the difference between the torque limit and P component Integrator, speed controller held when limiting, FW 2.00 A basic flux model is switchedin by setting this bit. This results in faster and more uniform acceleration if the drive starts with a speed setpoint when the controller is enabled. Selects square wave evaluation, motor encoder Sine/cosine Square wave
HS
0000H 0002H 0000H
2 0004H RESET 10 0000H
0008H 3
Online
10 4
0000H 0010H 5 0000H 0020H 0000H 6 0040H
RESET
10 8
0100H
RESET
10
9 0000H 0200H
HS/1-10
04.97 07.94
Various inverter clock cycle frequencies can be parameterized; please observe the appropriate current derating.
Table 1-3
Currents as a function of the inverter clock cycle frequency, MSD analog fT In/Is6/Imax in A Code No. 6 7 13 8 9 10 11 12 fT=3.20 kHz 24/32/32 30/40/51 45/60/76 45/60/76 60/80/102 85/110/127 120/150/193 200/250/257 In/Is6/Imax in A fT=4.70 kHz 20/26/26 26/34/44 39/52/65 39/52/65 51/68/86 73/95/109/ 101/127/163 169/211/217 In/Is6/Imax in A fT=6.30 kHz 15/20/20 21/28/36/ 32/43/54 32/43/54 41/54/69 60/78/90 81/102/131/ 135/169/174 In/Is6/Imax in A fT=7.80 kHz 10/14/14 17/23/29 26/34/43 26/34/43 31/42/53 48/63/72 62/78/101 104/130/134
Power Order Nos. module 6SN11231AA0V type 6SN11241AA0V 6SN11351BA1V 50 A 80 A 108 A 120 A 160 A 200 A 300 A 400 A 0CAV 0DAV 0LAV 0GAV 0EAV 0FAV 0JAV 0KAV
Power module type
Order Nos. 6SN11231AA0V 6SN11241AA0V 6SN11351BA1V 0CAV 0DAV 0LAV 0GAV 0EAV 0FAV 0JAV 0KAV
In/Is6/Imax in A Code No. 6 7 13 8 9 10 11 12 fT=2.80 kHz
In/Is6/Imax in A fT=3.90 kHz
HS
From FW 3.00 24/32/32 30/40/51 45/60/76 45/60/76 60/80/102 85/110/127 120/150/193 200/250/257 22/29/29 28/37/48 42/56/71 42/56/71 56/74/95 79/103/119 111/139/179 185/232/238 19/25/25 25/33/42 37/50/63 37/50/63 49/65/83 71/91/106 98/122/157 163/203/209 16/21/21 22/30/38 34/45/57 34/45/57 43/58/73 63/82/95 86/108/139 144/180/185
50 A 80 A 108 A 120 A 160 A 200 A 300 A 400 A
HS/1-11
HS
X433
BERO
P141
Fig. 1-2
1.4
HS/1-12
Main Spindle Modules (HS) 1.4 Overview, setting data
System configuration HPC HPC axis Control parameters

P141, P142, P143 P109, P110, P149
Speed setpoint
P093, P094
Controller optimization
P053, P091, P092, P106, P107, P108, P111, P112, P117, P118, P119
Motor encoder sensing
X412 Setting data
P036, P037, P038, P098, P267, P268
Motor temperature sensing

P063, P064, P065, P291
Function parameter 1
P126, P129, P130, P131
Position controller
Overview, setting data
Spindle encoder sensing

P141
X432 X421 56 14 24 8 X431 E1 E2 E3 E4 E5 E6 E7 E8 E9 X441 A11 A21 A31 A41 A51 A61 X451 A91 A92 X1 X2
Motor encoder output

P033
Spindle positioning
Position setpoint
P121, P122, P123, P124, P125
P144, P145, P146, P148, P149
P134, P135, P136, P137, P138, P139
M19
P054, P055, P056, P058 P062
Analog Speed setpoint setpoint P014, P015, P024, P030

P053, P258
Speed setpoint smoothing

P018, P053
Rounding off
P019
Speed controller P gain, integral action time P031, P032, P265, P266 Adaption
P195, P196, P198, P199, P201, P202 P203, P283, P284, P285, P286, P288 P289, P293
Torque limiting
P039, P040, P041, P042, P043, P050 P248, P269, P270, P271, P272, P273, P290
Channel C axis selection P114, P115, P149 P113 Torque setpoint

P048, P049, P068 P081 P082 P083 P084 P085 P086 P087 P088 P089
Rampfunct. generator
P016, P017
Maximum speed
P029, P264
Digital filter
P103, P104, P117 P118, P276, P277 P280, P281
Curr.controller
P116, P120, P278, P292
Torque setpoint smoothing

P035, P044, P045, P046, P075, P274
Slip monitoring
P340, P341, P343, P344, P345, P346
Initialization Standard motor

P095, P096, P098, P097 Initialization parameters
Freelypr. enable terminals
Osc. gen.
P154, P155, P156, P157
Stop without reverse rotation

P022, P261
Special motor
P095, P096, P098, P097 P159, P161, P163, P165, P167, P169, P171, P173, P175, Initialization parameters
Star/delta motor, 2 motors P095,

P096, P098, P097 P159, P161, P163, P165, P167, P169, P171, P173, P175, P177 P219, P221, P223, P225, P227, P229, P231, P233, P235, P238 P220, P222, P224, P226, P228, P230, P232, P234, P236, P160, P162, P164, P166, P168, P170, P172, P174, P176, Initialization parameters
General control parameters

P051, P052, P053, P090, P151, P152
P241 P242 P243 P244 P245 P246
Freelypr. relay functions
Relay signals Relay functions

P021, P023, P027, P047, P260, P262, P263 P256, P257
P160, P162, P164, Motor data P166, set P168, P170, P172, P174, P176, Transfer P177 motor data
Motor data set, starmotor motor 1
Transfer motor data
Variable relay function

P185, P188, P191, P194, P186, P187, P189, P190, P192, P193, P247
Invert relay function A
P247 ?
Motor data set, deltamotor motor 2
Analog outputs D P012, P013, P026,

P066, P067, P068, P069, P071, P078 P079
Diagnostic functions ! dn/dt monitoring P20 min/max Transient recorder function

P206 bis P218 P179, P181
Test sockets D P072, P073, P074,

P076, P077, P080
Current/Hz control
P237, P239 P180
P311, P312, P313
Zero mark/Bero
P320, P321
Transfer motor data Enable changeover
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Main Spindle Modules (HS) 1.5 Connections
1.5
Connections
X432
Spindle encoder, BERO or encoder output at the NC Test sockets
X412
RON 350 motor encoder
Warning!
DAU 3 X1 IR X421 56 14 24 8 663 65 81 E1 E2 E3 E4 E5 E6 E7 E8 E9 9 X411
X2 DAU 4
It is not permissible that a spindle encoder is connected to the MSD control boards (Order No. [MLFB] 6SN11VVVBA130VA0)! If this is not observed, the unit and spindle encoder could be damaged.
M
X451 A91 M A92 M 289 A11 A21 A31 A41 A51 A61 672 673 674 AS1 AS2 X4332)
nset1 nset2
DAU 1 DAU 2
Inputs X431 IF RF HSS

2nd limit value1)
Outputs X441 nact = nset1) Md < Mdx1) nact < nmin1) nact < nx1)
Motor overtemp.1) Drive convert. overtemp.1)
TH = 01) RESET1) M191) Mdcontrolled1) Oscillation1) Gearbox st. bit 01) Gearbox st. bit 11) Gearbox st. bit 21) Enable voltage RS232C interface
HS
Ready/fault
Signaling contact Start inhibit BERO connection
LC display + X151 P Equipment bus X351
P 600 DC link M 600
Motor terminals Fig. 1-3 Connections
U2
V2
W2
PE1
PE2
PE3
1) Freelyprogrammable terminals and relay functions as supplied 2) Only for Order No. [MLFB] 6SN11210BA110AA1
HS/1-13
Main Spindle Modules (HS) 1.5 Connections
10.00 07.94
Space for notes
HS
HS/1-14
10.00 07.94
Main Spindle Modules (HS) 2.1 Motor and drive converter data sets
Determining and Setting the System Configuration
Warning Incorrect setting values in P098 can cause the motor to accelerate up to inadmissibly high speeds and terminal 64 (NE) and terminal 65 (controller inhibit) are ineffective. Only terminal 663 (axisspecific pulse cancellation) open is effective.
2.1
2.1.1
Motor and drive converter data sets

System configuration with standard motors
HS
Initialization
Table 2-1 Initialization Parameter attributes Number Mot. 1 P095 Mot. 2 Change effective After initialization After initialization After initialization P051 Setting range Description
6...13 dec
Power module code number Default: 7 (Section 6.2) from FW 3.00 Default: 31) Motor code number Default: 101 (Section 6.2) Encoder pulse number, motor measuring system Default: 2048 for 1PH4, 1PH6 Adapt for 1PH2 and toothedwheel encoder. Initialization SEtUP message is displayed. The selected motor/power module combination is loaded into the drivemachine data memory. P000 is displayed after successful initialization on the operating display.
P096 P098
101...429 dec 128...4096 dec
P097
0...1 hex
1) Power modules (LT) with Order No. [MLFB] 6SN12V1AV0VVVA1 are automatically recognized from FW 3.00. It is then not possible to change P095.
HS/2-15
12.94 07.94
Operation with an uncontrolled infeed

Table 2-2 Operation with an uncontrolled infeed (UE) Parameter attributes Number Mot. 1 P173 Mot. 2 Change effective After conversion P051 Setting range Description
10
100...6000 RPM
Speed at the start of field weakening Multiplies the initialized value by the factor 1 0.002 Vsupply (corresp. to 0.8 for Vsupply=400 V) V Stall torque reduction factor Multiplies the initialized value by the factor 1 Vsupply 0.002 )2 (corresponds to V 0.64 for Vsupply=400 V) Start calculation, motor The calculation for the entered motor is started. 99 is entered into P096 Parameter transfer into the FEPROM
P176
After conversion
10
1...150 %
P177
Online
10
0...1 hex
P052
Online
0...1 hex
HS
HS/2-16
10.00 07.94
2.1.2
System configuration with special motors (noncatalog motors)
Note When using special motors, the motor data must be discussed with the responsible SIEMENS office.
Overview
S Initializing special motors S Motor data set S Characteristics for flux setpoint and main field inductance
Initializing special motors

If a noncatalog motor is to be loaded, then initially, a standard motor (motor numbers 101 to 429) should be initialized, whose motor data approximately correspond to those of the noncatalog motor. Starting from these motor data, the required changes can be made for motor 1 in the range P158 to P176. The required calculation is started with P177=1. After the calculation has been completed, 0 is written back into P177. P052 is set to 1 H to save the data.
Table 2-3 Initializing special motors Parameter attributes Number Mot. 1 P095 Mot. 2 Change effective After initialization After initialization P051 Setting range Description
HS
6...13 dec
Power module code number Default: 7 (Section 6.2) from FW 3.00 Default: 31) Motor code number Default: 101 (Section 6.2) The motor code number of a standard motor is entered, whose motor data approximately correspond to those of the special motor. Encoder pulse number motor measuring system Default: 2048 Initialization SEtUP message is displayed. The motor/power module combination selected is loaded into the drivemachine data memory. P000 is displayed in the operating display after successful initialization.
P096
101...429 dec
P098
After initialization
128...4096 dec
P097
0...1 hex
1)
Power modules with Order No. [MLFB] 6SN112V1AV0VVVA1 are automatically recognized from FW 3.00. It is then not possible to change P095.
HS/2-17
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Motor data set
For special motors, the motor data must be entered. The list of motor data (P159 to P176) is provided in Section 6.6.
Table 2-4
Motor data set Parameter attributes
Number Mot. 1 P158 Mot. 2
Change effective Online
P051
Setting range
Description
0.000 mH...65.535 mH
From FW 3.00 Lowleakage motors require a series reactor to smooth the phase currents. The series reactor acts on the drive converter just like an increased leakage stator reactance P169/229 . Previously, P169/P229 had to be manually adapted. P158 and P294 influence the stall limiting and the preassignment of the current controller. Motor data for motor 1 Motor data are entered for the special motor Start calculation, motor 1 (P096) The calculations are started for the special motor which was entered. 99 is entered in P096. Parameters transfer into the FEPROM
P159 to P176 P177
After conversion Online
10 10
Refer to Section 6.6 0...1 hex
HS
P052
Online
0...1 hex
HS/2-18
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Flux setpoint and main field inductance characteristic

Table 2-5 Flux setpoint and main field inductance characteristic Parameter attributes Number Mot. 1 P172 P173 Mot. 2 Change effective After conversion After conversion P051 Setting range Description
10 10
10...10000 RPM 100...6000 RPM
Upper speed Lh characteristic (magnetizing inductance characteristic) Speed at the start of field weakening Speed at start of field weakening for the flux setpoint charac. and lower speed for Lh characteristic When operating the converter from an uncontrolled infeed, the determined speed should be multiplied 1 by the factor Vsupply 0.002 V (corresponds to 0.8 for Vsupply=400V) Gain factor, Lh characteristic P175 = Lh2 (at n=P172) Lh1 (at n=P173)
P175
After conversion
10
100...300 %
. 100 %
100 % = constant Lh over the complete speed range P176 After conversion 10 1...150 % Stall torque reduction factor Speed at the start of the stall torque limit: P176 > 100 %: Increases the intervention point P176 < 100 %: Reduces the intervention point When operating the converter from an un controlled infeed, the determined speed should be multiplied by the factor (Vsupply 0.002 1 )2 V (corresponds to 0.64 for Vsupply=400 V) Flux setpoint Magnetizing inductance Lh Lh2 P175 [%]
HS
Lh1 (Rated value) Speed [RPM]
100 %
P173
P173
P172
Speed [RPM]
HS/2-19
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2.1.3
System configuration with star/delta motors, 2 motors
Note When using special motors, the motor data must be discussed with the responsible SIEMENS office.
Overview
S Initializing star/delta motors, 2 motors S Motor data sets S Flux setpoint and magnetizing reactance characteristic S Motor changeover
Initializing star/ delta standard motors
In this case, when initializing, the number of the star motor (even number) should be entered in the range between 200 and 299 into parameter P096. The required calculations are automatically made when selecting the initialized function (P097=1).
HS
Initializing two different standard motors
If two different standard motors are to be loaded, then initially, a standard motor (motor number 101 to 429) should be initialized. This motor data is displayed in the parameter range for motor 1 (star) P158 to P176. After initialization, the motor number for motor 2 (delta) must be entered into P238, and the required calculations started with P239 = 1. This motor data must be displayed in the range P219 to P236 and P294.
HS/2-20
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Initializing star/ delta motors, 2 motors

Table 2-6 Initializing star/delta motors, 2 motors Parameter attributes Number Mot. 1 P095 Mot. 2 Change effective After initialization After initialization P051 Setting range Description
6...13 dec
Power module code number Default: 7 (Section 6.2) from FW 3.00 Default: 31) Motor code number Default: 101 (Section 6.2) The following motor code number should be entered depending on the system configuration: Star/delta standard motor The even (star motor) motor code number is entered Star/delta special motor An even motor code number of a standard motor (star) is entered, whose motor data approximately correspond to those of the special motor. 2 standard motors The motor code number of the 1st standard motor is entered 2 special motors A motor code number of a standard motor is entered, whose motor data approximately correspond to those of the 1st special motor.
P096
101...429 dec
HS
P098
After initialization
128...4096 dec
Encoder pulse number motor measuring system Default: 2048 Initializing SEtUP message is displayed. The selected motor/power module combination is loaded in the drivemachine data memory. P000 is displayed after successful initialization in the operating display .
P097
0...1 hex
P238
After conversion
10
101...429 dec
Motor code number Presetting: 101 (Section 6.2) The motor code number for the 2nd motor (delta) is entered according to the system configuration. Proceed as for P096. Start calculation, motor 2 (P238) Parameter transfer into the FEPROM
P052
P239
Online Online
10 4
0...1 hex 0...1 hex
1) Power modules (LT) with Order No. [MLFB] 6SN12V1AV0VVVA1 are automatically recognized from FW 3.00. It is then not possible to change P095.
HS/2-21
04.97 07.94
Motor data sets special motors
For special motors, the motor data must be entered. The list of motor data sets is provided in the Attachment (refer to Section 6.6).
S P158 to P176 star motor data and data set, motor 1 S P294, P219 to P236 delta motor data and data set, motor 2
Table 2-7 Motor data sets Parameter attributes Number Mot. 1 P159 to P176 Mot. 2 P219 to P236 Change effective After conversion Setting range P051 10 Refer to Section 6.6 Motor data for motor 1/motor 2 The motor data is entered depending on the system configuration: Star/delta standard motor Data does not have to be entered Star/delta special motor Motor data is entered for star (P159 to P176) and delta (P219 to P236) 2 standard motors Data does not have to be entered Description
HS
P158 P294 Online 4 0.000 mH...65.535 mH
2 special motors Motor data is entered for the 1st special motor (P159 to P176) and 2nd special motor (P219 to P236) From FW 3.00 Lowleakage motors require that a series reactor is used to smooth the phase currents. The series reactor acts on the drive converter just like an increased leakage stator reactance P169/229 . Previously, P169/P229 had to be manually adapted. P158 and P294 influence the stall limiting and the preassignment of the current controller. Start calculation motor 1(P096)/motor 2 (P238) The calculations are started for the special motor which was entered if P180 = 0. Parameter transfer into the FEPROM
P177
P237
Online
10
0...1 hex
P052
Online
0...1 hex
HS/2-22
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Flux setpoint and main field inductance characteristic

Table 2-8 Flux setpoint and main field inductance characteristic Parameter attributes Number Mot. 1 P172 P173 Mot. 2 P232 P233 Change effective After conversion After conversion P051 Setting range 10...10000 RPM 100...6000 RPM Description Upper speed Lh characteristic (magnetizing inductance characteristic) Speed at the start of field weakening Speed at the start of field weakening for the flux setpoint characteristic and lower speed for Lh characteristic When operating the converter from an un controlled infeed, the determined speed should be multiplied by the factor Vsupply 0.002 1 (corresponds to 0.8 for Vsupply=400V) V Gain factor, Lh characteristic P175 = Lh2 (for n=P172) Lh1 (for n=P173) 100 % = constant Lh over the compl. speed range P176 P236 After conversion 10 1...150 % Stall torque reduction factor Speed at the start of the stall torque limit: P176 > 100 %: Increases the intervention point P176 < 100 %: Decreases the intervention point When operating the converter from an un controlled infeed, the determined speed should be multiplied by the factor (Vsupply 0.002 1)2 (corresponds to 0.64 for Vsupply=400 V) V P-176/P-236 will be loaded for specific motors from FW 3.10 onwards. P178 P240 Display parameter Displays the speed, above which the rated output must be reduced due to the stall torque limiting, from FW 3.10 . 100 % is
10 10
P175
P235
After conversion
10
100...300 %
HS
Flux setpoint
Magnetizing inductance Lh Lh2 P175 [%]
Lh1 (rated value) Speed [RPM]
100 %
P173
P173
P172
Speed [RPM]
HS/2-23
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Motor changeover
Table 2-9 Motor changeover Parameter attributes Number Mot. 1 P180 Mot. 2 Change effective Online P051 Setting range Description
10
0...1 hex
Enable motor changeover (star/delta) 0H: No motor changeover possible 1H: Motor changeover enabled Note: A freely programmable input terminal (E1 to E9) must be assigned function number 5 for the changeover request (parameterization, Section 3.2.2)
HS
HS/2-24
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Main Spindle Modules (HS) 2.2 Standard applications
2.2
2.2.1
Standard applications
Operating display
The actual operating status of the unit is displayed in parameters P000 and P100.
Table 2-10
Operating display Display
Function group Relay functions

Freeprogr. relay function 1 terminal A11 P241 nact = nsetl1) Freeprogr. relay function 2 terminal A21 P242 |Md| < Mdx1) Freeprogr. relay function 3 terminal A31 P243 |nact| < nmin1) Freeprogr. relay function 4 terminal A41 P244 |nact| < nx1) Freeprogr. relay function 5 terminal A51 P245 MotTemp1) Freeprogr. relay function 6 terminal A61 P246 var. relay unction (P186)1) Ready/ fault terminal 672/674 P053 ready The segment is energized, if the appropriate relay has pulledin
Mode
Drive not enabled: progress condition, refer to column Equip.status Closedloop speed controlled operation Openloop torque controlled operation Torquecontrolled operation with slip monitoring ModeM19
Equipment status
NE module pulse enable missing (term.63/term.4 8)
Mode
Display in P000: (only for star/delta mode) Star configuration selected
Gearbox stage
Gearbox stage 1 selected
Axisspecific pulse enable missing (term.663)
Gearbox stage 2 selected Delta configuration selected Gearbox stage 3 selected
HS
NE module controller enable missing (term.64) and/or HS module Display in P100: controller enable (only for the spindle missing (term.65) positioning mode) RFG enable missing (term.81) Position 1 is selected
Digital filter is inactive
Inactive
Mode, spindle positioning Mode,C axis
Gearbox stage 5 selected Setpoint enable missing (select terminal Fct. No. 16) Position 2 is selected Gearbox stage 6 selected
Mode, HPC axis 0.5 ms or 0.3ms
Position 3 is selected The torque direction for an enabled motor is displayed: Motoring Position 4 is selected
Mode, HPC axis 0.6 ms or 0.35ms Diagnostic function I/f openloop ctrl. operation Osciallation function is selected (fr. Fct. 3.00)
Generating Incremental positioning is selected
Gearbox stage 8 selected Gearbox stage 1...8 selected via free programmable terminal function P081...P089 =9, 10, 11
Speed controller clock cycle fast, clock cycle is active
1)
As supplied
HS/2-25
04.97 07.94
2.2.2
Table 2-11
Firmware version and module version

Firmware version and module version Parameter attributes
Number Mot. 1 (P099) (P150) Mot. 2
Change effective
P051
Setting range
Description
0.00...99.00
Firmware release Module ID
Function of connector X432: F00H No function 200H With additional input for spindle encoder 300H Output, pulse encoder signals for external use
HS
HS/2-26
04.97 07.94
2.2.3
Overview
Setting parameters for standard applications
S Speed setting values S Torque limit values S Motor temperature monitoring S Oscillation operation
Speed setting values

Table 2-12 Speed setting values Parameter attributes Number Mot. 1 P022 Mot. 2 P261 Change effective Online P051 Setting range Description
1...nrated RPM
Shutdown speed, pulse cancellation The drive is switched into a nocurrent condition when the controller is inhibited and the shutdown speed is fallen below (shutdown so that the drive cannot reverse). Timedelayed pulse cancellation after controller inhibit FW 3.00 Pulse cancellation can be delayed after the controller inhibit after braking along the down ramp using P025.
HS
P025
Online
0...15000 ms
Controller inhibit n
Braking along the down ramp
Pulses are canceled
Shutdown speed P022 Time delay P025 P029 P264 Online 4 0...nmaxMot RPM Speed limiting Sets the maximum motor speed
P036
Online
400...400 dec
Encoder phase error correction If the two encoder tracks dont have a precise 90 offset to one another, this results in a torque ripple. Setting resolution 1 corresponds to 0.18 max. value 400, corresponds to 72 Changeover speed, motor encoder evaluation Above this speed, the fine resolution of the speed actual value generation is disabled. (this is no longer relevant from firmware V2.00) Hysteresis P037/P267 (this is no longer relevant from firmware V2.00)
P037
P267
Online
1...32000 RPM
P038
P268
Online
1...500 RPM
HS/2-27
10.00 07.94
Torque limit values
Table 2-13
Torque limit values Parameter attributes
Number Mot. 1 P039.1 P041 Mot. 2 P269.1 P271
Change effective Online Online
P051
Setting range
Description
4 4
5...300 % 5...100 %
1st torque limit value (referred to the rated motor torque) 2nd torque limit value referred to P-039/P-269 This is selected using function No. 1 and it becomes active after the speed, set in P050/P290 has been exceeded. Changeover speed from Md1 to Md2 Regenerative limiting (referred to P039/P269 or P041/P271) Changeover speed for P040/P270 Hysteresis P042/P272
P050 P040.1 P042 P043
P290 P270.1 P272 P273
Online Online Online Online
4 4 4 4
0...nmaxMot RPM 5...100 % 1...nmaxMot RPM 0...nmaxMot RPM
Torque [%] (referred to the rated motor torque)
HS
P039.1 Motoring P041 P040.1 Generating P039.1 P042 Max. selectable torque limit: Imaxconv I0 mot Iratedmot I2maxconv I02 mot I2ratedmot I02 mot 100 %
P050
Speed [RPM]
(referred to10 s overload)
max. drive converter current noload motor current rated motor current
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Motor temperature monitoring

Table 2-14 Motor temperature monitoring Parameter attributes Number Mot. 1 P063 Mot. 2 P291 Change effective Online P051 Setting range 0...170 C Description
Max. motor temperature When exceeded, after approx. 1 s: Prealarm, motor overtemperature relay time in P065: pulse cancellation and fault message F14 Fixed temperature For a value 00, the motor parameter is calculated using this fixed temperature. Caution! The motor temperature monitoring function is deactivated. Timer, motor temperature monitoring
P064
Online
0...170 C
P065
Online
0...600 s
Oscillation mode
Table 2-15 Oscillation mode Parameter attributes Number Mot. 1 P154 P155 P156 P157 Mot. 2 Change effective Online Online Online Online P051 Setting range Description
HS
4 4 4 4
nmaxmot... nmaxmot RPM nmaxmot... nmaxmot RPM 10...10000 ms 10...10000 ms 0...10000 ms from FW 3.00
Oscillation setpoint 1 Oscillation setpoint 2 Oscillation interval time 1 Oscillation interval time 2 From FW 3.00, when entering a 0, only the value in P154 becomes effective
Speed [RPM] P154
P155 P156 P157
Time [ms]
HS/2-29
Main Spindle Modules (HS) 2.3 Additional applications
10.94 07.94
2.3
2.3.1
Additional applications
Orientated spindle stop (using NC auxiliary function M19)
Function M19 can be switchedin using a select terminal (E1 to E9) (refer to Section 3.2.2).
Table 2-16
Orientated spindle stop (using NC auxiliary function M19) Parameter attributes
P051
Setting range
Description
nmaxmot... nmaxmot RPM
M19 normalization, speed setpoint Speed, which is reached with the analog input voltage in P024. + = cw rotation for a positive speed setpoint = ccw rotation for a positive speed setpoint M19 offset correction e. g. positive corrective value 2FH negative corrective value FF00H M19 changeover speed Speed changeover point of the setpoint normalization factor. When the selected speed is fallen below, the values, entered in parameters P054 and P055 become effective. Shutdown threshold, roundingoff M19 When the selected speed is fallen below, the speed setpoint smoothing and roundingoff are disabled. They can only be reenabled after first canceling M19 mode. FW 2.00 M19 switching threshold, I component, speed controller Speed actual value threshold for switchingin the speed controller integral action time. The integral action time is switchedin again when the absolute value falls below the speed entered in P062. Control word P062 is activated by setting bit 4 = 1 (corresponds to 10H) in P090.
P055
Online
C000...4000 hex
HS
P056
Online
0...nmaxmot RPM
P058
Online
0...nmaxmot RPM
P062
Online
0...nmaxmot RPM
P090
Online
10
0...FFFF hex
HS/2-30
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2.3.2
C axis
Caxis operation can be selected using a select terminal (E1 to E9) (Section 3.2.2). The setpoint can only be entered via terminals 24 and 8.
Table 2-17
C axis Parameter attributes
Number Mot. 1 P114.1 Mot. 2
P051
Setting range
Description
nrated1...nrated1 RPM
Normalization, speed setpoint C axis Speed, which is reached with the analog input voltage in P024. + = cw direction of rotation for a positive speed setpoint = ccw direction of rotation for a positive speed setpoint Offset correction to P114 Max. corrective value 2000 or E000 corresponds approx. 1/8 of P114, if P024 = 10.0
P115.1
Online
C000...4000 hex
HS
2.3.3 Spindle positioning
Overview
S Function description S Position reference values S Function parameter 1 S Position controller S Control parameter S Function parameter 2 S Diagnostics parameter S Brief startup
Function description
The main spindle is positioned from the same direction of rotation or with direction of rotation reversal without a higherlevel position control loop of a numerical control.
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There are various ways of sensing the position:
S With motor encoder (sin/cos tracks) without gearbox ratio (all of the parameters are preinitialized for this particular case)
S With motor encoder (sin/cos tracks) and external zero mark (BERO) at
the spindle for gearbox stage changeover
S With incremental spindle encoders (max. 8192 pulses per revolution), only
for versions with input for a spindle encoder (6SN11VVVBA120VA0) Spindle encoder signals are always processed with squarewave evaluation including pulse quadrupling.
Warning A spindle encoder may not be connected to MSD control boards with pulse encoder signal output for external use (Order No. [MLFB] 6SN11VVVBA130VA0)! If this is not observed, the unit and spindle encoder could be damaged.
The hardware configuration must be entered via P141.
HS
The select terminal function Positioning On (funct. No. 28) must be connected to one of the freelyprogrammable terminals E1 to E9 via parameters P081 to P089 (refer to Section 3.2.2). Positioning is initiated by connecting the enable voltage to the selected terminal. Positioning is executed in several phases:
S The drive is braked

Starting from any speed, the drive brakes along the characteristic, specified by the rampup/rampdown generator, down to the search speed. The speed setpoint is specified by the openloop positioning control; a speed setpoint, possibly available at terminal 56, is suppressed. The search speed is the highest speed from which the drive can brake in one revolution down to the target position without overshoot. The search speed is limited towards the top by the deceleration capacity of the drive and therefore the external moment of inertia.
S Position is sensed
The position controller is switchedin after the search speed has been reached and the zero mark has been recognized.
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S Move to the position

The last revolution before the target is subdivided into three phases, depending on the distance to the target.
Speed (RPM) Search speed P146 Reference position recognized Braking characteristic P139
Phase 1 2
Straight line 1 P136 Straight line 2 P137 or138
3 360 Last revolution P134 P135 0 Distance (degrees)
HS
Fig. 2-1 Moving into position
The starting points of the various phases and the gradients of the individual sections can be set. This means that the approach characteristics can be adapted to the widest range of requirements (P134 to P139). If the drive moves at a speed less than the search speed, then the drive can accelerate to the search speed to shorten positioning (P142). For most applications, it is sufficient to optimize the system by adapting the search speed P146 and adapting parameters P137 or P138.
S Reference value format

The position reference value may only have values from 0 to max. +32767, from firmware release V2.00, max. 64000 I/rev (this corresponds to the max. encoder pulse number between two zero pulses). The direction of rotation is obtained from the polarity of the search speed. Position reference values are entered in encoder pulses. When positioning with the motor encoder, P141 allows a multiplication factor to be entered to improve the setpoint resolution. Values of 1, 2, 4, 8, 16 and 32 can be entered. The multiplication factor can be selected so high, that a computed pulse number of up to 32768 can be obtained. Example: The standard RON350 encoder (2048 pulses). When using a multiplication factor of 16, this results in a computed pulse number of 32768. This value should then be entered into P131. Setpoint inputs of between 0 and 32768 can be entered; from firmware release V2.00, max. 64000 I/rev. If higher values are entered, fault message FP01 is output when positioning.
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S Position reference value is entered

The drive can be positioned using four internal position reference values per gearbox stage (P121 to P122 and P124 to P125).
Select terminal function 23 0 1 0 1 Select terminal function 27 0 0 1 1 Position reference value 1 2 3 4 Parameters for the position reference value P121 P122 P124 P125
After the reference position has been reached, another setpoint can be activated using select terminal functions 23 and 27. In this case, the signal must change at both terminals within 20 ms, so that they are identified as being simultaneous. A new position is only selected using a gearbox stage terminal when in the In position status, only if the signal changes from a low to a high at the terminal with function 28 (positioning On). Contrary to select terminal functions 23 and 27, in this case, the zero mark is always passed again.
S Incremental position reference value
HS
An incremental position reference value for each gearbox stage can be entered via parameter P123. If the spindle is in position, and a positive edge appears at the freelyprogrammable terminal, assigned with select function 22, then the incremental position reference value is added to the actual position reference value and the drive moves to the calculated new position. This operation can be reinitiated after the new position has been reached. Negative values are permissible for parameters P123, contrary to P121, P122, P124 and P125.
S Zero offset
A zero offset can be entered via parameters P129/P130. Setting possibility: Select the positioning control (openloop) (P149 = 1H) inhibit the controller and pulses. Rotate the spindle through a complete revolution, and then bring to the required position (check using P140 corresponds to the position actual value). Set P129 to 1H and wait until the parameter automatically writes back 0H to itself. The actual position is then transferred as the new zero mark. The difference to the actual zero mark is displayed in P130. If the system now positions to 0H, the spindle moves to the position which has been saved in P130.
S Relay signals
Select relay functions 9 and 10 (refer to Section 3.3.2) are available for the relay messages Position reached. The associated tolerances are entered via parameters P144 and P145.
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S Resynchronizing the spindle (zero mark)

The position counter status of the spindle is resynchronized after each gearbox stage change when a BERO zero mark is used. This resynchronization routine can be suppressed, or specifically selected via select terminals. Setting possibility: Spindle resynchronization after a gearbox stage change can be suppressed by setting bit 1 in parameter P149. A signal change at a freelyprogrammable terminal, assigned the select terminal function Gearbox stage, bit 0 to bit 2 is interpreted by the position controller as parameter changeover. If the gearbox is mechanically changedover, then when positioning using a motor encoder with external zero mark, this must be signaled to the position controller via select terminal function 29. The select terminal function 29 latches (the state is saved). The high signal level must be present for at least 20 ms.
Position reference values

Table 2-18 Position reference values Parameter attributes Number Mot. 1 P121 Mot. 2 Change effective Online P051 Setting range Description
HS
0...64000 dec
Position reference value 1 The value is entered as encoder pulse number (max. entry is increments per revolution) Position reference value 2 Position reference value, incremental The value is entered as encoder pulse number (max. entry is increments per revolution) Position reference value 3 Position reference value 4
P122 P123
Online Online
4 4
0...64000 dec 32768...32767 dec 0...64000 dec 0...64000 dec
P124 P125
Online Online
4 4
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Table 2-19 Function parameter 1 Parameter attributes Number Mot. 1 P126 Mot. 2 Change effective Online P051 Setting range Description
0.0...180 degrees
Bandwidth integrator enable, speed controller In order to improve the approach characteristics when positioning, it can be sometimes advantageous if the speed controller integrator is disabled. In the target range, the integrator inhibit is removed again (I component = 0). The bandwidth of the target range can be selected using this parameter. Startup parameter, C axis/position. The integrator inhibit function is enabled by setting bit 5 (20H) via P149. Setting the internal zero The zero offset to the hardware zero is entered into P130 by setting bit 0 (1H) (actual position counter status). Zero offset Enters the difference to the hardware zero Max. pulse number between 2 zeros Enters the pulse number for one spindle revolution. If a spindle encoder (squarewave signals) is used, then pulse quadrupling can be taken into account. If the system positions using a gearbox and BERO, the difference between two consecutive BERO zero marks can be read via P133. P133 indicates the most accurate results in the speed range between 100 and 500 RPM. Data read at standstill provide incorrect values.
P149
Online
0...FFFF hex
P129
Online
0...1 hex
HS
P130 P131
Online Online
4 4
0...64000 dec 128...64000 dec
HS/2-36
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Position controller
Table 2-20 Position controller Parameter attributes Number Mot. 1 P134 P135 P136 P137 P138 P139 Mot. 2 Change effective Online Online Online Online Online Online P051 Setting range Description
4 4 4 4 4 4
0.0...180.0 degrees 0.0...180.0 degrees 0...FFFF hex 0...FFFF hex 0...FFFF hex 0...FFFF hex
Intervention point P136 Intervention point P137/P138 P gain, straight line 1 P gain, straight line 2 Gain setting when positioning with spindle encoder P gain, straight line 2 (HMS) Gain setting when positioning with motor encoder. Multiplication factor for braking parabola Factor to adjust the gradient of the braking characteristic, refer to Fig. 2-1.
HS
HS/2-37
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Control parameters
Table 2-21 Control parameters Parameter attributes Number Mot. 1 P141 Mot. 2 Change effective Online via P143 P051 Setting range Description
0...FFFF hex
Switching parameter, positioning Bit Value 0000H 0001H Evaluates the motor encoder signals (HMS evaluation) Evaluates the spindle encoder signal Note: X432 must be configured as spindle encoder input. This is only possible for module versions 6SN11210BA120AA0 (always) and 6SN11210BA110AA1 (using P033=0). If this is not done, fault message F10 will be output. Spindle encoder signals are always evaluated as squarewave signals including pulse quadrupling. Zero pulse from an encoder External zero pulse (e. g. BERO) Spindle encoder phase sequence is not inverted Spindle encoder phase sequence is inverted (actual value reversal) Setpoint multiplication factor 2 for positioning with a motor encoder with internal zero. Setpoint multiplication factor 4 for positioning with a motor encoder with internal zero. Setpoint multiplication factor 8 for positioning with a motor encoder with internal zero. Setpoint multiplication factor 16 for positioning with a motor encoder with internal zero. Setpoint multiplication factor 32 for positioning with a motor encoder with internal zero.
HS
1 2
0000H 0002H 0000H 0004H 0100H
8 0200H 9 0400H 10 0800H 11 1000H 12
Note: When changing the setpoint multiplication factor (bits 8 to 12), before accepting the new setting, the pulse number must be adapted in P131 using P143. The modified settings must be activated using P143. The setting of parameter P141 is accepted and activated by writing a 1 into parameter P143 instead of 0!
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07.94
Table 2-21
Control parameters Parameter attributes
P051
Setting range
Description
0...21 hex
Speed increase flag Bit Value 0000H The drive first accelerates to the search speed if positioning is started from a speed which is lower than the search speed and then the position is approached (faster positioning). The drive does not accelerate to the search speed and the drive moves into the position from the present speed. Zero mark monitoring (fault FP02) has been enabled. When positioning with a BERO, the zero mark is evaluated for each positioning operation, otherwise, only after gearbox stage changeovers. The zero mark monitoring is also inhibited after a gearbox stage changeover, if P142, bit 0 is set to 1. Zero mark monitoring (fault FP02) is inhibited.
0 0001H
0000H
HS
0020H P143 Online 4 0...1 hex
Transfer parameter P141 Modified values are transferred into P141, if P143 = 1. The parameter is automatically reset to 0.
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Table 2-22 Function parameter 2 Parameter attributes Number Mot. 1 P144 Mot. 2 Change effective Online P051 Setting range Description
0.00...18.00 degrees 0.00...18.00 degrees 0...4 nrated
Response width, relay 1 Setting value for In position 1 relay signal (refer to Section 3.3.2) Response width, relay 2 Search speed Speed setting value, which is started when entering the position. Motion window If the spindle is pushed out of its position with the pulses inhibited in the positioning mode, then when the pulses are reenabled, the reference position is reapproached along the shortest distance. If bit 3 is set in P149, this is only realized, if the motion window (P148) is not exited and the terminal with funct. No. 28 (high) was not switched.
P145 P146
Online Online
4 4
P148
Online
0.0...180.0 degrees
HS
HS/2-40
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Tabelle 2-22
Function parameter 2 Parameter attributes
P051
Setting range
Description
0...FFFF hex
Commissioning parameters, C axis/position Bit Value

0000H Positioning inhibited, the control for the positioning is not processed, i. e. positioning is not possible and possible position actual value displays are not precise! The control for positioning is processed and positioning is possible. When a positioning command is received (terminal with funct. No. 28 high), the spindle is resynchronized, if, beforehand, the signal changes at one freely programmable terminal assigned the select terminal function Gearbox stage bit 0 to bit 2. The spindle is only resynchronized, if, before the positioning command, there was a positive signal edge at a select terminal assigned function 29. The position reference values are not mirrored. The position reference values are mirrored. The position is always approached from the same direction of rotation; the direction of rotation is entered using the sign (polarity) of the search speed. (exception, refer to P148) The speed controller integral action time is active. The speed controller integral action is disabled. The integral action time is reactivated in the target range (can be set using P126). Reduction of overshoots after braking down to the search speed FW 2.00 The speed setpoint roundingoff (P019) is also effective while positioning. The speed setpoint roundingoff (P019) is deactivated when the positioning command is received. The speed setpoint smoothing (P018) is never effective during a positioning operation, independent of P149.
0
0001H 0000H
1
0002H
HS
0000H
0004H 0000H
0008H
0000H
0020H
0040H
6
0000H
0080H
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Diagnostic parameters
Table 2-23 Diagnostic parameters Parameter attributes Number Mot. 1 (P100) (P128) Mot. 2 Change effective P051 Setting range Description
Operating display P100 (refer to Section 2.2.1) Actual position reference value The actual reference position is displayed in parameter P128 in the form of encoder pulses. However, the value is only updated, if the positioning software is enabled by P149 = 1. Absolute position actual value without zero offset Difference between 2 ext. zero marks The difference between two consecutive BERO zero marks is displayed (P141 = 2). Absolute position actual value with zero mark offset Position counter status with respect to BERO The position counter status is displayed when positioning with BERO. Diagnostics, motor encoder zero mark Diagnostics, spindle encoder zero mark
(P132) (P133)
(P140)
HS
(P147)
(P320) (P321)
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Brief commissioning
Commissioning example Hardware structure: Encoder signals and zero pulse from the motor encoder
P149 must be set to 1H to enable the position program. Enter the hardware configuration via parameter P141 0 corresponds to the encoder signals from the motor encoder Set P141 to 0H (this is the presetting); if P141 is changed, the change must be accepted with P143 = 1.
Enter the pulse number between two zero marks into P131
Can the position be selected by manually selecting the spindle
no
1. Enable the drive (terminals 663, 65, 81) yes 1. Inhibit the controller and pulses. 2. Rotate the spindle through one complete revolution and then into the reference position (the position actual value is displayed via P140). 2. With a speed setpoint, move the spindle through at least one revolution and then stop at the required position. 3. Deenergize terminals 65 and 663.
HS
Write 1H into P129: The parameter value automatically resets itself which means that this position is defined as software zero. The offset with respect to the hardware zero mark is displayed in parameter P130.
Testing the position value: 1. Enable the drive (terminals 663, 65, 81) 2. Enter a speed setpoint 3. Select a select terminal (E1 to E9) with fct. No. 28 for positioning The motor brakes down to the search speed and stops at the specified ref. position. (The position ref. value and actual value can be checked using P128 and P140.)
Required position reached?
no
Change position value using P121
yes Optimize positioning using parameters P134 to P139. The search speed can be changed via P146. Additional functions (refer to the parameter description, Table 221 and 222) can be selected via parameters P142 and P149 The response bandwidth for the two relay signals can be changed using P144 and P145. Save the modified parameters in the FEPROM (P052). End
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2.3.4
Openloop torque controlled mode (master/slave)
Overview
S Function description S Parameter settings S Parameter description S Slip monitoring
Openloop torque controlled operation is necessary if the speed controller is used in the NC or for the slave drive for master/slave applications. Openloop torque controlled operation can be selected via select terminal E1 to E9 (refer to Section 3.2.2). For master/slave operation (2 spindle drives can be operated, rigidly coupled together), the torque setpoint must be fed to the slave drive from the master via a D/A converter output (adaptation P066 or P068, refer to Section 3.3.5) (adaptation P048, P049).
HS
Warning If the mechanically rigid coupling is released, the slave drive must be changed over to Closedloop speed control, otherwise the drive would accelerate to max. speed, even for an Md setpoint input of 0.
Master drive Speed setpoint T. 56/14 D/A converter output, assigned via P066/068 T. A9n Speed setpoint Torque setpoint T. 56/14 T. 24/8 Speed setpoint for the slave for openloop torque controlled operation with slip monitoring M 3
Rigid or quasi rigid coupling, which can also be released in operation.
Slave drive
Mdset adaptation via P048/049 T. En T. En or
M 3
Select terminal openloop torque control (fct. No. 4)
Select terminal, torque control with slip monitoring (fct. No. 32) FW 2.00
Slave drive: For a rigid coupling Openloop torque controlled With the coupling released Closedloop speed controlled Fig. 2-2 Master/slave operation
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Note When the controller is inhibited in the openloop torque controlled mode, the drive must be braked via the Md setpoint input; the pulses are only internally canceled after the shutdown speed has been reached (P022).
Parameter settings
Example: In order that the torque setpoint is available at terminals A92 and M of the master drive, address 0C6CH must be written into parameter P068. Using parameter P069, by shifting, it is possible to determine which voltage is available at a specific torque. The normalization of the rated motor torque can be taken from the contents of address 0F52H. In order to determine this value, address 0F52H must be entered into P250, and the normalization value for the rated torque can be readout of P251.
Contents P251 (hex)
Shift factor P069 0 1 2 3 0 1 2
Value to be converted (hex) 0C00 1800 3000 6000 1000 2000 4000
Output voltage D/A conv. 2 [V] at Mdrated 0.94 1.88 3.75 7.50 1.25 2.50 5.00
HS
0C00
1000
At the max. output voltage, the torque limit in P039 must be taken into account (160 % corresponds to Mdrated S 1.6), and it must be guaranteed that there is no overcontrol (> 10 V). If the slave drive is switched into the torque mode, parameters P048 and P049 still remain effective. The torque can be changed using P048 (this corresponds to P014 in the closedloop speed controlled mode) and the torque drift can be compensated using P049 (corresponds to P015 in the closedloop speed controlled mode). Parameter P049 is not suitable to compensate frictional forces. P048 and P049 are not effective in closedloop speed controlled operation. The following is valid from FW 3.00: The torque data is updated via address 304C with 1 ms (previously 20 ms), and is normalized with 5 V 8 rated motor torque. Example: Output via terminals A92 and M P68 = 304CH, P69 = 0H The normalization can be influenced by P26. For P26 = 100 %, 5 V corresponds to the rated torque. For P26 = 160 %, 8 V corresponds to the rated torque.
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Parameter description
Table 2-24 Parameter description Parameter attributes Number Mot. 1 P048 Mot. 2 Change effective Online P051 Setting range Description
250...250 %
Normalization Mdset The setting value is referred to the rated motor torque. Offset, torque setpoint
P049
Online
C000...4000 hex
Openloop torque control with slip monitoring FW 2.00
The mechanical coupling of drives using a frictionlocked connection can result in slip for openloop torque controlled slave drives. With this function, the slave drive monitors the deviation between the speed actual value and the speed setpoint and reduces the drive torque when a speed tolerance is exceeded. Assignment, speed setpoint channels:
HS
S Master drive, terminal 56/14 S Slave drive, terminal 24/8

The openloop torque control with slip monitoring can be activated using select terminal function No. 32 (refer to Fig. 2-2).
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Table 2-25
Slip monitoring Parameter attributes
P051
Setting range
Description
0.1...100.0 %
Speed deviation, slip monitorinig Permissible speed deviation referred to the actual speed setpoint. Hysteresis, P340 Torque reduction, slip monitoring If the speed deviation, parameterized in P340 is exceeded, the torque setpoint is reduced. Delay time, slip monitoring Delay time until the torque reduction is removed. Torque red. rate of change, slip monitoring Rate at which the torque setpoint is reduced. Rate of increase of the slip monitoring Rate at which the torque setpoint is increased. Speed dev. actual slip monitoring If the displayed value is greater than the threshold, set in P340, then slip occurs, and the monitoring is activated.
P346 P341
Online Online
4 4
0.0...100.0 % 0.0...100.0 %
P343 P344 P345 (P347)
4 4 4
0...999 ms 0.01...100.0 %/ms 0.01...100.00 %/ms
nact nset
HS
P346 P340 @jnsetj
Reduction factor for Mdset P344 100 %
P341 P343
P345
t
nact nset nset
(P347) =
S 100 %
HS/2-47
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2.3.5
Monitor function
The address contents (data in the RAM area) of the MSD module can be read using parameters P249 to P251.
Note There is a list of important measured quantities (RAM variables) and their addresses in the Attachment (Section 6.5).
Table 2-26
Monitor function Parameter attributes
Number Mot. 1 P249 P250 Mot. 2
Change effective Online Online Online
P051
Setting range
Description
10 10
0...FFFF hex 0...FFFF hex
Segment, memory location monitor Selects the segment address Address, memory location monitor Selects the offset address Value display, memory location monitor Displays the contents of address P249/P250
HS
P251
2.3.6
HPC axis (FW 2.00)

Only the freelyprogrammable terminals E1 to E6 can be assigned functions in the HPCaxis mode.
Overview
S Function description S System configuration S Drive converter interfaces S Controller optimization S Diagnostics
The High Precision C axis mode (HPC) can achieve improved load and control characteristics by reducing the speed controller clock cycle to 0.5 or 0.6 ms. From FW 3.00, 0.3 or 0.35 ms are possible. Expanded functionality in the HPCaxis mode: Flux adaptation (noise reduction) 2 digital filters can be parameterized in the torque setpoint channel for a 0.6 ms speed controller clock cycle (from FW 3.00, 0.35 ms is possible).
HS/2-48
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The following functions are not available in the HPCaxis mode: Torque setpoint smoothing Oscillation NC auxiliary function M19 2nd torque limit value Rampfunction generator Speed controller adaptation Gearbox stage changeover Spindle positioning Reduced terminal and relay functions Smoothing, D/A converter P/Pmax display
System configuration
Prerequisites for HPC axis operation: Speed range: " nratedmotor Can only be selected for motor 1 (star operation) HPC axis has priority over a standard C axis Changeover in the normal mode is realized online; then, all of the functions are available again.
HS
S Selecting an HPC axis

Table 2-27 Selecting an HPC axis Parameter attributes Number Mot. 1 P149 Mot. 2 Change effective Online P051 Setting range Description
0...FFFF hex
Commissioning parameters, C axis/position Bit 8 Value 0000H 0100H HPC axis cannot be selected HPC axis can be selected
The HPCaxis mode is selected using the select terminal function No. 30
S Torque limit values

Table 2-28 Torque limit values Parameter attributes Number Mot. 1 P109 Mot. 2 Change effective Online P051 Setting range Description
5...180 %
Torque limit value. HPC Sets the max. permissible torque, referred to the rated motor torque. Regenerative limiting, HPC Limits the torque in regenerative operation, referred to P109.
P110
Online
5...100 %
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Drive converter interfaces
S Analog setpoint
The analog speed setpoint or Md setpoint is only entered via setpoint channel 2 (terminal 24/8). The speed setpoint is limited to " nratedmotor.
Table 2-29
Analog speed setpoint Parameter attributes
P051
Setting range
Description
C000...4000 hex
Offset correction, speed setpoint HPC Drift compensation for the analog speed setpoint input. Normalization, speed setpoint HPC The speed can be set with P094, which should be reached, for the analog input voltage, which was set in P024.
P094
Online
nrated1... +nrated1 RPM
S Permanently wired terminal functions
HS
Terminals 663, 65 and 81 are also available in the HPCaxis mode.
S Freelyprogrammable terminal functions

Only input terminals E1 to E6 (P081 to P086) are evaluated. The following terminal functions are available (refer to Section 3.2.2)
Table 2-30 Terminal functions Terminal function Reset fault memory (R) (fault acknowledgement) Openloop torque controlled operation Integrator inhibit, speed controller Speed setpoint smoothing Suppress F11 (traverse to fixed endstop) HPC axis Inverter clock cycle frequency Function No. 3 4 8 25 26 30 33 34
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S Permanentlywired relay functions

Terminals 672/673/674 are also available in the HPCaxis mode.
S Freelyprogrammable relay functions

The statuses of the nonavailable relay functions are frozen when changingover into the HPCaxis mode. The following relay functions are available (refer to Section 3.3.2):
Table 2-31 Relay functions Terminal function nact < nmin Motor overtemperature, prealarm Drive converter overtemperature, prealarm Variable, relay function 1 Variable, relay function 2 Function No. 1 5 6 7 8
Table 2-32
S Speed setpoint smoothing
HS
Description
Speed setpoint smoothing Parameter attributes
P051
Setting range
3...10000 ms
Smoothing time speed setpoint smoothing HPC (Switchedin/out using P053 or using select terminal function No. 25) Control word Bit 4 Value 0000H 0010H Speed setpoint smoothing inactive Speed setpodint smoothing active
P053
Online
0...FFFF hex
S Gain, integral action time, speed controller

Table 2-33 Gain, integral action time, speed controller Parameter attributes Number Mot. 1 P111 Mot. 2 Change effective Online P051 Setting range Description
3.0...240.0 dec
P gain, speed controller HPC The Pgain setting is, with the same gain factor, a factor of 4 smaller with respect to the normal mode. Integral action time, speed controller HPC
P112
Online
2...6000 ms
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S Flux adaptation
Table 2-34 Flux adaptation Parameter attributes Number Mot. 1 P119 Mot. 2 Change effective Online P051 Setting range Description
5...100 %
Flux adaptation HPC Reduces the magnetic motor flux (noise reduction)
S Digital filter, speed setpoint channel

2 digital filters can be parameterized in the HPCaxis mode, which are then switched in series. However, the filter can only be activated if the speed controller sampling time is set to 0.6 ms via P117. The actual sampling time can be recognized in the operating display (Section 2.2.1) (dig. filter, also refer to Section 4.1).
Table 2-35 Digital filter, torque setpoint channel Parameter attributes Number Mot. 1 P118 Mot. 2 Change effective Online P051 Setting range Description
HS
0...FFFF hex
Torque setpoint filter type Bit Value 0000H 0 0001H 0000H 8 0100H 0000H 9 0200H Bandstop characteristics, normal mode Lowpass characteristics, normal mode Bandstop filter 1 HPCaxis mode Lowpass filter 1 HPCaxis mode FW 2.00 Bandstop filter 2 HPCaxis mode Lowpass filter 2 HPCaxis mode FW 2.00
P091
Online
45...750 Hz
Frequency, filter 1 HPC Lowpass: 3 dB transition frequency Bandstop: Center frequency Quality, filter 1 HPC Filter quality of the bandstop, Quality = 1 corresponds to 1.00 Frequency, filter 2 HPC Quality, filter 2 HPC
P092
Online
0.50...10.00 dec
P107 P108
Online Online
4 4
45...750 Hz 0.50...10.00 dec
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Table 2-35
Digital filter, torque setpoint channel Parameter attributes
Change effective
P051
Setting range
Description
0...FFFF hex
Select, torque setpoint filter Bit Value 0000H 0001H 0000H 8 0100H Filter normal mode not active Filter normal mode active Filter 1 HPCaxis mode not active Filter 1 HPCaxis mode active FW 2.00 Filter 2 HPCaxis mode not active Filter 2 HPCaxis mode active FW 2.00 Speed controller sampling time 0.5 ms, no filter in the HPCaxis mode possible. From FW 3.00, 0.3 ms. Speed controller sampling time 0.6 ms, filters in the HPCaxis mode can be activated. From FW 3.00, 0.35 ms. FW 2.00
Online Online
Online 9
0000H 0200H
RESET
0000H
10
0400H
HS
Diagnostics
The following diagnostic functions are not available in the HPCaxis mode:
S Diagnostics parameter P020 (dn/dt monitoring), P320, P321 S Transient recorder function S I/Hz controlled operation
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2.3.7
Maximum current limiting (I2t limiting, from FW 3.1)
Description
From FW 3.1 onwards, there is a maximum current limiting function to protect the power module. The characteristic can be taken from the characteristic in Fig. 23. I Imax (P317)
From FW 3.00
To FW 3.00
IS6 (P318) IN 0.7 S IN
10 s
Fig. 2-3
240 s (4 min)
HS
Characteristic for standard parameterization of the I2t limiting
The maximum current can, depending on the parameter setting, be additionally reduced (P317, P318). The current limiting response can be readout via the diagnostic parameters (P319, P322).
Table 2-36 Parameters for I2t limiting Parameter attributes Number P317 Change effective Immediately P051 4 Setting range 25 ... 100 % Description Reduction factor, max. load duty cycle I2t The max. power module current is reduced for a 10 s load duty cycle. Reduction factor S6, load duty cycle I2t The max. power module current is reduced for S6 4 min load duty cycle. Diagnostics I2t power model The parameter indicates that the limit has become effective. Each time the current limit responds at the reduction characteristic (after 10 s), the contents of P319 are incremented. I2t load limiting Actual value display of the actual limit (max. 100 % referred to P039).
P318
Immediately
25 ... 100 %
(P319)
(P322)
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Main Spindle Modules (HS) 3.1 Analog speed setpoint interface
Parameterizing the Drive Converter Interfaces
3.1
Analog speed setpoint interface
Overview
S Speed setpoint channel selection S Normalization, analog speed setpoint S Unipolar speed setpoint input (fixed direction of rotation) S Steadystate minimum speed
HS
Speed setpoint channel selection

Table 3-1 Speed setpoint channel selection Parameter attributes Number Mot. 1 P113 Mot. 2 Change effective Online P051 Setting range Description
0...3 dec
Channel selection, speed setpoint P113 0 1 2 31) T.56/14 Off On Off On T.24/8 Off Off On On
1) Setpoint inputs are added
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Normalization, analog speed setpoint
Table 3-2
Normalization, analog speed setpoint Parameter attributes
Number Mot. 1 P014.1 Mot. 2 P258.1
P051
Setting range
Description
nmaxmot... nmaxmot RPM
Speed for max. motor useful speed Speed, which is reached for the analog input voltage in P024. + = cw rotation for a positive speed setpoint = ccw rotation for a positive speed setpoint Normalization, setpoint Analog speed setpoint voltage for P014/P258 Note: Max. setpoint voltage at terminals 56/14 and terminals 24/8 "11 V. Offset correction, speed setpoint e. g. positive correction value 2FH negative correction value FF00H
P024
Online
5.0...15.0 V
P015.1
Online
C000...4000 hex
HS
Unipolar speed setpoint input
Table 3-3 Unipolar speed setpoint input Parameter attributes Number Mot. 1 P053 (from FW 2.00) Mot. 2 Change effective Online P051 Setting range
Description
0...FFFF hex
Control word Bit Value 0000H 2000H 13 Bipolar speed setpoint by generating the absolute value of the speed setpoint is only permitted for one direction of rotation. The direction of rotation is defined using P014/P258.
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Steadystate minimum speed

Table 3-4 Steadystate minimum speed Parameter attributes Number P030 Change effective Online P051 4 Setting range 0...nmaxmot RPM Description Steadystate minimum speed No steadystate operation in the speed range around zero. This range is passed through with the actual rampup or rampdown times if the speed setpoint exceeds the steadystate minimum speed in the opposite direction of rotation. Zero speed can be forced by inhibiting the permanently wired enable signals. FW 2.00
Effective setpoint [RPM]
200
200
Input setpoint [RPM]
HS
HS/3-57
Main Spindle Modules (HS) 3.2 Input terminals
10.94 07.94
3.2
Input terminals
Warning Terminal function parameters P081 to P089 may only be programmed when the pulses are canceled (terminal 63 or terminal 663 opencircuit).
3.2.1
Table 3-5
Permanentlywired terminal functions
Terminal function Axisspecific pulse enable
Description The inverter is enabled (motor controlled) if the enable voltage is connected to terminal 663 (axisspecific pulse enable) and terminal 65 (controller enable). If the axisspecific pulse enable is withdrawn while the motor is rotating, the inverter is inhibited after 20 ms and the motor coasts down in a nocurrent condition. If terminal 65 is opened while the motor is rotating, the drive brakes along the rampfunction generator ramp. When the absolute value falls below the nmin threshold (P022), the inverter is inhibited and the motor is shutdown without any reverse rotation. If the enable voltage is connected to terminal 81, the speed setpoint is enabled. When the input is opencircuit, the speed setpoint is zero (digital zero). The drive brakes without rampfunction generator along the torque limit. If bit 1 in P053 is set, then the pulses are canceled when zero speed is reached.
Terminalnumber
663
Controller enable
HS
Rampfunction generator fast stop
65
81
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3.2.2
Overview
Freelyprogrammable terminal functions
S Terminal function assignment S Terminal functions
Terminal function assignment

Table 3-6 Terminal function assignment Parameter attributes Number Mot. 1 P081 to P089 Mot. 2 Change effective Online P051 Setting range Description
1...34 dec
Terminal function assignment, E1 to E9 Terminals E1 to E9 are assigned by entering the function number. The factory setting can be taken from the following table.
Terminal functions
Table 3-7 Terminal functions Description Fct. No. Input terminal when supplied E1 (P081) E6 (P086) E3 (P083)
HS
Terminal function
2nd torque limit Oscillation Reset fault memory (R) (fault acknowledgement) Openloop torque controlled operation Star/delta operation M19 operation
The 2nd torque limit becomes active, if this terminal is energized, and the changeover speed in P050 is exceeded. To changeover gearbox stages, the speed setpoints, described in Section 2.2 Standard applications are entered. Remotely acknowledges fault messages. Terminal 65 (controller enable) must be open in order to acknowledge.
1 2 3
Changeover from closedloop speed control to openloop torque control. Changeover between star (open) and delta operation (enable voltage). Auxiliary NC function for an orientated spindle stop. When this terminal is energized, the setpoint normalization, entered in P054, is selected if the speed falls below the value entered in P054.
4 5 6
E5 (P085) E4 (P084)
Runup time = 0 Integrator inhibit, speed controller Gearbox stage Bit 0 Bit 1 Bit 2
If the enable voltage is connected to this terminal, the internal ramp function generator is bypassed. The speed controller integral component can be inhibited via this terminal.
1 2 3 4 5 6 7 8
7 8
E2 (P082)
A total of eight parameter sets for setpoint nor0 1 0 1 0 1 0 1 malization, speed monitoring, controller setting, 0 0 1 1 0 0 1 1 torque limiting and torque monitoring can be entered using these terminals. 0 0 0 0 1 1 1 1
9 10 11
E7 (P087) E8 (P088) E9 (P089)
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Terminal function
Description
Fct. No. 16
Input terminal when supplied
Setpoint enable (only for speed setpoint) Incremental positioning
If this terminal is open circuit, then a setpoint of digital zero is entered. If the enable voltage is connected to the terminal, the setpoint is enabled (analog setpoint or oscillation setpoint). The setpoint is enabled if the terminal function is not selected. If the spindle is in position, and if the enable voltage is connected to the terminal, then the incremental position reference value in P0123 is added to the actual position reference value. The drive then moves to this new calculated position. Together with the terminal, function No. 27, this terminal is used to select the position reference value defined using parameters P121, P122, P124 and P125 (Section 2.3.3). In the Caxis mode, the finer setpoint normalization, set in P114, applies. Only setpoint input 2 is evaluated (terminals 24 and 8). When the enable voltage is connected to this terminal, speed setpoint smoothing is activated. The smoothing time is entered in P018 (also with P053). If the enable voltage is connected to this terminal, fault message F11 can be suppressed (speed controller at its endstop). Together with the terminal, function No. 23, this terminal is used to select the position reference value defined using parameters P121, P122, P124 and P125 (Section 2.3.3). If the enable voltage is connected to this terminal, positioning is started. A positive (rising) edge at this terminal results in resynchronization the next time that a positioning command is received via terminal, function No. 28. This function has a saving characteristic. If the enable voltage is connected to this terminal, when bit 8 was set in P149, the HPCaxis mode is selected. If the enable voltage is connected to this terminal, the openloop speed control with slip monitoring is activated. Term. with Fct. No. 33 L H L H 34 L L H H Effective Using these terminals you can toggle between parameter four clock cycle frequencies. These clock cycle frequencies are defined using parameters P053, P331, P332 and P333 (refer to Section 4.2). P053 P331 P332 P333
22
Position reference values 1...2 C axis Speed setpoint smoothing Suppressing F11 Position reference values 3..4
23
24 25
26 27
HS
Positioning on Spindle re synchronization
28 29
HPC axis (from FW 2.00) Slip monitoring (from FW 2.00) Inverter clock cycle frequency (from FW 3.00)
30
32
33 34
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Main Spindle Modules (HS) 3.3 Output terminals
3.3
Output terminals
!
3.3.1
Warning The relay may only be programmed (P241 to 247) if the pulses have been canceled (terminal 63 or terminal 663 open circuit).
Permanentlywired relay functions

Table 3-8 Terminal function Permanentlywired relay functions Description The relay function can be selected using P053: Bit Ready/no fault, axis specific Value 0000H 0 0001H Checkback signal, start inhibit The relay pullsin if there is no fault and the pulses and controller have been enabled. Ready relay pullsin if there is no fault. 672 673 674 Terminal number
The relay (NC contact) pullsin if the enable voltage is connected to terminal 663 pulse enable, axisspecific.
AS1 AS2
HS
3.3.2
Overview
Freelyprogrammable relay functions

S Assignment of signals (messages) S Relay functions S Parameterizable signals (messages) S Control word, signals (messages)
Note
The relay signals are updated with 20 ms for a 1 ms speed controller clock cycle. For a speed controller clock cycle of 0.5 ms, then 10 ms (refer to P90 bit 3).
Signal assignments
Table 3-9 Signal assignments Parameter attributes Number Mot. 1 P241 to P246 Mot. 2 Change effective Online P051 Setting range Description
1...20 dec
Programmable signals 1 to 6 Relay outputs A11 to A61 are assigned by entering the function number. The factory setting should be taken from the following table.
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Relay functions
Table 3-10 Relay functions Description The relay pullsin if, after a setpoint step, the speed actual value is within the tolerance bandwidt around the new setpoint, and stays for at least 200 ms in this tolerance bandwidth. The signal then stays in the active position until the speed setpoint changes. The width of the tolerance bandwidth can be parameterized in P027. The signal also remains active if the speed actual value leaves the tolerance bandwidth after 200 ms, unless the setpoint has in the meantime changed. The Rampup completed signal remains inactive if the tolerance bandwidth is left again before the 200 ms has expired. The relay does not dropout due to speed fluctuations caused by load changes. From FW 3.00, the 200 ms time can be parameterized using P256. jMdj < Mdx The relay pullsin for jMdj < Mdx an. This can be set using P047. If the relay nact = nset dropsout due to a speed setpoint change, the jMdj < Mdx relay can only dropout again 800 ms after the relay nact = nset has pulledin again. From FW 3.00, the 800 ms time can be parameterized using P257. jnactj < nmin jnactj < nx Motor overtemperature prealarm The relay pullsin for jnactj < nmin. This can be set using P021. The relay pullsin for nact < nx. This can be set using P023. The relay dropsout for a motor overtemperature condition. This can be set using P063. If the fault condition is kept, the drive converter is powereddown with fault message F14 after the time set in P065. For shortcircuit and cable interruptions, the relay is immediately switched, and is powereddown with fault message F19 after approx. 6 s. Drive converter temperature pre alarm Variable relay function 1 Variable relay function 2 In position 1 In position 2 Relay, star operation Relay, delta operation nact = nset (actual) The relay dropsout if the main heatsink thermo switch responds. If the overtemperature condition remains, the drive converter is powereddown after approx. 20 s with fault message F15. Refer to the description Variable relay function in Section 3.3.3 Refer to the description Variable relay function in Section 3.3.3 The relay pullsin if the positioning program is runthrough and the spindle is within the tolerance bandwidth set in P144. The relay pullsin if the positioning program is runthrough and the spindle is within the tolerance bandwidth set in P145. This relay can control the external auxiliary contactor to changeover the winding into the star configuration. This relay can control the external auxiliary contactor to changeover the winding into the delta configuration. The nact = nset (actual) signal is active after the speed setpoint has entered the speed tolerance bandwidth around the setpoint and has remained for at least 200 ms in the tolerance bandwidth. If the tolerance bandwidth is left, the nact = nset (actual) signal immediately becomes inactive. From FW 3.00, the 200 ms time can be parameterized using P256 . 7 8 9 10 11 12 20 A61 (P246) 6 1 4 5 3 A21 (P242) Fct. No. 2 Relay output A11 (P241)
Relay function Rampup completed
HS
A31 (P243) A41 (P244) A51 (P245)
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Signals which can be parameterized

Table 3-11 Signals which can be parameterized Parameter attributes Number Mot. 1 P021.1 P023.1 P027.1 P047.1 P256 P257 Mot. 2 P260.1 P262.1 P263.1 Change effective Online Online Online Online Online Online P051 Setting range Description
4 4 4 4 4 4
0...nrated RPM 0...nmaxmot RPM 0...nrated/16 RPM 0...100 % 0.00...0.50 0.00...1.00
nmin for nact < nmin signal Response value of the jnactj < nmin relay nx for nact < nx signal Response value of the jnactj < nx relay Tolerance bandwidth for nact = nset signal Mdx for Md < Mdx signal This setting refers to the actual torque limiting Delay time nact=nset signal, from FW 3.00 Delay time Md < Mdx signal, from FW 3.00
Control word, signals

Table 3-12 Control word, signals Parameter attributes Number Mot. 1 P247 Mot. 2 Change effective Online P051 Setting range Description
HS
0...FFFF hex
Control word, signals Bit 0 1 2 3 4 5 Value 0001H 0002H 0004H 0008H 0010H 0020H Relay function, terminal A11 is inverted Relay function, terminal A21 is inverted Relay function, terminal A31 is inverted Relay function, terminal A41 is inverted Relay function, terminal A51 is inverted Relay function, terminal A61 is inverted
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3.3.3
Table 3-13

Variable relay function Parameter attributes
P051
Setting range
Description
4 4
Address for monitoring 1 Address of RAM variables Threshold for monitoring 1 Comparison value for the RAM variables content (addresses, refer to Section 6.5) Pullin delay, monitoring 1 Dropout delay, monitoring 1 Hysteresis, monitoring 1 (hysteresis for the threshold P186) Address for monitoring 2 Threshold for monitoring 2 Pullin delay, monitoring 2 Dropout delay, monitoring 2 Hysteresis, monitoring 2 (hysteresis for the threshold P191) Control word, signal Bit Value 0000H 8 0100H 0000H 9 0200H 0000H 1000H 12 Variable relay function 1 with sign interrogation Variable relay function 1 with absolute value interrogation Variable relay function 2 with sign interrogation Variable relay function 2 with absolute value interrogation Variable relay function 1 with P186 as threshold Variable relay function 1 as bit test. The threshold (P186) is ANDed with the RAM variables (P185) to be monitored FW2.00 Variable relay function 2 with P191 as threshold Variable relay function 2 as bit test, FW2.00
P187 P188 P189 P190 P191 P192 P193
Online Online Online Online Online Online Online Online Online
4 4 4 4 4 4 4 4 4
0.00...10.00 s 0.00...10.00 s 0...FFFF hex 0...FFFF hex 0...FFFF hex 0.00...10.00 s 0.00...10.00 s 0...FFFF hex 0...FFFF hex
HS
P194 P247
0000H 13 2000H
Note There is a list of the most important measured quantities (RAM variables) and their addresses in the Attachment (Section 6.5).
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3.3.4
Table 3-14
Motor encoder signals for NC

Motor encoder signals for NC Parameter attributes
P051
Setting range
Description
0...7 dec
Encoder resolution for NC The following multiplication factors can be set when using the squarewaveconverted motor encoder signals. Squarewave pulses 2048 1024 4096 8192 Limiting speed [RPM] for RON350/ ERN 1387 16000 16000 5000 2500
P033
Factor
1 3 5 7 0
1 0.5 2 4
Up to FW 2.40, output with factor 1 From FW 3.00, pulses are not output Up to FW 2.40, output with factor 1 From FW 3.00, pulses are not output 1 0.5 2 4 256 128 512 1024 Toothedwheel encoder 256 pulses/rev. 24000 24000 24000 12000 Toothedwheel encoder 512 pulses/rev. 12000 12000 12000 6000
HS
1 3 5 7
Up to FW 2.40, output with factor 1 From FW 3.00, pulses are not output 1 0.5 2 4 512 256 1024 2048
1 3 5 7 0
Up to FW 2.40, output with factor 1 From FW 3.00, pulses are not output
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3.3.5
Analog outputs
Overview
S Function S Technical data S Parameterization DAU 1, DAU 2 S Fine normalization
Function
Analog output of RAM variables for measuring and diagnostics
Technical data
S 2 output channels at terminal A91 (DAU 1) and terminal A92 (DAU 2) S Voltage range 10 V S Coarse normalization, offset compensation S Signal resolution, 7 bits + sign S Fine normalization for
speed actual value (absolute) utilization M/Mrated
HS
S The polarity of the output voltage can be set using the fine normalization
( 200 %)
S Factory setting:
A91 8 10 V, if the max. speed is reached (nact = P029) A91 8 10 V, if the torque or power is reached (Mdmax, Pmax = P039)
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Parameterization DAU 1, DAU 2

Table 3-15 Parameterization DAU 1, DAU 2 Parameter attributes Number Mot. 1 P066 Mot. 2 Change effective Online P051 Setting range Description
0...FFFF hex
Address, DAU 1 Address of the RAM variables which are to be output at DAU 1. Default: n/nmax (RAM address: 3044H) Setting example: Motor temperature in _C > RAM address: Shift FC2 via P067 Shift factor DAU 1 The selected data value is shifted to the left 1 corresponds to multiplication by 2 n corresponds to multiplication by 2n Offset DAU 1 A possible offset for DAU 1 is compensated Address, DAU 2 Default: Utilization (M/Mmax or P/Pmax) (RAM address: 3048H) Smoothing can be set using P071. Shift factor DAU 2 Offset DAU 2
P067
Online
0...15 dec
P078 P068
Online Online
4 4
7F...FF80 hex 0...FFFF hex
HS
P069 P079
Online Online
4 4
0...15 dec 7F...FF80 hex
Output voltage [V] 1st overflow +10.0 2nd overflow 3rd overflow 4th overflow
10.0 0000H 2000H 4000H 6000H 8000H A000H C000H E000H FFFFH Hex numerical value Offset = 0 V Fine normalization = 100 %
Shift factor = 0 Shift factor = 2
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Fine normalization
The coarse normalization (P067, P069) must be set to 0H, otherwise the overcontrol protection of the DAUs (D/A converters) is not effective.
Table 3-16
Fine normalization Parameter attributes
P051
Setting range
Description
200.0...200.0 %
Normalization, DAU nact display For P012 = 100 %, the following is valid: jMax. speed (P029)j corresponds to +10 V. Only acts on address 3044H, preset to DAU1. From FW 3.00, update clock cycle is 1ms (previously 20ms) Normalization, DAU utilization display Utilization display n = 0 to nrated: Md/Mdmax n > nrated: P/Pmax (takes into account the actual torque limits P039, P041) For P013 = 100 %, the following is valid: jMax. torquej or jpowerj corresponds to +10V. This is only effective on address 3048H, preset to DAU2. From FW 2.40, update clock cycle is 1ms (previously 20ms) Normalization, DAU M/Mrated For P026 = 100 %, the following is valid: jRated torquej corresponds to +5 V M/Mrated is signed, i. e. a negative rated torque corresponds to 5 V. Is only effective at address 304CH. From FW 3.00, update clock cycle is 1ms (previously 20ms) Smoothing time, DAU utilization display (from FW 2.40, not in the HPCaxis mode) Output via address 3048H, preset to DAU2
P013
Online
200.0...200.0 %
HS
P026 Online 4 200.0...200.0 %
P071
Online
2...32767 ms
Note There is a list of the most important measured quantities (RAM variables) and their addresses in the Attachment (Section 6.5).
HS/3-68
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Main Spindle Modules (HS) 4.1 Speed controller optimization
Controller Optimization
4.1
Overview
Speed controller optimization

S Speed setpoint smoothing S Speed actual value smoothing S Rampfunction generator S Gain, integral action time S Speed controller adaptation S Torque, speed setpoint smoothing (pT1) S Digital filter, torque setpoint channel S Delay time, speed controller at its endstop
HS
Speed setpoint smoothing

Table 4-1 Speed setpoint smoothing Parameter attributes Number Mot. 1 P018 Mot. 2 Change effective Online P051 Setting range Description
3...10000 ms
Smoothing time, speed setpoint smoothing (enabled/disabled using P053 or via select terminal function No. 25) Degree of roundingoff, speed setpoint (pT2 element) This is only effective when the speed setpoint smoothing is active. 0: No roundingoff 30: Max. roundingoff Control word Bit 4 Value 0000H 0010H Speed setpoint smoothing inactive Speed setpoint smoothing active
P019
Online
0...30 dec
P053
Online
0...FFFF hex
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Speed actual value smoothing

Table 4-2 Speed actual value smoothing Parameter attributes Number Mot. 1 P034 Mot. 2 Change effective Online P051 Setting range Description
1...10 ms
Smoothing time, speed actual value smoothing (enabled/disabled using P053, bit 5) FW 3.00 This is only possible for a 1 ms speed controller sampling (P-090.3 = 0). Control word Bit 5 Value 0000H 0020H Speed actual value smoothing inactive Speed actual value smoothing active If simultaneously P090 bit 3=0 (speed controller clock cycle=1 ms)
P053
Online
0...FFFF hex
HS
Rampfunction generator
Table 4-3
Parameter attributes Number Mot. 1 P016.1 P017.1 P053 Mot. 2 Change effective Online Online Online P051 Setting range Description
4 4 4
0.01...64.00 s 0.01...64.00 s 0...FFFF hex
Rampup time, rampfunction generator From n = 0 to nmax (P029) Rampdown time, rampfunction generator From nmax (P029) to n = 0 Control word Bit Value 0000H 1000H Rampfunct. generator tracking active Rampfunct. generator tracking inactive
12
Speed
Rampfunction generator output
Speed
Speed setpoint
Speed setpoint
Speed actual value Without rampfunction generator tracking Time
Speed actual value With rampfunction generator tracking Time
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10.00 07.94
Gain, integral action time

Table 4-4 Gain, integral action time Parameter attributes Number Mot. 1 P031.1 P032.1 P090 Mot. 2 P-265.1 P-266.1 Change effective Online Online Online P051 Setting range 3.0...120.0 dec1) 5...6000 ms 0...FFFF hex Description
4 4 4
P gain, speed controller Integral action time, speed controller Control word Bit Value 0000H The integral component is set to 0 if the speed controller is controlled to its maximum. The integrator is held if the speed controller is controlled to its maximum. FW 2.00
0040H
HS
1) From FW 3.10: 6.0...240.0 dec
HS/4-71
10.00 07.94
Speed controller adaptation

Table 4-5 Speed controller adaptation Parameter attributes Number Mot. 1 P195 P196 P198 P199 Mot. 2 P283 P284 P285 P286 Change effective Online Online Online Online P051 Setting range Description
4 4 4 4
0...nmaxmot RPM 0...nmaxmot RPM 1.0...120.0 dec1)
Lower adaptation speed Upper adaptation speed P gain, upper adaptation speed Reduction factor, P gain (the P gain characteristic is multiplied over the complete speed range) Integral action time, upper adaptation speed Reduction factor, integral action time (the integral action time characteristic is multiplied over the complete speed range) Control word adaptation speed controller Adaptation is only possible in gearbox stage 1! Bit 1 Value 0000H 0002H No adaptation Speed controller adapt. active
1...200 %
P201 P202
P288 P289
Online Online
4 4
5...6000 ms 1...200 %
P203
P293
Online
0...7 dec
HS
P gain [dec ] Integral action time [ms] P202 P032.1
P199
P198
P199 P031.1 P202
P201
Speed [RPM] P195 P196
1) From FW 3.10: 6.0...240.0 dec
HS/4-72
07.94
Torque setpoint smoothing (pT1)
Table 4-6
Torque setpoint smoothing (pT1) Parameter attributes
Number Mot. 1 P035 P045 Mot. 2 P274
P051
Setting range
Description
4 4
3...10000 ms 1...nmaxmot RPM
Smoothing time, torque setpoint smoothing Switchin speed, torque setpoint smoothing The torque setpoint smoothing is switchedin above this speed Hysteresis P045/P275 Select torque setpoint smoothing 0: No torque setpoint smoothing 1: Torque setpoint smoothing above the switchin speed P045
P046 P044
P275
Online Online
4 4
0...nrated RPM 0...1 hex
HS
HS/4-73
10.94 07.94
Digital filter , torque setpoint channel

Table 4-7 Digital filter, torque setpoint channel Parameter attributes Number Mot. 1 P118 P281 P103 P276 Mot. 2 Change effective Online Online Online P051 Setting range Description
4 4 4
0...FFFF hex 0...1 hex 50...450 Hz
Torque setpoint filter type 0: Bandstop characteristics 1: Lowpass characteristics Torque setpoint filter frequency Lowpass: 3 dB transition frequency Bandstop: Center frequency Torque setpoint filter quality Filter quality of the bandstop, quality = 1 corresponds to 1.00 Torque setpoint filter selection 0: Digital filter is disabled 1: Digital filter is enabled P104 2
P104
P277
Online
0.10...10.00 dec
P117 P280
Online Online
4 4
0...FFFF hex 0...1 hex
HS
Amplitude 3dB {
Amplitude
P104 0.5
P103 Lowpass
Frequency [Hz]
P103 Bandstop
Frequency [Hz]
Delay time, speed controller at its endstop

Table 4-8 Delay time, speed controller at its endstop Parameter attributes Number Mot. 1 P248 Mot. 2 Change effective Online P051 Setting range Description
100...10000 ms
Delay time, fault message F11 The fault message is output, if the speed controller is fully controlled for the time specified in P248, and if the speed actual value does not exceed the internal threshold nrated/256.
HS/4-74
04.97 07.94
Main Spindle Modules (HS) 4.2 Current controller optimization
4.2
Current controller optimization
Note Generally, it is not necessary to change the following parameters, as the optimum current controller settings can be calculated from the motor and power module data.
Overview
S Current controller S Inverter clock cycle frequency
Current controller
Table 4-9
Current controller Parameter attributes
Number Mot. 1 P116 Mot. 2 P278
P051
Setting range
Description
HS
255...255 dec
Correction, P gain current controller A signed offset is added to the current controller P gain. Changeover speed, current controller adaptation The current controller P gain is increased when the speed is exceeded. Display, current controller P gain The currently effective P gain of the current controller is displayed.
P120
P292
Online
500...10000 RPM
(P316)
Online
HS/4-75
Main Spindle Modules (HS) 4.2 Current controller optimization
04.97 07.94
Inverter clock cycle frequency

Table 4-10 Inverter clock cycle frequency1 Parameter attributes Number Mot. 1 P053 Mot. 2 Change effective Online P051 Setting range Description
0...FFFF hex
Control word Bit Value 8 9 10 0000H 0200H 0400H 0600H 0100H 0300H 0500H 0700H Pulse frequency [kHz] 3.2 6.3 4.7 7.8 2.8 from FW 3.00 5.0 from FW 3.00 3.9 from FW 3.00 5.9 from FW 3.00
HS
Table 4-11 Inverter clock cycle frequency 2, 3 and 4 Parameter attributes Number Mot. 1 P331 P332 P333 Mot. 2 Change effective Online Online Online P051 Setting range
Note: An inverter clock cycle frequency > 3.2 kHz is only possible if the output is derated (refer to Table 13).
Description
4 4 4
07hex 07hex 07hex
Inverter clock cycle frequency 2 from FW 3.00 Inverter clock cycle frequency 3 from FW 3.00 Inverter clock cycle frequency 4 from FW 3.00 Settings Value 0000 0001 0002 0003 0004 0005 0006 0007 Pulse frequency[kHz] 3.2 2.8 6.3 5.0 4.7 3.9 7.8 6.1
(P330)
Online
2.87.8kHz
Displays the actual clock cycle frequency
The inverter clock cycle frequencies, set using these parameters, can be changedover using input terminals (refer to Section 3.2.2). J
HS/4-76
04.97 07.94
Main Spindle Modules (HS) 5.1 Diagnostic resources
Diagnostics and Fault Analysis
5.1
5.1.1
Table 5-1
Measured value displays
Measured value displays Parameter attributes Number Change effective P051 Setting range Description
Mot. 1 (P001) (P002) (P102) (P003) (P004) (P006) (P007) (P008) (P009) (P010) (P101) (P330)
Mot. 2
20000...20000 RPM 20000...20000 RPM 0...500 V 0...100.0 % 0...700 V 0...150 A 0...100 kVA 0...100 kW 0...150 C 200...200 % 2.8...7.8 kHz
Speed setpoint Speed actual value Motor voltage Utilization (referred to the actual torque limit) DC link voltage Motor current Motor reactive power Motor active power Motor temperature Setpoint for openloop torque controlled operation Inverter clock cycle frequency
HS
HS/5-77
07.94
5.1.2
Status displays
P000, P100 operating display P011 status of the digital inputs

Table 5-2
Refer to Section 2.2.1, Table 2-10
P011 status of the digital inputs
Display
Display value Term. 63 central pulse enable NE Term. E6 freelyprogrammable using P086 Term. E2 freelyprogrammable using P082 Term. E3 Term. 663 axisspecific pulse enable Term. 65
HS
Term. E7 Term. 64 central freelyprogramcontroller enable mable using NE P087 Term. E8
freelyprogramaxisspecific mable using controller enable P083 Term. E4 freelyprogrammable using P084 Term. E5 freelyprogrammable using P085 Term. 81 open rampfunction generator fast stop Term. E1 freelyprogrammable using P081
freelyprogrammable using P088 Term. E9
freelyprogrammable using P089
Several messages can be displayed. The hexadecimal addition is displayed. Example: 4H + 8H = CH
HS/5-78
07.94
P254 display, active functions 1

Table 5-3 P254 display, active functions 1
Display
Display value Fct. No. 9 Gearbox stage bit 0 Fct. No. 10 Gearbox stage bit 1 Fct. No. 11 Gearbox stage bit 2 Fct. No. 5 Star/delta Fct. No. 1 2nd torque limit
Fct. No. 6 M19 operation
Fct. No. 2 Oscillation
Fct. No. 7 TH = 0
Fct. No. 3 Reset fault memory (fault acknowledgement) Fct. No. 4
HS
Fct. No. 16 Setpoint enable
Fct. No. 8
Integrator inhibit, Openloop speed controller torque controlled operation
HS/5-79
10.94 07.94

Display
Display value Fct. No. 26 Suppress F11 Slip monitoring Fct. No. 33 Inverter clock cycle frequency bit 0 Fct. No. 34 Inverter clock cycle frequency bit 1 Fct. No. 32
Fct. No. 23 Pos. reference values 1...2 Fct. No. 27 Pos. reference values 3...4 Fct. No. 28 Positioning on
Fct. No. 30 HPC axis
HS
Fct. No. 24 C axis
Fct. No. 22 Incremental positioning Fct. No. 29 Spindle re synchronization
Fct. No. 25 Speed setpoint smoothing active
HS/5-80
04.97 07.94
5.1.3
Table 5-5
Diagnostic parameters Parameter attributes
Number Mot. 1 (P020) Mot. 2
Change effective
P051
Setting range
Description
Diagnostics, speed actual value If this is continually increased by several increments, then there is an increased noise signal level. (counter for dn/dt monitoring) Possible causes: S Encoder shield not grounded
S S S S S
(P028)
Defective encoder Electronics ground not OK Motor ground not connected to the MSD module Measuring circuit 1 defective An excessive motor moment of inertia was entered (P159, P219)
Diagnostics Bit 3 Value 0008H Prealarm, temperature sensor S Breakage
HS
S
13 2000H
Shortcircuit
Division interrupt due to an error in the calculation routine due to incorrectly entered data.
(P299)
Checksum parameter At each data save operation (P052 = 1H), the checksum is formed across the parameter contents. This means that a change in the drive machine data is identified. Diagnostics, motor encoder zero from FW 3.00 If this is continually increased by several increments, then there is an increased noise signal level. Possible causes: S Encoder shield not grounded
(P320)
S S S S
(P321)
Defective encoder Electronics ground not OK Motor ground not connected to the MSD module Measuring circuit defective
Diagnostics, spindle encoder zero from FW 3.00 Prerequisite: Positioning with spindle encoder is selected, spindle encoder pulse number in P131.x is to the power of 10. There is an increased noise level, if this continually increases by several increments. Possible causes: S Encoder shield not grounded
S S S S
Defective encoder Electronics ground not OK Motor ground not connected to the MSD module Measuring circuit defective
HS/5-81
03.96 07.94
5.1.4
Test sockets X1, X2, IR
Overview
S Function S Technical data S Assignment S Normalization IR S Parameterization X1 (DAU 3), X2 (DAU 4)
Function
Analog output of the phase current actual value and RAM variables for test and diagnostic purposes.
Technical data
HS
Assignment
S S S S
Phase current actual value at test socket IR 2 output channels at X1 (DAU 3) and X2 (DAU 4) Voltage range 0...+ 5 V (value 0 corresponds to +2.5 V) Coarse normalization, offset compensation for X1 and X2 via parameter
X1: X1 IR X2 M X2: IR: M:
Test socket DAU 3 Test socket DAU 4 Current actual value, phase R Reference ground
Fig. 5-1
Assignment, test sockets
Normalization, phase current IR

Table 5-6 Normalization IR Power module code numbers (P095) 6 7 8 9 10 11 12 13 Normalization IR 50 A corresponds to 8.25 V 80 A corresponds to 8.25 V 160 A corresponds to 8.25 V 160 A corresponds to 8.25 V 200 A corresponds to 8.25 V 300 A corresponds to 8.25 V 400 A corresponds to 8.25 V 120 A corresponds to 8.25 V
Power module 50 A 80 A 120 A 160 A 200 A 300 A 400 A 108 A
HS/5-82
12.94 07.94
Parameterization X1 (DAU 3), X2 (DAU 4)

Table 5-7 Parameterization X1 (DAU 3), X2 (DAU 4) Parameter attributes Number Mot. 1 P076 Mot. 2 Change effective Online P051 Setting range Description
0...FFFF hex
Address, DAU 3 Address of the RAM variables which are to be output at DAU 3. Presetting: |P/Prated| (RAM address: 3050H) Shift factor DAU 3 The selected data values are shifted to the left 1 corresponds to multiplication by 2 n corresponds to multiplication by 2n Offset DAU 3 Compensates any existing offset for DAU 3 Address DAU 4 Presetting: nact (RAM address: C04H) Shift factor DAU 4 Offset DAU 4
P077
Online
0...15 dec
P080 P072 P073 P074
4 4 4 4
7F...FF80 hex 0...FFFF hex 0...15 dec 7F...FF80 hex
HS
+2.5
0.0 0000H 2000H 4000H 6000H 8000H A000H C000H E000H FFFFH
Offset = 0 V Fine normalization = 100 %
Hex numerical value
Note A list of all of the important measured quantities (RAM variables) and their addresses are provided in the Attachment (Section 6.5).
HS/5-83
04.97 07.94
5.1.5
Minimum/maximum value memory
Function
Table 5-8
RAM variables are monitored for minimum and maximum values.

Minimum/maximum value memory Parameter attributes
P051
Setting range
Description
4 4
0...FFFF hex 0...2 hex
Address for min/max memory Address for RAM variable Select min/max memory 0H: Stop memory function 1H: Start memory function with absolute value evaluation 2H: Start memory function with bipolar evaluation Minimum value, min/max memory Max. value, min/max memory
(P182) (P183)
HS
5.1.6
Transient recorder function
Function
2 RAM variables are simultaneously recorded and output via test sockets X1 and X2.
Technical data
S Two 16bit signals are recorded in parallel S 640 value recording depth S 1 ms sampling time (P090, bit 3=0) or 0.525 ms (P090, bit 3=1, from
FW 3.00)
S Start and stop conditions (trigger conditions) S Cyclic output via DAUs S Trigger condition for output
HS/5-84
07.94
Parameterization
Table 5-9 Parameterization Parameter attributes Number Mot. 1 P207 Mot. 2 Change effective Online P051 Setting range Description
0...10 hex
Setting the transient recorder 1H: Start via P206 without start and stop condition 2H: Start condition P208 and P209, no stop condition, start via P206 5H: Stop condition via P210 and P211, no start condition, start via P206 6H: Record with start and stop condition 4H: Trace memory preset via P217 Address, signal 1 There is a list of the important measured quantities (RAM variables) and their addresses in the Attachment (Section 6.5). Address, signal 2 Address for the start condition Address of the RAM variables which start the recording Threshold for the start condition Start condition mask, this is compared with the RAM variable in P208 Address for the stop condition Threshold for the stop condition Select transient recorder Starts the transient recorder function by setting to 1H Shift factor, signal 1 Refer to the description of test sockets X1, X2, Section 5.1.4 Shift factor, signal 2 Trigger signal 1 Trigger signal amplitude low for DAU output Trigger signal 2 Trigger signal amplitude high for DAU output Start output of the recorded trace The recorded values are cyclically output at the DAU Recorded signal 1 DAU 3 (X1) Recorded signal 2 DAU 4 (X2) The previous assignment of the DAUs is buffered and is reselected after the output function has been completed.
P212
Online
0...FFFF hex
P213 P208
Online Online
4 4
HS
P209
Online
0...FFFF hex
P210 P211 P206
Online Online Online
4 4 4
0...FFFF hex 0...FFFF hex 0...1 hex
P215
Online
0...15 dec
P216 P217 P218 P214
4 4 4 4
0...15 dec 0...FFFF hex 0...FFFF hex 0...1 hex
HS/5-85
07.94
5.1.7
Current/Hz control
Function Function information
Diagnostics for motor encoder faults Above the speed at the start of field weakening (P173), the absolute current should be selected to be lower than the noload current, as otherwise voltage limiting will become active. This will result in uneven running and torque surges. The frequency should be slowly changed, as current/Hz operation is prone to stalling.
Current/Hz control Parameter attributes
Table 5-10
Number Mot. 1 P311 P312 P313 Mot. 2
Change effective Online Online Online
P051
Setting range
Description
4 4 4
0.0...100.0 % 0.0...800.0 Hz 0...1hex
Current for current/Hz control (referred to the rated motor current) Frequency for current/Hz control Select current/Hz control 0H: Current/Hz control off 1H: Current/Hz control on
HS
HS/5-86
10.94 07.94
Main Spindle Modules (HS) 5.2 Fault analysis
5.2
5.2.1
Fault analysis
Fault display, fault acknowledgement
Fault display
Display
Inactive
1 fault Several faults, select with Fault message number (refer to Table 511) = Fault = Positioning fault key
Fig. 5-2
Fault display
HS
Fault acknowledgment
By
key key if the controller is inhibited.
Press the P
If the fault can be acknowledged, the system returns to the operator control program. If the fault cannot be acknowledged, as, for example, there is a defect, then this can be temporarily suppressed in the display.
S Remote acknowledgment
One of the following terminals is controlled for controller inhibit: Terminal R RESET at the NE and monitoring module Terminal Reset fault memory at the MSD module
S Poweringdown
Powerdown the unit and powerup again approx. 2 s after the display goes dark.
Fault suppression
Using
key
The system returns to the operator control program for approx. 1 minute after pressing the
key; however, the fault is not acknowledged.
HS/5-87
10.00 07.94
5.2.2
Table 5-11 Fault message F04
Fault message list

Fault message list Fault Incorrect setpoint value conversion Data save on the FEPROM was unsuccessful Cause Removing the fault
S S S
A/D converter faulted (setpoint channel) If the fault message is repeated, while a data save is being made, then the FEPROM is defective. If the fault message occurs immediately after poweringup the drive converter, then the drive converter was previously powereddown during a data save operation. This means that the last parameter changes are not saved. A new data save operation must be initiated. Defetive FEPROM
If this is repeated, replace the control board
F07
1. Restart data save via P52=1 2. If fault F07 occurs again, replace the control board
F08
Irretrievable data loss Fault, encoder system 1 (motor encoder)
S S S S
S S S S
Replace the control board
HS
F09
Motor encoder not connected or defective Motor encoder cable defective Measuring circuit 1 (speed actual value sensing) defective, not correctly inserted or incorrectly equipped (P150).
Check the encoder cable/shielding, or Replace the motor encoder, or Replace the control board
The fault message can be suppressed via P090 bit 1 from FW 2.00 onwards. F10 Fault equipping parameterization encoder system 2
S S S
Positioning with spindle encoder selected (P141=1, P143=1), incorrect module version FW 1/2 Positioning with spindle encoder selected (P141=1, P143=1), there is no spindle encoder at X432 FW 3.00 Positioning with spindle encoder (P141=1, P143=1) and output of squarewaveconverted motor encoder signals X432 selected (P033<>0) FW 3.00 Output of squarewaveconverted motor encoder signals at X432 selected (P033<>0), there is a spindle encoder at X432 FW 3.00
S S S
Correctly adapt P33 (refer to the Startup Guide, Section 3.3.4) Replace with the correct control board version Connect the spindle encoder
HS/5-88
07.94
Fault message list Fault Speed controller is at its limit, speed actual value missing Cause Removing the fault
S S S S S S S S S S S S
Motor overloaded DC link busbars not connected DC link fuse defective Defective transistor in the power module Motor encoder not connected Defective motor encoder cable Defective motor encoder Motor ground not connected Motor encoder cable shield not connected Motor not connected or phase missing Motor stalled Measuring circuit 1 (speed actual value sensing) defective or not correctly connected
S S S S S S S S S S S S S S S S S S S S S
Avoid motor overload (P004<100%) Tighten the DC link busbars
Replace the power module Connect the motor encoder
Replace the motor encoder Check the PE/motor connection Ground the shield or replace the encoder cable Correctly connect the motor phases Release the motor (mech. blockage) Contactor between the motor and drive converter must be closed Replace the control board
(The delay time can be set via P248.) F14 Motor overtemperature
HS
S S S S S S
Motor overloaded Motor current to high, e. g. due to incorrect motor data (P096) Defective temperature sensor (motor) Defective motor fan Measuring circuit 1 (speed actual value motor) defective Winding short, motor Drive converter overloaded (incorrect motor/drive converter assignment, incorrect load duty cycle) Ambient temperature too high Fan failed Inverter clock cycle frequency greater than 3.2 kHz Temperature sensor defective
Reduce the motor load Correct the motor data
Changeover to the 2nd temperature sensor Connect the fan Replace the control board or motor encoder Replace the motor Correct the motor/drive converter assignment (P95/96). Reduce the Md limit (P39) Power module too small Replace power module Reduce clock cycle frequency
F15
Drive converter overtemperature
S S S S S
Acknowledgement: Only after cooling down below 50C"15K, by poweringdown and poweringup again. F16 Illegal power module code
S S S
Incorrect code number 3 selected in P095 (for power modules without automatic recognition) Incorrect code number selected in P095 (for power modules with automatic recognition) from FW 3.00 Incorrect motor/drive converter assignment
Load the correct code number
F17
I0 motor > Irated power module
S S
Correctly set Io motor, or Use a larger power module
HS/5-89
07.94
Fault message list Fault Fault, encoder system 2 (spindle encoder) Cause Removing the fault
S S S
Spindle encoder not connected or defective FW 3.00 Defective spindle encoder cable FW 3.00 Measuring circuit 2 defective FW 3.00
S S S
Connect or replace the spindle encoder Check the connecting cable, encoder/drive converter Replace the control board
The fault message can be suppressed via P090 bit 5. F19 Temperature sensor
S S
Interrupted Shortcircuit
Temperature sensor defective (PTC thermistor at 20C 600 , if required, use the 2nd PTC thermistor of the motor) Sensor connection interrupted
Replace the temperature sensor
S S
S S
Reestablish the connection between the temperature sensor and motor/ drive converter Replace the control board
Measuring circuit 1 defective
HS
F61 Max. motor frequency exceeded
Acknowledgement: Only by powering down and poweringup.
S S S S S S S
Incorrectly entered encoder pulse number (P098) FW 2.00 Master/slave have no forcelocked connection Incorrect motor data in P159 to P176 or P219 to P236
S S S S S S S S S S
Correctly enter the encoder pulse number (P98) Reestablish the mechanical force locked connection (slave drive) Correctly set the motor data
F79
Division interrupt (message can be suppressed by setting P053, bit 11)
Field weakening > 1:16
Field weakening < 1:16
FP01
Setpoint > encoder pulse number
Setpoint input too high (P121 to P125, P131). External position reference value Zero mark signal from the encoder or BERO interrupted Incorrect parameterization (P131)
Setpoint input must be set lower (max P131) Set the Bero clearance lower or replace the BERO Replace the cabling Replace the encoder Parameter setting in P131 greater than the pulse number per revolution The entry in P130 must be set lower than the value in P131
FP02
Zero mark monitoring has responded
FP03
Zero mark shift > encoder pulse number
Value in P130 > than the pulse number in P131
HS/5-90
10.00 07.94
Table 5-11 Fault message FP04
Fault message list Fault No valid zero mark Cause There is no valid zero mark when setting P129 to 1, e. g.: Removing the fault
S S
After powerup After the gearbox stage change
Rotate the spindle at least through one revolution (rotate through 3600 and again set P129 to 1). Check the zero mark if the fault is still present. If a BERO is being used, adjust the clearance, check the cabling or replace the Bero. For spindle/motor encoder, check the cabling or replace the encoder. Enable the pulses and controller. Only then can the adjustment be started (to FW 2.40)
S S
F60
Power offset adjustment
Pulse and/or controller enable missing
HS
HS/5-91
10.00 07.94
Faults
After
S Power ON
Operating display inactive minimum two phases missing (NE/monitoring module) at least two input fuses have failed (NE/monitoring module) electronics power supply in the NE/monitoring module defective equipment bus connection (ribbon cable), MSD module NE/ monitoring module not inserted or defective defective control board defective EPROM/FEPROM no valid firmware loaded, display: or ERROR
S Controller enable (without fault message)

Motor rotates, max. 30 RPM at nset > 30 RPM or the motor oscillates (oscillation not selected) at nset < 30 RPM incorrect motor rotating field, as feeder cables interchanged (interchange 2 phase connections). excessively high motor encoder pulse number entered
HS
Motor remains stationary for a speed setpoint which is not equal to zero oscillation function is selected (P154, P155=0) terminal 81 not selected function number 16 (setpoint enable) programmed but not selected
Motor briefly moves defective power module
Motor accelerates to a high speed pulse number too low
S Positioning on
The drive rotates with the search speed but does not position pulse number between two zero marks too high J
HS/5-92
07.94
Main Spindle Modules (HS) 6 Attachment
Attachment
HS
HS/6-93
Main Spindle Modules (HS) 6.1 Flow diagram for short startup
07.94
6.1
Flow diagram for short startup

Warning The drive accelerates up to nset, if a fault at the NE module is acknowledged with the MSD module enabled.
Note If the data save operation is interrupted due to power failure or the equipment being powereddown, values which had changed since the last data save are lost, and after the drive converter is poweredup again, it outputs fault message F07. The parameter values can be set again after fault message F07 has been acknowledged (refer to Section 5.2.2).
START
Before the unit is poweredup:
HS
S S S
Check the connections in accordance with the circuitdiagram of the system. Disconnect or deenergize the pulse and controller enable (terminal 663, terminal 65). Determine the code number for the motor and power module (list, refer to Table 61 to 6-5)
Powerup the unit (power ON)
Does the display remain inactive?
yes Fault
no Is F... displayed flashing? yes Fault (refer to Section 5.2.2)
no Is P000 displayed (refer to Section 2.2.1)? yes 1 2
no
HS/6-94
04.97 07.94
1 Set P051 to 4H (remove write protection) Set P097 to 0H (initialize) Set P052 to 1H setzen (write into the FEPROM) Wait until P052 has been set to 0H again and then powerdown the drive converter and 2 s after the operating display has gone dark, powerup gain.
The module was already commissioned. In order to adapt it to a new motor, it must be first brought into the initialized condition.
Display, P095 or P096 P095:Enter or check the power module code number P096:Enter the motor code number P098:Enter the number of encoder pulses per motor revolution. Set P097 to 1H SEtUP is displayed Wait until P000 is displayed (refer to Section 2.2.1)
HS
Is a special motor being used for which a code number for P096 has not been defined?
yes
Set P051 to 10H (remove write protection) Enter P159 to P176 Set P177 to 1H (calculate motor data). Wait until P177 has been again set to 0H. Set P051 to 4H. Set P052 to 1H. Wait until P052 is again set to 0H. The motor data are transferred into the FEPROM.
no
Set P051 to 4H.
HS/6-95
07.94
Check the following parameters and if required change: P014 P015 P024 P016 P017 P029 P021 to P023, P027 P039 to P043 P047 to P050 Normalization nset Offset correction nset Normalization nset Rampup time, rampfunction generator Rampdown time, rampfunction generator Max. motor speed nmaxmot Relay response values of the speed monitoring Torque limit values
HS
P081 to P089
Freelyprogrammable terminal functions Freelyprogrammable relay functions for Y/ motor
P185 to P194, P241 to P246 P180
Values changed?
no
yes Set P052 to 1H Wait until P052 is again set to 0H. The changed values are transferred into the FEPROM.
HS/6-96
07.94
Status of the two center positions of the operating display P000 (refer to Section 2.2.1)
All enable signals are disconnected at the NE and MSD modules.
All enable signals at the NE module are at the enable voltage.
Connect the enable voltage to the axisspecific pulse enable terminal 663 at the MSD module.
Controller enable Connect the enable voltage to terminal 65 at the MSD module.
Connect the speed setpoint at terminal 56 and terminal 14 and set to 0 V (display at P001).
HS
no
Is the terminal fct. 16 (setpoint enable) selected and not switchedin.
yes
Remove rampfunction generator fast stop, terminal 81.
Remove rampfunction generator fast stop, terminal 81.
Enable the setpoint enable via a select terminal
Slightly increase the speed setpoint. If fault message F11 is output, the speed actual value is either faulted or the motor is incorrectly connected. If the motor oscillates, then either the phase sequence at the motor is incorrect, or oscillation has been preselected.
HS/6-97
07.94
Disable the rampfunction generator via terminal 62 (TH = 0), if the terminal is parameterized.
Optimize the speed controller via P031 and P032.
If required, readjust the limit values or relay control thresholds.
no Values changed? yes Set P052 to 1H.
HS
Wait until P052 is again set to 0H. The modified values are transferred into the FEPROM.
After commissioning, save the modified parameter values in a file or document in a list.
Set P051 to 0H
End
HS/6-98
04.97 07.94
Main Spindle Modules (HS) 6.2 Code numbers for power modules and standard motors
6.2
Table 6-1 Power module type 50 A 80 A 108 A 120 A 160 A 200 A 300 A 400 A
Code numbers for power modules and standard motors

Power module code number Order No. 6SN11231AA0V 6SN11241AA0V 6SN11351BA1V 0CAV 0DAV 0LAV 0GAV 0EAV 0FAV 0JAV 0KAV Rated output current [A] 24 30 45 45 60 85 120 200 Peak output current, briefly S640 % 10 min [A] 32 40 60 60 80 110 150 250 Peak output current, briefly S640 %. 10 s [A] 32 51 76 76 102 127 193 257 Power module code No. P095 6 7 13 FW 2.40 8 9 10 11 FW 2.00 12 FW 2.00
Table 6-2 Order No. [MLFB] AC motor 1PH6... 101VNF4 101VNG4 103VNF4 103VNG4 105VNF4 105VNG4 105VNZ4 107VNC4 107VNF4 107VNG4 131VNF4 131VNG4 131VNZ0 133VNB4 133VNF0 133VNF4 133VNG0 133VNG4 135VNF0 135VNF4 135VNG4 137VNB4 137VNF4 137VNG0 137VNG4 137VNZ4 138VNF0 138VNF4 138VNG4
Motor code number Rated motor output [kW] 3.7 4.7 5.5 7.0 7.5 9.5 12.0 5.0 9.0 11.5 9.0 12.0 8.0 4.5 11.0 11.0 14.5 14.5 15.0 15.0 20.0 7.9 18.5 24.0 24.0 11.0 22.0 22.0 28.0 Rated motor current [A] 12.5 13.7 17.9 19.4 22.5 25.3 27.0 22.7 26.9 29.8 27.2 32.1 23.2 26.0 26.7 31.3 31.5 37.5 35.0 41.3 50.6 43.6 50.2 50.0 57.8 41.8 51.5 61.0 66.1 Noload motor current [A] 6.2 6.9 9.1 9.9 11.5 13.1 15.6 11.7 14.2 15.6 11.7 13.6 10.9 9.8 11.5 13.4 14.5 16.1 16.1 18.8 22.8 18.6 22.9 23.2 26.5 18.0 24.6 28.7 31.4 Rated speed [RPM] 1500 2000 1500 2000 1500 2000 3000 750 1500 2000 1500 2000 1500 525 1500 1500 2000 2000 1500 1500 2000 525 1500 2000 2000 750 1500 1500 2000 Max. speed [RPM] Motor code number P096 101 102 103 104 105 106 140 131 107 108 109 110 141 FW 2.00 132 111 112 136 113 114 115 116 133 117 137 118 143 FW 3.00 119 120 121
HS
9000
8000
HS/6-99
10.00 04.97 07.94
Table 6-2 Order No. [MLFB] AC motor 1PH6... 161VNF0 161VNF4 161VNG4 163VNB4 163VNF0 163VNF4 163VNG4 163VNZ0 167VNB4 167VNF0 167VNF4 167VNG0 167VNG4 168VNF0 186VNB4 186VNB9 186VNB4 186VNE4 186VNF4 206VNB4 206VNE4 206VNF4 226VNF4 Order No. [MLFB] AC motor 1PH7... 101VNF4 103VNG4 105VNF4 107VNF4 131VNF4 133VND4 133VNG4 137VND4 137VNG4 163VND4 163VNF4 167VNF4 1842NEV 1842NBV 184VNTV 1862NEV 1862NBV 186VNTV 2242NFV 2242NCV 101VNFV 103VNGV 1052NFV 107VNFV
Motor code number Rated motor output [kW] 22.0 22.0 28.0 11.5 30.0 30.0 38.0 19.0 14.5 37.0 37.0 45.0 45.0 40.0 26.8 30.8 22.0 42.0 50.0 32.0 63.0 76.0 100.0 Rated motor output [kW] 3.7 7 7 9 11 12 20 17 28 22 30 37 40.0 22.0 21.5 60.0 29.6 29.6 100.0 55.0 3.7 7 7 9 Rated motor current [A] 53.5 60.8 68.1 66.2 72.5 86.0 84.0 56.0 78.0 79.6 95.7 83.3 91.0 84.0 66.0 67.0 66.0 86.0 100.0 96.0 125.0 149.0 192.0 Rated motor current [A] 8.9 16.2 16.4 20.8 23.1 28 43 40.7 58.6 52.7 70.3 77.8 85.0 54.0 76 120.0 75.0 106 188.0 117.0 9.8 17.1 17.4 22.5 Noload motor current [A] 23.9 26.9 31.3 27.8 33.3 40.3 37.5 25.2 34.4 36.3 43.5 32.2 41.0 38.0 35.5 35.0 35.5 46.0 52.0 48.0 64.0 68.0 79.0 Noload motor current [A] 4.82 7.84 8.36 9.91 8.36 12.7 17.4 18.5 21.4 24.1 30.1 31.9 46.2 34.7 40 63.0 42.5 56 73.0 63.5 5.9 8.3 9.4 11 Rated speed [RPM] 1500 1500 2000 500 1500 1500 2000 950 500 1500 1500 2000 2000 1500 610 700 500 1250 1500 500 1250 1500 1500 Rated speed [RPM] 1500 2000 1500 1500 1500 1000 2000 1000 2000 1000 1500 1500 1250 500 500 1250 500 500 1500 700 1500 2000 1500 1500 Max. speed [RPM] Motor code number P096 122 123 124 134 125 126 127 139 135 128 129 138 130 142 FW 2.00 161 167 160 163 164 162 165 166 168 FW 2.00 Motor code number P096 400 FW 3.00 402 FW 3.00 403 FW 3.00 404 FW 3.00 406 FW 3.00 408 FW 3.00 409 FW 3.00 411 FW 3.00 412 FW 3.00 414 FW 3.00 415 FW 3.00 417 FW 3.00 418 FW 2.40 419 FW 2.40 424 FW 3.00 420 FW 2.40 421 FW 3.00 425 FW 2.40 422 FW 2.40 423 FW 2.40 426 FW 3.1 427 FW 3.1 428 FW 3.1 429 FW 3.1
6500
6100
5000
HS
Max. speed [RPM] 9000 9000 9000 9000 8000 8000 8000 8000 8000 6500 6500 6500 5000 5000 5000 5000 5000 5000 4500 4500 9000 9000 9000 9000
HS/6-100
07.94
Table 6-3 Order No. [MLFB] Y/ motors 1PH6... 1334NB8 1374NB8 1634NB8 1674NB8 1864NB8 2064NB8 2264NB8
Star/Delta motors Rated motor output [kW] 4.3 7.5 11.5 14.5 22.0 32.0 42.0 Rated motor current [A] Y/n 15.3/13.5 25.2/22.5 39.5/35.2 45.5/40.5 55.0/50.0 76.0/73.0 94.0/88.0 No load motor current [A] Y/n 6.4/8.0 11.7/13.5 14.3/20.8 17.9/23.2 31.0/35.0 38.0/49.0 56.0/55.0 Motor code number P096 200 202 204 206 208 210 214 FW 2.00
Rated speed [RPM] 525/1250 525/1250 500/1250 550/1250 500/1250 500/1250 500/1250
Max. speed [RPM]
8000 6500
5000
Table 6-4 Order No. [MLFB] AC motor 1PH4... 1034NG6 1054NG6 1074NG6 1334NF6 1354NF6 1374NF6 1384NF6 1634ND6 1674ND6 1684ND6 1034NF2 1054NF2 1074NF2 1334NF2 1354NF2 1374NF2 1384NF2 1634NF2 1674NF2 1684NF2
Watercooled motors Rated motor output [kW] 8.5 12.0 16.0 14.0 20.0 25.0 28.0 25.0 31.0 35.0 7.5 11.0 14.0 15.0 22.0 27.0 30.0 37.0 46.0 52.0 Rated motor current [A] 36.4 51.3 55.5 55.9 76.6 92.8 102.2 103.8 129.4 143.9 25.2 36.6 45.0 53.1 70.7 81.9 97.3 103.0 115.0 143.0 No load motor current [A] 17.7 24.4 26.9 21.4 29.7 35.9 40.0 42.4 50.7 58.6 11.5 16.4 19.0 17.4 25.5 30.3 33.8 44.0 49.2 58.8 Rated speed [RPM] 2000 2000 2000 1500 1500 1500 1500 1000 1000 1000 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500 Max. speed [RPM] 18000 17000 16000 15000 14000 13000 12000 11000 10000 9000 Motor code number P096 301 303 305 307 309 311 313 315 317 319 300 302 304 306 308 310 312 314 316 318
HS
8000
6500
HS/6-101
12.94 07.94
Table 6-5 Order No. [MLFB] AC motor 1PH2... 0924WG4 0964WG4 1234WF4 1274WF4 1284WF4 1434WF4 1474WF4 0936WF4 0956WF4 1136WF4 1156WF4 1176WF4 1186WF4 1826WC4 1846WP4 1866WB4 1886WB4 2546WB4
Builtin motors Rated motor output [kW] 4.7 10.0 11.5 21.0 25.0 30.0 38.0 7.5 10.0 15.0 16.5 18.0 23.0 11.8 14.5 18.3 23.6 28.8 39.3 Rated motor current [A] 20.6 41.6 54.5 80.8 97.1 96.5 111.3 23.1 28.4 53.3 52.7 58.9 78.9 37.0 56.0 62.5 78.0 118.0 119.0 No load motor current [A] 10.6 21.5 21.1 33.4 37.4 41.8 43.7 10.9 13.6 21.8 21.9 24.7 32.8 17.0 25.7 31.0 38.0 42.0 54.0 Rated speed [RPM] 2000 2000 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500 750 600 525 500 500 500 Max. speed [RPM] 18000 Motor code number P096 326 327 328 329 330 331 332 320 321 322 323 324 325 333 FW 2.00 334 FW 2.00 335 FW 2.00 336 FW 2.00 337 FW 2.00 338 FW 2.00
16000
12000
10000
8000
6000 4000
HS
2566WB4
Measuring system pulse number is 256 or 512 depending on the toothedwheel encoder used.
HS/6-102
04.97 07.94
Main Spindle Modules (HS) 6.3 Overview of connections
6.3
Overview of connections
Overview
S Connection diagram S Terminals S Relay terminals S Star/delta changeover

Warning Cable shields and cores in power cables which are not used (e.g. braking cores) must be connected to PE potential in order to discharge any charges occurring from capacitive coupling. Hazardous touch voltages can occur if this is not observed.
Note: When using nonPELV circuits at terminals AS1 and AS2, the connector must be prevented from being incorrectly inserted by using the appropriate connector coding (refer to EN 602041, Section 6.4) Refer to Catalog NC 60 for the coding connector Order Nos.
HS
HS/6-103
04.97 07.94
Connection diagram SIMODRIVE 611 analog system NE module

External X111 74 Ready signal Group signal I2t, temperature monitoring Pulse enable Drive enable X141 X121
73.2 73.1
MSD module
Module, internal X432 BERO input spindle encoder input motor encoder output X1 X2 M X421 56 14 24 8 X431 663 65 81 E1 E2 E3 E4 E5 E6 E7 E8 E9 9 X411 X451 A91 M A92 M X441 289 A11 A21 A31 A41 A51 A61 672 673 674 AS1 AS2 X433 Module, internal DAU 1 DAU 2 Internal Relay 11) Relay 21) Relay 31) Relay 41) Relay 51) Relay 61) Ready Fault Sign.contact start inhibit BERO input2) X412 Motor encoder
72 5.3 5.2 5.1 63 9 9 64 19 7 45 44 10 15 15 R 9 112 48 111 213 113

NS1 NS2 AS1 AS2
IR External nset1 En+ En+ En P24 P15 N15 N24 M M RESET En+ nset2 External IF RF HSS T. 11) T. 21) T. 31) T. 41) T. 51) T. 61) T. 71) T. 81)
HS
X161 Settingup Contactor control Signaling contact line contactor X171 X172
SPP EXT VDC>> X181 M500 P500 2U1 1U1 2V1 1V1 2W1 1W1 U1 V1 W1 L1 L2 L3 FN LK PE1 X131
T. 91) Signaling contact En+ start inhibit RS232C 5V interface UNIT
Equipment bus
DC link
P 600 M 600
U2 V2 W2 PE1 PE2
at
M 3 G SG
from NC PE Warning! If a power contactor is used between the motor and MSD module, then it must be ensured that this contactor is always switched when it is in a nocurrent condition. (It may only be opened after the pulses have been canceled (terminal 663), and then 40 ms later, the contactor itself). Connection diagram
!
Fig. 6-1
1) Freelyprogrammable inputs and outputs 2) From Order No. [MLFB] 6SN11210BA110AA1
HS/6-104
X351
X351
X151
04.97 07.94
Terminals
Table 6-6 Terminal No. U2 V2 W2 PE1 PE2 P600 M600 X151/351 56 14 24 8 X421 X421 X421 X421 Terminals Designation Type
1)
Function
Typ. voltage/ limit values
Max. crosssection
Motor connection
3ph. ...450 V AC 0V 0V +300 V 300 V Various "10V/0.5mA (max. "11 V) "10V/0.5mA (max. "11 V)
According to the Planning Guide
Protective conductor Protective conductor DC link DC link Equipment bus Speed setpoint 1 (differential input) Speed setpoint 2 (differential input) C axes or supplementary speed setpoint Axisspecific pulse enable Controller enable Rampfunction generator fast stop Fr.prog. enable terminal 12) Fr.prog. enable terminal 22) Fr.prog. enable terminal 32) Fr.prog. enable terminal 42) Fr.prog. enable terminal 52) Fr.prog. enable terminal 62) Fr.prog. enable terminal 72) Fr.prog. enable terminal 82) Fr.prog. enable terminal 92) Enable voltage Analog output DAU1 Ref. potential for DAU1 Analog output DAU2 Ref. potential for DAU2 Test socket Test socket Test socket Test socket
I O I/O I/O I/O I I I I
Stud Stud Busbar Busbar Ribbon cable 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2
663 65 81 E1 E2 E3 E4 E5 E6 E7 E8 E9 93) A91 M A92 M X1 X2 IR M
X431 X431 X431 X431 X431 X431 X431 X431 X431 X431 X431 X431 X431 X451 X451 X451 X451
I I I I I I I I I I I I O O O O O O O O O
+21V...+33V +13V...+30V +13V...+30V +13V...+30V +13V...+30V +13V...+30V +13V...+30V +13V...+30V +13V...+30V +13V...+30V +13V...+30V +13V...+30V +24V "10 V 3 mA 0V "10 V 3 mA 0V 0 V...5 V 3 mA 0 V...5 V 3 mA "10 V 3 mA 0V
1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 Test socket, 2 mm diameter Test socket, 2 mm diameter Test socket, 2 mm diameter Test socket, 2 mm diameter
HS
1) I = Input, O = Output 2) Can be freelyprogrammed using operator control parameters 3) Refer to Sections 3.1...3.2
HS/6-105
10.94 07.94
Relay terminals
Table 6-7 Terminal No. 289 A11 A21 A31 A41 A51) A61 672 673 674 AS 1 AS 2 Relay terminals Designation X441 X441 X441 X441 X441 X441 X441 X441 X441 X441 X441 X441 Type
1)
Function Signals, center contact Fr.prog. relay fct. 12) Fr.prog. relay fct. 22) Fr.prog. relay fct. 32) Fr.prog. relay fct. 42) Fr.prog. relay fct. 52) Fr.prog. relay fct. 62) Ready/no fault, axis specific Signaling contact Start inhibit
Typ. voltage/limit values 30 V/6.0 A max3) 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 250 VAC/1 A, 30 VDC/2 A
Max. crosssection 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2
I NO NO NO NO NO NO NO I NC I NC
HS
1) I = Input, NC = NC contact, NO = NO contact 2) Can be freely programmed using operator control parameters 3) When using several relays, the total current may not exceed 6 A.
HS/6-106
07.94
Star/delta changeover
Motors with star/delta changeover allow a wider constant power range. At lower speeds, the drive is operated in the star configuration (high torque) and at higher speeds, in the delta configuration (high stall torque). It is possible to changeover between star and delta operation while the drive is running. The changeover command (star/delta) must be externally entered (similar to a gearbox stage changeover).
SIMODRIVE 611 analog system MSD module
Selectable relay outputs 2)
U2
V2 W2 PE
T. 663
T. En1)
T. An2)
T. An2)
T. 289
K2 Auxiliary contactor power supply, K1h max. 30 V DC
Kx3)
K1 K2h
Kx3) K1 U1 V1 W1 U2 V2 W2 U2 V2 W2 K1
K1h
K2h
HS
K2 K2 K1
1PH Y/ Pulse enable Y/ changeover From NC/PLC
K2
Fig. 6-2
Connection diagram for Y/ changeover
1) One input terminal, selectable from terminals E1 to E9. 2) Two relay outputs, selectable from terminals A11 to A61. 3) A safe operating stop is not guaranteed by just opening K1 and K2. This means, for safetyrelated reasons, contactor Kx must provide electrical isolation. This contactor may only be switched when it is in a nocurrent condition, i. e. the pulses must be inhibited 40 ms before the contactor is opened.
HS/6-107
Main Spindle Modules (HS) 6.4 Connector assignments
07.94
6.4
Connector assignments
Overview
S Connector assignment X412 and motor connector S Connector assignment X432 for the spindle encoder S Connector assignment X432 for the BERO S Connector assignment X432 for motor encoder signal output for the NC
Connector assignment, X412 and motor connector
X412: 15pin subD socket connector, shift latch Motor connector: 17pin, round connector
Please note: The connector may only be inserted and removed when the equipment is in a novoltage condition.
HS
Table 6-8
Connector assignment: Encoder signals, motor X412/PIN No. 1 2 3 4 5 6 7 9 10 11 12 14 15

8 15 11 10 16 9 8 9 1 15 1 12 2 13 3 17 14 4 5
Signal name P encoder M encoder A A Inner shield B B 5 V sense R 0 V sense R + Temp Temp
Motor connector/PIN No. 10 7 1 2 17 11 12 16 3 15 13 8 9
7 6
The outer shield is connected to the connector housing.
HS/6-108
04.97 07.94
Connector assignment, X432 for the spindle encoder
15pin subD plug connector: Shift latch
Please observe: The connector may only be inserted and removed when the equipment is in a novoltage condition.
Table 6-9 Connector assignment: Evaluation for incremental encoders with TTL squarewave signals PIN No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 B B Signal name 5V 0V A A Explanation Encoder power supply Ground, encoder power supply Signal A Signal A, inverted May not be assigned Signal B Signal B, inverted May not be assigned 5 V sense Sensor line
May not be assigned 0 V sense R R Sensor line, ground Signal R Signal R, inverted May not be assigned May not be assigned
HS
Connector assignment, X432 for BERO
Table 6-10 Connector assignment: Evaluating external reference marks PIN No. 10 14 15 Signal name En + BERO En Explanation 24 V Signal Ground
Connector assignment, X433 for BERO
Table 6-11
Connector assignment: Evaluating external reference marks PIN No. 1 2 3 Signal name En + BERO En Explanation 24 V Signal Ground
HS/6-109
07.94
Connector assignment, X432 for motor encoder signal output for NC
Table 6-12
Connector assignment: Motor encoder signal output with TTL squarewave signals PIN No. 1 2 3 4 5 6 7 8 9 B B 0V A A Signal name Explanation
May not be assigned Ground, encoder power supply Signal A Signal A, inverted May not be assigned Signal B Signal B, inverted May not be assigned May not be assigned May not be assigned May not be assigned R R Signal R Signal R, inverted May not be assigned May not be assigned
HS
10 11 12 13 14 15
HS/6-110
07.94
Connector X432
B a R1 td
td
R2
td
td
R3
td
td
Fig. 6-3
X432: Output signals for numerical control
HS
R1: Multiplication factor 1 and 0.5 R2: Multiplication factor 2 R3: Multiplication factor 4 Incremental signals: TTL squarewave pulse trains A and B and their inverted pulse trains A and B. For clockwise direction of rotation, B lags A. a 200 ns, if the maximum permissible encoder signal input frequency is not exceeded One squarewave pulse R per mech. revolution and its inverted pulse R. |td| 50 ns IaHigh 20 mA IaLow 20 mA CLoad 1000 pF Signal level: Open output (internal 270 ) 3.5 V, for a total minimum terminating resistance 60 2.5 V. Additional details can be taken from the RS422A interface description.
Edge clearance: Reference signal: Delay time: Load capacity:
HS/6-111
Main Spindle Modules (HS) 6.5 Addresses, RAM variables
10.00 07.94
6.5
Addresses, RAM variables

The following applies for all of the address data: Segment address = 0H
Table 6-13
Addresses, RAM variables Variable Address high 0C02H 0C06H 0C0AH 0E00H 0E04H Address low 0C00H 0C04H 1402H 0C08H 0C66H 0C6CH 0C6EH 0E02H 0E06H 0F5CH 0F5EH 0F7CH 0FC2H 1B08H 1B0AH 906H2) 3064H 3050H1) Value 10 0000H 10 0000H 1 000H 10 000H Addr. 0F52H Addr. 0F52H Addr. 0F52H 10 0000H 10 0000H 2 000H 2 000H 2 000H 64H Addr. 0F52H Addr. 0F52H 3593 4000H 4000H Corresponds to nrated nrated nrated nrated Mdrated Mdrated Mdrated nrated nrated Irated Irated frated 100 C Mdrated Mdrated 600 V Prated Prated 1 ms Speed controller clock cycle as parameterized in P090 1s Speed controller clock cycle as parameterized in P090 1 ms 1 ms 1 ms Cyclic update time Speed controller clock cycle as parameterized in P090
Speed setpoint Speed actual value Absolute speed actual value (1 ms) Speed, setpointactual value difference Torque setpoint from the speed controller Torque setpoint for K/P converter Actual Mdset for Md operation Input, rampfunction generator Output, rampfunction generator
HS
Magnetizing current setpoint Active current setpoint Slip frequency setpoint Stator temperature Input, digital filter Output, digital filter DC link voltage Power P/Prated Power |P/Prated|
1) from FW 2.00 2) up to FW 2.40
HS/6-112
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Main Spindle Modules (HS) 6.6 Setting and monitoring data (parameter list)
6.6
Setting and monitoring data (parameter list)

Fields with gray background: Data cannot be entered
Table 6-14 P 000 001 002 003 004 005 006 007 008 009 010 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 035 036 037 038 039 Section 2.2.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.2 3.3.5 3.3.5 3.1 3.1 4.1 4.1 4.1 4.1 5.1.3 3.3.2 2.2.3 3.3.2 3.1 2.2.3 3.3.5 3.3.2 5.1.3 2.2.3 3.1 4.1 4.1 3.3.4 4.1 4.1 2.2.3 2.2.3 2.2.3 2.2.3
Overview of the parameters (search help for the descriptions) Page 25 77 77 77 77 77 77 77 77 77 78 68 68 56 56 70 70 69 69 81 63 27 63 56 27 68 63 81 27 57 71 71 65 70 76 27 27 27 28 P 040 041 042 043 044 045 046 047 048 049 050 051 052 053 054 055 056 057 058 059 060 061 062 063 064 065 066 067 068 069 070 071 072 073 074 075 076 077 078 079 Section 2.2.3 2.2.3 2.2.3 2.2.3 4.1 4.1 4.1 3.3.2 2.3.4 2.3.4 2.2.3 1.3 1.3 1.3 2.3.1 2.3.1 2.3.1 2.3.1 2.3.1 2.2.3 2.2.3 2.2.3 3.3.5 3.3.5 3.3.5 3.3.5 3.3.5 5.1.4 5.1.4 5.1.4 5.1.4 5.1.4 3.3.5 3.3.5 Page 28 28 28 28 73 73 73 63 46 46 28 9 9 9 30 30 30 30 30 29 29 29 67 67 67 67 68 83 83 83 83 83 67 67 P 080 081 082 083 084 085 086 087 088 089 090 091 092 093 094 095 096 097 098 099 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 Section 5.1.4 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 1.3 2.3.6 2.3.6 2.3.6 2.3.6 2.1 2.1 2.1 2.1 2.2.2 2.2.1 5.1.1 5.1.1 4.1 4.1 2.3.6 2.3.6 2.3.6 2.3.6 2.3.6 2.3.6 2.3.6 3.1 2.3.2 2.3.2 4.2 4.1 4.1 2.3.6 Page 83 59 59 59 59 59 59 59 59 59 10 52 52 50 50 15/17 15/17 15/17 15/17 26 25 77 77 74 74 51 52 52 49 49 51 51 55 31 31 75 74 74 52 P 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 Section 4.2 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.2.2 1.3 1.3 2.2.3 2.2.3 2.2.3 2.2.3 2.1 2.1 Page 75 35 35 35 35 35 36 42 36 36 36 42 42 33/37 33/37 33/37 33/37 33/37 33/37 42 32/38 33/39 39 40 40 40 42 40 36/41 26 9 9 29 29 29 29 18 18 P 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 Section 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 5.1.5 2.1 5.1.5 5.1.5 5.1.5 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 4.1 4.1 4.1 4.1 Page 18 18 18 18 18 18 18 18 18 18 18 18 18/19 16/19 18 18/19 16/19 16/18 23 84 24 84 84 84 64 64 64 64 64 64 64 64 64 64 72 72 72 72
HS
HS/6-113
10.00 07.94
Table 6-14 P 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 Section 4.1 4.1 4.1 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1
Overview of the parameters (search help for the descriptions), continued Page 76 76 76 85 85 85 85 85 85 85 85 85 85 85 85 85 22 22 22 22 22 22 22 22 22 22 22 P 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 Section 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 3.3.2 3.3.2 3.3.2 3.3.2 3.3.2 3.3.2 3.3.2/ 3.3.3 4.1 2.3.5 2.3.5 2.3.5 5.1.2 5.1.2 3.3.2 3.3.2 3.1 Page 22 22 23 23 22 23 23 22 21 21 23 61 61 61 61 61 61 63/64 74 48 48 48 79 80 63 63 56 P 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 Section 3.3.2 2.2.3 3.3.2 3.3.2 2.2.3 4.1 4.1 2.2.3 2.2.3 2.2.3 2.2.3 2.2.3 2.2.3 2.2.3 4.1 4.1 4.1 4.1 4.2 4.1 4.1 4.1 4.1 4.1 4.1 4.1 4.1 Page 63 27 63 63 27 71 71 27 27 28 28 28 28 28 73 73 74 74 75 74 74 72 72 72 72 72 72 P 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 Section 2.2.3 2.2.3 4.2 4.1 2.1 5.1.3 5.1.7 5.1.7 5.1.7 4.2 2.3.7 2.3.7 2.3.7 Page 28 29 75 72 22 81 86 86 86 75 54 54 54 P 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 2.3.4 2.3.4 2.3.4 2.3.4 2.3.4 47 47 47 47 47 Section 5.1.3 5.1.3 2.3.7 5.1.1 4.2 4.2 4.2 2.3.4 2.3.4 Page 81 81 54 77 76 76 76 47 47
HS
HS/6-114
P No.
Designation
Sec. Firm warerel. 2.2.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.2 3.3.5 3.3.5 mot 1 3.1 3.1 4.1 4.1 4.1 4.1 5.1.3 mot 1 3.3.2 mot 1 2.2.3 mot 1 3.3.2 3.1 2.2.3 3.3.5 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20
Setting range 200,0...200,0 200,0...200,0
Default 100,0 100,0 n maxMot 0 2,00 2,00 5 0 12
Dim. RPM RPM V % V A kVA kW C
Setting value, dependent on the gearbox stage 5 6 7 3 4
07.94
(P000) Operating display (P001) Speed setpoint (P002) Speed actual value (P003) Motor voltage (P004) Utilization (P006) DC link voltage (P007) Motor current (P008) Motor reactive power (P009) Motor active power (P010) Motor temperature (P011) Status of the digital inputs P012 Normalization, DAU act n display
Hex % % RPM Hex s s ms Dec Hex RPM
P013 Normalization, utilization display P014 Speed for max. motor useful speed P015 Offset correction, speed setpoint P016 Rampup time, rampfunction generator P017 Rampdown time, rampfunction generator P018 Smoothing time, speed setpoint smoothing P019 Degree of roundingoff, speed setpoint (P020) Diagnostics, speed actual value P021 n min for n act < n min signal P022 Shutdown speed, pulse cancellation P023 n x for nact < n x signal P024 Normalization, setpoint P025 Timer stage, pulse cancellation P026 Normalization DAU M/M rated
1.20 nmaxMot ...n maxMot 1.20 1.20 1.20 2.40 1.20 1.20 1.20 1.20 1.20 1.20 3.00 1.20 1.20 1.20 1.20 C000...4000 0,01...64,00 0,01...64,00 3...10000 0...30 0...n rated 1...n rated 0...n maxMot 5,0...15,0 0...15000 200,0...200,0 0...n rated/16 0...n maxMot
n rated/256 RPM 6000 10,0 0 100,0 20 RPM V ms % RPM Hex
HS/6-115
P027 Tolerance bandwith for n act = n set signal mot 1 3.3.2 (P028) Diagnostics P029 Speed limiting 5.1.3 2.2.3
n maxMot RPM
HS
HS
HS/6-116
P No. P030 P031 P032 P033 P034 P035 P036 P037 P038 P039 P040 P041 P042 P043 P044 P045 P046 P047 P048 P049 P050 P051 P052 P053 P054 P055 P056 P058 P062
Designation Steadystate minimum speed P gain, speed controller Integral action time, speed controller Encoder resolution for NC Smoothing time, speed actual value smoothing Smoothing time, torque setpoint Encoder phase error correction Changeover speed, motor encoder eval. Hysteresis, P037 1st torque limit value Regenerative limiting 2nd torque limit Changeover speed for P040 Hysteresis, P042 Select torque setpoint smoothing Switchin speed, torque setpoint smooth. mot 1 Hysteresis, P045 M dx for M d < M dx signal Normalization, torque setpoint Offset, torque setpoint Switching speed from Md1 to M d2 Write protection Transfer parameter into FEPROM Control word M19 normalization, speed setpoint M19 offset correction, speed setpoint M19 changeover speed Shutdown threshold, roundingoff M19 mot 1 mot 1 mot 1 mot 1
Firm Sec. warerel. 3.1 4.1 4.1 3.3.4 4.1 4.1 2.2.3 mot 1 2.2.3 mot 1 2.2.3 mot 1 2.2.3 mot 1 2.2.3 mot 1 2.2.3 mot 1 2.2.3 mot 1 2.2.3 4.1 4.1 4.1
Setting range 0...n maxMot
Default Dim. 0 32,0 20 0 3 3 0 32000 50 100 100 50 500 20 1 4000 50 90 100 0

Setting value, dependent on the gearbox stage 7 3 4 5 6
2.00 1.20 6.0 ...3,0...120,0 240.0 from FW3.1 1.20 1.20 3.00 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 2.40 5...6000 0...7 0...10 3...1000 400...400 32000 0...500 5...300 5...100 5...100 1...n maxMot 0...n maxMot 0...1 1...n maxMot 0...n rated 0...100 250...250 C000...4000 0...n maxMot 0...7FFF 0...1 0...FFFF
RPM Dec ms Dec ms ms Dec RPM RPM % % % RPM RPM Hex RPM RPM % % Hex
mot 1 3.3.2 2.3.4 2.3.4 mot 1 2.2.3 1.3 1.3 1.3 2.3.1 2.3.1 2.3.1 2.3.1
4 n rated RPM 0 0 11 n rated 0 n rated 0 Hex Hex Hex RPM Hex RPM
1.20 nmaxMot ... n maxMot 1.20 1.20 2.00 1.20 C000...4000 0...n maxMot 0...n maxMot 0...n maxMot
07.94
RPM
M19 switching threshold I comp. speed controller 2.3.1
n rated/128 RPM
07.94
P No. P063 P064 P065 P066 P067 P068 P069 P071 P072 P073 P074 P076 P077 P078 P079 P080 P081 P082 P083 P084 P085 P086 P087 P088 P089
Designation Max. motor temperature Fixed temperature Timer stage, motor temperature alarm Address DAU 1 Shift factor DAU 1 Address DAU 2 Shift factor DAU 2 Smoothing time DAU utilization display Address DAU 4 Shft factor DAU 4 Offset DAU 4 Address DAU 3 Shift factor DAU 3 Offset DAU 1 Offset DAU 2 Offset DAU 3 Terminal function assignment E1 Terminal function assignment E2 Terminal function assignment E3 Terminal function assignment E4 Terminal function assignment E5 Terminal function assignment E6 Terminal function assignment E7 Terminal function assignment E8 Terminal function assignment E9 Control word Frequency filter 1 HPC Quality filter 1 HPC
Firm Sec. ware rel. mot 1 2.2.3 2.2.3 2.2.3 3.3.5 3.3.5 3.3.5 3.3.5 3.3.5 5.1.4 5.1.4 5.1.4 5.1.4 5.1.4 3.3.5 3.3.5 5.1.4 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 1.3 2.3.6 2.3.6 1.20 1.20 1.20 1.20 1.20 1.20 1.20 2.40 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 2.00 2.00
Setting range 0...170 0...170 0...600 0...FFFF 0...15 0...FFFF 0...15 0...32767 0...FFFF 0...15 7F...FF80 0...FFFF 0...15 7F...FF80 7F...FF80 7F...FF80 1...34 1...34 1...34 1...34 1...34 1...34 1...34 1...34 1...34 0...FFFF 45...750 0,50...10,00
Default
Motor type dep.
Dim. 1 C C 2
Setting value, dependent on the gearbox stage 3 4 5 6 7 8
0 240 3044 0 3048 0 20 C04 0 0 3050 0 0 0 0 1 7 3 6 4 2 9 10 11 002D 300 1,00
s Hex Dec Hex Dec ms Hex Dec Hex Hex Dec Hex Hex Hex Dec Dec Dec Dec Dec Dec Dec Dec Dec Hex Hz Dec
HS/6-117
P090 P091 P092
HS
HS
HS/6-118
P No. P093 P094 P095 P096 P097 P098
Designation Offset correction, speed setpoint HPC Normalization, speed setpoint HPC Power module code number Motor code number Initialization Encoder pulse number, motor meas. system mot 1
Firm Sec. ware rel. 2.3.6 2.3.6 2.1 2.1 2.1 2.1 2.2.2 2.2.1 5.1.1 5.1.1 mot 1 4.1 mot 1 4.1 2.3.6 2.3.6 2.3.6 2.3.6 2.3.6 2.3.6 2.3.6 3.1 2.3.2 2.3.2 mot 1 4.2 mot 1 4.1 mot 1 4.1 2.3.6 2.00
Setting range C000...4000

1 rated
Default Dim. 1 0 n rated/8 7 101 0 2048 300 1,00 3 300 1,00 100 100 10,0 20 1 n rated/8 0 0 0 0 100
Mot.type dep.
Setting value, dependent on the gearbox stage 2 3 4 5 6 7 8
Hex RPM Dec Dec Hex Dec Dec % RPM Hz Dec ms Hz Dec % % Dec ms Hex RPM Hex Dec Hex Hex %
1...+n 2.00 nrated 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 2.00 2.00 2.00 2.00 2.00 2.00 2.00 1.20 6...13 101...425 0...1 128...4096
(P099) Firmware release (P100) Operating display (P101) Setpoint for torquecontrolled operation (P102) Speed actual value P103 Frequency, torque setpoint filter P104 Quality, torque setpoint filter
0.00...99.00 50...450 0,10...10,00 3...10000 45...750 0,50...10,00 5...180 5...100 3,0...240,0 2...6000 0...3
P106 Smoothing time, speed setpoint smooth. HPC P107 Frequency filter 2 HPC P108 Quality filter 2 HPC P109 Torque limit value HPC P110 Regenerative limiting HPC P111 P gain speed controller HPC P112 Integral action time, speed controller HPC P113 channel selection speed setpoint P114 Normalization speed setpoint C axis P115 Offset correction speed setpoint C axis P116 Correction, P gain current controller P117 Select torque setpoint filter P118 Type, torque setpoint filter P119 Flux adaptation HPC
1.20 nrated 1...+n rated 1 1.20 1.20 1.20 1.20 2.00 1.20 C000...4000 255...255 0...FFFF 0...FFFF 5...100 500...10000
07.94
P120 Changeover speed, curr.controller adapt.Mot 1 4.2
RPM
10.00 07.94
P No.
Designation
Firm Sec. ware rel. 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20
Setting range 0...64000 0...64000 32768...32767 0...64000 0...64000 0,0...180,0 0...1 0...64000 128...64000 0,0...180,0 0,0...180,0 0...FFFF 0...FFFF 0...FFFF 0...FFFF 0...FFFF 0...21 0...1 0,00...18,00 0,00...18,00 0... 4 n rated
Default Dim. 1 0 0 256 0 0 10,0 0 0 2048 10,0 2,0 220 220 44 100 0 0 0 1,00 5,00 500 1,0 Dec Dec Dec Dec Dec Dec Dec Hex Dec Dec Dec Dec Degree Degree Hex Hex Hex Hex Dec Hex Hex Hex Degree Degree RPM Dec Degree 2
P121 Position reference value 1 P122 Position reference value 2 P123 Position reference value, incremental P124 Position reference value 3 P125 Position reference value 4 P126 Bandwidth integrator enable speed controller (P128) Actual position reference value P129 Set the internal zero mark P130 Zero mark offset P131 Max. pulse number between 2 zero marks
(P132) Absolute position act. value w/o zero mark shift 2.3.3 (P133) Difference between 2 ext. zero marks P134 Application point for P136 P135 Application point for P137/P138 P136 P gain, straight line 1 P137 P gain, straight line 2 P138 P gain, straight line 2 (HMS) P139 Multiplier for braking parabola (P140) Abs. position act. value w/ zero mark shift P141 Switching parameter, positioning P142 Flag for speed increase P143 Transfer parameter P141 P144 Response width, relay 1 P145 Response width, relay 2 P146 Search speed for spindle positioning 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3 2.3.3
HS/6-119
(P147) Position counter status re: BERO P148 Motion window spindle positioning
0,0...180,0
HS
HS
P No.
Designation
FirmSec. ware rel. 2.3 2.2.2 1.3 1.3 2.2.3 2.2.3 2.2.3 2.2.3 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 mot 1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 mot 1 2.1.3 1.20
Setting range 0...FFFF
Default Dim. 1 40 Hex 2
Setting value, dependent on the gearbox stage
HS/6-120
P149 Startup parameter C axis/position (P150) Board ID P151 Write protection P152 Transfer parameter into EEPROM P154 Oscillation setpoint 1 P155 Oscillation setpoint 2 P156 Oscillation interval time 1 P157 Oscillation interval time 2 P158 Inductance of the series reactor P159 Motor moment of inertia P160 Rated motor power P161 Rated motor current P162 Rated motor voltage P163 Rated motor speed P164 Rated motor frequency P165 Noload motor voltage P166 Noload motor current P167 Stator resistance, cold P168 Rotor resistance, cold P169 Stator leakage reactance P170 Rotor leakage reactance P171 Magnetizing reactance P172 Upper speedL h characteristic P173 Speed at the start of field weakening P174 Max. motor speed P175 Gain factor L h characteristic P176 Stall torque reduction factor P177 Start calculation motor 1 (P096) (P178) Speed at the start of the stall torque
1.20 Dependent on the module expansion Hex 1.20 1.20 0...7FFF 0...1 0 0 0 0 1000 1000 0,000
Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep.
Hex Hex RPM RPM ms ms mH kgm 2 kW A V RPM Hz V A m m m m m RPM RPM RPM % %
1.20 nmaxMot ... n maxMot 1.20 nmaxMot ... n maxMot 1.20 1.20 3.00 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 3.1 10...10000 0...10000 0,000...65,535 0,002...32,000 0,0...150,0 0,00...200,0 0,0...500,0 0...4096 0,0...409,6 0,0...500,0 0,00...200,00 0...32767 0...32767 0...32767 0...32767 0...65535 100...24000 100...6000 0...20000 50...300 50...150 0...1 0...32767
10.00 07.94
0
Mot.type dep.
Hex rev/min
10.00 07.94
P No.
Designation
FirmSec. ware rel. 5.1.5 2.1.3 5.1.5 5.1.5 5.1.5 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 mot 1 mot 1 mot 1 mot 1 4.1 4.1 4.1 4.1 4.1 4.1 4.1 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20
Setting range 0...2 0...1 0...FFFF 0...FFFF 0...FFFF 0,00...10,00 0,00...10,00 0...FFFF 0...FFFF 0...FFFF 0,00...10,00 0,00...10,00 0...FFFF 0...n maxMot 0...n maxMot 1,0...120,0 6.0...240.0 fr.FW3.1 1...200 5...6000 1...200 0...7 0...1 0...10 0...FFFF 0...FFFF 0...FFFF
Default Dim. 1 0 0 0 C06 0 0,00 0,00 1 C06 0 0,00 0,00 1 1000 1200 24,0 100 80 100 0 0 1 0 0 0 Hex Hex Hex Hex Hex Hex Hex s s Hex Hex Hex s s Hex RPM RPM Dec % ms % Dec Hex Hex Hex Hex Hex 2
P179 Select min/max memory P180 Enable motor changeover (star/delta) P181 Address for min/max memory (P182) Min. value, min/max memory (P183) Max. value, min/max memory P185 Address for monitoring 1 P186 Threshold for monitoring 1 P187 Pullin delay, monitoring 1 P188 Dropout delay, monitoring 1 P189 Hysteresis, monitoring 1 P190 Address for monitoring 2 P191 Threshold for monitoring 2 P192 Pullin delay for monitoring 2 P193 Dropout delay, monitoring 2 P194 Hysteresis, monitoring 2 P195 Lower adaptation speed P196 Upper adaptation speed P198 P gain, upper adaptation speed P199 Reduction factor, P gain
P201 Integr.act.time, upper adaptation speed mot 1 P202 Reduction factor, integral action time P203 Control word, speed controller adapt. P206 Select transient recorder P207 Set transient recorder P208 Address for start condition mot 1 mot 1
HS/6-121
P209 Threshold for start condition P210 Address for stop condition
HS
HS
HS/6-122
P No. P211
Designation Threshold for stop condition
FirmSec. ware rel. 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 mot 2 2.1.3 2.1.3 mot 2 2.1.3 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20
Setting range 0...FFFF 0...FFFF 0...FFFF 0...1 0...15 0...15 0...FFFF 0...FFFF 0,002...32,000 0,0...150 0,00...200,00 0,0...500,0 0...4096 0,0...409,6 0,0...500,0 0,00...200,00 0...32767 0...32767 0...32767 0...32767 0...65535 100...24000 100...6000 0...20000 50...300 50...150 0...1 101...425
Default Dim. 1 0 0 0 0 0 0 0 0
Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep. Mot.type dep.
Hex Hex Hex Hex Dec Dec Hex Hex kgm 2 kW A V RPM Hz V A m m m m m RPM RPM RPM % %
P212 Address, signal 1 P213 Address, signal 2 P214 Start trace record output P215 Shift factor, signal 1 P216 Shift factor, signal 2 P217 Trigger signal 1 P218 Trigger signal 2 P219 Motor moment of inertia P220 Rated motor output P221 Rated motor current P222 Rated motor voltage P223 Rated motor speed P224 Rated motor frequency P225 Noload motor voltage P226 Noload motor current P227 Stator resistance, cold P228 Rotor resistance, cold P229 Stator leakage reactance P230 Rotor leakage reactance P231 Magnetizing reactance P232 Upper speed Lh characteristic P233 Speed at the start of field weak. P234 Max. motor speed P235 Gain factor Lh characteristic P236 Stall torque reduction factor P237 Start calculation, thirdparty mot. P238 Motor code number
04.97 07.94
0 101
Hex Dec
04.97 07.94
P No.
Designation
FirmSec. ware rel. 2.1.3 mot 2 2.1.3 3.3.2 3.3.2 3.3.2 3.3.2 3.3.2 3.3.2 3.3.2 4.1 2.3.5 2.3.5 2.3.5 5.1.2 5.1.2 3.3.2 3.3.2 mot 2 3.1 mot 2 3.3.2 mot 2 2.2.3 3.3.2 mot 2 3.3.2 mot 2 2.2.3 mot 2 mot 2 4.1 4.1 1.20 3.1 1.20 1.20 1.20 1.20 1.20 1.20 1.20 2.00 1.20 1.20 1.20 1.20 1.20 3.00 3.00 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20
Setting range 0...1 0...32767 1...20 1...20 1...20 1...20 1...20 1...20 0...FFFF 100...10000 0...FFFF 0...FFFF 0,00...0,50 0,00...1,00 nmaxMot ... n maxMot 0...n rated 1...n rated 0...n maxMot 0...n rated/16 0...n maxMot 3,0...120,0 6.0.l..240.0 fr.FW3.1 5...6000 32000 0...500 5...300
Default Dim. 1 0 Dec rev/min 2 3 1 4 5 7 0 750 0 0 0,20 0,80

n maxMot
P239 Start calculation, motor 2 (P238) (P240) Speed at the start of the stall torque P241 Programmable signal 1 P242 Programmable signal 2 P243 Programmable signal 3 P244 Programmable signal 4 P245 Programmable signal 5 P246 Programmable signal 6 P247 Control word, signal P248 Delay time, fault message F11 P249 Segment memory location monitor P250 Address memory location monitor P251 Value display memory location monitor (P254) Display active function 1 (P255) Display active function 2 P256 P257 Delay time n set = n act signal Delay time Md < Mdx signal
Dec Dec Dec Dec Dec Dec Hex ms Hex Hex Hex Hex Hex s s RPM RPM RPM RPM RPM RPM Dec ms RPM RPM %
P258 Speed for max. useful motor speed P260 n min for n act < n min signal P261 Shutdown speed pulse cancellation P262 n x for nact < n x signal P263 Tolerance bandwidth f.nact= n set signal P264 Speed limiting P265 P gain, speed controller P266 Integral action time, speed controller
12 n rated/256 6000 20 n maxMot 32,0 20 32000 50 100
HS/6-123
P267 Changeover speed, motor encoder select. mot 2 2.2.3 P268 Hysteresis, P267 P269 1st torque limit mot 2 2.2.3 mot 2 2.2.3
HS
HS
HS/6-124
P No.
Designation
FirmSec. ware rel. Mot 2 2.2.3 Mot 2 2.2.3 Mot 2 2.2.3 Mot 2 2.2.3 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20 1.20
Setting range 5...100 5...100 1...nmaxMot 0...nmaxMot 1...nmaxMot 0...n rated 50...450 0,10...10,00 255...255 0...1 0...1 0...nmaxMot 0...nmaxMot 0,0...120,0 6.0...240.0 fr.FW3.1 1...200 5...6000 1...200 0...nmaxMot 0...170 500...10000 0...7 0,000...65,535 0,0...100,0 0,0...800,0 0...1
Default Dim. 1 100 50 500 20 4000 50 300 1,00 0 0 0 1000 1200 24,0 100 80 100 % % RPM RPM RPM RPM Hz Dec Dec Hex Hex RPM RPM Dec % ms % 2
P270 Regenerative limiting P271 2nd torque limit value P272 Changeover speed for P270 P273 Hysteresis, P272
P274 Switchin speed, torque setpoint smooth.Mot 2 4.1 P275 Hysteresis, P274 P276 Frequency, torque setpoint filter P277 Quality, torque setpoint filter P278 Correction P gain, current controller P280 Select torque setpoint filter P281 Type torque setpoint filter P283 Lower adaptation speed P284 Upper adaptation speed P285 P gain, upper adaptation speed P286 Reduction factor, P gain Mot 2 4.1 Mot 2 4.1 Mot 2 4.1 Mot 2 4.2 Mot 2 4.1 Mot 2 4.1 Mot 2 4.1 Mot 2 4.1 Mot 2 4.1 Mot 2 4.1
P288 Integral action time, upper adapt.speed Mot 2 4.1 P289 Reduction factor, integral action time P290 Switching speed fr. M d1 to M d2 P291 Max. motor temperature P292 Changeover speed, curr. contr. adapt. Mot 2 4.1 Mot 2 2.2.3 Mot 2 2.2.3 Mot 2 4.2
4 nrated RPM
Mot.type dep. Mot.type dep.
RPM Dec mH Hex % Hz Dec
P293 Control word speed controller adaptation Mot 2 4.1 P294 Inductance of the series reactor (P299) Checksum parameter P311 Current for current/Hz control P312 Frequency for current/Hz control P313 Select current/Hz control
0 0,000 0,0 0,0 0
Mot 2 2.1.2 3.00 5.1.3 5.1.7 5.1.7 2.00 1.20 1.20
5.1.7 1.20
04.97 07.94
10.00 04.97 07.94
P No.
Designation
FirmSec. ware rel. 4.2

2
Setting range 25...100 25...100 0...FFFF
Default Dim. 1 100 100 0 Dec % % Hex 2
(P316) Display, P gain current controller P317 Reduction factor, max. load duty cycle I t P318 Reduction factor S6 load duty cycle I t (P319) Diagnostics I 2 t power model (P320) Diagnostics motor encoder zero mark (P321) Diagnostics spindle encoder zero mark
2 (P322) I t load limiting 2
1.20 3.1 3.1 3.1
2.3.7 2.3.7 2.3.7
5.1.3 3.00 5.1.3 3.00 2.3.7 3.1 0...100% % kHz 0...7 0...7 0...7 0,1...100,0 0,0...100,0 0...999 0,01...100,00 0,01...100,00 0,0...100,0 4 2 6 10,0 50,0 200 0,50 0,10 0,00 Hex Hex Hex %
(P330) Inverter clock cycle frequency P331 Inverter clock cycle frequency 2 P332 Inverter clock cycle frequency 3 P333 Inverter clock cycle frequency 4 P340 Speed deviation, slip monitoring P341 Torque reduction, slip monitoring P343 Delay time, slip monitoring P344 Torque reduced velocity slip monitoring P345 Torque reduced velocity slip monitoring P346 Hysteresis for P340 (P347) Speed deviation, actual slip monitoring
5.1.1 3.00 4.2 4.2 4.2 3.00 3.00 3.00
2.3.4 2.00 2.3.4 2.00
% ms %/ms %/ms %
2.3.4 2.00 2.3.4 2.00 2.3.4 2.00 2.3.4 2.00 2.3.4 2.00
HS/6-125
HS
10.00 07.94
Space for notes
HS
HS/6-126
10.00 07.94
Main Spindle Modules (HS) Index
Index A
Address, RAM variable, HS/6-112 Analog output fine normalization, HS/3-68 M/Mrated display, HS/3-68 nact display, HS/3-68 P/Pmax display, HS/3-68 parameterization DAU 1, DAU 2, HS/3-67
F
Fault, HS/5-92 acknowledgement, HS/5-87 display, HS/5-87 suppression, HS/5-87 Filter, HS/4-74 Firmware version, HS/2-26 Flux adaptation, HS/2-52
G
Gearbox stage, HS/2-25
B
Bit, HS/1-6 Builtin motors, HS/6-102
H
Hexadecimal numbers, HS/1-6
C
C axis, HS/2-25, HS/2-31, HS/3-59 Code numbers for power modules and standard motors, HS/6-99 Connection overview connection diagram, HS/6-104 relay terminals, HS/6-106 star/delta changeover, HS/6-107 terminals, HS/6-105 Connections, HS/1-13 Connector assignment for Bero, HS/6-109 motor encoder signal output, HS/6-110 spindle encoder, HS/6-109 Current controller, HS/4-75 Current derating for inverter clock cycle frequencies > 3.2 kHz, HS/1-11
I
I2t limiting (from FW 3.1), HS/2-54 Initialization special motors, HS/2-17 standard motors, HS/2-15 star/delta motors, HS/2-21 Input terminals, HS/3-58 Inverter clock cycle frequency, HS/4-76 Inverter clock frequency, HS/3-59
HS
M
M19, HS/2-25, HS/2-30 Master/slave operation, HS/2-44 Maximum current limiting (from FW 3.1), HS/2-54 Measured value displays, HS/5-77 Minimum speed, HS/3-57 Mode, HS/2-25 Module ID, HS/2-26 Motor code number, HS/6-99 Motor data set, HS/2-18, HS/2-22 Motor temperature monitoring, HS/2-29
D
DAU, HS/3-67 Diagnostic parameters, HS/5-81 Diagnostics, HS/5-77 Display, HS/2-25, HS/5-87 Display parameter, HS/2-25 Display parameters, HS/5-77
O
Openloop torque controlled mode, HS/2-44 function description, HS/2-44 master drive, HS/2-44 slave drive, HS/2-44, HS/2-45 torque setpoint, HS/2-44, HS/2-45
E
Encoder phase error correction, HS/2-27
HS/i-1
Main Spindle Modules (HS) Index
10.00 07.94
Operating display, HS/2-25 Operator control and display elements, HS/1-8 Orientated spindle stop, HS/2-30 Oscillation mode, HS/2-29 Output terminals, HS/3-61
P
Parameter list, HS/6-113 Parameters attributes, HS/1-5 gearboxstage dependent, HS/1-8 list, HS/1-5 number, HS/1-5, HS/1-8 setting range, HS/1-5, HS/1-6 subparameter number, HS/1-8 transferring into the FEPROM, HS/1-9 value, HS/1-8 write protection, HS/1-9 writeprotection, HS/1-6 Power module code number, HS/6-99
HS
RAM variables, HS/6-112 Rampfunction generator, HS/4-70 Reinitializing the drive converter, HS/1-7 Relay functions, HS/2-25 control word, signals, HS/3-63 freelyprogrammable, HS/3-61 permanentlywired, HS/3-61 signals which can be parameterized, HS/3-63 variable, HS/3-64 Replacing components, HS/1-7 Replacing firmware, HS/1-7 Replacing modules, HS/1-7
Speed setpoint interface, HS/3-55 channel selection, HS/3-55 minimum speed, HS/3-57 normalization, HS/3-56 smoothing, HS/3-59 unipolar input, HS/3-56 Speed setpoint smoothing, HS/4-69 Speed setting value, HS/2-27 Spindle positioning, HS/2-31 brief commissioning, HS/2-43 diagnostic parameters, HS/2-42 function description, HS/2-31 position controller, HS/2-37 Position reference value, HS/2-34 position reference value, HS/2-33, HS/2-35, HS/2-41, HS/2-42, HS/3-59 relay signal, HS/2-34 search speed, HS/2-32, HS/2-33, HS/2-39, HS/2-41 zero mark, HS/2-32, HS/2-34, HS/2-35, HS/2-36, HS/2-39, HS/2-42, HS/3-59 zero pulse, HS/2-33, HS/2-38, HS/2-43 Standard applications, HS/2-25, HS/2-27 Standard motors, initialization, HS/2-15 Star/delta motors, HS/6-101 flux setpoint characteristic, HS/2-23 initialization, HS/2-21 main field inductance-characteristic, HS/2-23 motor changeover, HS/2-24 motor data set, HS/2-22 Startup instructions, HS/1-7 possibilities, HS/1-7 Status display active terminal function, HS/5-79, HS/5-80 digital inputs, HS/5-78 Subparameter number, HS/1-8
S
Series machines, HS/1-7 Setting and monitoring data, HS/6-113 Setting data, HS/1-12 Slip monitoring, HS/2-46, HS/3-59 Smoothing speed actual value, HS/4-70, HS/4-76 speed setpoint, HS/3-59, HS/4-69 torque setpoint, HS/4-73 Special motors flux setpoint characteristic, HS/2-19 initialization, HS/2-17 main field inductance-characteristic, HS/2-19 motor data set, HS/2-18 Speed actual value smoothing, HS/4-70 Speed controller adaptation, HS/4-72 gain, HS/4-71 integral action time, HS/4-71
T
Terminal function assignment, HS/3-59 freelyprogrammable, HS/3-59 permanentlywired, HS/3-58 Test sockets, HS/5-82 Torque limit value, HS/2-28 Torque setpoint smoothing, HS/4-73 Transient recorder function, HS/5-84
U
Uncontrolled infeed, HS/2-16 Unit status, HS/2-25
W
Watercooled motors, HS/6-101
HS/i-2
Induction Motor Modules (AM)

1 First Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 1.2 1.3 1.4 1.5 2 Startup guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Startup instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operator and display elements, control parameters . . . . . . . . . . . . . . . Overview, setting data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AM/1-3 AM/1-4 AM/1-7 AM/1-9 AM/1-13 AM/1-14 AM/2-15 AM/2-15 AM/2-22 AM/2-22 AM/2-23 AM/2-23 AM/2-27 AM/2-27 AM/2-32 AM/2-32 AM/2-34 AM/2-36 AM/3-37 AM/3-37 AM/3-40 AM/3-40 AM/3-41 AM/3-43 AM/3-43 AM/3-44 AM/3-47 AM/3-48 AM/4-51 AM/4-54 AM/4-57 AM/4-60 AM/4-61 AM/4-62 AM/4-63 AM/4-65
Determining and Setting the System Configuration . . . . . . . . . . . . . . . . . . . . 2.1 2.2 2.2.1 2.2.2 2.2.3 2.3 2.3.1 2.3.2 2.3.3 2.4 2.5 Motor and drive converter data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . Standard applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Firmware version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting parameters for standard applications . . . . . . . . . . . . . . . . . . . . Multimotor operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parallel operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter set changeover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor changeover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating motors with maximum speeds > 32000 RPM . . . . . . . . . . . Monitor function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM
Parameterizing the Drive Converter Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 3.2 3.2.1 3.2.2 3.3 3.3.1 3.3.2 3.3.3 3.3.4 Speed setpoint interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Input terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Permanentlyconnected terminal functions . . . . . . . . . . . . . . . . . . . . . . Freelyprogrammable terminal functions . . . . . . . . . . . . . . . . . . . . . . . . Output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Permanentlyconnected relay functions . . . . . . . . . . . . . . . . . . . . . . . . . Freelyprogrammable relay functions . . . . . . . . . . . . . . . . . . . . . . . . . . . Variable relay function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Controller Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 4.2 4.3 4.4 4.5 4.6 4.7 Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Field controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Optimization, openloop controlled range . . . . . . . . . . . . . . . . . . . . . . . Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Special speeds and speed range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Manual optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AMi
10.00 07.94
Diagnostics and Fault Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 5.1.1 5.1.2 5.1.3 5.1.4 5.1.5 5.1.6 5.1.7 5.2 5.2.1 5.2.2 Diagnostic resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Measured value displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Diagnostic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test sockets X1, X2, IR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Minimum/maximum value memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Transient recorder function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Current/Hz control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault display, fault acknowledgement . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault message list .........................................
AM/5-75 AM/5-75 AM/5-75 AM/5-76 AM/5-79 AM/5-80 AM/5-83 AM/5-84 AM/5-86 AM/5-87 AM/5-87 AM/5-88 AM/6-91 AM/6-92
Attachments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1 6.2 6.3 6.4 6.4.1 6.4.2 6.4.3 6.5 6.6 Flowchart when commissioning systems . . . . . . . . . . . . . . . . . . . . . . . .
Power module code numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AM/6-102 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AM/6-103 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X432 connector assignment for BERO . . . . . . . . . . . . . . . . . . . . . . . . . . X412 connector assignment for motor temperature sensor . . . . . . . . X411 serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AM/6-107 AM/6-107 AM/6-107 AM/6-107
RAM variable addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AM/6-108 Setting and monitoring data (parameter list) . . . . . . . . . . . . . . . . . . . . . AM/6-109
AMii
10.00 04.97 07.94
Induction Motor Modules (AM) 1 First Steps
First Steps
1
Warning Perfect and safe operation of this equipment assumes that it has been professionally transported, stored, installed and mounted as well as careful operator control and service/maintenance. Severe bodily injury or material damage can occur if this warning information is not observed. The modules contain components which can be destroyed by electrostatic discharge. Please observe the ESD instructions in the foreword.
Note The board, Order No. [MLFB] 6SN11220BA110AA1 can only be operated with firmware, from 3.00. The following board Order Nos. [MLFB]: 6SN11220BA110AA0 6SN11220BA120AA0 can only be operated up to firmware 2.xx.
AM
Note Startup software is available to commission induction motor control systems with an analog setpoint interface. Ordering data for the software: Refer to Catalog NC 60 (Order No.: E86060K4460A101A8 Ordering data for the documentation: Startup software for main spindle and induction motor modules Order No. 6SN11970AA300AP1
Note Motor definition Standard motor: Thirdparty motor: Special motor: Motors which are included in the Siemens Catalog. Thirdparty motor manufacturers. Motor manufactured by Siemens to customer specifications.
AM/1-3
Induction Motor Modules (AM) 1.1 Startup guidelines
07.94
1.1
Startup guidelines
Structure of the Startup Guide
The Startup Guide is structured in the sequence of the actual startup steps. To startup (commission) standard applications, where the drive converter interfaces (Section 1.5) and controller optimization settings are generally adequate when supplied, only the startup steps in bold are of significance.
1 First steps
2 System configuration
3 Drive converter interfaces
4 Controller optimization
S S S
Startup guidelines Startup info/ instructions Operator control and display elements, control parameters Overviews, settting data Connections
S S S
Motor and drive converter data sets Standard applications Multimotor operation
S S
Speed setpoint interface Input terminals
S S S S S S S
Speed controller Current controller Field controller Openloop controlled range Limits Special speeds and speed ranges Manual optimization
permanentlywired
terminal functions
freelyprogrammable
terminal functions
parallel operation parameter set

changeover
Output terminals
S S
motor changeover
Monitor function
AM
S
5 Diagnostics, fault analysis
Fault analysis
6 Attachment
S S
Flowdiagram Connection overviews
S S
Addresses, RAM variables Setting and monitoring data
Fig. 1-1
Startup steps
AM/1-4
04.97 07.94
Parameter lists
Warning The setting values of parameters, which are not listed in the parameter list (refer to Section 6.6), may not be changed.
The parameter descriptions are structured as information units in the form of tables. The sequence of the parameters in these tables represents the procedure when parameterizing the equipment.
Table 1-1 Example of a parameter list Parameter attributes Number Change effective Online After initialization P051 Setting range Description
P024 P014.M P039.G P114.F (P001)
4 10
Value range Dimensions
Parameter designation Brief parameter description FW x.xx
Parameter attributes
S Number
P024 generally valid parameter P014.M motordependent parameter subparameters P014.1...P014.4 P039.G gearbox stagedependent parameter subparameters P039.1...P039.8 P114.F fixed setpointdependent parameter subparameters P114.1...P014.7 (P001) display parameter; value cannot be changed.
AM
AM/1-5
04.97 12.94 07.94
S Change effective
online Change is immediately effective. after initialization Initialization is initialized by setting P097 to 1H.
S P051
Write protection parameters Write protection is removed by entering 04H, or removing the special write protection by entering 0010H.
Setting range
For several control words, the functions are activated by setting bits of a binary number, and entering these in a hexadecimal form. Example:
BIT Bit 6: Bit 7:
15 0 0
14 0 0
13 0 0
12 0 0
11 0 0
10 0 0
9 0 0
8 0 0
7 0 1
6 1 0
5 0 0
4 0 0
3 0 0
2 0 0
1 0 0
0 0 0 Bin Bin 0040H 0080H
A combination of several functions is entered by adding the binary or hexadecimal values. Example:
BIT 15 0 14 0 13 0 12 0 11 0 10 0 9 0 8 0 7 1 6 1 5 0 4 0 3 0 2 0 1 0 0 0 Bin 00C0H
AM
Bit 6+Bit 7
Description
S FW x.xx
Firmwaredependent identification of function and parameter extensions. The extension is available from the specified firmware release.
AM/1-6
04.97 12.94 07.94
Induction Motor Modules (AM) 1.2 Startup instructions
1.2
Startup
Startup instructions
Using
S Operator control and display elements (refer to Section 1.3) S RS232C interface with an IBM ATcompatible computer and startup
software (refer to foreword).
Reinitializing the drive converter (if required)
If an already initialized drive converter is to be reinitialized, then the following procedure must be followed:
S If required, save the setting data (parameters). S Remove the write protection: Set P051 to 4H. S Start initialization: Set P097 to 0H. S Overwrite the parameters in the drivemachine data memory:
Set P052 to 1H and wait until P052 resets itself back to 0H.
S Poweron reset:
Powerdown the unit and approx. 2 s after the display has gone dark, powerup the unit again: P095 or P096 must be displayed.
S Initialize (Section 2.1).

Replacing the firmware (if required)
From version V2.00, the firmware can be replaced using the userprompted startup software for main spindle and induction motor modules. Interdependency between the firmware release and board Firmware release Before FW 3.00 From FW 3.00 Procedure: Board 6SN11220BA1V0AA0 6SN11220BA110AA1
AM
S S S S S
Save the setting data (parameters). Replace the firmware using the startup program. Initialize with the pulses and controller inhibited (Section 2.1). Reload the setting data which has been saved. Adjust the power offset. (refer to Table 41, from FW 3.00, not required)
S Save the setting data in the drivemachine data memory (Section 1.3).
AM/1-7
Induction Motor Modules (AM) 1.2 Startup instructions
07.94
Startingup series machines, replacing modules, replacing components
The drive converter setting data (parameters) can be saved on floppy disk using the startup software. The following procedure must be maintained for the series startup of additional drive converters: 1. Initialize. activate pulse and controller inhibit. enter P095 power module code in accordance with Table 61. Note: Power modules with Order No. [MLFB] 6SN112V1AV0VVVA1, are, from FW 3.00, automatically recognized. It is then no longer possible/ necessary to make an entry in P095. Start initialization.
2. Load the setting data from the floppy disk. 3. Adjust the power offset according to Table 41.
Note: This is not necessary from FW 3.00.

4. Save.
AM
AM/1-8
07.94
Induction Motor Modules (AM) 1.3 Operator and display elements, control parameters
1.3
Operator and display elements, control parameters
The following operator and display elements are provided on the front panel to startup and parameterize SIMODRIVE 611A IM modules:
S 3 operator keys ( + , S 6character LCD display
and
Gearbox stagedependent parameters and the fixed setpointdependent P114 are shown with 8 subparameter numbers (e. g. P039.1 to P039.8). Motordependent parameters are shown with 4 subparameter numbers (e.g. P014.1 to P014.4). The functions of the operator elements are shown using as an example parameter P039.
<<
>>
Parameter number
<
>
Subparameter number
AM
P Parameter value
<
>
<<
>>
AM/1-9
07.94
Control parameters
Note If the data save (P052) is interrupted due to power failure or powerdown, then the values which have been changed are lost, and the drive converter outputs fault message F07 when it is poweredup again (refer to Section 5.2.2). The parameter values can be reset after fault message F07 has been acknowledged.
Table 1-2
Number
P051
Setting range
Description
P051 P151 P052 P152
0...FFFF hex
Write protection Write protection is removed by entering 4H. Special write protection is removed by entering 10H. Parameter transfer into the FEPROM By setting to 1, parameters are transferred into the nonvolatile drivemachine data memory. The parameters are automatically reset after transfer. Control word Bit Value 0000H Ready relay pullsin if there is no fault and the pulses and controller are enabled Ready relay pullsin if there is no fault. Motor parameter set is changed over after another motor has been selected and subsequent pulse cancellation (motor changeover). The motor parameter set is immediately changedover after another motor has been selected (parameter set changeover) For rampfunction generator fast stop (terminal 81) the pulses are not canceled when absolute speed value nmin (P022) is fallen below. For rampfunction generator fast stop (terminal 81) the pulses are canceled when the absolute speed value nmin (P022) is fallen below. The rampfunction generator is not tracked. The rampfunction generator is tracked. For a rampfunction generator which is set too fast, the rampfunction generator tracking immediately responds to an opposing setpoint change.
Online
0...1 dec
P053
Online
0...FFFF hex
AM
0001H
0000H
0002H
0000H
0004H
0000H 3 0008H
AM/1-10
04.97 07.94
Table 1-2
Number
P051
Setting range
Description
P053
0...FFFF hex
Control word Bit Value 0000H 5 0020H 0000H Faults are not influenced by the controller inhibit at terminal 65. Faults can be acknowledged using the controller inhibit at terminal 65. The speed actual value is searched for starting from the speed setpoint. Optimum runup is not guaranteed when the pulses are enabled for a stationary motor or a motor rotating in the opposite direction. The speed actual value is searched for starting from 0. When the pulses are enabled for a rotating motor, this is first braked, and is then accelerated to the speed setpoint from the openloop controlled speed range. Integral component of the field controller is deleted when the voltage is limited. The voltage limiting might even be able to be left again. Integral component of the field controller is not influenced for voltage limiting. However, voltage limiting cannot be automatically left, as the fieldgenerating current continually increases. KTY84 motor temperature sensor according to IEC 134 PTC motor temperature sensor according to IEC 134; from FW 3.00 The parameter number is cyclically displayed on the LCD display The parameter number is not cyclically displayed on the LCD display; from FW 3.00
0080H
0000H
0100H
AM
0000H 13 2000H 0000H 15 8000H
P090
Online
0...FFFF hex
Control word Bit Value 0000H Parameter display, hexidecimal format Caution! Parameter setting limits in the hexidecimal format are not effective! Parameter display, decimal formal or hex format
0001H
AM/1-11
04.97 12.94 07.94
Table 1-2
Number
Change effective
P051
Setting range
Description
0000H
Adaptation of fieldweakening speed and stall torque to the DC link voltage specified at P061 is inhibited. The adaptation of the field weakening speed and stall torque at the DC link voltage, specified by P061, is enabled (from FW 2.00). Speed controller clock cycle, standard Speed controller clock cycle, fast When bit 3 is changed it only becomes effective after saving in the FEPROM and line supply off/on; from FW 3.00
0004H
0000H 3 0008H
P153
Online
10
1...1 dec
Calculate motor data/controller data Parameters are changed when calculating +1 calculate equivalent circuit diagram data 1 calculate controller data After the calculation, the parameters are automatically reset.
AM
AM/1-12
Fig. 1-2 Setting data
1.4
12.94 07.94
X412
Motor temperature sensing

P063, P064, P065, P053 bit 13 from FW 3.00
Multimotor operation Parallel oper.

M M P160, P161, P163, P178
Parameter set changeover

P053, P056 M M
Motor changeover
P053, P056
X432 X421 56 14 24 8 X431 E1 E2 E3 E4 E5 E6 E7 E8 E9 X441 A11 A21 A31 A41 A51 A61 X451 A91 A92
P081 P082 P083 P084 P085 P086 P087 P088 P089
Max. speed monitoring with BERO

P131, P132 from FW 3.00
Overview, setting data
Speed setpoint channel 1

P014, P015, P024
Initial roundingoff
P018
Speed controller P gain, integral action time

P031, P032
Torque limiting
P039, P041, P050
Analog Speed setpoint channel 2 setpoint P014, P019, P025 Fixed setpoints Channel P114, P119 select. Mot. pot. function
P113 P114
Field contr. P gain, integral act. time

P034, P035
Current controller P gain

P115, P116
Rampf. generator
P016, P017
Max. speed
P029, P174
Adaptation
P195, P196, P197, P198, P199, P203
Oscill. gen.
P154, P155, P156, P157, P113 P022
Stop without reverse rotation
Initialization
Version 1 P095, P097 Initialization parameters
Version 2 P095, P097 Initialization parameters
Freeprog. terminal functions
General control parameters

P051, P052, P053, P090, P151, P152
! Monitor function
P249, P250, P251
P241 P242 P243 P244 P245 P246
Freeprog. relay functions Relay functions
Relay control thresholds

P021, P023, P027, P047
P018, P158, P160, P162, P164, P175, P219 P153
P036, P159, P161, P163, P174, P178
Motor data
P018, P158, P160, P162, P164, P175, P219
P036, P159, P161, P163, P174, P178
Motor data
Induction Motor Modules (AM) 1.4 Overview, setting data

P185, P186, P187, P188, P189, P190, P191, P192, P193, P194
Calculate equivalent circuit diagram data controller data
P166, P167, P168, P169, P170, P171 P153
Equivalent circuit diagr. data
Invert relay function A Analog outputs D P012, P013,
P247 ?
Calculate controller data Optimization Save data set
P066, P067, P068 P069, P078, P079
Diagnostic functions Min/Max

P179, P181
P204, P205 P052
Optimization P204, P205 Save data set P052

P206 to P218
AM/1-13
X1 X2
Test sockets D P072, P073, P074,

P076, P077, P080
Current/Hz control
P057, P058, P172
AM
Induction Motor Modules (AM) 1.5 Connections
04.97 07.94
1.5
Connections
X432 input BERO from FW 3.003) Test sockets DAU 3 X1 IR X421 56 14 24 8 663 65 81 E1 E2 E3 E4 E5 E6 E7 E8 E9 9 X2 DAU 4 X412 input temperature sensor motor from FW 3.00 3)
M
X451 A91 DAU 12) DAU 22)
n1 n22)
M
A92
M
Outputs X441
Inputs X431 IF RF HSS
AM
X411
289 A11 A21 2. Md limit value1) A31 A41 TH = 01) 1) A51 RESET Fixed setpoint, bit 01) A61 Fixed setpoint, bit 11) 672 Fixed setpoint, bit 21) 673 674 Gear. stage, bit 01) Gear. stage, bit 11) AS1 Gear. stage, bit 21) AS2 Enable voltage RS232C interface
Signals, center contact
nact = nset1) Md < Mdx1) nact < nmin1) nact < nx1) I2t prealarm1)
Rampup completed1)
Ready/fault
Signaling contact start inhibit
LCD display + X151 P Equipment bus X351
P 600 DC link M 600 Rating plate Product status Motor terminals U2 V2 W2 PE1 PE2
Fig. 1-3
Connections
1) Freelyprogrammable terminals and relay function when supplied 2) Function not possible for Order No. [MLFB] 6SN11220BA110AA0 3) Only for Order No. [MLFB] 6SN11220BA110AA1. For boards with Order No. [MLFB] 6SN11210BA1V0AA0 this input may not be assigned
AM/1-14
07.94
Induction Motor Modules (AM) 2.1 Motor and drive converter data sets
Determining and Setting the System Configuration
Warning Incorrect setting values in P159 to P176 can cause the motor to accelerate up to inadmissibly high speeds and terminal 64 (NE: Central drive inhibit) and terminal 65 (controller inhibit) are ineffective. In this case, only terminal 63 open (NE: Central pulse inhibit) and terminal 663 open (axisspecific pulse inhibit) are effective.
2.1
Motor and drive converter data sets
Overview
AM
S Initialization S Sensing the DC link voltage S Motor data set S Speed ranges
AM/2-15
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Initialization
Table 2-1 Initialization Parameter attributes Number Change effective After initialization P051 Setting range Description
P095
1...13 dec
Power module code number Default: 7 from FW 3.0 presetting: 31) Power module code number input (refer to Section 6.2) Motor code number Default: 0 (do not change) Initialization
P096.M P097
After initialization Online
0...7 dec 0...1 hex
S S
SEtUP is displayed Selected power module data set is loaded into the drivemachine data memory P000 operating display is displayed after a successful initialization
Sensing the DC link voltage
AM
Table 2-2
Sensing the DC link voltage Parameter attributes
Number
P051
Setting range
Description
P061
0...700 V
Fixed DC link voltage 0 The DC link voltage is sensed via the NE and equipment bus Recognizable at: P061 = 0 Parameter (P006) indicates the DC link voltage. 1...700 Enters the value of the actual DC link voltage when using a monitoring module without voltage sensing.
1) With/from FW 3.00, power modules with Order No. [MLFB] 6SN112V1AV0VVVA1 are automatically recognized. It is then not possible to change P095.
AM/2-16
07.94
Motor data set
For special motors, the motor data must be entered. The controllers can then be optimized with the selftuning routine in accordance with Section 4.
Table 2-3
Motor data set Parameter attributes
Number
P051
Setting range
Description
P158.M P159.M
4 4
0.000...65.000 mH 0.0...6535.5 gm2
Series reactor inductance Used for motors with fmax > 150 Hz Moment of inertia, motor and external Applicationspecific Total moment of inertia referred to the motor shaft Motor moment of inertia calculated using P153 = +1 Total moment of inertia adjusted using P204 =5 and P205 = + Additional moment of inertia The parameterized value is internally added to P159.M. It is only necessary to enter in P219.M, when the setting range of P159.M is exceeded. (from FW 2.00) Rated motor output 1) Rated output for S1 operation For forcedcooled motors, refer to the following information Rated motor current 1) Rated current for S1 duty Circuit type Y or Rated motor voltage Rating plate data1) Circuit type Y or Rated motor speed Nonsynchronous speed at rated frequency and rated load nrated < (frated 60 s/min)/p Rated motor frequency 1) frated > nrated p/(60 s/min) Noload motor current Equivalent circuit diagram value Calculated using P153 = +1 Adjusted using P204 = 3 and P205 = +1 Motor stator resistance, cold Equivalent circuit diagram value Calculated using P153 = +1 Motor rotor resistance, cold Equivalent circuit diagram value Calculated using P153 = +1 Adjusted using P204 = 6 and P205 = +1 Stator leakage reactance diagram value Calculated using P153 = +1 Rotor leakage reactance diagram value Calculated using P153 = +1 Equivalent circuit
1)
P219.M
Online
0...15 kgm2
P160.M
Online
0.00...650.00 kW
P161.M
Online
0.00...650.00 A
P162.M
Online
0.00...650.00 V
AM
P163.M
Online
0...65000 RPM
P164.M P166.M
Online Online
4 4
0...1200.0 Hz 0...Irated LT
P167.M
Online
0.000...65.000
P168.M
Online
0.000...65.000
P169.M
Online
0.000...65.000
P170.M
Online
0.000...65.000
Equivalent circuit
1) Manufacturers data according to VDE 0530, Part 1
AM/2-17
03.96 07.94
Parameter attributes Number Change effective Online P051 Setting range 0.00...650.00 Description
P171.M
Magnetizing reactance Equivalent circuit diagram value Calculated using P153 = +1 Adjusted using P204 = 4 and P205 = +1 Changeover speed, closedloop/openloop control Calculated using P153 = +1 Speed at the start of field weakening Calculated using P153 = +1 For operation with an uncontrolled infeed and FW<2.00, the determined value should be multiplied by the factor (Vsupply/500V) (this corresponds to 0.8 for Vsupply=400V). From FW2.00, the control algorithm automatically adapts itself to the DC link voltage (P006). The automatic adaptation can be disabled by resetting bit 2 in P090. Max. motor speed 1) For noload current optimization, enter nmax(frated 60 s/min)/p, otherwise F60 (p=pole pair number) Thermal motor time constant 1) 2) Speed at the start of stall torque Calculated using P153 = +1 For operation with an uncontrolled infeed and FW<2.00, the determined value should be multiplied by the factor (Vsupply/500V) (this corresponds to 0.64 for Vsupply=400V). From FW2.00, the control algorithm automatically adapts itself to the DC link voltage (P006). The automatic adaptation can be disabled by resetting bit 2 in P090. Power factor cos 1) Initial roundingoff For motors with deepbar squirrelcage rotors: Increase this parameter to approx. 30 ms Inverter clock cycle frequency If the clock cycle frequency is increased, the current controller dynamic response is improved, but the permissible continuous current load capacity is reduced. Espcially for highspeed motors, the clock cycle frequency should be selected as high as possible, however, the specified power derating (reduction) should be kept. If the clock cycle frequency is changed, then the current controller must be reoptimized.
P172.M
Online
0...32000 RPM
P173.M
Online
0...32000 RPM
P174.M
Online
0...32000 RPM
P175.M P176.M
Online Online
4 4
0.0...500.0 min 0...32000 RPM
AM
P178.M P018.M Online Online 4 4 0.000...1.000 4.00...100.00 ms
P036.M
Online
0...7 hex
1) Manufacturers data according to VDE 0530, Part 1 2) Only when using the motor temperature tracking function for relay function 5 (I2t prealarm)
AM/2-18
07.94
Parameter attributes Number Change effective Online P051 Setting range Description
P153
1...1 dec
Calculating the equivalent circuit diagram data of the actual motor Enter +1 for pulse inhibit, terminal 63 or terminal 663. The calculations are started for the entered special motor. Calculating the control data of the actual motor Enter 1 for pulse inhibit, terminal 63 or terminal 663 The calculations are started for the entered special motor.
P153
Online
1...1 dec
For highspeed motors, increase the speed limiting P029 = 6000 RPM to the max. speed.
Note The motor circuit configuration should be selected so that neither the required terminal voltage exceeds the maximum drive converter output voltage, nor the IM module is operated with Irated motor < 0.1 Icont. module (refer to examples 1 and 2).
Example 1 If a motor with Vrated 230 V D/400 V Y is operated from an uncontrolled infeed module in the Y circuit configuration, the motor does not achieve the same output as when operated from a controlled I/R module with VDC link = 600V / 625 V. The reason for this is the reduced speed for the start of field weakening (P173) and the reduced speed at the start of the stall torque (P176). If the motor is switched into a delta configuration, this reaches the full rated output for a drive converter dimensioned for Iratedn motor . Example 2 If a motor is operated with a rated current in the Y circuit configuration IratedY motor < 0.1 Icont. module , then this can be adapted to the I/M module using the n circuit, if the following is valid: Iratedn motor w 0.1 Icont. module
AM
AM/2-19
07.94
Note If only values for S6 duty are available as rating plate data, then these must be converted to S1 duty for parameterization, and the limits must be increased after optimization. For forcecooled motors, the rating plate data must be converted to data for S1 duty of a nonventilated motor of the same frame size for parameterization, and the limits must be increased after optimization.
Converting the rating plate data
S Determine the noload current I0, refer to Section 4 S Determine the rated current for S1 duty: Irated S1 = (2...2.5) I0 S Determine the rated output for S1 duty: Prated S1 = Prated S6
Irated S1 Irated S6
S Commission (startup) with S1 values and optimization with limits 100 % S The limits are increased for S6 duty and for forcecooled operation.
AM
AM/2-20
07.94
Speed ranges
Table 2-4 Speed ranges Parameter attributes Number Change effective Online P051 Setting range Description
P172.M
0...32000 RPM
Changeover speed, closedloop/openloop control Start of the controlled speed range Above this speed and the hysteresis, the speed is controlled according to the calculated speed actual value. Speed at the start of field weakening Start of the field weakening range Above this speed, the drive converter output voltage and frequency are no longer set proportional to one another. Speed at the start of stall torque Start of derating Above this speed, the power in the fieldweakening range is reduced in order to prevent the motor stalling. Power characteristic Voltage characteristic Flux characteristic Torque characteristic Changeover speed, closedloop/ openloop control nrated Rated speed nstall Speed at the stall torque Speed at the start of nFS field weakening nmax Max. motor speed P U Y M num
P173.M
Online
0...32000 RPM
P176.M
Online
0...65535 RPM
P FP Prated U
rated
FM Mrated
AM
num
F nnenn FP M
nFS
nstall
nmax
Motor speed n
The torque and power limits can be changed using factor FM (parameters P039, P041 ) or FP (P060). The following speed ranges are obtained:
S S S S S
0 |n| num num |n| nrated FP/FM nrated FP/FM < |n| nstall |n| > nFS nstall < |n| < nmax
Openloop controlled speed range Range with constant torque Range with constant power Fieldweakening range Stall power range, range of maximum output voltage
AM/2-21
Induction Motor Modules (AM) 2.2 Standard applications
12.94 07.94
2.2
2.2.1
Table 2-5
Standard applications
Operating display
The actual operating display of the drive converter is shown in parameters P000 and P100.
Operating display Display
Function group Motor number

Motor 1 is selected
Relay function
Freeprog. relay function 1, terminal A11 P241 nact = nset1) Freeprogr. relay function 2, terminal A21 P242 |Md| < Mdx1) Freeprogr. relay function 3, terminal A31 P243 |nact| < nmin1)
Operating mode
Drive not enabled: Continue condition, refer to the Unit status column All enable signals present: Openloop or closedloop speed controlled operation
Unit status
Pulse enable at the NE module missing (term.63 / term.48) Axisspecific pulse enable missing (term.663) Controller enable at the NE module missing (term.64) and/ or controller enable at the IM module missing (term.65) RFG enable missing (term.81) Setpoint enable missing (select terminal fct. No. 16) Mode display for an enabled motor: Motor operation
Setpoint source
Analog setpoint Ch.1 P-113=1 Ch. 2 P-113=2 Ch.1+2 P-113=3 Analog setpoint + fixed setpoint Ch. 1 + freely prog. terminal function 17, 18, 19, 24 P113=9 Setpoint zero P113=0 P113=7 P113=8
Gearbox stage
Gearbox stage 1 is selected
Motor 2 is selected
Motor 3 is selected
Motor 4 is selected
...
Fixed setpoint 1...7
AM
Motor selection 1...4 Selected via freely programmableterminal function P081...P089 =20, 21
Freeprogr. relay function 4, terminal A41 P244 |nact| < nx1)
...
Fixed setpoint 8...15
Freeprogr. relay function 5, terminal A51 P245 I2t prealarm1) Freeprogr. relay function 6, terminal A61 P246 rampup ended1) Ready/ fault, terminals 672 to 674 P053 ready1) The segment is controlled, if the appropriate relay has pulledin.
Selected via freely prog. terminal fct. P081...P089 =17, 18, 19, 24 speed setting with P114.1...7, P119.1...8 Setpoint from the motorized pot. fct. P-113=6 P-114.8 speed or P-081...P-089 =14. 15
Generator operation
Speed controller clock cycle, fast. Clock cycle is active
Setpoint from the oscillation generaGearbox stage tor 8 is selected P-113=4 or P-081...P-089=2 P-154, P-155 Gearbox stage speeds P-156, 1...8 P-157 Selected via times freelyprogramSetpoint from the mable terminal software for auto function P081...P089 optimization =9, 10, 11 P-204=1...6 P-205=1
1) As supplied
AM/2-22
07.94
2.2.2
Table 2-6
Firmware version
Firmware version
Parameter attributes Number Change effective P051 Setting range Description
(P099)
0.00...99.99
Firmware release Indicates the version of the loaded firmware.
2.2.3
Setting parameters for standard applications
Overview
S Speed setting values S Max. speed monitoring via BERO S Torque limit value S Motor temperature monitoring S Motor temperature simulation S Oscillation operation
AM
Speed setting values
Table 2-7 Speed setting values Parameter attributes Number Change effective Online P051 Setting range Description
P022.M
2...16000 RPM
Shutdown speed, pulse cancellation The drive switched into a nocurrent condition if the controller is inhibited and this speed is fallen below (shutdown so that it does not rotate backwards). Speed limiting The speed of the actual motor is limited to the limit the actual gearbox stage. Selected with freelyprogrammable terminal function 9, 10, 11.
P029.G
Online
0...32000 RPM
Max. speed monitoring via BERO
A BERO switch can be connected via X432 to monitor the maximum speed. When the shutdown threshold is exceeded, the pulses are canceled and fault message F90 is output (from FW 3.00).
AM/2-23
04.97 07.94
Cable breakage monitoring

Table 2-8
If no BERO pulses are received for a calculated speed of greater than 1200 RPM/pulse number, then a cable breakage is assumed. F90 is also output.
Cable breakage monitoring Parameter attributes
Number
P051
Setting range
Description
P131.M P132.M
4 4
0...10 RPM 0...65535 RPM
Pulse number, BERO speed monitoring For a value of zero, the speed monitoring is inactive. Shutdown speed, speed monitoring BERO
Torque limit values
Table 2-9
Torque limit values Parameter attributes
Number
P051
Setting range
Description
P039.G
0...399 %
1st torque limit value The torque is limited to the selected percentage of the rated torque of the actual motor. 2nd torque limit value The torque is limited to the selected percentage of the rated torque of the actual motor. The 2nd torque limit is selected using the freelyprogrammable terminal with terminal function 1 and speed greater than P050 switching speed Md1 to Md2
P041.G
Online
0...399 %
AM
Motor temperature monitoring
A motor temperature sensor can be connected via X412. (from FW 3.00)
Temperature sensor types

One of the two can be selected S KTY84: The measured resistance is converted into a temperature. The maximum permissible temperature can be parameterized. S PTC: Resistances which are measured to be less than 1330 Ohm are considered to be reliable, resistances greater than 1330 Ohm are interpreted as an overtemperature condition.
Prealarm and shutdown behavior
S After approx. 1s: Prealarm motor overtemperature relay

After the time in P065: Pulse cancellation and fault message F14
Sensor cable interruption and shortcircuit
S KTY84: Measured temperatures under approx. 0 degrees C or above S PTC: Sensor cable interruption and shortcircuit are not recognized.
approx. 200 degrees C result in pulse cancellation and fault message F19
AM/2-24
07.94
Table 2-10
Motor temperature monitoring Parameter attributes
Number
P051
Setting range
Description
P053.M
0...FFFFhex
Control word Bit Value 13 0000H Type, motor temperature sensor KTY84 2000H Type, motor temperature sensor PTC Max. motor temperature Only effective for KTY84. The shutdown threshold cannot be parameterized for PTC. Fixed temperature The motor temperature monitoring is activated by entering a value of zero. Timer stage, motor temperature alarm
P063.M
Online
0...170 degrees C
P064.M
Online
0...170 degrees C
P065.M
Online
0...600s
Motor temperature emulation

Table 2-11 Motor temperature emulation Parameter attributes Number Change effective Online P051 Setting range Description
P175.M
0.0...500 min
Thermal motor time constant For freeprogrammable relay function 5, I2t monitoring
AM
Note A dedicated temperature model is computed for each of the motor parameter sets. However, quantities such as the effect of the fan and air intake temperature cannot be taken into account. This is the reason that it is preferable if the temperature is monitored using a motor temperature sensor.
AM/2-25
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Oscillation operation
Table 2-12 Oscillation operation Parameter attributes Number Change effective Online Online Online Online P051 Setting range Description
P154 P155 P156 P157
4 4 4 4
32000...32000 RPM 32000...32000 RPM 0.002...60 s 0.002...60 s
Oscillation setpoint 1 Oscillation setpoint 2 Oscillation interval time 1 Oscillation interval time 2 Selected using a freelyprogrammable terminal function 2 or P113=4
Speed [RPM] P154
P155 P156 P157 Time [s]
AM
AM/2-26
07.94
Induction Motor Modules (AM) 2.3 Multimotor operation
2.3
Multimotor operation
The following applications can be combined with one another:
S Parallel operation S Parameter set changeover S Motor changeover

Motor selection
Table 2-13 Motor selection Parameter attributes Number Change effective Online P051 Setting range Description
P056
0...4
Motor selection Select actual motor 0 Selected via freelyprogrammable terminal function 20, 21. 1...4 Motor 1...4 active
Note The parameter set is only changedover after the pulses have been canceled if P053 bit 1 = 0.
AM
2.3.1
Parallel operation
Several motors can be simultaneously operated from an IM module. The motors are supplied with the same voltage and same frequency due to the parallel circuit configuration. This means that the motors must have the same voltage frequency characteristic, i. e. the ratios of the rated voltage and rated frequency of the individual motors must be the same. For different motor types, the ratio of the outputs should not exceed 1 : 10. If the motors connected in parallel have the same pole pair number, they rotate with approximately the same speed.
Warning For different loads, the speeds differ by the difference of the slip speeds, i.e. an individual motor deviates from the calculated speed of the complete system, and can then exceed a selected speed limit.
AM/2-27
07.94
The drives have a stronger tendency to stall when operated in a parallel circuit configuration compared to individual operation. In order to be able to better compensate load surges, we recommend that the current limit P059 should be set to 150 % of the summed current. If a steadystate rated torque is demanded in the lower speed range, then P057 (current in the openloop controlled range) should also be increased. The induction motor module should be dimensioned for this current rating, and it should be ensured that the motors are adequately cooled. When operated in parallel, only the total current can be sensed which is then distributed to the individual motors depending on the load. This means that these should be externally and individually thermally monitored. If the monitoring function responds, it is not permissible to interrupt the power cables without first canceling the pulses. For highspeed specialpurpose motors (fmax > 150 Hz), we recommend that a reactor is located between the induction motor module and the motor group.
SIMODRIVE 611 analog induction motor module Pulse enable > T.663
U2 V2 W2
1)
AM

M1 3~ Motor 1
M2 3~ Motor 2
M3 3~ Motor 3
M8 3 Motor 8
1) Only required for highspeed special motors Fig. 2-1 Parallel operation from a SIMODRIVE 611 analog induction motor module
AM/2-28
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The motor data must be entered as follows for parallel operation:

Table 2-14 Parallel operation Parameter attributes Number Change effective Online Online P051 Setting range Description
P158.M P160.M
4 4
0.000...65.000 mH 0.00...650.00 kW
Series reactor inductance Used for motors with fmax > 150 Hz. Rated motor output 1) Sum of the rated outputs for S1 duty Prated i = Prated tot Rated motor current 1) Sum of the rated currents for S1 duty Irated i Circuit type Y or Rated motor voltage 1) Rated voltage of the common V/Hz characteristic Circuit type Y or Rated motor speed 1) Outputweighted average value of the rated speed Prated i nrated i Prated tot Nonsynchronous speed at rated frequency and rated load nrated < (frated 60 s/min)/p
P161.M
Online
0.00...650.00 A
P162.M
Online
0.00...650.00 V
P163.M
Online
0...65000 RPM
P164.M
Online
0...1200,0 Hz
Rated motor frequency 1) Rated frequency of the common V/Hz characteristic frated > nrated p/(60 s/min) Max. motor speed Manufacturers data Lowest maximum speed of the motor group, reduced by the maximum slip difference. To optimize, enter the noload nrated i load current nmax(frated 60 s/min)/p, otherwise F60 (p=pole pair number) Power factor cos 1) Currentweighted avg. value of the power factor Irated i Irated tot. cos i
P174.M
Online
0...32000 RPM
AM
P178.M
Online
0.000...1.000
P018.M
Online
4.0...100.00 ms
Initial roundingoff Applicationspecific For motors with deepbar squirrelcage rotors: Increase parameter to approx. 30 ms Inverter clock cycle frequency The current controller dynamic response is improved by increasing the switching frequency, however the permissible continuous current load capacity is reduced. Especially for highspeed motors, the switching frequency should be selected as high as possible, but the specified power derating must be maintained. If the switching frequency is changed, the current controller must be reoptimized.
P036.M
Online
0...7 hex
AM/2-29
07.94
Parameter attributes Number Change effective Online P051 Setting range 0.0...6535.5 gm2 Description
P159.M
Moment of inertia, motor and external Applicationspecific Sum of the total moment of inertia referred to the motor shaft, the motor moment of inertia is calculated using P153 = +1 Total moment of inertia is adjusted using P204 = 5 and P205 = +1 Supplementary moment of inertia The parameterized value is internally added to P159.M. It is only necessary to make an entry in P219.M, when the setting range of P159.M is exceeded Noload motor current Equivalent circuit diagram value Calculated using P153 = +1 Adjusted using P204 = 3 and P205 = +1 Motor stator resistance, cold Equivalent circuit diagram value Calculated using P153 = +1 Motor rotor resistance, cold Equivalent circuit diagram value Calculated using P153 = +1 Adjusted using P204 = 6 and P205 = +1 Stator leakage reactance Equivalent circuit diagram value Calculated using P153 = +1 Leakage rotor reactance Equivalent circuit diagram value Calculated using P153 = +1 Magnetizing reactance Equivalent circuit diagram value Calculated using P153 = +1 Adjusted using P204 = 4 and P 205 = +1 Thermal motor time constant Manufacturer data Lowest time constant of the motor group An external individual monitoring is recommended. Refer to Section 2.2.3
P219.M
Online
0...15 kgm2
P166.M
Online
0...Irated LT
P167.M
Online
0.000...65.000
P168.M
Online
0.000...65.000
P169.M
Online
0.000...65.000
AM
P170.M
Online
0.000...65.000
P171.M
Online
0.00...650.00
P175.M
Online
0.0...500.0 min
P172.M
Online
0...32000 RPM
Changeover speed, cl.loop/openloop control Calculated using P153 = +1
AM/2-30
12.94 07.94
P173.M
0...32000 RPM
Speed at the start of field weakening Calculated using P153 = +1 When operated from an uncontrolled supply and FW<2.00 the determined value must be multiplied by the factor (Vsupply/500V) (corresponds to 0.8 for Vsupply=400V). From FW2.00, the control algorithm is automatically adapted to the DC link voltage (P006). The automatic adaptation can be disabled by resetting bit 2in P090. Speed at the start of the stall torque Calculated using P153 = +1 When operated from an uncontrolled supply and FW<2.00 the determined value must be multiplied by the factor (Vsupply/500V) (corresponds to 0.64 for Vsupply=400V). From FW2.00, the control algorithm is automatically adapted to the DC link voltage (P006). The automatic adaptation can be disabled by resetting bit 2in P090.
P176.M
Online
0...32000 RPM
AM
AM/2-31
07.94
2.3.2
Parameter set changeover

The induction motor module allows four complete motor data sets to be simultaneously saved. The actual data set can be selected using freelyprogrammable terminals (refer to Section 3.3.2) or using parameter P056. If you wish to load various parameter sets into the induction motor module, then you can use these functions to changeover the parameter set. The currently valid motor data set is displayed in the first position at the left in the operating display (P000, P100). If bit 1 = 1 in parameter P053, then the motor data sets are also changedover even when the pulses are enabled. This capability can be used to adapt the motor and controller data.
2.3.3
Motor changeover
The induction motor module allows four complete motor data sets to be simultaneously saved. The actual data set can be selected via freelyprogrammable terminals (refer to Section 3.3.2) or using parameter P056. Freelyprogrammable relay functions are available for the four motor data sets (refer to Section 3.3.1), which indicate which of the data sets is active. This function can be used to changeover the motor if you wish to operate various motors from the induction motor module one after the other. In this case, bit 1 in parameter P053 must be set to 0. This means, that after a request to changeover the motor, the motor data are only changedover, if the induction motor module pulses are inhibited (refer to Section 1.3). The user can decide which enable terminals are used to inhibit the pulses. The pulse inhibit is interlocked for approx. 20 ms during changeover. The interlock is then removed, and the Motor ... active relay of the newly loaded motor pullsin. This relay signal can be used to control a contactor to changeover the motor. The currently valid motor data set is displayed at the first position to the left in the operating display (P000, P100). A recommended circuit for the contactor control to changeover the motor is shown in the following diagram. The freelyprogrammable terminals Em with terminal function 20 Motor selection bit 0 and En with the terminal function 21 Motor selection bit 1 and the freelyprogrammable relay outputs Aw, Ax, Ay, Az, with relay functions 11, 12, 13, 14 are assigned Motor 1, 2, 3, 4 active . The relays are mutually interlocked using the induction motor module software. However, the recommended contactor interlocking ensures that even for parameterizing errors, not more than one motor is connected to the drive converter at any one time.
AM
AM/2-32
07.94
Pulse enable
K1 K2 K3 K4
SIMODRIVE 611 analog IM module T.663 P053 bit 1 = 0 Select terminal input 4 Em 1 En 1 U2 V2 W2
1)
Relay outputs Aw Ax Ay Az
Motor selection 1 0 Bit 0 Bit 1 0
2 1 0
3 0 1
K1H
K2H
K3H
K4H
K1
K2
K3
K4
K1H M1 3 K2 K3 K4 Motor 1
K2H M2 3 K1 K3 K4 Motor 2
K3H M3 3
K4H M4 3
K1 K2 K4
K1 K2 K3
Motor 3
Motor 4
AM
1)
Only required for highspeed special motors
Fig. 2-2
Motor changeover
AM/2-33
Induction Motor Modules (AM) 2.4 Operating motors with maximum speeds > 32000 RPM
12.94 07.94
2.4
Operating motors with maximum speeds > 32000 RPM

Warning All parameters, which physically represent a speed with the units RPM, as well as BERO pulse number P131 are entered or displayed lower by the following factors:
!
Pulse number P131
Max. motor speed 32000...64000 RPM > 64000 RPM
Factor 1/2 1/3
Parameter settings
In order to be able to operate motors with a maximum motor speed > 32000 RPM, the settings, shown in Table 213, must be made.
AM
AM/2-34
03.96 07.94
Induction Motor Modules (AM) 2.4 Operating motors with maximum speeds > 32000 RPM
Table 2-15
Operating motors with maximum speeds >32000 RPM
Parameter attributes Number Change effective Online P051 Setting range Description Rated motor speed 1) Nonsynchronous speed at rated frequency and rated load nrated < (frated 60 s/min)/p Max. motor speed 32000...64000 RPM > 64000 RPM P174.M Online 4 0...64000 RPM Max. motor speed 1) Max. motor speed 32000...64000 RPM > 64000 RPM P153 Online 4 1 ... 1 dec Input Max. motor speed / 2 Max. motor speed / 3 Input Rated motor speed / 2 Rated motor speed / 3
P163.M
0...64000 RPM
Calculating the equivalent circuit diagram of the actual motor +1 is entered for pulse inhibit, terminal 63 or terminal 663 The calculations for the entered special motor are started. The following equivalent circuit diagram data are calculated: Max. motor speed 32000...64000 RPM > 64000 RPM Equivalent circuit diagram data P159: Moment of inertia, motor and external D 4 P159: Moment of inertia, motor and external D 9
P153
Online
1 ... 1 dec
Calculating the controller data of the actual motor 1 is entered for pulse inhibit, terminal 63 or terminal 663 The calculations for the entered special motor are started. The following controller data are calculated: Max. motor speed 32000...64000 RPM Controller data P114: Speed for max. motor useful speed D 1/2 P029: Speed limiting D 1/2 P172: Changeover speed, openloop/closedloop control D 1/2 P173: Speed at the start of field weak. D 1/2 P176: Speed at the start of stall torque D 1/2 P114: Speed for max. motor useful speed D 1/3 P029: Speed limiting D 1/3 P172: Changeover speed, openloop/closedloop control D 1/3 P173: Speed at the start of field weak. D 1/3 P176: Speed at the stall torque D 1/3
AM
> 64000 RPM
If speed setting values are manually entered with the units RPM, all of the values must be multiplied by the factors 1/2 and 1/3.
AM/2-35
Induction Motor Modules (AM) 2.5 Monitor function
07.94
2.5
Monitor function
The address contents (data in the RAM area) of the induction motor module can be read via parameters P249 to P251.
Note A list of all of the important measured quantities (RAM variables) and their addresses is provided in the Appendix (Section 6.5).
Table 2-16
Monitor function Parameter attributes
Number
P051
Setting range
Description
P249 P250 (P251)
10 10
0...FFFF hex 0...FFFF hex 0...FFFF hex
Segment, memory location monitor Segment address of a RAM location Address, memory location monitor Offset address of a RAM location Value display, memory location monitor Contents of a RAM location
AM
AM/2-36
12.94 07.94
Induction Motor Modules (AM) 3.1 Speed setpoint interfaces
Parameterizing the Drive Converter Interfaces

3.1 Speed setpoint interfaces
Overview
S Speed setpoint channel selection S Normalization, analog speed setpoint S Fixed setpoints/motorized potentiometer setpoint S Setpoint priority
Speed setpoint channel selection

Table 3-1 Speed setpoint channel selection Parameter attributes Number Change effective Online P051 Setting range Description
AM
P113
0...9 hex
Channel selection, speed setpoint 0H: 1H: 2H: 3H: 4H: 6H: 9H: digital setpoint 0 analog setpoint, channel 1, terminal 56/14 analog setpoint, channel 2, terminal 24/8 analog setpoint, sum channel 1 + channel 2, terminal 56/14 + terminal 24/8 digital setpoint from the oscillation generator digital setpoint from the electronic mot. pot. sum, analog setpoint + fixed setpoint, channel 1 + fixed setpoint from the freely programmable terminal function 17, 18, 19, 24
(10)H: digital setpoint; internally entered by the firmware during autooptimization
AM/3-37
12.94 07.94
Normalization, analog speed setpoint

Table 3-2 Normalization, analog speed setpoint Parameter attributes Number Change effective Online P051 Setting range Description
P014.M
32000...32000 RPM
Speed for max. useful motor speed Speed, which should be achieved with the analog input voltage in P024 (channel 1 active) and in P025 (channel 2 active). P014 > 0 = clockwise rotating field for a positive speed setpoint P014 < 0 = counterclockwise rotating field for a positive speed setpoint Normalization, setpoint channel 1 Analog speed setpoint voltage for P014 Offset correction, setpoint channel 1 e. g. pos. offset correction: 002FH neg. offset correction: FF00H Normalization, setpoint channel 2 Analog speed setpoint voltage for P014 Offset correction, setpoint channel 2 e. g. pos. offset correction: 002FH neg. offset correction: FF00H
P024 P015
Online Online
4 4
2...10 V E000...2000 hex
P025 P019
Online Online
4 4
2...10 V E000...2000 hex
AM
Fixed setpoints, motorized potentiometer setpoint

Table 3-3 Fixed setpoints, motorized potentiometer setpoint Parameter attributes Number Change effective Online P051 Setting range Description
P114.F
32000...32000 RPM
Fixed setpoints, 1 to 7 Permanently set speed setpoint Selected via the freelyprogrammable terminal function 17, 18, 19 (refer to Section 3.2.2). Fixed setpoints, 8 to 15 Permanently set speed setpoint Selected via the freelyprogrammable terminal function 17, 18, 19, 24 (refer to Section 3.2.2) from FW 2.00 Motorized potentiometer setpoint Adjustable speed setpoint Selected via the freelyprogrammable terminal function 14, 15 (refer to Section 3.2.2).
P119.F
Online
32000...32000 RPM
P114.8
Online
32000...32000 RPM
AM/3-38
04.97 12.94 07.94
Setpoint priority
Table 3-4 Priority Setpoint priority Setpoint Setpoint source Selected by High Imot = 0 n=0 n=0 n=0 n nmin n Dn n = +n/n T.63 or T.663 T.81 T.64 or T.65 T. fct. 16 P030 P054 P055 T. fct. 12 Open Open Open Open Value entry Value entry Activated Value entry Controlled Controlled Designation Pulse enable inhibited Fast rampfunction generator stop Controller enable inhibited Setpoint enable inhibited Steadystate minimum speed Speed range suppression Clockwise/counter clockwise rotating field Motorized potentiometer function Oscillation Fixed setpoint Effect Motor coasts down in a nocurrent condition Braking without rampdown time, pulse enable or pulse inhibit Braking with rampdown time, pulse inhibit Braking with rampdown time, pulse enable Min. speed, also for lower setpoints, lower priority No steadystate operation in the suppressed speed range Only one direction of rotation possible
n = P114.8 n1 = P154 n2 = P155 n1 = P114.1 to n7 = P114.7 n8 = P119.1 to n15 =P119.8 Low Standard setpoint source
P113 = 6 T. fct. 2 T. fct. 17 T. fct. 18 T. fct. 19 T. fct. 24
Increase/decrease setpoint Oscillation mode Selected fixed speed
AM
P113 Value entry Standard setpoint Parameterized standard setpoint
AM/3-39
Induction Motor Modules (AM) 3.2 Input terminals
07.94
3.2
3.2.1
Input terminals
Permanentlyconnected terminal functions
Warning When the motor pulses are canceled, there is no longer any information about the motor speed. The calculated speed actual value is then set to 0. This means that all of the speed actual value signals, speed actual value messages and relay signals, which monitor the speed (|nact| < nmin, rampup completed, nact < nx, |nact| = nset) no longer provide any meaningful information when the motor pulses are canceled. The motor pulses can be canceled by withdrawing enable signals or as a result of fault messages.
Warning If a drive is shutdown using a fast rampfunction generator stop (terminal 81 open), and is kept at zero speed for a longer period of time with the inverter enabled, it should be ensured that the motor is adequately cooled, as a current is impressed which is in the order of a magnitude of the rated current (percentage in P057). Caution for selfventilated motors.
Table 3-5
Permanentlyconnected terminal function Description The inverter is enabled (motor control) if the enable voltage is connected to terminal 663 (axisspecific pulse enable) and terminal 65 (controller enable). If terminal 663 (axisspecific pulse enable) is deenergized while the motor is rotating, the inverter is inhibited after 20 ms and the motor coasts down in a no current condition. If terminal 65 (controller enable) is deenergized while the motor is rotating, the drive brakes along the rampfunction generator ramp. When the nmin threshold (P022) is fallen below (absolute value), the inverter is inhibited and the motor is shutdown so that it does not rotate backwards. If terminal 81 (fast rampfunction generator stop) is energized, the speed setpoint is enabled. If the input is opencircuit, a speed setpoint of zero (digital) is entered. If terminal 81 is deenergized while the motor is rotating, the motor brakes without rampfunction generator along the effective limit (current limiting P057...P059, torque limiting P039, P041, power limiting P060). When zero speed is reached, the current from P057 is still impressed. If bit 2 is set in P053, then after the speed in P022 is fallen below, the pulses are inhibited and the motor is switchedinto a nocurrent condition. Terminal number
AM
Terminal function Axisspecific pulse enable
663
Controller enable
65
Fast rampfunction generator stop
81
Note When starting a motor, the enable signals must be entered stepbystep in the sequence of their priority (refer to Table 3-5).
AM/3-40
12.94 07.94
3.2.2
Freelyprogrammable terminal functions
Warning Terminal function parameters P081 to P089 may only be programmed when the pulses are canceled (terminal 63 or terminal 663 open circuit).
Overview
S Terminal function assignment S Terminal functions
Terminal function assignment

Table 3-6 Terminal function assignment Parameter attributes Number Change effective Online P051 Setting range Description
P081 bis P089
1...24 dec
Terminal function assignment E1 to E9 Functions 1 to 24 are assigned to terminals E1 to E9 by entering the function number. The factory setting should be taken from the following table.
AM
AM/3-41
04.97 03.96 07.94
Terminal functions
Table 3-7 Terminal function 2nd torque limit Oscillation Reset fault memory (R) fault acknowledgement Rampup time=0 Gearbox stage Bit 0 Bit 1 Bit 2 Clockwise/ counter clockwise Rampfunction generator 2 Increase setpoint Terminal functions Description Fct. No. 1 2 3 P083 (E3) Assignment after initialization P081 (E1)
If this function is selected, the 2nd torque limit in P041 becomes active if the changeover speed from P050 is exceeded. If this function is selected, then the speed setpoint of the oscillation generator from P154 to P157 becomes active. If this function is selected, with the controller inhibited (terminal 65 or terminal 663 opencircuit), a fault message, when available, is acknowledged.
If this function is selected, the internal rampfunction generator is bypassed.

1 2 3 4 5 6 7 8
P082 (E2)
0 1 0 1 0 0 1 1 0 0 0 0
0 1 0 1 0 0 1 1 1 1 1 1
A total of 8 binarycoded parameter sets for setpoint normalization, speed monitoring, controller setting, torque limiting and torque monitoring can be selected.
9 10 11 12
P087 (E7) P088 (E8) P089 (E9)
If this function is activated, only positive setpoints are permitted; negative setpoints result in speed n=0. If the appropriate terminal is energized, only counterclockwise direction of rotation is output, otherwise only the clockwise rotating field. If this function is selected, the 2nd parameter set P042 and P043 of the internal rampfunction generator is activated. Motorized potentiometer function P113=6 If one of these terminals is energized, the digital speed setpoint P114.8 of the motorized potentiometer function is increased or decreased corresponding to the rampup or rampdown times of rampfunction generator 2 (with the exception TH=0). If both are simultaneously controlled, the setpoint is changed towards 0. If this function is activated, the appropriate terminal must be energized in order to move the drive. If the terminal is opened, the drive brakes with the appropriate rampdown time and comes to a standstill under current.
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
13 14
AM
Decrease setpoint Setpoint enable
15 16
Fixed setpoint selection Bit 0 Bit 1 Bit 2 Bit 3 Motor selection Bit 0 Bit 1
0 1 0 1 0 0 1 1 0 0 0 0 0 0 0 0
1 2 3 4
0 1 0 1 0 0 1 1 1 1 1 1 0 0 0 0
0 1 0 0 0 0 1 1
0 1 0 1
1 1 0 1
0 0 1 1
1 0 1 1
0 1 1 1
1 1 1 1
A total of 15 binary coded fixed values P114.1 to P114.7 and P119.1 to P119.8 are selected using this terminal. If all of the terminals remain opencircuit, the setpoint, defined in P113, is valid.
17 18 19 24
P084 (E4) P085 (E5) P086 (E6)
0 1 0 1 0 0 1 1
A total of 4 binarycoded motor data sets, motor 1 to motor 4 can be selected using these terminals.
20 21
AM/3-42
10.00 07.94
Induction Motor Modules (AM) 3.3 Output terminals
3.3
Output terminals
Warning When the motor pulses are canceled, there is no longer any information about the motor speed. The calculated speed actual value is then set to 0. This means that all of the speed actual value signals, speed actual value messages and relay signals, which monitor the speed (|nact| < nmin, rampup completed, nact < nx, |nact| = nset) no longer provide any meaningful information when the motor pulses are canceled. The motor pulses can be canceled by withdrawing enable signals or as a result of fault messages.
Caution All of the relays dropout when the electronics power supply fails or is powereddown.
3.3.1
Permanentlyconnected relay functions

Table 3-8 Terminal function Permanentlyconnected relay functions Description The relay function can be changedover using P053: Bit Ready/no fault, axis specific Value 0000H 0 0001H Feedback signal, start inhibit The relay pullsin if there is no fault and the pulses and controller are enabled. The relay pullsin if there is no fault present. 672 673 674 Terminal number
AM
The relay (NC contact) pullsin if the enable voltage is connected to terminal 663, axisspecific pulse enable.
AS1 AS2
AM/3-43
04.97 07.94
3.3.2
Freelyprogrammable relay functions
Warning Relays (P241 to P247) may only be programmed when the pulses are inhibited (terminal 63 or terminal 663 opencircuit).
Overview
S Message assignment S Relay functions S Messages which can be parameterized S Control word, messages
Note The relay signals are updated with 20 ms for the standard speed controller clock cycle. For a faster speed controller clock cycle, they are updated with 10 ms (refer to P090, bit 3, FW 3.00).
AM
Message assignment
Table 3-9 Message assignment Parameter attributes Number Change effective Online P051 Setting range Description
P241 to P246
1...20 dec
Programmable messages 1 to 6 Functions 1 to 20 are assigned to relay outputs A11 to A61 by entering the function number. The factory setting can be taken from the following table.
AM/3-44
04.97 07.94
Relay functions
Table 3-10 Relay function |nact|< nmin Rampup completed Relay functions Description The relay pullsin if the calculated speed falls below the actual value set in P021.1 to P021.8. The relay pullsin if, after the setpoint step, the calculated speed actual value is within the actual tolerance bandwidth around the new setpoint, and has remained for at least 200 ms in this tolerance bandwidth. The Rampup completed relay remains inactive if the tolerance bandwidth is left again before the 200ms has expired. The tolerance bandwidth is set using P027.1 to P027.8. The signal stays in the active position until the speed setpoint changes. If the tolerance bandwidth is left again after 200 ms, the signal remains active, unless, in the meantime, the setpoint has changed. Speed fluctuations caused by load changes do not cause the relay to dropout. The relay pullsin, if the torque falls below the actual limit value. The limit value is set using P047.1 to P047.8. If relay nact=nset dropout when the speed setpoint changes, the |Md|< Mdx relay can only dropout 800 ms after relay nact =nset has pulledin again. The relay pullsin, if the speed falls below the nx threshold. nx is set using P023.1 to P023.8. The relay dropsout if the actual thermal motor model is overloaded. The thermal time constants are separately set for each motor in P175.1 to P175.4. The user can define how he responds to this prealarm. Fan function and air intake temperature are not taken into account. Thus, it is preferable to use a temperature sensor. The relay dropsout if the main heatsink temperature monitoring responds. If the overtemperature condition continues, the drive converter is powereddown after approx. 20 s with the fault message F15. Refer to the description of the Variable relay functions. Set using P185 to P189 and using P190 to P194. Reserved Reserved Motor 1 active Motor 2 active Motor 3 active Motor 4 active Motor overtemp. prealarm nact =nset One of these relays pullsin if the appropriate motor data set is active. Using this relay function, the external auxiliary contactor can be controlled to changeover the motor. We recommend a mutual contactor interlocking and an interlocking with the pulse enable. The relay dropsout when the motor develops an overtemperature condition. If the fault condition continues, the drive converter is powereddown with fault message F14 after a time set in P065. (from FW 3.00) The relay pullsin if the calculated speed actual value enters the tolerance bandwidth around the setpoint before the RFG and remains for at least 200 ms in this tolerance bandwidth P027.1 to P027.8 are used to set this tolerance bandwidth. If the tolerance bandwidth is left, relay nact =nset immediately dropsout. The relay dropsout as a result of speed fluctuations caused by load changes. 8 9 10 11 12 13 14 16 Funct. No. 1 2 Relay output, when supplied A31 (P243) A61 (P246)
|Md|< Mdx
A21 (P242)
|nact|< nx I2t prealarm
4 5
A41 (P244) A51 (P245)
Drive converter overtemp. prealarm Variable relay function 1 Variable relay function 2
AM
7
20
A11 (P241)
AM/3-45
07.94
Parameterizable signals
Table 3-11 Parameterizable signals Parameter attributes Number Change effective Online P051 Setting range Description
P021.G
2...16000 RPM
nmin for nact < nmin signal Response value for freelyprogrammable relay signal 1 |nact| < nmin nx for nact < nx signal Response value for freelyprogrammable relay signal 4 |nact| < nx Tolerance bandwidth for nset = nact signal Tolerance value for freelyprogrammable relay signal 1 Rampup completed and for the freelyprogrammable relay signal 20 nset = nact Mdx for Md < Mdx signal Response value for the freelyprogrammable relay signal 3 Md < Mdx The setting refers to the actual torque limiting.
P023.G
Online
0...32000 RPM
P027.G
Online
0...29000 RPM
P047.G
Online
0...100 %
Control word, signals
AM
Table 3-12
Control word, signals Parameter attributes
Number
P051
Setting range
Description
P247
0...FFFF hex
Control word, signals Each of the relay signals can be individually and independently inverted by setting the appropriate bit. Bit 0 1 2 3 4 5 Value 0001H 0002H 0004H 0008H 0010H 0020H Relay function terminal A11 is inverted Relay function terminal A21 is inverted Relay function terminal A31 is inverted Relay function terminal A41 is inverted Relay function terminal A51 is inverted Relay function terminal A61 is inverted
AM/3-46
12.94 07.94
3.3.3
Table 3-13

Variable relay function Parameter attributes
Number
Change effective
P051
Setting range
Description Variable relay function 1
P185 to P189 P185 P186 P187 P188 P189 P190 to P194 P190 P191 P192 P193 P194 P247
Online Online Online Online Online
4 4 4 4 4
0...FFFF hex 0...FFFF hex 0.00...10.00 s 0.00...10.00 s 0...7FFF hex
Address for monitoring 1 Threshold for monitoring 1 Pullin delay, monitoring 1 Dropout delay, monitoring 1 Hysteresis, monitoring 1 Hysteresis for threshold P186 Variable relay function 2
Online Online Online Online Online Online
4 4 4 4 4 4
0...FFFF hex 0...FFFF hex 0.00...10.00 s 0.00...10.00 s 0...7FFF hex 0...FFFF hex
Address for monitoring 2 Threshold for monitoring 2 Pullin delay, monitoring 2 Dropout delay, monitoring 2 Hysteresis, monitoring 2 Hysteresis for threshold P191 Control word, signals Bit Value 0000H 8 0100H 0000H 9 0200H 0000H 1000H 12 Variable relay function 1 with sign interrogation Variable relay function 1 with absolute value interrogation Variable relay function 2 with sign interrogation Variable relay function 2 with absolute value interrogation Variable relay function 1 with P186 as threshold Variable relay function 1 as bit test. The threshold (P186) is ANDed with the RAM variable (P185) to be monitored. Variable relay function 2 with P191 as threshold Variable relay function 2 as bit test
AM
0000H 13 2000H
Note A list of the important measured quantities (RAM variables) and their addresses are provided in the Attachment (Section 6.5).
AM/3-47
04.97 07.94
3.3.4
Analog outputs
Note Analog outputs are not possible with Order No. [MLFB] 6SN11220BA110AA0.
Overview
S Function S Technical data S Parameterization DAU 1, DAU 2 S Connection for analog displays
Function
Analog output of RAM variables for measurement purposes using two 8bit D/A converters.
Note A list of the important measured quantities (RAM variables) and their addresses are provided in the Attachment (Section 6.5).
AM
Technical data
S 2 output channels at terminal A91 (DAU 1) and terminal A92 (DAU 2) S 10 V voltage range S Coarse and fine normalization, offset compensation S Polarity of the output voltage can be set using the fine normalization
( 1000 %)
AM/3-48
07.94
Parameterization DAU 1, DAU 2

Table 3-14 Parameterization DAU 1, DAU 2 Parameter attributes Number Change effective Online P051 Setting range Description
P066
0...FFFF hex
Address, DAU 1 Address of the RAM variables which are to be output at DAU 1 Default: 11B6H absolute calculated speed actual value Shift factor, DAU 1 Coarse normalization of the selected data value by shifting the binary number to the left. Shift to the left by 1 = multiplication by 2 Max. gain: 32768 Normalization, DAU 1 Fine normaliization of the selected data value Offset, DAU 1 Compensation of a possibly existing offset for DAU 1 Address, DAU 2 Default: 11B8H utilization Shift factor, DAU 2 Normalization, DAU 2 Offset, DAU 2
P067
Online
0...F hex
P012 P078
Online Online
4 4
1000.0...1000.0 % 127...127 dec
P068 P069 P013 P079
4 4 4 4
0...FFFF hex 0...F hex 1000.0...1000.0 % 127...127 dec
Output voltage [V] 1st overflow +10,0 2nd overflow 3rd overflow 4th overflow
AM
10,0 0000H 2000H 4000H 6000H 8000H A000H C000H E000H FFFFH Hex numerical value Shift factor = 0 Shift factor = 2 Offset = 0 V Fine normalization = 100 %
AM/3-49
07.94
Connection for analog displays
Application: The following DAU assignment is intended to connect unipolar display instruments and the operating range is therefore limited to 0...+10 V without overflow.
Table 3-15
Connection for analog displays Parameter attributes
Number
P051
Setting range
Description
P012
1000.0...1000.0
Normalization, DAU 1 P066 = 11B6H |nact| display For P012 = 100 % and P067 = 0H, the following is valid: Standstill = 0 V Max. speed (minimum from P029, P174) = +10 V 1 V corresponds to 10 % Normalization, DAU 2 P068 = 11B8H utilization Displays the utilization in the ranges constant torque: Md/Mdmax constant power: P/Pmax (takes into account the actual torque limits P039, P041 and the current and power limits P059 and P060) For P013 = 100 % and P069 = 0H, the following is valid: No load = 0 V Max. torque and power = + 10 V 1 V corresponds to 10 %
P013
Online
1000.0...1000.0
AM
Output voltage [V] No overflow +10,0
10,0 0000H 2000H 4000H 6000H 8000H A000H C000H E000H FFFFH Hex numerical value Shift factor = 0 Shift factor = 2 Offset = 0 V Fine normalization = 100 %
AM/3-50
04.97 12.94 07.94
Induction Motor Modules (AM) 4 Controller optimization
Controller Optimization
Automatic functions can be selected to adjust important motor parameters. The drive must be enabled.
Warning With these automatic optimization runs, the motor is connected to a voltage and it operates at speeds up to the maximum speed. The optimization runs involved are identified by the symbol.
Note When using an UE module, in order to reduce the regenerative power, the rampdown time P017 and P043 must be increased until the drive can brake from the maximum motor speed down to 0 without a fault message being output (DC link overvoltage).
AM
Table 4-1 Controller optimization Parameter attributes Number Change effective P051 Setting range Description
Optimizing the controller data of the actual motor with the drive enabled
S
P204 P205 Online Online 10 0...8 dec 0...1 dec
Current controller optimization, refer to Section 4.2 Enter 1 selection: Current controller optimization Enter 1 start optimization
S
Adjust power offset 1) Enter 2 selection: Adjust power offset Enter 1 start adjustment
S
P031 P032 Online Online 4 4 0.0...255.9 10.0...6000.0 ms
Speed controller optimization, refer to Sections 4.1 and 4.7 P gain, speed controller Integral action time, speed controller
1) No longer necessary from FW 3.0
AM/4-51
12.94 07.94
Tabelle 4-1
Parameter attributes Number Change effective P051 Setting range Description
S
P034 P035 Online Online 4 4 0,0...600,0 A/V s 5.0...600.0 ms
Field controller optimization, refer to Section 4.3 P gain, field controller Integral action time, field controller
S
Adjust noload current Enter 3 selection: Adjust noload current Enter 1 start adjustment
S
Adjust magnetizing reactance Enter 4 selection: Adjust the magnetizing reactance Enter 1 start adjustment
S
Adjustment, fieldweakening speed (from FW 2.00) Enter 8 selection: Adjust the fieldweakening speed Enter 1 start adjustment
S
Adjustment, total moment of inertia Enter 5 selection: Adjust the total moment of inertia Enter 1 start adjustment
AM
Adjust rotor resistance (not applicable for motors with deepbar squirrelcage rotors) Enter 6 selection: Adjust rotor resistance Enter 1 start adjustment
Calculate speed controller setting (from FW 2.00) Not applicable, if the speed controller was optimized (refer to the previous text) Enter 7 selection: Calculate the speed controller setting Enter 1 start calculation
P204 P205 P052
10
0...8 dec 0...1 dec
0...1 hex
Transfer parameters into the FEPROM
AM/4-52
04.97 12.94 07.94
Note If the noload current adjustment is interrupted with F60, then a possibly effective speed limit must be increased above the noload speed. If the adjustment was interrupted with F60 due to voltage limiting, the operation can be repeated with a lower task value in P166, or the DC link voltage can be increased to 625 V (refer to the NE module).
Note In order to adjust the total moment of inertia, the rampup time P016 and P042 must be set to the lowest possible value (preferably to zero). If the speed controller requires an integral action time P032 > 250 ms, the total moment of inertia should be adjusted manually according to Section 4.7. The rampdown time P017 and P043 can be increased to reduce the regenerative power in combination with an UE module.
Note If the motor shaft rotates while the current controller is being optimized, then the optimization point must be repeated and a speed setpoint of zero must be entered (e.g. using terminal 81 HSS).
AM
AM/4-53
Induction Motor Modules (AM) 4.1 Speed controller
12.94 07.94
4.1
Speed controller
Overview
S Rampfunction generator S Gain, integral action time S Speed controller adaptation S Speed controller clock cycle S Total moment of inertia
Table 4-2 Rampfunction generator Parameter attributes Number Change effective Online Online Online Online Online Online P051 Setting range Description
P016.M P017.M P042.M
4 4 4 4 4 4
0.00...320.00 s 0.00...320.00 s 0.00...320.00 s 0.00...320.00 s 4.00...100.00 ms 0...FFFF hex
Rampup time, rampfunction generator 1 (from n = 0 to nmax P174) Rampdown time, rampfunction generator 1 (from nmax P174 to n = 0) Rampup time, rampfunction generator 2 (from n = 0 to nmax P174) Rampdown time, rampfunction generator 2 (from nmax P174 to n = 0) Initial roundingoff Torque setpoint smoothing Control word Bit Value 0000H 0008H 3 The rampfunction generator is not tracked The rampfunction generator is tracked Speed setpoint
AM
P043.M P018.M P053
Speed
Speed
Speed setpoint
Speed actual value Time [s] Without rampfunction generator tracking
Speed actual value Time [s] With rampfunction generator tracking
AM/4-54
12.94 07.94

Table 4-3 Gain, integral action time Parameter attributes Number Change effective Online Online P051 Setting range Description
P031.M P032.M
4 4
0.0...255.9 10...6000 ms
P gain, speed controller Integral action time, speed controller
When calculating the controller data P153 = 1, among other things, the speed controller parameters are determined. In some cases, the control behavior can still be improved (refer to Section 4.7).
Speed controller adaptation
If another speed controller P gain is required in the upper speed range, the speed controller adaptation can be activated.
Table 4-4
Speed controller adaptation Parameter attributes
Number
Change effective Online Online Online Online Online
P051
Setting range
Description
P195.M P196.M P197.M P198.M P199.M
4 4 4 4 4
0...32000 RPM 0...32000 RPM 0.0...255.9 dec 0.0...255.9 dec 1...150 %
Lower adaptation speed Upper adaptation speed P gain, lower adaptation speed P gain, upper adaptation speed P gain, reduction factor (the P gain characteristic is multiplied over the complete speed range) Select speed controller adaptation 0: No adaptation P031 effective 1: Speed contr. adapt. active P031 ineffective
AM
P203.M
Online
0...1 hex
P gain [dec] P197 P199
P198 P199
P195
Speed [RPM] P196
AM/4-55
04.97 07.94
Speed controller clock cycle

Table 4-5 Speed controller clock cycle Parameter attributes Number Change effective P051 Setting range Description
P090
0...FFFFhex
Control word Bit 3 Word 0000H 0008H Sp. ctrl. clock cycle, standard Sp. ctrl. clock cycle, fast If bit 3 is changed, it only becomes effective after saving to FEPROM and power on/off.
Total moment of inertia

Table 4-6 Total moment of inertia Parameter attributes Number Change effective Online P051 Setting range 0.0...6535.5 gm2 Description
P159.M
AM
Moment of inertia, motor and external Sum of the motor moment of inertia + external moment of inertia referred to the motor shaft Additional moment of inertia The parameterized value is internally added to P159.M. It is only necessary to enter in P219.M if the setting range of P159.M is exceeded (from FW 2.00)
P219.M
Online
0...15 kgm2
AM/4-56
10.00 04.97 03.96 07.94
Induction Motor Modules (AM) 4.2 Current controller
4.2
Overview
Current controller
S Curent controller optimization S Noload motor current
Current controller
Warning The module can be destroyed if the current controller P gain P115 or P116 is set too high. If the inverter clock cycle frequency is increased, then the derating, specified in Table 48 must be maintained.
Table 4-7
Current controller optimization Parameter attributes
Number
P051
Setting range
Description
P036.M
0...3 hex
Inverter clock cycle frequency If the clock cycle frequency is increased, the current controller dynamic response is improved, but the permissible continuous current load capacity is reduced due to the switching losses. The clock cycle frequencydependent current limit is displayed in parameter P049 and represents the maximum drive converter current as a percentage regarding the instantaneous current. If the clock cycle frequency is changed, the current controller must be reoptimized. Inverter clock cycle frequency 0 3.2 kHz 2.8 kHz 4 1 2 3 4.7 kHz 6.3 kHz 7.8 kHz 5 6 7 3.9 kHz 5.0 kHz 5.9 kHz
AM
(P037) (P049)
2.8...7.8 kHz 0...399 %
Displays the actual inverter clock cycle frequency Current limiting with derating
AM/4-57
04.97 07.94
Table 4-8 Power module type
Currents as a function of the inverter clock cycle frequency, IM analog fT Order Nos. 6SN11231AA0V 6SN11231AA0V 6SN11231AA0V In / Is6 / Imax in A In / Is6 / Imax in A In / Is6 / Imax in A In / Is6 / Imax in A
Code No.
fT:3.2kHz
fT:4.7kHz
fT:6.3kHz
fT:7.8kHz
8A 15A 25A 50A 80A 108A 120A 160A 200A 300A 400A
0HAV 0AAV 0BAV 0CAV 0DAV 0LAV 0GAV 0EAV 0FAV 0JAV 0KAV
1 2 4 6 7 13 8 9 10 11 12
3/3/3 5/5/8 8 / 10 / 16 24 / 32 / 32 30 / 40 / 51 45 / 60 / 76 45 / 60 / 76 60 / 80 / 102 85 / 110 / 127 120 / 150 / 193 200 / 250 / 257
2.5 / 2.5 / 2.5 4.2 / 4.2 / 6.8 6.9 / 8.6 / 13.8 20 / 26 / 26 26 / 34 / 44 39 / 52 / 65 39 / 52 / 65 51 / 68 / 86 73 / 95 / 109 101 / 127 / 163 169 / 211 / 217
2/2/2 3.4 / 3.4 / 5.4 5.7 / 7.1 / 11.4 15 / 20 / 20 21 / 28 / 36 32 / 43 / 54 32 / 43 / 54 41 / 54 / 69 60 / 78 / 90 81 / 102 / 131 135 / 169 / 174
1.6 / 1.6 / 1.6 2.6 / 2.6 / 4.2 4.6 / 5.7 / 9.1 10 / 14 / 14 17 / 23 / 29 26 / 34 / 43 26 / 34 / 43 31 / 42 / 53 48 / 63 / 72 62 / 78 / 101 104 / 130 / 134
Power module type
Order Nos. 6SN11231AA0V 6SN11231AA0V 6SN11231AA0V
In / Is6 / Imax in A
AM
8A 15A 25A 50A 80A 108A 120A 160A 200A 300A 400A
Code No.
fT: 2.8kHz
fT: 3.9kHz
fT: 5.0kHz
fT: 5.9kHz
From FW 3.00 0HAV 0AAV 0BAV 0CAV 0DAV 0LAV 0GAV 0EAV 0FAV 0JAV 0KAV 1 2 4 6 7 13 8 9 10 11 12 3/3/3 5/5/8 8 / 10 / 16 24 / 32 / 32 30 / 40 / 51 45 / 60 / 76 45 / 60 / 76 60 / 80 / 102 85 / 110 / 127 120 / 150 / 193 200 / 250 / 257 2.8 / 2.8 / 2.8 4.6 / 4.6 / 7.4 7.5 / 9.3 / 15 22 / 29 / 29 28 / 37 / 48 42 / 56 / 71 42 / 56 / 71 56 / 74 / 95 79 / 103 / 119 111 / 139 / 179 185 / 232 / 238 2.4 / 2.4 / 2.4 4.1 / 4.1 / 6.5 6.7 / 8.3 / 13.3 19 / 25 / 25 25 / 33 / 42 37 / 50 / 63 37 / 50 / 63 49 / 65 / 83 71 / 91 / 106 98 / 122 / 157 163 / 203 / 209 2.2 / 2.2 / 2.2 3.6 / 3.6 / 5.8 6 / 7.5 / 12 16 / 21 / 21 22 / 30 / 38 34 / 45 / 57 34 / 45 / 57 43 / 58 / 73 63 / 82 / 95 86 / 108 / 139 144 / 180 / 185
P115.M P116.M
Online Online
4 4
0...255 dec 0...300 dec
P gain, controller controller, base speed range P gain, current controller, fieldweakening range
P116.M + 255(255P115.M) @ P173.M P174.M
AM/4-58
07.94
Noload motor current

Table 4-9 Noload motor current Parameter attributes Number Change effective Online P051 Setting range Description
P166.M
0.00...Irated LT
Noload motor current Motor rotating without any connected load
AM
AM/4-59
Induction Motor Modules (AM) 4.3 Field controller
07.94
4.3
Field controller

Table 4-10 Gain, integral action time Parameter attributes Number Change effective Online Online P051 Setting range Description
P034.M P035.M
4 4
0.0...600,0 100 A/Vs 5.0...600.0 ms
P gain, field controller Integral action time, field controller
When calculating the controller data P153 = 1, among other things, the field controller parameters are determined. In several cases, the control behavior can be further improved (refer to Section 4.7)
AM
AM/4-60
07.94
Induction Motor Modules (AM) 4.4 Optimization, openloop controlled range
4.4
Optimization, openloop controlled range

Warning If a drive is operated for a longer period of time in the openloop speed controlled range, adequate motor cooling must be guaranteed, as a current is impressed in the motor which is approximately the same as the rated current (percentage in P057). Caution for selfventilated motors.
Table 4-11
Optimization, openloop controlled range Parameter attributes
Number
P051
Setting range
Description
P057.M
0...150 %
Current setpoint for the openloop controlled range Percentage of the rated motor current Current setpoint for the currentHz openloop control Accelerating torque in the openloop controlled range Percentage of the rated motor torque Changeover speed, openloop/closedloop control The changeover is realized with a hysteresis of 200 RPM.
P058.M
Online
0...399 %
P172.M
Online
0...32000 RPM
AM
Note If the maximum available drive converter current is limited in the acceleration phase, the torquegenerating component is also reduced. In this case, the rampup time is shortened by reducing the current in P057.
AM/4-61
Induction Motor Modules (AM) 4.5 Limits
07.94
4.5
Table 4-12
Limits
Limits Parameter attributes Number Change effective Online Online Online Online Online Online P051 Setting range Description
P174.M P059.M P060.M P029.G P039.G P041.G
4 4 4 4 4 4
0...32000 RPM 0...399 % 0...399 % 0...32000 RPM 0...399 % 0...399 %
Max. motor speed Highest permissible motor speed Current limiting Percentage of the rated motor current Power limiting Percentage of the rated motor power Speed limiting Highest required motor speed 1st torque limit value Percentage of the rated motor torque 2nd torque limit value Percentage of the rated motor torque Selected using the freelyprogrammable terminal function 1. Changeover, if the actual switching speed from Md1 to Md2 P050 is exceeded. Switching speed, from Md1 to Md2 Switching condition for the limit value changeover
P050.G
Online
0...32000 RPM
AM
Note If a drive is to be operated in the overload range, the limits may only be increased after the controller has been optimized. The various limits are always simultaneously taken into account. If an overload condition is to be permitted, then generally, more than one limit has to be increased. If the rampup time (acceleration time) is to be shortened, then it is practical to also change the openloop controlled range.
AM/4-62
07.94
Induction Motor Modules (AM) 4.6 Special speeds and speed range
4.6
Special speeds and speed range
Overview
S Steadystate minimum speed S Speed range suppression S Shutdown without reverse rotation

Table 4-13 Steadystate minimum speed Parameter attributes Number Change effective Online P051 Setting range Description
P030.M
0...32000 RPM
Steadystate minimum speed No steadystate operation in the speed range around zero. The range is passed through with the actual ramp up or rampdown times if the speed setpoint exceeds the steadystate minimum speed in the opposite direction of rotation. Zero speed can only be forced by inhibiting the permanentlyconnected enable signals or the freelyprogrammable terminal function 16, setpoint enable.
AM
200 Steadystate min. speed (P030 < 200 RPM) 200 Entered setpoint [RPM]
Steadystate min. speed (P030 > 200 RPM) 200
Entered setpoint [RPM] 200
AM/4-63
Induction Motor Modules (AM) 4.6 Special speeds and speed range
07.94
Speed range suppression

Table 4-14 Speed range suppression Parameter attributes Number Change effective Online Online P051 Setting range Description
P054.M P055.M
4 4
0...32000 RPM 0...32000 RPM
Range suppression, lower speed Range suppression, upper speed No steadystate operation in the suppressed speed range. The range is passed through with the actual ramp up or rampdown times if the speed setpoint violates the other transition (corner) speed.
Effective setpoint [RPM] P055 upper speed Suppressed range P054 lower speed
Entered setpoint [RPM] Suppressed range
AM
Shutdown without reverse rotation
Table 4-15 Shutdown without reverse rotation Parameter attributes Number Change effective Online P051 Setting range Description
P022.M
2...32000 RPM
Shutdown speed, pulse cancellation Shutdown without reverse rotation With the controller inhibited, when the shutdown speed is fallen below, the motor is switched into a nocurrent condition in order to prevent it overshooting when approaching zero speed.
AM/4-64
12.94 07.94
Induction Motor Modules (AM) 4.7 Manual optimization
4.7
Manual optimization
Overview
S Current controller S Speed controller S Field controller S Noload motor current S Magnetizing reactance S Moment of inertia, motor and external S Motor rotor resistance
If the system has to be manually optimized, the specified signals must be plotted using a storage oscilloscope at the appropriate test points, and the parameters set so that the required signal characteristics and behavior are obtained. The operation can be triggered using the first specified signals. For several adjustments, the settling behavior after setpoint steps is evaluated (using the rampup time P016 and P042 = 0) (step response). These can be entered using the oscillation generator (refer to Section 2.2.3). The braking energy can be regenerated into the line supply when an I/O module is used. When UE modules are used, this energy is converted into heat. The rampdown time P017 and P043 can be increased to reduce the braking power.
AM
Current controller
P115, P gain, current controller, base speed range P116, P gain, current controller, fieldweakening range
Table 4-16 Test socket parameterization Test point Parameterization Address Phase current IR test socket Shift factor, e. g.
Signal name
AM/4-65
07.94
Setting with the drive enabled and speed n = 0 Parameter P115 is increased from the preset value until the characteristic remains stable. If oscillations develop, reduce the value until the characteristic stabilizes again.
Phase current
Phase current
Phase current
P115 too low
t [ms]
P115 correct
t [ms]
P115 too high
t [ms]
Fig. 4-1
Current controller optimization, base speed range
P gain
300 255 200 Max. value P116 = 300
AM
P116 = 200 75 P115 = 75 Base speed range P173 Fieldweakening range Speed [RPM] P174
Fig. 4-2
Current controller optimization, fieldweakening range
Above the fieldweakening speed P173, the current controller gain is linearly increased and reaches, at the maximum speed P174, the value of P116; the maximum value is 255. If a value > 255 is entered in P116, then the current controller gain already reaches the maximum value at speeds < P174. P116.M + 255(255P115.M) @ P173.M P174.M
AM/4-66
07.94
In some cases, the response can be further improved with a somewhat higher value.
Table 4-17 P gain, current controller base speed range P115 P gain, current controller base speed range Increase value for No. F11 Fault profile Low current controller dynamic response No. F11 Decrease value for Fault profile Increased current ripple, whistlling noises, other related noises
Table 4-18
P gain, current controller fieldweakening range P116 P gain, current controller fieldweakening range Increase value for Decrease value for No. F11 Fault profile Spontaneous stalling
No.
Fault profile Uneven running under noload conditions in the upper speed range, torque surges
AM
AM/4-67
07.94
Speed controller
P031, P gain, speed controller P032, integral action time, speed controller
Table 4-19 Parameterization, test socket Test point Parameterization Address Torquegenerating current Speed actual value X1 test socket X2 test socket P076 = 10D2H P072 = 1110H Shift factor, e. g. P077 = 0H P073 = 4H
Signal name
The enabled drive is adjusted in oscillation operation: Enter low setpoint steps in the upper speed range using the oscillation generator. Using P031 and P032, set the required settling characteristics of the speed actual value after the actual limiting is exited. If different controller settings are required for various speeds, then the speed controller adaptation can be activated (refer to Section 4.1).
Torque generating current
AM
t [ms] Speed actual value Speed actual value
t [ms] Speed actual value
t [ms]
t [ms] P031 too low Fig. 4-3 Speed controller optimization P031 correct
t [ms] P031 too high
t [ms]
AM/4-68
07.94
Table 4-20
P gain, speed controller P031 P gain, speed controller Increase value for Decrease value for No . Fault profile Speed oscillations with low period duration for speed steps
No .
Fault profile Long rise time Overshoot with large period duration for speed steps
Table 4-21
Integral action time, speed controller P032 integral action time, speed controller Increase value for Decrease value for No . Fault profile Slow corrective behavior for speed changes
No .
Fault profile Tendency to oscillate for elastic couplings with large external moments of inertia
AM
AM/4-69
07.94
Field controller
P034, P gain, field controller P035, integral action time, field controller
Table 4-22 Parameterization, test socket Test point Parameterization Address Speed actual value Fieldgenerating current X1 test socket X2 test socket P076 = 1110H P072 = 10CAH Shift factor, e. g. P077 = 0H P073 = 2H
Signal name
Adjustment with the drive enabled in oscillation operation Using the oscillation generator and rampfunction generator, brake from maximum speed down to below the changeover speed P172 along a ramp. Increase parameter P034 from the calculated value, until the fieldgenerating current remains stable. If oscillations develop, reduce the value, or increase P035, until the characteristics restabilizes. Check:
S Setpoint steps in the fieldweakening range

Increase P034 if there is a tendency to stall (F11).
S Noload behavior over the total speed range

For uneven noload running with torque surges up to stalling (F11), reduce P034.
AM
Speed actual value
Speed actual value
Speed actual value
t [ms] Fieldgenerating current Fieldgenerating current
t [ms] Fieldgenerating current
t [ms]
t [ms] P034 too low P034 correct
t [ms]
Fig. 4-4
Field controller optimization
AM/4-70
07.94
Table 4-23
P gain, field controller P034 P gain, field controller Increase value for Decrease value for No. F11 Fault profile Tendency to oscillate, field generating current Speed ripple Torque surges Stalling under noload conditions
No. F11
Fault profile Stalling, especially in the field weakening range for speed steps
P166 noload motor current
Note If the value of parameter P166 is changed, the magnetizing reactance P171 must be readjusted.
Table 4-24
Parameterization, test socket Test point Parameterization Address Shift factor, e. g.
Signal name
Phase current Motor current Voltage actual value Table 4-25 Settings
IR test socket (P007) display (P010) display
Settings with the drive enabled and decoupled load Parameter P172 P057 Speed setpoint Procedure Changeover speed, closedloop/openloop control Set P172 > P164 60/p s/min Document the original value Current setpoint for the openloop controlled range Set P057 = 50 % Document the original value Adjust, so that (P005) = VA (P162/P164) + 2
AM
3 P158 P161
with VA output voltage IM module VA v 400 V for VDC link = 600 V VA v 420 V for VDC link = 625 V VA v 0.8 Vsupply for VDC link,noncontrolled P057 P166 P172 P057 Current setpoint for the openloop controlled range Adjust, so that (P010) = VA Noload motor current Set P166 = P161 P057/100 % Changeover speed, closedloop/openloop control Enter the original value Current setpoint for the openloop controlled range Enter the original value
AM/4-71
07.94
P171 magnetizing reactance
Note If the value of parameter P171 is changed, then the noload motor current P166 must also be readjusted.
Table 4-26
Parameterization, test socket Test point Parameterization Address Shift factor, e. g. P077 = 2
Signal name
Integral component, field controller
X1 test socket
P076 = 116A
Adjustment with drive enabled for the fieldweakening speed P173. Adjust the integral component, field controller to zero using parameter P171.
AM
t [ms]
t [ms]
t [ms]
P171 too low
P171 correct
P171 too high
Fig. 4-5
Optimization, magnetizing reactance
AM/4-72
12.94 07.94
P159 moment of inertia, motor and external P219 additional moment of inertia
Table 4-27 Parameterization, test socket Parameterization Signal name Speed actual value Integral component, speed controller Test point X1 test socket X2 test socket Address P076 = 1110H P072 = 117CH Shift factor, e. g. P077 = 0H P073 = 2H
Adjusting with coupled load with the drive enabled in the oscillation mode Enter setpoint steps of n = 2 P172 to nmax using the oscillation generator. Adjust the integral component of the speed controller using parameter P159 or P219 so that this remains at approximately zero during the acceleration phase.
Speed actual value
Speed actual value
Speed actual value
AM
t [ms] t [ms] t [ms] Integral component, speed controller Integral component, speed controller Integral component, speed controller
Frictional torque 0 t [ms] 0 t [ms] 0 t [ms]
P159 + P219 too low
P159 + P219 correct
P159 + P219 too high
Fig. 4-6
Optimization, moment of inertia
AM/4-73
07.94
P168 motor rotor resistance

Note The motor rotor resistance does not have to be adjusted for motors with deepbar squirrelcage rotors.
Table 4-28
Parameterization, test socket Test point Parameterization Address Shift factor, e. g. P077 = 0H P073 = 2H
Signal name
Speed actual value Integral component, speed controller
X1 test socket X2 test socket
P076 = 1110H P072 = 117CH
Adjustment with the drive enabled in the oscillation mode Enter setpoint steps in the speed range from n = 2 P172 to n = nmax using the oscillation generator. Adjust the integral component of the speed controller using parameter P168 so that an overshoot at the end of the acceleration phase is compensated.
Speed actual value
Speed actual value
Speed actual value
AM
t [ms]
t [ms]
t [ms]
Integral component, speed controller
Frictional torque
t [ms] P168 too low Fig. 4-7 Optimization, motor rotor resistance P168 correct
t [ms]
AM/4-74
04.97 12.94 07.94
Induction Motor Modules (AM) 5.1 Diagnostic resources
Diagnostics and Fault Analysis
5.1
5.1.1
Measured value displays
Warning If the motor pulses are canceled, there is no longer any information about the motor speed. The calculated speed actual value is then set to zero. This means that none of the speed actual value displays provide any info. With the exception of P133, speed actual value BERO, if the speed is monitored.
Table 5-1
Measured value displays Parameter attributes
Number
Change effective
P051
Setting range
Description
AM
(P001) (P101) (P002) (P102) (P003) (P004) (P005) (P006) (P007) (P008) (P009) (P010) (P110) (P133) (P037)
32000...32000 RPM 32000...32000 RPM 399.0...399.0 % 0.0...100.0 % 1250...1250 Hz 0...700 V 399.0...399.0 % 0.0...399.0 % 0.0...399.0 % 0...450 Vrms 0...170C 0...65535 RPM 2.8 kHz...7.8 kHz
Speed setpoint Speed actual value Torquegenerating current referred to the rated motor current Utilization refer to the effective limiting Motor frequency DC link voltage realized via NE or monitoring module or via P061 Motor current referred to the rated motor current Field current components referred to the rated motor current Active power referred to the rated motor output Voltage actual value Motor temperature Speed actual value BERO Inverter clock cycle frequency
AM/5-75
07.94
5.1.2
Status displays
P000, P100 operating display P011 status of the digital inputs

Table 5-2
Refer to Section 2.2.1
P011 status of the digital inputs
Display
Display value Term. 63 Central pulse enable Term. 64 Central drive enable Term. 112 open Settingup operation Term. R Central fault acknowledgement Term. E9 Freelyprog. via P089 Term. 663 Axisspecific pulse enable Term. 65 Axisspecific controller enable Term. 81 open Fast ramp function generator stop Term. E5 Freelyprog. via P085 Term. E6 Freelyprog. via P086 Term. E7 Freelyprog. via P087 Term. E8 Freelyprog. via P088 Term. E1 Freelyprog. via P081 Term. E2 Freelyprog. via P082 Term. E3 Freelyprog. via P083 Term. E4 Freelyprog. via P084
AM
AM/5-76
07.94

Display
Display value Fct. No. 13 Rampfunction generator 2 Fct. No. 14 Increase setpoint Fct. No. 15 Decrease setpoint Fct. No. 9 Gearbox stage bit 0 Fct. No. 10 Gearbox stage bit 1 Fct. No. 11 Gearbox stage bit 2 Fct. No. 1 2nd torque limit
Fct. No. 2 Oscillation
Fct. No. 7 Rampup time TH = 0
Fct. No. 3 Reset fault memory (fault acknowledgement)
Fct. No. 16 Setpoint enable
Fct. No. 12 Clockwise/ counter clockwise rotating field
AM
AM/5-77
12.94 07.94

Display
Display value Fct. No. 21 Motor selection bit 1 Fct. No. 24 Fixed setpoint bit 3 Fct. No. 17 Fixed setpoint bit 0 Fct. No. 18 Fixed setpoint bit 1 Fct. No. 19 Fixed setpoint bit 2 Fct. No. 20
AM
Motor selection bit 0
AM/5-78
12.94 07.94
5.1.3
P020 autosetting routine

Table 5-5 P020 autosetting routine
Display
Display value Automatic optimization 5 Adjustment, moment of inertia Automatic optimization 6 Adjustment, rotor resistance Automatic optimization 7 Optimization, phase current controller Automatic optimization 2 Adjustment, power offset Automatic optimization 3 Automatic optimization 1
AM
Calculation, Adjustment, no speed controller load current Automatic optimization 8 Adjustment, field weakening speed Several messages can be displayed. The hexadecimal addition is displayed. Example: 4H + 8H = CH Adjustment, magnetizing reactance Automatic optimization 4
AM/5-79
12.94 07.94
Table 5-6
Diagnostics and checksum parameter Parameter attributes
Number
Change effective
P051
Setting range
Description
(P028)
0...FFFFH
Diagnostics Bit 13 Value 2000H Division interrupt Error in the calculation routine due to incorrectly entered data
(P200)
0...FFFFH
Checksum parameter For each data save operation (P052=1H), the checksum is generated over the parameter contents. This means that a change in the drivemachine data is recognized.
5.1.4
Test sockets X1, X2, IR
Overview
S Function S Technical data S Assignment
AM
Function
S Normalization IR S Parameterization X1 (DAU 3), X2 (DAU 4)

Analog output of the phase current actual value and RAM variables for measuring and diagnostics.
Technical data
S Phase current actual value at test socket IR S 2 output channels at X1 (DAU 3) and X2 (DAU 4) S Voltage range 0...+ 5 V (value 0 corresponds to +2.5 V) S Coarse normalization, offset compensation for X1 and X2 via parameter
AM/5-80
03.96 07.94
Assignment
X1: X1 IR X2 M X2: IR: M:
Test socket DAU 3 Test socket DAU 4 Current actual value, phase R Reference ground
Fig. 5-1
Assignment, test sockets
Normalization IR
Table 5-7 Normalization IR Normalization IR 8 A corresponds to 8.25 V 15 A corresponds to 8.25 V 25 A corresponds to 8.25 V 50 A corresponds to 8.25 V 80 A corresponds to 8.25 V 160 A corresponds to 8.25 V 160 A corresponds to 8.25 V 200 A corresponds to 8.25 V 300 A corresponds to 8.25 V 400 A corresponds to 8.25 V 120 A corresponds to 8.25 V
Power module code number (P095) 1 2 4 6 7 8 9 10 11 12 13
AM
AM/5-81
07.94
Parameterization X1 (DAU 3), X2 (DAU 4)

Table 5-8 Parameterization X1 (DAU 3), X2 (DAU 4) Parameter attributes Number Change effective Online P051 Setting range Description
P076
0...FFFF hex
Address, DAU 3 Address of the RAM variables which are to be output at DAU 1. Default: 1110H calculated speed actual value, 1 V corresponds to 15000 RPM Shift factor, DAU 3 Coarse normalization of the selected data value by shifting the binary number to the left. Shift to the left by 1 = multiplication by 2 max. gain: 32768 Offset, DAU 3 Compensation of a possibly existing offset for DAU 3 Address, DAU 4 Default: 10D2H Torquegenerating current 1 V corresponds to 1.6 Irated motor Shift factor, DAU 4 Offset, DAU 4
P077
Online
0...F hex
P080
Online
127...127 dec
P072
Online
0...FFFF hex
P073 P074
Online Online
4 4
0...F hex 127...127 dec
AM
+2.5
0.0 0000H 2000H 4000H 6000H 8000H A000H C000H E000H FFFFH
Offset = 0 V Fine normalization = 100 %
Hex numerical value
Note A list of the most important measured quantities (RAM variables) and their addresses are listed in the Attachment (Section 6.5).
AM/5-82
07.94
5.1.5
Function
Table 5-9
Monitoring RAM variables for minimum and maximum values.

P181
0...FFFF hex
Address for min/max memory (address of the monitored RAM variable) The value can be saved in the drivemachine data memory. Select min/max memory 0H: Stop memory function 1H: Start memory function with absolute value evaluation 2H: Start memory function with bipolar evaluation 3H: Stop memory function Minimum value, min/max memory Maximum value, min/max memory
P179
Online
0...3 hex
(P182) (P183)
AM
AM/5-83
04.97 07.94
5.1.6
Function
Two RAM variables are simultaneously recorded and output via test sockets X1 and X2.
Technical data
S Two 16bit signals are recorded in parallel S 640 words of recording depth S 1 ms sampling time (P090, bit3=0 ) or 0.6ms (P090, bit3=1, from FW 3.00) S Start and stop conditions (trigger conditions) S Cyclic output via DAUs S Trigger edge for output
Parameterization
Table 5-10 Parameterization Parameter attributes Number Change effective Online P051 Setting range Description
AM
P207
0...C hex
Transient recorder setting

Records two RAM variables over 640 ms with 1 ms sampling. 1H: Start via P206 without start and stop condition Start via P206 = + 1. Stop 640 ms after input 2H: Start condition via P208 and P209, no stop condition. Start via P206 = +1. Stop 640 ms after start condition. 5H: Stop condition via P210 and P211, no start condition. Start via P205 = +1. Records for the last 640 ms before the stop condition 6H: Recording with start and stop condition, max. 640 ms 4H: Default of the recording memory via P217 The parameter is reset to 0 after successful recording.
P212
Online
0...FFFF hex
Address, signal 1 A list of the most important measured quantities (RAM variables) and their addresses are listed in the Attachment (Section 6.5). Address, signal 2
P213
Online
0...FFFF hex
AM/5-84
07.94
Table 5-10
Parameterization Parameter attributes
Number
P051
Setting range
Description
P208
0...FFFF hex
Address for start condition Addresses of the RAM variables which start the recording operation. Threshold for start condition Start condition mask is compared with the RAM variable in P208. Address of the stop condition Threshold of the stop condition Select transient recorder Start the transient recorder function by setting P206 to +1. The parameter is reset to 0 after successful recording. Shift factor, signal 1 Refer to the description, test sockets X1, X2 Shift factor, signal 2 Trigger signal 1 Trigger signal amplitude low for DAU (D/A converter) output with 1 ms duration. When entering various signal levels in P217 and P218, an edge is output, which is then followed by the traced signal. Trigger signal 2 Trigger signal amplitude high for DAU (D/A converter) output with 1 ms duration. Start trace output The traced values are cyclically output at the DAU. The output is repeated until the parameter is reset to 0. Trace signal 1 DAU 3 (X1) Trace signal 2 DAU 4 (X2) The previous DAU assignment is buffered and is reset after the output function has been completed.
P209
Online
0...FFFF hex
P210 P211 P206
4 4 4
0...FFFF hex 0...FFFF hex 0...1 hex
P215 P216 P217
4 4 4
0...15 dec 0...15 dec 0...FFFF hex
P218
Online
0...FFFF hex
AM
P214
Online
0...1 hex
AM/5-85
07.94
5.1.7
Current/Hz control
Warning If a drive is operated for a longer period of time in the openloop controlled speed range, the motor must be adequately cooled, as a current approximately equal to the rated current is impressed (percentage in P057). Caution for selfventilated motors.
Function
Diagnostics for incorrect parameterization in the closedloop controlled range. The motor can be operated openloop current/Hz controlled for test purposes. In this case, the speed and field control (closedloop) are ineffective.
Function information
The changeover speed between closedloop control and openloop control P172 should be set high enough, so that it is not exceeded in test operation. Above the field weakening speed (P173), the absolute current should be set less than the noload current, as otherwise the voltage limiting would intervene. This would result in uneven motor running and torque surges.
Table 5-11
Current/Hz control Parameter attributes
Number
AM
P057.M
P051
Setting range
Description
0...150 %
Current setpoint in the openloop controlled range Percentage of the rated motor current Current setpoint for current/Hz control Accelerating torque in the controlled range (openloop) Percentage of the rated motor torque Changeover speed, closedloop/openloop control This changeover is made with a hysteresis of 200 RPM.
P058.M
Online
0...399 %
P172.M
Online
0...32000 RPM
AM/5-86
07.94
Induction Motor Modules (AM) 5.2 Fault analysis
5.2
5.2.1
Fault analysis
Fault display, fault acknowledgement
Fault display
Display
Inactive
1 fault Several faults, changeover with the key
Fault message number (refer to Table 512) = Fault
Fault acknowledgement
Using the P key Press the P key with the controller inhibit present.
If the fault can be acknowledged, then the system returns to the operator program. If the fault cannot acknowledged, e.g. there is a defect, the fault display can be temporarily suppressed.
AM
S Remote acknowledgement
One of the following terminals is energized with the controller inhibited: Terminal R reset at the NE and monitoring module Terminal Reset fault memory (freelyprogrammable terminal function) at the IM module Interrupt terminal 65 controller enable (only if P053, bit 5 =1)
S Poweringdown
Powerdown the unit and approx. 2 s after the display has gone dark, powerup again.
Fault suppression
Using the key The operator program is selected for approx. one minute after pressing the key however the fault is not acknowledged.
AM/5-87
03.96 07.94
5.2.2
Fault message list
Warning When the motor pulses are canceled, there is no information about the motor speed. The calculated speed actual value is then set to 0. The motor pulses can be deleted as a result of fault messages.
Table 5-12
Fault message list Fault Fault for D/A conversion Cause
Fault message F04
S S S S S S S
If this message is continually repeated, the control board is defective All of the enable signals are present, but a motor is not connected A motor contactor has not pulledin. All of the enable signals are present, but at least one of the parameters P160, P166, P057, P059 is equal to zero. Defective DC link fuse Interrupted DC link busbars If the fault message repeatedly occurs during a data save operation, then the FEPROM is defective. If the fault message occurred immediately after poweringup the drive converter, the drive converter was powereddown during a data save operation. This means that the last parameter changes have not been saved. A new data save must be initiated. Defective FEPROM replace the control board Ribbon cable, control board gating board is defective or is not connected Motor is not connected or a phase is missing Defective power supply of the gating board Defective DC link fusing DC link busbars interrupted Motor stalled, as the motor or controller parameters are completely incorrect The IM module is connected to a monitoring module without DC link voltage sensing, and a value was not entered in P061 for the DC link voltage For the gearbox stage changeover, the speed limiting P029 was reduced, although the motor is rotating above this limit. Defective motor Motor data or controller data completely incorrect Entered motor data and circuit configuration type Y/n of the motor do not match Motor stalled, as the motor or controller data are completely incorrect
F05
Motor current = 0
F07
AM
F08
Data save on the FEPROM unsuccessful
Irrevocable data loss
S S S S S S S S S S
F11
Frequency setpoint > maximum frequency
F13
Field controller is at its limit
S S S
AM/5-88
04.97 07.94
Table 5-12
Fault message list Fault Cause
Fault message
F14
Motor overtemperature
S S S S S S S S S S S
Motor overloaded Motor current too high, e.g. due to incorrect motor data Defective temperature sensor (motor) Defective motor fan Winding short circuit, motor Drive converter overloaded (incorrect motor/converter assignment, incorrect load duty cycle, clock cycle frequency too high) Ambient temperature too high Fan in the IM module failed Defective temperature sensor in the IM module After cooling below 50 C "15 K, acknowledgement is only possible by poweringdown and poweringup again Incorrect code number 3 in P095 selected (for power modules without automatic recognition) Incorrect code number selected in P095 (for power modules with automatic recognition). From FW 3.00 Incorrect motor/converter assignment Defective temperature sensor Connection to the sensor interrupted or shortcircuited
F15
Drive converter overtemperature
F16
Illegal power module code number
S S S S
F17
I0 motor > Irated power

module
Temperature sensor motor F19
S S
Interrupted Shortcircuit
AM
only KTY 84 F51 Parameterizing error: Rated torque too high
S S
Rated torque (calculated) from P160.M and P163.M greater than 650 Nm From FW 2.00 Illegal ratio of P160.M P164.M P161.M P163.M P171.M From FW 2.00
F52
Parameterizing error: Illegal torque constant Parameterizing error: Rated motor current too low
F53
Ratio between the rated motor current and rated power module current too low
F60
Error for the automatic setting routine
S S S S S
Automatic setting routine was interrupted Automatic setting routine did not provide any useful values Speed limiting (P029, P174) effective nmax < (frated 60 s/min)/p Configuration Y/D and rated data interchanged Other causes, refer to Section 4 Pulse number P131.M incorrectly parameterized Interrupted cable
F90
Max. speed BERO exceeded
S S
AM/5-89
07.94
Faults
After
S Power ON
Operator display inactive minimum of two phases missing (NE/monitoring module) minimum of two input fuses have failed (NE/monitoring module) defective electronics power supply in the NE/monitoring module equipment bus connection (ribbon cable) IM module NE/monitoring module not inserted or defective defective IM module defective EPROM/FEPROM firmware not loaded
S Controller enable
Motor rotates counter clockwise, although the IM module outputs a clockwise rotating field or vice versa motor rotating field incorrect as the feeder cables are interchanged (interchange 2 phases) J
AM
AM/5-90
07.94
Induction Motor Modules (AM) 6 Attachments
Attachments
AM
AM/6-91
Induction Motor Modules (AM) 6.1 Flowchart when commissioning systems
07.94
6.1
Flowchart when commissioning systems

Warning If a fault at the NE module is acknowledged with the IM module enabled, then the drive accelerates to nset.
Note If the data save operation is interrupted due to power failure or powerdown, the values which have been changed are lost, and the drive converter outputs fault message F07 when it is poweredup again (refer to Section 5.2.2). The parameter values can be reselected after fault message F07 is acknowledged.
START
Before the unit is poweredup:
S S S
Check the connections according to the circuit diagram and what has been engineered/configured. Deenergize or disconnect all of the enable signals at the NE module (terminal 63, terminal 64) and the IM module (terminals 663, 65, 81). Determine the power module code number from the module Order No. [MLFB] (refer to Section 6.2) Powerup the unit (power ON)
AM
Does the display remain dark? no Is there a flashing F... in the display? no Is P000 displayed (refer to Section 1.3) yes 1
yes
Fault (refer to Section 5.2.2)
yes
no
AM/6-92
07.94
1
Set P051 to 4H (remove write protection) Set P097 to 0H (start initialization) Set P052 to 1H (write into the FEPROM) Wait until P052 is set again to 0H and them powerdown the drive converter and 1 s after the operating display has gone dark, powerup again.
The module was already commissioned. In order to adapt it to a new motor, it must first be reset into the initial status.
Display, P095 or P097 Enter or check P095 power module code number Set P097 to 1H SEtUP is displayed Wait until the operating display P000 is displayed (refer to Section 2.2.1)
AM
Set P051 to 4H (remove write protection)
no
Is the IM module connected to the equip- ja ment bus of a monitoring module without DC link voltage sensing? yes Enter a fixed DC link voltage (V) into P061
Function not possible in conjunction with an uncontrolled DC link voltage (refer to Section 2.1)
AM/6-93
12.94 07.94
3
Enter the following parameters1) P158 P160 P161 P162 P163 P164 P174 Inductance of the series reactor (mH) Rated motor output (kW) for S1 duty2) Rated motor current (A) for S1 duty2) Rated motor voltage (V) Rated motor speed (RPM) Rated motor frequency (Hz) Max. motor speed (RPM) A 0 must be entered into P158 if there is no reactor between the IM module and motor.
This setting data can be taken from the rating plate according to VDE 0530 Part 1 (HA10) of the motor used.
Set P056 motor selection to the motor data set to be handled
no
Is the motor equivalent circuit diagram data known?
yes
Enter P1781) power factor cos 2)
Enter the following parameters1) P166 P167 P168 P169 P170 P171 Noload motor current (A) Stator resistance () Rotor resistance () Stator leakage reactance () Rotor leakage reactance () Magnetizing reactance ()
Calculate the equivalent circuit diagram data
AM
Set P153 to +1H
no
Approximate total moment of inertia1) known?
yes
Enter P1591) moment of inertia, motor and external (gm2). If the setting value is too low, enter P2191) additional moment of inertia (kgm2).
Calculate the controller data Set P153 to 1H Repeat this procedure for all of the modified motor data sets
1) Setting data for up to four different motors can be entered (subparameters 1 to 4) 2) For forcecooled motors, refer to the instructions in Section 2.1
AM/6-94
07.94
Set P052 to 1H Wait until P052 is again set to 0H. The entered values are transferred into the FEPROM.
no
Motor with deepbar squirrelcage rotor?
yes or unknown
Increase P0181) initial roundingoff (ms) to approx. 30.00 ms
no
Has the drive converter switching frequency been configured for > 3.3 kHz?
yes Observe the derating (refer to Section 4.2)
Increase P0361) drive converter switching frequency (refer to Section 4.2.)
AM
Set P056 motor selection to the motor data set to be handled
Enter a speed setpoint of 0 V at terminals 56 and 14 (display in P001)
10
1) Setting data for up to four different motors can be entered (subparameters 1 to 4)
AM/6-95
07.94
Status of the two center positions of the P000 operating display after the switching operation (refer to Section 2.2.1)
All enable signals are disconnected/ deenergized from/at the NE and IM module.
The enable voltage is connected to all enable signals at the NE module.
The enable voltage is connected to the axisspecific pulse enable term. 663 is connected at the IM module.
Controller enable Enable voltage is connected to terminal 65 at the IM module.
no
Is terminal function 16 (setpoint enable) activated?
yes
AM
Remove the fast rampfunction generator stop. Connect the enable voltage to terminal 81.
Remove the fast rampfunct. generator stop. Connect the enable voltage to terminal 81.
Connect the enable voltage to the select terminal, sepoint enable.
Slightly increase the speed setpoint.
yes
Motor starts to move and responds to the speed setpoint
no
F05 F11
refer to Section 5.2.2
Enter a speed setpoint of 0.
AM/6-96
03.96 07.94
no Max. motor speed > 6000 RPM
yes
Increase P029 speed limiting to the maximum motor setpoint speed.
Set P051 to 10H. (remove the special write protection)
1)
Set P204 to 1 (set the current controller) Set P205 to 1 (start the automatic setting routine) Wait until P205 is set to 0
Set P204 to 2 (adjust the power offset) Set P205 to 1 (start the automatic setting routine) Wait until P205 is set to 0
Check, if required, change P031, P032 speed controller setting
AM
Check, if required, change P034, P035 field controller setting
Set P204 to 3 (set the noload current) Set P205 to 1 (start the automatic setting routine) Wait until P205 is set to 0
Caution! The drive rotates with the noload speed with a clockwise rotating field. Note: To optimize the noload current, set P174 and P029 to min. the rated synchronous speed. yes
no Is fault message F60 or F17 displayed?
1) No longer necessary from FW 3.00 onwards
AM/6-97
12.94 07.94
8 Caution! The motor moves with the field weakening speed, clockwise rotating field.
Set P204 to 4 (set the magnetizing reactance) Set P205 to 1 (start the automatic setting routine) Wait until P205 is set to 0
no Is fault message F60 displayed?
yes Fault (refer to Section 5.2.2)
Set P204 to 8 (set the fieldweakening speed) Set P205 to 1 (start the automatic setting routine) Wait until P205 is set to 0
Caution! The motor moves in the oscillation mode up to the maximum speed with clockwise rotating field (if required, limit).
no Speed controller integral action time P032 > 250 ms
yes
Manually adjust the moment of inertia (refer to Section 4.7)
Set P204 to 5 (set the moment of inertia) Set P205 to 1 (start the automatic setting routine) Wait until P205 is set to 0
AM
Caution! The motor moves in the oscillation mode up to the maximum speed with clockwise rotating field (if required, limit with P029).
no Deepbar squirrelcage rotor?
yes or unknown
Set P204 to 6 (set the rotor resistance) Set P205 to 1 (start the automatic setting routine) Wait until P205 is set to 0
Caution! The motor moves in the oscillation mode up to the maximum speed with clockwise rotating field. yes Fault (refer to Section 5.2.2)
no Is fault message F60 displayed?
8a
AM/6-98
07.94
8a
10
Speed controller settings P031, P032 manually optimized (refer to Section 4.7)
yes
no
Set P204 to 7 (calculation, speed controller setting P031, P032), set P205 to 1 (start the automatic setting routine) Wait until P205 is set to 0
Inhibit all enable signals
Set P051 to 4H (remove write protection)
Repeat the procedure for all of the modified motor data sets
AM
9
AM/6-99
07.94
Set P056 again to 0 H
Check, and if required change the following parameters: P014 P015 P024 P016 P017 P029 P021 to P023, P027 P039 to P043 P047 P057 to P058 P059 to P060 P081 to P089 P113 to P114 Normalization nset Offset correction nset Normalization nset Rampup time, rampfunction generator 1 Rampdown time, rampfunction generator 1 Max. motor speed nmaxmot Relay response values of the speed monitoring Torque limit values Openloop controlled range Limits Freelyprogrammable terminal functions Speed setpoints Freelyprogrammable relay functions
AM
P185 to P194, P241 to P246
11
AM/6-100
07.94
11
Set P052 to 1H. Wait until P052 is again set to 0H. The modified values are transferred into the FEPROM
Check, and if required, change all of the parameterized functions
Value changed?
no
yes
Set P052 to 1H. Wait until P052 is again set to 0H. The modified values are transferred into the FEPROM
AM
Set P051 to 0H. Enable write protection
After startup, save the parameter values in a file or document in a list
End
AM/6-101
Induction Motor Modules (AM) 6.2 Power module code numbers
10.00 03.96 07.94
6.2
Table 6-1 Power module type 8A 15 A 25 A 50 A 80 A 108 A 120 A 160 A 200 A 300 A 400 A
Power module code numbers

Power module code numbers Order No. 6SN11231AA0V 6SN11241AA0V 6SN11401BA1V 0HAV 0AAV 0BAV 0CAV 0DAV 0LAV 0GAV 0EAV 0FAV 0JAV 0KAV Rated output current [A] Peak output current, briefly S640% 10min [A] 3 5 10 32 40 60 60 80 110 150 250 Peak output current, briefly S640% 10s [A] 3 8 16 32 51 76 76 102 127 193 257 Power module code number P095 1 2 4 6 7 13 8 9 10 11 12 FW 2.00 FW 2.00 FW 2.10 FW 2.10 FW 2.10
3 5 8 24 30 45 45 60 85 120 200
AM
Order No. entry (MLFB No.)
Fig. 6-1
Position of the Order No. (MLFB No.)
AM/6-102
03.96 07.94
6.3
Connections
Overview
S Connection diagram SIMODRIVE 611 analog system S Terminals S Relay terminals

Warning Cable shields and cores in power cables which are not used (e. g. brake cores) must be connected to PE potential in order to discharge charging due to capactive coupling. Hazardous touch voltages could occur if this is not observed.
Note: When using non-PELV circuits at terminals AS1, AS2, the connector must be prevented from being incorrectly inserted by using the appropriate connector coding (refer to EN602041, Section 6.4) Order No. of the coding connector, refer to Catalog NC60
AM
AM/6-103
04.97 03.96 07.94
Connecting diagram SIMODRIVE 611 analog system

NE module X111 74 Ready signal Group signal I2t, temperature monitoring Pulse enable Drive enable X141 X121 73.2 73.1 X1 72 5.3 5.2 5.1 63 9 9 64 19 7 45 44 10 15 15 R IR X2 X432 BERO input3) IM module X412 Motor temperature sensor3)
M
X421 X451 A91 56 14 24 8 X431 663 65 81 E1 E2 E3 E4 E5 E6 E7 E8 E9 9 X411
nset1 En+ En+ En P24 P15 N15 N24 M M RESET En+ nset22) External IF RF HSS T. 11) T. 21) T. 31) T. 41) T. 51) T. 61) T. 71) T. 81) T. 91) En+ RS232C interface
M
A92
DAU 12) DAU 22) Internal Relay 11) Relay 21) Relay 31) Relay 41) Relay 51) Relay 61) Ready Fault Sign. contact start inhibit
M
X441 289 A11 A21 A31 A41 A51 A61 672 673 674 AS1 AS2 X442
X161 Settingup, contactor control
AM
9 112 48 111 Signaling contact 213 contactor 113 X171 NS1 NS2 X172 Sign. contact AS1 AS2 start inhibit SPP 5V EXT UNIT VDClink> X181 M500 > P500 2U1 1U1 2V1 1V1 2W1 1W1 X351 U1 V1 W1 PE1
X151
Equipment bus
DC link
P 600 M 600
X131
U2 V2 W2 PE1 PE2
L1 L2 L3
FN LK
at
M 3
from NC
PE
!
Fig. 6-2
Warning!
If a power contactor is used between the motor and IM module, it must be ensured that this contactor is only switched when it is in a nocurrent condition. (When opening, first cancel the pulses (terminal 663) and then 40 ms later, the contactor).
Connection diagram
1) Freelyprogrammable inputs and outputs 2) Function not possible with Order No. [MLFB] 6SN11220BA110AA0 3) From Order No. [MLFB] 6SN112V1AV0VVVA1
AM/6-104
X351
04.97 03.96 07.94
Terminals
Table 6-2 Terminal No. U2 V2 W2 PE1 PE2 P600 M600 X151/351 56 14 24 8 663 65 81 E1 E2 E3 E4 E5 E6 E7 E8 E9 94) A91 M A92 M X1 X2 IR M X421 X421 X421 X421 X431 X431 X431 X431 X431 X431 X431 X431 X431 X431 X431 X431 X431 X451 X451 X451 X451 Terminals Location Function Type
1)
Typ. voltage/ limit values
Max. crosssection
Motor connection
3ph. 0...450 V AC 0V 0V +300 V 300 V Various "10 V (max. "11 V) "10 V (max. "11 V) +21 V...+33 V +13 V...+30 V +13 V...+30 V +13 V...+30 V +13 V...+30 V +13 V...+30 V +13 V...+30 V +13 V...+30 V +13 V...+30 V +13 V...+30 V +13 V...+30 V +13 V...+30 V +24 V "10 V 3 mA 0V "10 V 3 mA 0V 0 V...5 V 3 mA 0 V...5 V 3 mA "10 V 3 mA 0V
According to the Planning Guide
Protective conductor Protective conductor DC link DC link Equipment bus Speed setpoint 1 (Differential input) Speed setpoint 2 (Differential input) Axisspecific pulse enable Controller enable Fast rampfunct. generator stop Freelyprog. enable terminal 12) Freelyprog. enable terminal 22) Freelyprog. enable terminal 32) Freelyprog. enable terminal 42) Freelyprog. enable terminal 52) Freelyprog. enable terminal 62) Freelyprog. enable terminal 72) Freelyprog. enable terminal 82) Freelyprog. enable terminal 92) Enable voltage Analog output DAU 13) Reference potential for DAU 13) Analog output DAU 23) Reference potential for DAU 23) Test socket Test socket Test socket Test socket
I O I/O I/O I/O I I I I I I I I I I I I I I I I O O O O O O O O O
Stud Stud Busbar Busbar Ribbon cable 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 Test socket, 2 mm diameter Test socket, 2 mm diameter Test socket, 2 mm diameter Test socket, 2 mm diameter
AM
1) 2) 3) 4)
I = Input O = Output Can be freely programmed using operator control parameters Function not possible with Order No. [MLFB] 6SN11220BA110AA0 Refer to Section NE 3.1... 3.2
AM/6-105
07.94
Relay terminals
Table 6-3 Terminal No. 289 A11 A21 A31 A41 A51 A61 672 673 674 AS 1 AS 2 Relay terminals Type
1)
Location X441 X441 X441 X441 X441 X441 X441 X441 X441 X441 X441 X441
Function Signals, center contact Freelyprog. relay function 12) Freelyprog. relay function 22) Freelyprog. relay function 32) Freelyprog. relay function 42) Freelyprog. relay function 52) Freelyprog. relay function 62) Ready/ no fault axisspecific Signaling contact Start inhibit
Typ. voltage/ limit values 30 V/6.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 30 V/1.0 A max 250 VAC/2.9 A max 250 VAC/2.9 A max
Max. crosssection 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2 1.5 mm2
I NO NO NO NO NO NO NO I NC I NC
AM
AM/6-106
07.94
Induction Motor Modules (AM) 6.4 Interfaces
6.4
Interfaces
6.4.1
X432 connector assignment for BERO

PIN No. 10 14 15 Signal name En+ BERO En Explanation +24V Signal Ground
It is not permissible that the other pins are assigned.
6.4.2
X412 connector assignment for motor temperature sensor

PIN No. 14 15 Signal name +Temp Temp
It is not permissible that the other pins are assigned.
6.4.3
X411 serial interface

PIN No. 2 3 5 Signal name TxD RxD M5
AM
1) I = Input
NC = NC contact
NO = NO contact
2) Can be freelyprogrammed using operator control parameters
AM/6-107
Induction Motor Modules (AM) 6.5 RAM variable addresses
07.94
6.5
RAM variable addresses

The following is valid for all address data: Segment address P249 = 0H
Table 6-4
RAM variable addresses Variable Address 11B6H 11B8H 1110H 10ECH 10C6H 10C4H 10D2H 10CAH 0E02H 1140H 1142H 1148H 114AH 117CH 116AH 10E6H Value 7FFFH 7FFFH 7FFFH 2000H 2000H 2000H 2000H 2000H 7FFFH 10000H 10000H 2000H 2000H 2000H 2000H 2000H Corresponds to nmax (P174/P029) Act. torque limit 37499 RPM Mdrated Imot. rated Imot. rated Imot. rated Imot. rated 37499 RPM 2 2 PS rated PS rated Mdrated Imot. rated Imot. rated Cyclic update time Speed controller clock cycle as parameterized in P090
Calculated speed actual value (amount) Utilization Actual torque limit Torque setpoint Absolute current (actual value) Absolute current (setpoint) Torquegenerating current (setpoint) Fieldgenerating current (setpoint) Speed setpoint (after the ramp function generator) Field angle (setpoint) Field angle (actual value) Active power (actual value) Reactive power (actual value) Integral component, speed controller
AM
Integral component, field controller Magnetizing current (calculated)
AM/6-108
10.00 07.94
Induction Motor Modules (AM) 6.6 Setting and monitoring data (parameter list)
6.6
Setting and monitoring data (parameter list)

fields with gray background: Entry not possible Dependent parameters/subparameters No data M G F generallyvalid parameters motordependent parameters gearbox stagedependent parameters fixed setpointdependent parameters
Table 6-5 P 000 001 002 003 004 005 006 007 008 009 010 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 Sec. 2.2.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.2 3.3.4 3.3.4 3.1 3.1 4.1 4.1 4.1 3.1 5.1.3 3.3.2 2.2.3 3.3.2 3.1 3.1 3.3.2 5.1.3 2.2.3
Overview of the parameters (search help for the descriptions) Page 22 75 75 75 75 75 75 75 75 75 75 76 49 49 38 38 54 54 54 38 79 46 23 46 38 38 46 80 23 P 030 031 032 033 034 035 036 037 038 039 040 041 042 043 044 045 046 047 048 049 050 051 052 053 054 055 056 057 058 059 Sec. 4.6 4.1 4.7 4.1 4.7 4.3 4.7 4.3 4.7 4.2 5.1.1 2.2.3 2.2.3 4.1 4.1 3.3.2 4.2 4.5 1.3 1.3 1.3 4.6 4.6 2.3 4.4 4.4 4.5 Page 63 55 68 55 68 60 70 60 70 57 75 24 24 54 54 46 57 62 10 10 10 63 63 27 61 61 62 P 060 061 062 063 064 065 066 067 068 069 070 071 072 073 074 075 076 077 078 079 080 081 082 083 084 085 086 087 088 089 Sec. 4.5 2.1 2.2.3 2.2.3 2.2.3 3.3.4 3.3.4 3.3.4 3.3.4 5.1.4 5.1.4 5.1.4 5.1.4 5.1.4 3.3.4 3.3.4 5.1.4 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 Page 62 16 25 25 25 49 49 49 49 82 82 82 82 82 49 49 82 41 41 41 41 41 41 41 41 41 P 090 091 092 093 094 095 096 097 098 099 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 Sec. 1.3 2.1 2.1 2.1 2.2.2 2.2.1 5.1.1 5.1.1 5.1.1 3.1 3.1 4.2 4.7 4.2 4.7 3.1 Page 11 16 16 16 23 22 75 75 75 37 38 58 65 58 65 38 P 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 Sec. 2.2.3 2.2.3 5.1.1 Page 24 24 75
AM
AM/6-109
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Table 6-5 P 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 Sec. 1.3 1.3 1.3 2.2.3 2.2.3 2.2.3 2.2.3 2.1 2.3 4.1 2.1 2.3 2.1 2.3 2.1 2.3 2.1 2.3 2.1 2.3 4.2 2.1 2.3 2.1 2.3 4.7 2.1 2.3 2.1 2.3 2.1 2.3 4.7 2.1 2.3 2.1 2.3 2.1 2.3 2.2.3 2.1 2.3 2.1 2.3 5.1.5
Overview of the parameters (search help for the descriptions), continued Page 10 10 12 26 26 26 26 17 29 56 17 29 17 29 17 29 17 29 17 29 59 17 30 17 30 74 17 30 17 30 18 30 72 18 30 18 31 18 29 25 18 31 18 29 83 P 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 Sec. 5.1.5 5.1.5 5.1.5 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 4.1 4.1 4.1 4.1 Page 83 83 83 47 47 47 47 47 47 47 47 47 47 55 55 55 55 P 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 Sec. 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 4.1 Page 85 85 84 84 85 85 85 85 85 65 P 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 Sec. 3.3.2 3.3.2 3.3.2 3.3.2 3.3.2 3.3.2 3.3.2 2.5 2.5 2.5 5.1.2 5.1.2 Page 44 44 44 44 44 44 46 36 36 36 77 78 P Sec. Page
AM
168
169 170 171
199 200 201
4.1 5.1.3
55 80
229 230 231
172 173 174 175 176 177 178 179
202 203 204 205 206 207 208 209
4.1 4 4 5.1.6 5.1.6 5.1.6 5.1.6
55 51 51 85 84 85 85
232 233 234 235 236 237 238 239
AM/6-110
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P No.
Designation
FirmSec. ware rel. 2.2.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.1 5.1.2 3.3.4 3.3.4 M 3.1 3.1 M M M 4.1 4.1 4.1 3.1 M G M G 5.1.3 3.3.2 2.2.3 3.3.2 3.1 3.1 G 3.3.2 5.1.3 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10
Setting range Special character 32000...32000 32000...32000 399,0...399,0 0,0...100,0 1250...1250 0...700 0,0...399,0 0,0...399,0 399,0...399,0 0,0...450,0 0...FFFF 1000,0...1000,0 1000,0...1000,0 32000...32000 E000...2000 0,00...320,00 0,00...320,00 4,00...100,00 E000...2000 0...00FF 2...16000 2...16000 0...32000 2,0...10,0 2,0...10,0 0...32000 0...FFFF
Default 100,0 100,0
Dim. 1 RPM RPM % % Hz V % % % V hex % % 2 3 4
Setting values 5 6 7 8
(P000) Operating display (P001) Speed setpoint (P002) Speed actual value (P003) Torquegenerating current (P004) Utilization (P005) Motor frequency (P006) DC link voltage (P007) Motor current (P008) Field current component (P009) Active power (P010) Voltage actual value (P011) Status of the digital inputs P012 Normalization DAU channel 1 P013 Normalization DAU channel 2 P014 Speed for max. motor useful speed P015 Offset correction, setpoint channel 1 P016 Rampup time, rampfunction generator 1 P017 Rampdown time, rampfunct. generator 1 P018 Initial roundingoff P019 Offset correction, setpoint channel 2 (P020) Executed automatic setting routine P021 n min for n act < n min signal P022 Shutdown speed, pulse cancellation P023 n x for n act < n x signal P024 Normalization, setpoint channel 1
n maxMot RPM 0 0,00 0,00 0,00 0 10 8 3000 10,0 10,0 100 hex s s ms hex hex RPM RPM RPM V V RPM hex
AM/6-111
P025 Normalization, setpoint channel 2 = n act signal P027 Tolerance bandwidth f.n set (P028) Diagnostics
AM
AM
P No. P029 P030 P031 P032 P034 P035 P036 P037 P039 P041 P042 P043 P047 Speed limiting
Designation
Firm Sec. ware rel. G 2.2.3 M 4.6 M 4.1 M 4.1 M 4.3 M 4.3 M 4.2 5.1.1 G 2.2.3 G 2.2.3 M 4.1 1.10 1.10 1.10 1.10 1.10 1.10 1.10 3.0 1.10 1.10 1.10 1.10 1.10 3.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 3.00 3.00 3.00
Setting range 0...32000 0...32000 0,0...255,9 10,0...6000,0 0,0...600,0 5,0...600,0 0...7 2,8...7,8 0...399 0...399 0,00...320,00 0,00...320,00 0,0...100,0 0...399 0...32000 0...7FFF 0...1 0...FFFF 0...32000 0...32000 0...4 0...150 0...399 0...399 0...399 0...700 0...170 0...170 0...600
Default Dim. 1 6000 0 50,0 140,0 40,0 30,0 0 100 50 5,00 5,00 90,0 6000 0 0 1 0 0 0 90 100 100 100 0 150 30 240 RPM RPM dec ms
100 A/Vs
Setting value 2 3 4 5 6 7 8
AM/6-112
Steadystate minimum speed P gain, speed controller Integral action time, speed controller P gain, field controller Integral action time, field controller Inverter clock cycle frequency Actual inverter clock cycle frequency 1st torque limit value 2nd torque limit value Rampup time, rampfunction generator 2
ms hex kHz % % s s % % RPM hex dec hex RPM RPM dec % % % % V deg. C
Rampdown time, rampfunction generator 2 M 4.1 M dx for M d < M dx signal G 3.3.2 2.4 G 4.5 1.3 1.3 1.3 M 4.6 M 4.6 2.3
(P049) Current limiting with derating P050 P051 P052 P053 P054 P055 P056 P057 P058 P059 P060 P061 P063 P064 P065 Switching speed from Md1 to M d2 Write protection Transfer parameter into FEPROM Control word Range suppression, lower speed Range suppression, upper speed Motor selection
Current setpoint f. the openloop contr.range M 4.4 Acc. torque in the openloop controlled range M 4.4 Current limiting Power limiting Fixed DC link voltage Max. motor temperature (KTY84) Fixed temperature Timer stage, motor temperature alarm M 4.5 M 4.5 2.1 M 2.2.3 2.2.3 2.2.3
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deg. C s
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P No. P066 P067 P068 P069 P072 P073 P074 P076 P077 P078 P079 P080 P081 P082 P083 P084 P085 P086 P087 P088 P089 P090 P095 P096 P097
Designation Address, DAU 1 Shift factor, DAU 1 Address, DAU 2 Shift factor, DAU 2 Address, DAU 4 Shift factor, DAU 4 Offset, DAU 4 Address, DAU 3 Shift factor, DAU 3 Offset DAU 1 Offset DAU 2 Offset DAU 3 Terminal function assignment E1 Terminal function assignment E2 Terminal function assignment E3 Terminal function assignment E4 Terminal function assignment E5 Terminal function assignment E6 Terminal function assignment E7 Terminal function assignment E8 Terminal function assignment E9 Control word Power module code number Motor code number Initialization M
FirmSec. ware rel. 3.3.4 1.10 3.3.4 1.10 3.3.4 1.10 3,3.4 1.10 5.1.4 5.1.4 5.1.4 5.1.4 5.1.4 3.3.4 3.3.4 5.1.4 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 3.2.2 1.3 2.1 2.1 2.1 2.2.2 2.2.1 5.1.1 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10
Setting range 0...FFFF 0...F 0...FFFF 0...F 0...FFFF 0...F 127...127 0...FFFF 0...F 127...127 127...127 127...127 1...21 1...21 1...21 1...21 1...21 1...21 1...21 1...21 1...21 0...FFFF 1...13 0...7 0...1 0,00...99,99 Special characters 32000...32000
Default 11B6 0 11B8 0 10D2 0 0 1110 0 0 0 0 1 7 3 17 18 19 9 10 11 000D 3 0 0
Dim. 1 hex hex hex hex hex hex Incr. hex hex Incr. Incr. Incr. dec 2 3 4
Setting value 5 6 7 8
dec dec dec dec dec dec dec dec hex dec dec hex dec RPM
AM/6-113
(P099) Firmware release (P100) Operating display (P101) Speed setpoint
AM
AM
AM/6-114
P No.
Designation
FirmSec. ware rel. 5.1.1 5.1.1 3.1 F 3.1 3.1 M 4.2 1.10 3.00 1.10 1.10 1.10 1.10 1.10 2.00
Setting range 32000...32000 0...170 0...9 32000...32000 32000...32000 0...255 0...300 32000 ... 32000 0...10 0...65535 0...65535 0...7FFF 0...1 1...1 32000...32000 32000...32000 0,002...60,000 0,002...60,000 0,000...65,000 0,0...6535,5 0,00...650,00 0,00...650,00 0,00...650,00 0...65000 0,0...1200,0 0,00...I rated PM 0,000...65,000 0,000...65,000 0,000...65,000
Default Dim. 1 RPM deg. C 1 0 0 2 2 0 0 65535 RPM RPM 0 0 0 0 0 1,000 1,000 0,000 0,0 0,00 0,00 379,00 1500 50,0 0,00 0,000 hex dec dec RPM RPM s s mH gm 2 kW A V RPM Hz A dec RPM RPM dec dec RPM 2 3 4
Setting value 5
(P102) Speed actual value (P110) Motor temperature P113 Channel selection, speed setpoint P114 Fixed setpoints 1 to 7 P114 Motorized potentiometer setpoint P115 P gain, current controller, base speed range
P116 P gain, current controller, fieldweaken. range M 4.2 P119 Fixed setpoints 8 to 15 P131 Pulse number, speed monitoring BERO F 3.1
M 2.2.3 3.00
P132 Shutdown threshold, speed monitoring BERO M 2.2.3 3.00 (P133) Absolute speed actual value BERO P151 Write protection P152 Transfer parameter into FEPROM P153 Calculate motor data/controller data P154 Oscillation setpoint 1 P155 Oscillation setpoint 2 P156 Oscillation interval time 1 P157 Oscillation interval time 2 P158 Inductance, series reactor P159 Moment of inertia, motor and external P160 Rated motor output P161 Rated motor current P162 Rated motor voltage P163 Rated motor speed P164 Rated motor frequency P166 Noload motor current P167 Stator resistance, cold P168 Rotor resistance, cold P169 Stator leakage reactance M M M M M M M M M M M 5.1.1 3.00 1.3 1.3 1.3 1.10 1.10 1.10
2.2.3 1.10 2.2.3 1.10 2.2.3 1.10 2.2.3 1.10 2.1 4.1 2.1 2.1 2.1 2.1 2.1 4.2 2.1 2.1 2.1 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10
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0,000 0,000
P No.
Designation M M
FirmSec. ware rel. 2.1 2.1 2.1 2.1 2.1 1.10 1.10 1.10 1.10 1.10
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Setting range 0,000...65,000 0,00...650,00 0...32000 0...32000 0...32000 0,0...500,0 0...65535 0,000...1,000 0...3 0...FFFF 0...FFFF 0...FFFF 0...FFFF 0...FFFF 0,00...10,00 0,00...10,00 0...7FFF 0...FFFF 0...FFFF 0,00...10,00 0,00...10,00 0...7FFF 0...32000 0...32000 0,0...255,9 0,0...255,9 1...150 0 ... FFFF 0...1
Default Dim. 0,000 0,00 300 1500 1500 1,0 32767 0,800 0 1110 1110 0 0,00 0,00 1 1110 0 0 0 1 0 0 50,0 10,0 100 0 RPM RPM RPM min RPM hex hex hex hex hex hex s s hex hex hex s s hex RPM RPM dec dec % hex dec
Setting values 5
P170 Rotor leakage reactance P171 Magnetizing reactance
P172 Changeover speed closedloop/openloop ctrl. M P173 Speed at the start of field weakening P174 Max. motor speed P175 Thermal motor time constant P176 Speed at the start of the stall torque P178 Power factor cos P179 Selection, min/max memory P181 Address for min/max memory (P182) Min. value, min/max memory (P183) Max. value, min/max memory P185 Address for monitoring 1 P186 Threshold for monitoring 1 P187 Pullin delay, monitoring 1 P188 Dropout delay, monitoring 1 P189 Hysteresis, monitoring 1 P190 Address for monitoring 2 P191 Threshold for monitoring 2 P192 Pullin delay, monitoring 2 P193 Dropout delay, monitoring 2 P194 Hysteresis, monitoring 2 P195 Lower adaptation speed P196 Upper adaptation speed P197 P gain, lower adaptation speed P198 P gain, upper adaptation speed M M M M M M M M M M
2.2.3 1.10 2.1 2.1 5.1.5 5.1.5 5.1.5 5.1.5 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 3.3.3 4.1 4.1 4.1 4.1 4.1 5.13 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 2.00 1.10
AM/6-115
P199 P gain, reduction factor (P200) Checksum parameter P203 Select adaptation, speed controller
M 4.1
AM
AM
AM/6-116
P No.
Designation
FirmSec. ware rel. 4 4 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 5.1.6 M 4.1 3.3.2 3.3.2 3.3.2 3.3.2 3.3.2 3.3.2 3.3.2 2.5 2.5 2.5 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 2.00 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10 1.10
Setting range 0...7 0...1 0...1 0...C 0...FFFF 0...FFFF 0...FFFF 0...FFFF 0...FFFF 0...FFFF 0...1 0...15 0...15 0...FFFF 0...FFFF 0 ... 15 1...20 1...20 1...20 1...20 1...20 1...20 0...FFFF 0...FFFF 0...FFFF 0...FFFF
Default Dim. 1 0 0 0 0 0 0 0 0 1110 10D2 0 0 0 0 7FFF 0 20 3 1 4 5 2 0 0 0 dec dec hex hex hex hex hex hex hex hex hex dec dec hex hex 2 kgm dec dec dec dec dec dec hex hex hex 2 3 4
Setting value 5 6 7 8
P204 Automatic optimization, function selection P205 Start automatic optimization P206 Select transient recorder P207 Set transient recorder P208 Address for start condition P209 Threshold for start condition P210 Address for stop condition P211 Threshold for stop condition P212 Address, signal 1 P213 Address, signal 2 P214 Start output of trace record P215 Shift factor, signal 1 P216 Shift factor, signal 2 P217 Trigger signal 1 P218 Trigger signal 2 P219 Supplementary moment of inertia P241 Programmable message 1 P242 Programmable message 2 P243 Programmable message 3 P244 Programmable message 4 P245 Programmable message 5 P246 Programmable message 6 P247 Control word message P249 Segment, memory location monitor P250 Address, memory location monitor (P251) Value display, memory location monitor (P254) Display, active functions 1 (P255) Display, active functions 2
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5.1.2 1.10 5.1.2 1.10
0...FFFF 0...FFFF
hex hex
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Customer: Initialization values and motor type Parameters Power module code number Motor code number Motor selection Firmware release Motor data Parameters Rated motor output Rated motor current Rated motor voltage Rated motor speed Rated motor frequency Max. motor speed Power factor cos Circuit configuration / Equivalent circuit diagram data Parameters Noload motor current Stator resistance, cold Rotor resistance, cold Stator leakage reactance Rotor leakage reactance Magnetizing reactance Changeover speed, closedloop/openloop control Speed at the start of field weakening Speed at the start of stall torque Controller data Parameters P gain, speed controller Integral action time, speed controller P gain, field controller Integral action time, field controller P gain, current controller, base speed range P gain, current controller, fieldweakening range Moment of inertia, motor and external Additional moment of inertia Offset, active power P250 = Offset, reactive power P250 = Special settings Parameters Initial roundingoff Drive converter switching frequency Inductance of the series reactor No. P095 P096 P056 P099 No. P160 P161 P162 P163 P164 P174 P178 Calculated value P153 = +1 Value 0
Machine:
Date: Comment
IM module: Motor type: Motor parameter set:
A 2p =
Deep bar squirrelcage rotor yes/no Changeover with/without pulse cancellation
Rating plate data kW A V RPM Hz RPM dec
Unit
Comment
Jumpers in the terminal box No. P166 P167 P168 P169 P170 P171 P172 P173 P176 No. P031 P032 P034 P035 P115 P116 P159 P219 (P251) (P251) No. P018 P036 P158 Selfoptimized value Postoptimized value P204 = A 3 6 Unit Comment
4 RPM RPM 8 RPM 8 Selfoptimized value Postoptimized value Unit P204 = 7 dec 7 ms 100 A/Vs ms 1 dec 1 dec 5 gm 2 kgm 2 5 hex 2 hex 2 Unit ms hex mH
Calculated value P153 = 1 140
Comment
AM/6-117
Value
Comment
AM
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Space for notes
AM
AM/6-118
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Induction motor modules (AM) Index
Index
Inverter clock cycle frequency, AM/4-57
A
Analog outputs, AM/3-48 connection for analog displays, AM/3-50 parameterization DAU, AM/3-49
L
Limits, AM/4-62
M
Magnetizing reactance, AM/2-18, AM/4-72 Manual optimization, AM/4-65 Max. speed monitoring, AM/2-23 Measured value displays, AM/5-75 Minimum speed, steadystate, AM/4-63 Minimum/maximum value memory, AM/5-83 Moment of inertia, AM/2-17, AM/4-56, AM/6-98 Monitor function, AM/2-36 Motor changeover, AM/2-32 Motor data set, AM/2-17 Motor rotor resistance, AM/4-74 Motor rotor resistance, cold, AM/2-17 Motor temperature emulation, AM/2-25 Motorized potentiometer, AM/3-37 Multimotor operation, AM/2-27
C
Changeover speed, AM/2-18, AM/2-21 Connections, AM/1-14 connecting diagram, AM/6-104 relay terminals, AM/6-106 terminals, AM/6-105 Control parameter, AM/1-10 Current controller, AM/4-57 Current/Hz control, AM/5-86
D
DAU, AM/3-48 DC link voltage, AM/2-16 Derating, AM/4-57 Derating for inverter clock cycle frequencies > 3.2 kHz, AM/4-58 Diagnostic parameters, AM/5-79 Diagnostics, AM/5-75 Display, AM/2-22, AM/5-87 Display parameters, AM/2-22
N
Noload current, AM/4-71 Noload motor current, AM/4-59, AM/4-71
AM
O
Openloop controlled range, AM/4-61 Operating display, AM/2-22 Operating mode, AM/2-22 Operator and display elements, AM/1-9 Optimization, openloop controlled range, AM/4-61 Oscillation operation, AM/2-26 Output terminals, AM/3-43
F
Fault, AM/5-88 acknowledgement, AM/5-87 display, AM/5-87 suppression, AM/5-87 Fault message, AM/5-88 Field controller, AM/4-60, AM/4-70 Field weakening range, AM/2-21 Fieldweakening range, AM/4-66 Firmware release, AM/2-23 Fixed setpoint, AM/3-38
P
Parallel operation, AM/2-27 Parameter attributes, AM/1-5 list, AM/1-5 number, AM/1-9 Parameter list, AM/6-109 Parameter set changeover, AM/2-32 Parameters setting range, AM/1-5, AM/1-6 subparameter number, AM/1-9 value, AM/1-9 write protection, AM/1-6 Power module code number, AM/2-16
G
Gearbox stage, AM/2-22
I
Initialization, AM/2-16, AM/2-21 Input terminals, AM/3-40 Interfaces, AM/6-107
AM/i-1
Induction motor modules (AM) Index
10.00 07.94
R
RAM variable, AM/6-108 RAM variable addresses, AM/6-108 Rampfunction generator, AM/4-54 tracking, AM/4-54 Rating plate, AM/1-14 Reinitializing drive converter, AM/1-7 Relay function, AM/2-22 permanentlyconnected, AM/3-43 Relay functions control word, signals, AM/3-46 freelyprogrammable, AM/3-44 parameterizable signals, AM/3-46 variable, AM/3-47 Replacing components, AM/1-8 Replacing modules, AM/1-8 Replacing the firmware, AM/1-7 RS232C interface, AM/1-7, AM/1-14
Speed ranges, AM/4-63 Speed setpoint interfaces, AM/3-37 channel selection, AM/3-37 setpoint priority, AM/3-39 Speed setting values, AM/2-23 Standard applications, AM/1-4, AM/2-22 setting parameters, AM/2-23 Standardanwendungen, AM/2-26 Startup instructions, AM/1-7 new startup, AM/6-92 possibilities, AM/1-7 Status display active functions 1, AM/5-77 active functions 2, AM/5-78 digital inputs, AM/5-76 Steadystate minimum speed, AM/4-63 Subparameter number, AM/1-9
S
Series machines, AM/1-8 Setpoint priority, AM/3-39 Setpoint source, AM/2-22 Setting and monitoring data, AM/6-109 Setting data, AM/1-13 Shutdown without reverse rotation, AM/4-64 Shutdown, without reverse rotation, AM/3-40 Speed controller adaptation, AM/4-55 gain, AM/4-55 integral action time, AM/4-55 Speed controller clock cycle, AM/4-56 Speed range suppression, AM/4-64
T
Terminal function assignment, AM/3-41 freelyprogrammable, AM/3-41 permanentlyconnected, AM/3-40 Test sockets, AM/5-80 Torque limit value, AM/2-24 Total moment of inertia, AM/4-56 Transient recorder function, AM/5-84
AM
U
Unit status, AM/2-22
AM/i-2
Spare parts (ES)
1 2
Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 2.2 2.3 2.4 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting clamps for cable shields . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ES/1-3 ES/2-5 ES/2-5 ES/2-6 ES/2-6 ES/2-7
ES
ESi
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Space for notes
ES
ESii
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Spare Parts (ES) 1 Components
Components
All of the components available in accordance with Catalogs NC60 and NC Z (motors, modules, control boards, cables, connectors etc.) should be ordered as spare parts. Order designation of the documentation: SINUMERIK 840D/840Di/810D/802S, C, D Ordering Documentation Catalog NC 60 Order No.: E86060K4460A101A8 Order No.: E86060K4460A101A87600 (English)
SINUMERIK, SIMODRIVE & SIMOVERT MASTERDRIVES Termination System & System Components Catalog NC Z Order No.: E86060K4490A001A7 Order No.: E86060K4490A001A77600 (English) J
ES
ES/1-3
Spare Parts (ES) 1 Components
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Space for notes
ES
ES/1-4
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Spare Parts (ES) 2.1 Connectors
Accessories
2
The external signals are available at the individual modules at connectors with various pins. The position and pin number of the connectors is shown in the brief references on the modules in Attachment A. When required, the connectors, listed in Table 2-1 (customer interfaces) can be ordered as spare parts.
Table 2-1 Connectors Grid pattern 5.08 5.08 5.08 5.08 5.08 5.08 7.60 5.08 5.08 5.08 3 pin 3 pin Order No. [MLFB] 6SY9433 6SY9906 6SY9432 6SY9896 6SY9898 6SY9897 6SY9900 6SY9901 6SY9903 6SY9902 6SY9904 6SY9905
2.1
Connectors
Customer interface
Pin No./connector type 2 3 4 6 7 8 8

1)
12 13 15 Power connector, motor connection Power connector, pulsed resistor connection
ES
BERO connector, temperature sensor The external radial fan is connected using a connector which comprises the following AMP components: Connector housing MateNLok Crimped contacts 3507661 9268841
1) Only for connector X181 at line supply infeed modules
ES/2-5
Spare Parts (ES) 2.3 Fuses
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2.2
Cables
Equipment bus cable to adapt the module configuration:
S 50 mm Order No. 6FC52470AA230AA0 S 400 mm Order No. 6SN11611AA000BA0

Note Equipment bus cables >50 mm can only be replaced, for mechanical design reasons, with an equipment bus cable, length 400 mm.
2.3
Fuses
Refer to the Planning Guide for recommended line supply fuses.
References
SIMODRIVE 611A/611D Planning Guide Drive Converter (08.98 Edition) Transistor PWM Converters for AC Feed Drives and AC Main Spindle Drives Order No.: 6SN1 1970AA000BP4
ES
ES/2-6
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Spare Parts (ES) 2.4 Connecting clamps for cable shields
2.4
Connecting clamps for cable shields
Shield plate Hose clamp for shield X Shield connecting rail Order No. 6SN11620FA000AA0
Fig. 2-1
Cable clamps for cable shields
The cable clamps are defined corresponding to the outer cable shield diameter. A list of possible hose clamps to connect cable shields is provided below.
Table 2-2 Hose clamps for the shield Hose clamp for shield Hose clamp DIN 3017AL816 W11 2 x 1 mm2 2x1 mm2 Hose clamp DIN 3017AL816 W11 Hose clamp DIN 3017AL1220 W11 Hose clamp DIN 3017AL1625 W11 Hose clamp DIN 3017AL1625 W11 Hose clamp DIN 3017AL1625 W11 Hose clamp DIN 3017AS2540 W11 Hose clamp DIN 3017AS2540 W11 Hose clamp DIN 3017AS3250 W11
Cable cross section 4x 4x 1.5 mm2 1.5 mm2 + mm2 +
ES
4 x 2.5
4 x 4 mm2 4 x 4 mm2 + 2 x 1 mm2 4 x 6 mm2 4 x 6 mm2 + 2 x 1 mm2 4 x 10 mm2 4 x 10 mm2 + 2 x 1 mm2 4 x 16 mm2 4 x 16 mm2 + 2 x 1 mm2 4 x 25 mm2 + 2 x 1.5 mm2 4 x 35 4 x 50 mm2 + mm2 + 2 x 1.5 2 x 1.5 mm2 mm2
ES/2-7
Spare Parts (ES) 2.4 Connecting clamps for cable shields
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Space for notes
ES
ES/2-8
Setting elements FD and NE

DIL switch S1 (supply infeed):
ON: VDClink = 625 V1) Fault signal Regen. feedback off1) Vsupply=480V +6% / 10% Contr. supply inhibited Sine current control 1 2 3 4 5 6 OFF: VDClink = 600 V1) Ready signal Reg. feedback possible1) Refer to S1.1 Controlled infeed free2) Squarewave current ctrl.
Line feed module (NE)

DIL switch S1 Ready relay Ready signal Fault signal Pullsin if there is no fault and enable signals 63 and 64 are present Pullsin if there is no fault 72 5.3 5.2 5.1 63 9 9 64 19 74 73.2 73.1
Relay, group signal for I2t monitoring and/or motor overtemperature Pulse enable +24 V +24 V Drive enable Reference ground for all enable signals (not connected to ground, terminal 15 ) P24 P15 N15 N24 +24 V/50 mA +15 V/10 mA 15 V/10 mA 24 V/50 mA
DIL switch (feed module):

10x DIL switch S2: 1 = OFF = ON
Direction of rotation reversal Current limit Imax/Ilimit as a %
Short Reference Guide for SIMODRIVE 611 analog System

Feed module Rectifier module
2 3 4 5 100 85 68 61 50 46 41 39 36 34 30 29 26 24 23 Example:Feed module 25 A/50 A continuous possible current: Irated = 25 A brief possible current: Ilimit = 50 A contacts: 2 = ON, 3 = ON 61 % selected current limits: Imax = 30.5 A Gain of the current controller Kp(I) 6 7 8 9 0.5 1 2 2.5 4 4.5 5.5 6 6.5 7.5 8 9.5 11 11.5 OFF: closedloop speed controlled operation 10 ON: closedloop current controlled operation Standard interface: Setpoint via term. 56 and term. 14 Userfriendly interface: Setpoint via term. 24 and term. 20
General reference ground RESET by connecting with terminal 15 (edge change, high ! low) +24 V Settingup operation, if not jumpered Start
7 45 44 10 15 15 R
9 112 48 111 213 113 NS1 NS2 AS1 AS2
Internal line contactor closed Coil contact, internal line contactor Signaling contact, start inhibit (safe operating stop) Fault signals: 15 V voltage level faulted Ext. enable sig., term. 63 or term. 64 missing Line fault red
green
Associated documentation:
Planning Guide Startup Guide 6SN11970AA000BP V 6SN11970AA600BP V
5 V voltage level red faulted

yellow Unit
ready, DC link precharged DC link overvoltage

Siemens AG 2000
1) Only for I/R module
red
red
All Rights Reserved
Ausgabe 10.00
X311 Signal cable from the motor Tach. Rot. pos. encoder PTC resistor 56 14 AS1 AS2 663 9 65 9 22 23 20 24 96 44 6 258 16 289 288 290 291 293 294 296 297 299 672 673 674 102 61 75 162 110 108 115 114 216 214 127 126 TH 1:10 C axis nact Pact/Iact jIactj > Ix
Feed module (FD) with main spindle option

Fault messages for feed module with userfriendly interface: Parameter board not inserted Enable term.663 and/or term.65 missing Module is ready I2t monitoring, heatsink overtemperature Rotor position encoder monitoring Motor overtemperature Tachometer monitoring Speed controller at its endstop I2t Speed controller at its endstop Iact=Iset Drift Kp TN noff Speed controller at its endstop and Iact = 0 5 Volt undervoltage Option board, main spindle functions Parameter board
Standard interface
X311 X313 2) Tach. Rotor position PTC resistor AS1 AS2 663 9 56 14 65 9 22 9 Drift Tach. Kp TN AD 2) Drift Tach. Kp TN AD 2) 56 14 65 9 22 9
Signal, rampfun.gen.
Motor encoder
Speed setpoint nset (Differential input "10 V) Signaling relay, start inhibit Pulse enable +24 V Controller enable +24 V Select, fixed setpoint 11) Select, fixed setpoint 2 Suppl. speed/current setpoint (differential input "10 V) Travel to fixed endstop N15 15 V/10 mA Integrator inhibit Current setpoint, master/slave Current actual value Iact Signaling relay: Speed controller at its endstop I2t monitoring Motor overtemperature Tach. and rotor position monitoring Ready relay (or fault signal relay)
Signal contact, start inhibit Pulse enable +24 V Speed setpoint nset Controller enable +24 V Selection, curr. controlled +24 V
jnactj < nmin jnactj < nx nact = nset
Drift
Drift adjustment: Shortcircuit terminals 56 and 14: The motor should not rotate Tach. adjustment: Normally: The motor reaches nrated at nset = 9 V at term.56/14.
T max. Kp max. TN min. AD
Proportional gain Kp and integral action time TN: Rotating clockwise increases the controller dynamic response. Optimization: nact 20...40 %
Fault messages: corresponds to fault: corresponds to fault:
approx. 0.05 nrated t ton = 5...10 ms Adaptation TN: Improves the dynamic response at low speeds. Activated by R34
2)
Test sockets for FD module with userfriendly interface: Speed actual value "10 V nrated of the motor nact X R W T M NZ Iset nset Speed setpoint: From term. 56 and 14
Current setpoint: "10 V Imax (refer to the DIL switch)
Test sockets: Iact Ground W T M X Iset nact
Current act. value: Iact "10 V Imax (refer to DIL switch) Reference ground for test sockets
A suppl. speed setpoint can be entered here 2) Only for twoaxis version
1) optional, to change over closedloop current controlled operation
Setting elements, closedloop resolver control

= OFF = ON Current controller Axis 1: DIL switch S3 Axis 2: DIL switch S6 Current actual value normalization a/b components [%] Contacts
1+2 100 70
Monitoring logic Axis 1: DIL switch S5 / contacts 1, 2, 5, 6, 7 Axis 2: DIL switch S5 / contacts 3, 4, 5, 6, 8 ON: Inhibit integrator n controller Inhibit integrator I contr. 2) Fault message Master/slave operation 300 ms monitoring, T. 65 Contacts 1/3 2/4 5 6 7/8 OFF: Integrator n contr. active Integrator I contr. active 2) Ready signal Standard operation 1 s monitoring, T. 65
a/b components
Contacts Current controller gain, Q/D axis

3+7 4+8 5+9 6+10 1 2 3 4 5 6 7.5 8.5 9.5 10.5 11.5 12.5 13.5 14.5 16
Position processing Axis 1: DIL switch S1 Axis 2: DIL switch S2 Angular incremental encoder interface ON: NC Phase seq., A in front of B 1024 pulses/revolution Contacts 5 6 7 OFF: NC Phase seq., B in front of A 1) 512 pulses/revolution

Feed module, closedloop resolver control
Current setpoint limiting [%] Axis 1: DIL switch S12 / contacts 14 Axis 2: DIL switch S12 / contacts 58 Contacts Current setpoint limiting
1/5 2/6 3/7 4/8 100 75 55 45 25 20 5
Pole numbers Contacts

1 2 2p= 2 4 6 8
Motor
Contacts
3 4 2p= 2
Resolver
Speed actual value normalization [RPM] Axis 1: DIL switch S4 / contacts 14 Axis 2: DIL switch S4 / contacts 58 Contacts Speed actual value normalization
1/5 2/6 3/7 4/8 2000 3000 3000 6000 4/9 5/10
Zero offset [mechanical] Axis 1: DIL switch S1 / contact 8 DIL switch S11 / contacts 15 Axis 2: DIL switch S2 / contact 8 DIL switch S11 / contacts 610 Total offset = S subsequent partial angle Contacts
S 1/2: 8 S 11: 1/6 2/7 3/8
Planning Guide Startup guide 6SN11970AA000BP V 6SN11970AA600BP V
Partial angle
These normalization settings are valid for standard resolver pole number 2p = 2. Normalization settings for special pole numbers 2p = 4, 6, 8 on request.
5.625 11.25 22.25
45
90
180
1) For clockwise rotation 2) Only effective when selecting terminal 22
Siemens AG 2000
All Rights Reserved
Ausgabe 10.00
Speed controller optimization
Standard interface, resolver control
Terminal function
Ang. encod. interf., axis 1 (X391)
Ang. enc. interf., axis 2 (X392)
Motor encoder, axis 1 (X311)
Motor encoder, axis 2 (X312)
Drift adjustment: Shortcircuit terminal 56 with terminal 14 and terminal 24 with terminal 20: It is not permissible that the motor rotates Tachometer adjustment: General: The motor reaches nrated f. nset = 9 V at T. 56/14 Proportional gain Kp and integral action time TN: Rotating clockwise increases the controller dynamic performance. Optimization: nact 20...40 % 56.1 14.1 24.1 20.1 75.1 15 16.1 96.1 9 22.1 9 663 AS1 AS2 56.2 14.2 24.2 20.2 75.2 15 16.2 96.2 9 22.2 9 65.1 9 65.2 Drift Tach. Kp TN
Axis 1 Setpoints: Speed setpoint nset (differential input 10 V) Supplementary speed setpoint/current setpoint (Differential input 10 V) changeover with terminal 22 Actual values: Speed actual value; 10 V corresponds to nrated Reference ground Current actual value; 10 V corresponds to Imax Terminal function: Select Travel to fixed endstop +24 V Select Closedloop current controlled operation Axisspecific enable signals: +24 V Controller enable, axis 1 +24 V Controller enable, axis 2
Axis 2
approx. 0.05 nrated t ton = 5...10 ms
Modulespecific enable: Pulse enable Checkback signal contact, start inhibit
Ready/fault signal Current setpoint input, terminal 24/terminal 20 of the slave axis with terminal 22 selected (closedloop current controlled operation) 56.1 14.1 24.1 20.1 1) 9 65.1 15 258
Terminal assignment for 1axis version +24 V Controller enable, axis 1 Reference voltage (ground) for slave, terminal 20 Current setpoint for slave, terminal 24
1) Connection is dependent on the required slave axis torque direction

Terminal function 2nd torque limit value Oscillation Reset fault memory (R) Openloop torque controlled operation Star/delta operation M19 operation Rampup time=0 Integrator inhibit, speed controller bit 0 Gearbox stage Gearbox stage Gearbox stage Setpoint enable Incremental positioning Position reference values 1...2 C axis Speed setpoint smoothing Suppress F11 Position reference values 3...4 Positioning on Spindle resynchronization HPC axis Slip monitoring bit 1 bit 2 Fct.No. 1 2 3 4 5 6 7 8 9 10 11 16 22 23 24 25 26 27 28 29 30 32 Input terminal 1) E1 (P081) E6 (P086) E3 (P083) E5 (P085) E4 (P084) E2 (P082) E7 (P087) E8 (P088) E9 (P089)
Fault analysis
Fault signal F07 F08 F09 F10 F11 F14 F15 F16 F17 F19 F61 F79 FP01 FP02 FP03 FP04 Fault Data save on FEPROM was not successful Irretrievable data loss Error, encoder system 1 (motor encoder) Error, encoder system 2 (spindle encoder) Speed controller is at its limit, speed actual value missing Overtemperature, motor Overtemperature, drive converter Illegal power module code number I0 motor > Irated power module Temperature sensor (interrupted, shortcircuit) Max. motor frequency exceeded Division interrupt Setpoint (reference value) > encoder pulse number Zero mark monitoring has responded Zero mark offset > encoder pulse number No valid zero mark

Main spindle module
Faults
after power ON Operating display inactive min. two phases missing (NE module) min. two input fuses have failed (NE module) defective electronics power supply in the NE module equipment bus connection, MSD module NE module not inserted or defective defective MSD module defective EPROM/FEPROM firmware not loaded Motor rotates max. 30 RPM at nset > 30 RPM or motor oscillates for nset < 30 RPM incorrect motor rotating field, as the feeder cable is interchanged (interchange 2 phases) excessive motor encoder pulse number entered Motor stationary for a speed setpoint not equal to zero oscillation function has been selected
Relay function Rampup completed |Md| < Mdx |nact| < nmin |n act| < nx Motor overtemperature, prealarm Drive converter overtemp., prealarm Variable relay function 1 Variable relay function 2 In position 1 In position 2 Relay, star operation Relay, delta operation nact = nset (actual)
Fct.No. Relay 1) output 2 3 1 4 5 6 7 8 9 10 11 12 20 A11 (P241) A21 (P242) A31 (P243) A41 (P244) A51 (P245) A61 (P246)
Controller enable
Planning Guide Startup Guide 6SN11970AA000AP V 6SN11970AA600AP V
Parameter key The parameter key is pressed with controller inhibit present. If the fault/error can be acknowledged, the system returns to the operator program. One of the following terminals is energized with the controller inhibited: terminal R at the NE or monitoring module terminal Reset fault memory at the MSD module Powerdown the unit and approx. 2 s after the display goes dark, powerup again
Remote acknowledgement
Poweringdown
1) As supplied
key, the operator Changingover into After pressing the the operator inter- program is returned to for approx. 1 minute; howeface ver, the fault/error is not acknowledged.
Siemens AG 2000
All Rights Reserved
Ausgabe 10.00
First steps
Operator and display elements <<
Parameter number
Operating display

Connections
X432 Spindle encoder, Bero or encoder output at NC Test sockets DAU 3 X1 X2 DAU 4 M 56 14 24 8 663 65 81 E1 E2 E3 E4 E5 E6 E7 E8 E9 9 X411 X451 A91 M A92 M X412 Motor encoder RON 350
+ P >> + >
Inactive Relay func- Operating tion mode Equipment status Operating mode Gearbox stage
<
P +
T. A11 P241
Wait status
Enable missing at NE m.
Star circuit 2)
Gearbox stage 1
IR X421
nset1 nset2
DAU 1 DAU 2
T. A21 P242
Subparameter number
Cl.loop speed contr. op.
Axisspecific pulse enable missing
Delta circuit 2)
Gearbox stage 2
P
T. A31 P243 Torquecontrolled op. Contr. enable missing Digit. filter 2) Gearbox stage 3
Inputs X431
Outputs IF X441 RF HSS 2nd Md limit value1) TH = 01) RESET1) M191) Md controlled1) Oscillation1) G. box stage, bit 01) G. box stage, bit 11) G. box stage, bit 21) Enable voltage RS232C interface 289 A11 nact = nset1) A21 Md < Mdx1) A31 nact < nmin1) A41 nact < nx1) A51 Motor overtemperature1) A61 Conv. overtemperature1) 672 Ready/fault 673 674 AS1 AS2 Signaling contact Start inhibit
Parameter value <
+ >
<<
+ P >>
T. A41 P244
Torquecontr. op. w/slip monit.
RFG enable missing
Position 1 3)
Gearbox stage 4
Startup information
Startup possibilities using the D Operator control and display element D RS232C interface with an IBM/ATcompatible computer D D D D Set P051 to 4H Set P097 to 0H Set P052 to 1H and wait until P052 resets itself to 0H Powerdown the unit and approx. 2 s after the display has gone dark, powerup the unit again: P095 must be redisplayed Initialize Save the setting data (parameters) Replace the firmware using the startup program Initialize with the pulses and controller inhibited The saved setting data are reloaded Save the setting data in the drivemachine data memory
2) Display in P100: Only for the star/delta mode 3) Display in P100: Only for the spindle positioning mode 4) Display of the torque direction with the motor enabled
T. A51 P245
M19
Setpoint enable missing
Pos. 2 3)
Gearbox stage 5
Positioniong T. A61 P246 C axis T. 672/674 P053 HPC axis 0.5 ms ( 0.6 ms) Incr. Pos. 3) Gearbox stage 8 Regenerating 4) Pos. 4 3) Gearbox stage 7 Motoring 4) Pos. 3 3) Gearbox stage 6
Reinitialize drive converter (if necessary)
LCD display + X151 P Equipment bus X351
Replace firmware (if required)
D D D D D D
Curr./Hzcontr.op.
Firmware version and module expansion

Number (P099) (P150) Display range 0.00 ... 99.00 P 600 Description M 600 Firmware release Board ID U2 V2 Motor terminals W2 Rating plate Product release PE1 PE2 DC link
Version coding: F00H Basic version 200H With additional input for spindle encoder 300H With output pulse encoder signals for external use
1) Freelyprogrammable terminals and relay functions when supplied

Terminal function
2nd torque limit Oscillation Reset fault memory (R) (fault acknowledgement) Rampup time=0 Gearbox stage bit 0 bit 1 bit 2 Fct.No. 1 2 3 7 9 10 11 12 13 14 15 16 17 18 19 24 20 21 Input terminal 1) E1 (P081) E3 (P083) E2 (P082) E7 (P087) E8 (P088) E9 (P089) E4 (P084) E5 (P085) E6 (P086)
Fault analysis
Fault message F04 F05 F07 F08 F11 F13 F14 F15 F16 F17 F19 F51 F52 F53 F60 F90 Fault Fault, D/A conversion Motor current = 0 Data save on FEPROM not successful Irretrievable data loss Frequency setpoint > max. frequency Field controller is at its max Overtemperature, motor Overtemperature, drive converter Illegal power module code number I0 motor > Irated power module Temperature sensor, motor Parameterizing error: Rated torque too high Parameterizing error: Torque constant illegal Parameterizing error: Rated motor current too low Error for the automatic setting routine Max. speed BERO exceeded
Clockwise/counterclockwise Rampfunction generator 2 Increase setpoint Decrease setpoint Setpoint enable Fixed setpoint selection
bit 0 bit 1 bit 2 bit 3 bit 0 bit 1

Induction motor module
Motor selection
Faults
after power ON Operating display inactive min. two phases missing (NE module) min. two input fuses have blown (NE module) defective electronics power supply in the NE module Equipment bus connection, IM module ! NE module not inserted or defective defective IM module defectiveEPROM/FEPROM firmware not loaded Motor rotates counterclockwise although the IM module outputs a clockwise rot. field or vice versa incorrect motor rotating field, as the feeder cable is interchanged, (interch. 2 ph. conn.)
Relay function
|nact| < nmin Rampup completed |Md| < Mdx |n act| < nx I2t prealarm Drive converter overtemp. prealarm Variable relay function 1 Variable relay function 2 Motor 1 active Motor 2 active Motor 3 active Motor 4 active nact=nset
Fct.No. Relay 1) output 1 2 3 4 5 6 7 8 11 12 13 14 20 A31 (P243) A61 (P246) A21 (P242) A41 (P244) A51 (P245) A11 (P241) Controller enable
Parameter key The parameter key is pressed with controller inhibit present. If the fault/error can be acknowledged, the system returns to the operator program. One of the following terminals is energized with the controller inhibited: terminal R at the NE or monitoring module terminal Reset fault memory at the MSD module Powerdown the unit and approx. 2 s after the display goes dark, powerup again
Planning Guide Startup Guide 6SN11970AA000BP V 6SN11970AA600BP V
Remote acknowledgment
Poweringdown
1) As supplied
key, the operator Changingover into After pressing the the operator inter- program is returned to for approx. 1 minute; howeface ver, the fault/error is not acknowledged.
Siemens AG 2000
All Rights Reserved
Ausgabe 10.00
First steps
<<
Parameter number
Operating display + P >> + >
Motor number Relay function Operating mode Equipment status Setpoint source Gearbox stages

Connections
X432 Input BERO3) Test sockets DAU 3 X1 X2 DAU 4 M 56 14 24 8 663 65 81 E1 E2 E3 E4 E5 E6 E7 E8 E9 9 X411 X451 A91 M A92 M X412
<
Input temperature sensor motor3)
P +
Motor 1
T. A11 P241
Wait status
Enable missing at NE m.
Analog setpoint
Gearbox stage 1
IR X421
n1 n22)
DAU 12) DAU 22)
Motor 2
T. A21 P242
Subparameter number
P
Motor 3 T. A31 P243
Openloop speed controlled or speedcontrolled operation
Axisspecific pulse enable missing
Analog setpoint and fixed setpoint
Gearbox stage 2
Inputs X431
Gearbox stage 3
Outputs IF RF X441 289 Mess., center contact A11 nact = nset1) A21 |Md| < Mdx1) A31 |nact| < nmin1) A41 |nact| < nx1) A51 I2t prealarm1) A61 Rampup completed1) 672 Ready/fault 673 674 Signaling contact Start inhibit
Contr. enable missing
Setpoint 0
Parameter value
< <<
+ >
Motor 4
+ P >>
T. A41 P244
RFG enable missing
Fixed setpoints 1 to 7
Gearbox stage 4
HSS 2nd Md limit value1) TH = 01) RESET1)
T. A51 P245
Startup information
Startup possibilities using D Operator control and display elements D RS232C interface with an IBM/ATcompatible computer D D D D Set P051 to 4H Set P097 to 0H Set P052 to 1H and wait until P052 resets itself to 0H Powerdown the unit and approx. 2 s after the display has gone dark, powerup the unit again: P095 must be redisplayed Initialize Save the setting data (parameters) Replace the firmware using the startup program Initialize with the pulses and controller inhibited The saved setting data is reloaded Save the setting data in the drivemachine data memory
T. A61 P246
Setpoint enable missing
Fixed setpoints 8 to 15
Gearbox stage 5
Motoring 1)
Mot. pot.
Gearbox stage 6
Fixed setpoint, bit 01) Fixed setpoint, bit 11) Fixed setpoint, bit 21) Gearbox stage, bit 01) Gearbox stage, bit 11) Gearbox stage, bit 21) AS1 Enable voltage AS2 RS232C interface
Reinitialize drive converter (if necessary)
T. 672/674 P053
Regenerating 1)
Oscillation generator
Gearbox stage 7
LCD display + P Equipment bus X351
1)
Torque direction display with the motor enabled
Aut. optimization
Gearbox stage 8
X151
Replace firmware (if required)
D D D D D D
Firmware version and module expansion

Number (P099) Display range 0.00 ... 99.00 Description Firmware release
P 600 M 600 DC link Rating plate Product release PE1 PE2
U2 V2 Motor terminals
W2
1) Freelyprogrammable terminals and relay functions as supplied 2) Function not possible for Order No. [MLFB] 6SN11220BA110AA0 3) Only for Order No. [MLFB] 6SN11220BA110AA1, otherwise assignment is not permissible
10.00 07.94
Overall Index
Overall Index
A
Accessories, ES/2-5 Actual value normalization, VS/1-4 Adaptation tables, VS/1-5, VR/1-5 Address, RAM variable, HS/6-112 Analog output fine normalization, HS/3-68 M/Mrated display, HS/3-68 nact display, HS/3-68 P/Pmax display, HS/3-68 parameterization DAU 1, DAU 2, HS/3-67 Analog outputs, AM/3-48 connection for analog displays, AM/3-50 parameterization DAU, AM/3-49
Current controller, HS/4-75, AM/4-57 Current controller gain, VS/1-5, VR/1-5 Current controller settings, VS/1-4, VR/1-5 Current derating for inverter clock cycle frequencies > 3.2 kHz, HS/1-11 Current setpoint limiting, VR/3-15 Current/Hz control, AM/5-86
D
DAU, HS/3-67, AM/3-48 DC link voltage, AM/2-16 Derating, AM/4-57 Derating for inverter clock cycle frequencies > 3.2 kHz, AM/4-58 Diagnostic parameters, HS/5-81, AM/5-79 Diagnostics, VS/8-47, VR/8-27, HS/5-77, AM/5-75 Display, HS/2-25, HS/5-87, AM/2-22, AM/5-87 Display elements, on the monitoring and NE modules, NE/2-7 Display parameter, HS/2-25 Display parameters, HS/5-77, AM/2-22 Drift compensation, VS/2-23, VR/2-14
B
Bit, HS/1-6 Builtin motors, HS/6-102
E C
C axis, HS/2-25, HS/2-31, HS/3-59 Caxis operation, VS/5-39 Cables, ES/2-6 Changeover parameter for Caxis operation, VS/5-39 Changeover speed, AM/2-18, AM/2-21 Code numbers for power modules and standard motors, HS/6-99 Commissioning Commissioning stages, VS/1-3 Short commissioning, VS/1-3 Standard commissioning, VS/1-3 with the MSD option, VS/5-35 Component side, VR/3-16, VR/9-30 Connection overview connection diagram, HS/6-104 relay terminals, HS/6-106 star/delta changeover, HS/6-107 terminals, HS/6-105 Connections, HS/1-13, AM/1-14 connecting diagram, AM/6-104 relay terminals, AM/6-106 terminals, AM/6-105 Connector assignment, VR/9-33 for Bero, HS/6-109 motor encoder signal output, HS/6-110 spindle encoder, HS/6-109 Connectors, ES/2-5 Control parameter, AM/1-10 Current actual value normalization, VR/1-5 Electronic weight equalization, VS/3-30, VS/3-32, VR/3-17 Encoder phase error correction, HS/2-27 Equipment bus cable, ES/2-6
F
Fault, HS/5-92, AM/5-88 acknowledgement, HS/5-87, AM/5-87 display, HS/5-87, AM/5-87 suppression, HS/5-87, AM/5-87 Fault display, VS/8-48 Fault message, VR/3-16, AM/5-88 Field controller, AM/4-60, AM/4-70 Field weakening range, AM/2-21 Fieldweakening range, AM/4-66 Filter, HS/4-74 Firmware release, AM/2-23 Firmware version, HS/2-26 Fixed setpoint, AM/3-38 Flux adaptation, HS/2-52 Functions via fixed values, VS/5-38
G
Gain Kp, VR/2-13 Gain Kp with adaptation, VS/2-22 Gearbox stage, HS/2-25, AM/2-22
Index-1
Overall Index
10.00 07.94
H
Hexadecimal numbers, HS/1-6
I
Icomponent limiting, VS/2-23 I2t limiting (from FW 3.1), HS/2-54 Initialization, AM/2-16, AM/2-21 special motors, HS/2-17 standard motors, HS/2-15 star/delta motors, HS/2-21 Input terminals, HS/3-58, AM/3-40 Integral action time limiting, VR/3-16, VR/3-18 Integral action time with adaptation, VS/2-21 Integral action time/Speed controller, VR/2-14 Integrator inhibit, VR/3-16 Interfaces, AM/6-107 Inverter clock cycle frequency, HS/4-76, AM/4-57 Inverter clock frequency, HS/3-59
Mode of operation master speed controlled, VR/3-16, VR/3-18 slave current controlled, VR/3-16, VR/3-17, VR/3-18 Motion of operation, Master speed controlled, VR/3-17 Module ID, HS/2-26 Moment of inertia, AM/2-17, AM/4-56, AM/6-98 Monitor function, AM/2-36 Motor changeover, AM/2-32 Motor code number, HS/6-99 Motor data set, HS/2-18, HS/2-22, AM/2-17 Motor rotor resistance, AM/4-74 Motor rotor resistance, cold, AM/2-17 Motor temperature emulation, AM/2-25 Motor temperature monitoring, HS/2-29 Motorized potentiometer, AM/3-37 MSD option board, VS/9-53 Multimotor operation, AM/2-27
N K
Kp gain without adaptation, VS/2-19 Noload current, AM/4-71 Noload motor current, AM/4-59, AM/4-71 Normalization of the M/P display, VS/5-37
L
Layout diagram MSD option board, VS/9-53 Layout diagram, component side, VR/9-30 Layout diagram, parameter board, VS/9-54 Layout diagram, solder side, VR/9-31 Layout diagram, speed control loop, VS/9-56 Layout diagram, standard interface, VS/9-55 LED display, VR/8-27 Limit value stages, VS/5-37 Limits, AM/4-62
O
Openloop controlled range, AM/4-61 Openloop torque controlled mode, HS/2-44 function description, HS/2-44 master drive, HS/2-44 slave drive, HS/2-44, HS/2-45 torque setpoint, HS/2-44, HS/2-45 Operating display, VS/8-47, HS/2-25, AM/2-22 Operating mode, AM/2-22 Operator and display elements, AM/1-9 Operator control and display elements, HS/1-8 Optimization, openloop controlled range, AM/4-61 Orientated spindle stop, HS/2-30 Oscillation mode, HS/2-29 Oscillation operation, AM/2-26 Output terminals, HS/3-61, AM/3-43
M
M19, HS/2-25, HS/2-30 Magnetizing reactance, AM/2-18, AM/4-72 Manual optimization, AM/4-65 Master/slave, VS/3-29, VR/3-16, VR/3-17 Master/slave operation, HS/2-44 Max. speed monitoring, AM/2-23 Maximum current limiting (from FW 3.1), HS/2-54 Measured value displays, HS/5-77, AM/5-75 Minimum speed, HS/3-57 steadystate, AM/4-63 Minimum/maximum value memory, AM/5-83 Mode, HS/2-25
P
Parallel operation, AM/2-27
Index-2
10.00 07.94
Overall Index
Parameter attributes, AM/1-5 list, AM/1-5 number, AM/1-9 Parameter board, VS/9-54 Parameter list, HS/6-113, AM/6-109 Parameter set changeover, AM/2-32 Parameters attributes, HS/1-5 gearboxstage dependent, HS/1-8 list, HS/1-5 number, HS/1-5, HS/1-8 setting range, HS/1-5, HS/1-6, AM/1-5, AM/1-6 subparameter number, HS/1-8, AM/1-9 transferring into the FEPROM, HS/1-9 value, HS/1-8, AM/1-9 write protection, HS/1-9, AM/1-6 writeprotection, HS/1-6 Phase sequence of tracks A, B (WSG), VR/3-15 Pin asignment X311 and X313, VS/9-57 Pole numbers, VR/1-3 Position processing, VR/3-15 Power module code number, HS/6-99, AM/2-16 Poweringup, VR/7-25 Proportional gain Kp, VR/2-13 Proportional gain Kp with adaptation, VS/2-22 Proportional gain kp without adaptation, VS/2-19 Pulse number, angular encoder interface, VR/3-15
RS232C interface, AM/1-7, AM/1-14 Runup time, NE/2-11
S
Series machines, HS/1-7, AM/1-8 Service and diagnostics, VS/8-47, VR/8-27 Setpoint interfaces, VR/4-19 Setpoint priority, AM/3-39 Setpoint source, AM/2-22 Setting and monitoring data, HS/6-113, AM/6-109 Setting data, HS/1-12, AM/1-13 Setting elements with standard interface, VS/3-25, VR/4-19, VR/4-20 with userfriendly interface, VS/3-29 Setting the integral action time, VR/2-14 Settings via fixed values, VS/5-38 Shutdown without reverse rotation, AM/4-64 Shutdown, without reverse rotation, AM/3-40 Slip monitoring, HS/2-46, HS/3-59 Smoothing speed actual value, HS/4-70, HS/4-76 speed setpoint, HS/3-59, HS/4-69 torque setpoint, HS/4-73 Smoothing functions, VR/3-16 Solder side, VR/3-16, VR/9-31 Special motors flux setpoint characteristic, HS/2-19 initialization, HS/2-17 main field inductance-characteristic, HS/2-19 motor data set, HS/2-18 Speed actual value normalization, VR/1-4 Speed actual value smoothing, HS/4-70 Speed control loop, VS/9-56 Speed controller adaptation, HS/4-72, AM/4-55 gain, HS/4-71, AM/4-55 integral action time, HS/4-71, AM/4-55 Speed controller clock cycle, AM/4-56 Speed range suppression, AM/4-64 Speed ranges, AM/4-63 Speed setpoint interface, HS/3-55 channel selection, HS/3-55 minimum speed, HS/3-57 normalization, HS/3-56 smoothing, HS/3-59 unipolar input, HS/3-56 Speed setpoint interfaces, AM/3-37 channel selection, AM/3-37 setpoint priority, AM/3-39 Speed setpoint smoothing, HS/4-69 Speed setting value, HS/2-27 Speed setting values, AM/2-23
R
RAM variable, AM/6-108 RAM variable addresses, AM/6-108 RAM variables, HS/6-112 Rampfunction generator, HS/4-70, AM/4-54 tracking, AM/4-54 Rampup time, VS/5-35 Rating plate, AM/1-14 Reinitializing drive converter, AM/1-7 Reinitializing the drive converter, HS/1-7 Relay function, AM/2-22 permanentlyconnected, AM/3-43 Relay functions, HS/2-25 control word, signals, HS/3-63, AM/3-46 freelyprogrammable, HS/3-61, AM/3-44 parameterizable signals, AM/3-46 permanentlywired, HS/3-61 signals which can be parameterized, HS/3-63 variable, HS/3-64, AM/3-47 Replacing components, HS/1-7, AM/1-8 Replacing firmware, HS/1-7 Replacing modules, HS/1-7, AM/1-8 Replacing the firmware, AM/1-7
Index-3
Overall Index
10.00 07.94
Spindle positioning, HS/2-31 brief commissioning, HS/2-43 diagnostic parameters, HS/2-42 function description, HS/2-31 position controller, HS/2-37 Position reference value, HS/2-34 position reference value, HS/2-33, HS/2-35, HS/2-41, HS/2-42, HS/3-59 relay signal, HS/2-34 search speed, HS/2-32, HS/2-33, HS/2-39, HS/2-41 zero mark, HS/2-32, HS/2-34, HS/2-35, HS/2-36, HS/2-39, HS/2-42, HS/3-59 zero pulse, HS/2-33, HS/2-38, HS/2-43 Standard applications, HS/2-25, HS/2-27, AM/1-4, AM/2-22, AM/2-26 setting parameters, AM/2-23 Standard commissioning, VS/1-3 Standard interface, VS/1-4, VS/9-55 Standard motors, initialization, HS/2-15 Standard settings, VS/1-3, VR/1-3 Standard startup, VR/1-3 Star/delta motors, HS/6-101 flux setpoint characteristic, HS/2-23 initialization, HS/2-21 main field inductance-characteristic, HS/2-23 motor changeover, HS/2-24 motor data set, HS/2-22 Startup instructions, HS/1-7, AM/1-7 new startup, AM/6-92 possibilities, HS/1-7, AM/1-7 short startup, VR/1-3 standard startup, VR/1-3 startup stages, VRii Status display active functions 1, AM/5-77 active functions 2, AM/5-78 active terminal function, HS/5-79, HS/5-80 digital inputs, HS/5-78, AM/5-76 Steadystate minimum speed, AM/4-63 Subparameter number, HS/1-8, AM/1-9 Supplementary setpoint, VS/3-29
T
Tachometer adaptation, VS/1-4 Tachometer calibration, VS/2-18, VR/2-12 Terminal function assignment, HS/3-59, AM/3-41 freelyprogrammable, HS/3-59, AM/3-41 permanentlyconnected, AM/3-40 permanentlywired, HS/3-58 Terminals, VR/9-29 Test sockets, VR/8-27, VR/8-28, HS/5-82, AM/5-80 Test sockets and display elements standard interface, VS/8-49 userfriendly interface, VS/8-47 Timer, VS/3-29, VR/3-16 TN (integral action time), VR/2-14 Torque limit value, HS/2-28, AM/2-24 Torque limiting, VS/5-36 Torque setpoint smoothing, HS/4-73 Total moment of inertia, AM/4-56 Transient recorder function, HS/5-84, AM/5-84 Travel to fixed endstop, VS/3-29 Troubleshooting, VS/8-50
U
Uncontrolled infeed, HS/2-16 Unit status, HS/2-25, AM/2-22 Userfriendly interface, VS/1-4
W
Watercooled motors, HS/6-101 Weight equalization, VS/3-30
Z
Zero offset, VR/3-15
Index-4
To SIEMENS AG A&D MC BMS Postfach 3180 D91050 Erlangen

(Tel. 0180 / 525 8008 / 5009 [Hotline] Fax 09131 / 98 1145 email: motioncontrol.docu@erlf.siemens.de) From Name Company address/Dept. Street Postal code: Telephone: Telefax: City:
Recommendations Corrections
for documentation:
SIMODRIVE 611 analog Transistor PWM Inverters for AC Feed Drives and AC Main Spindle Drives
StartUp Guide
Order No.: Edition: 6SN11970AA600BP5 10.00
If you should come across any printing errors in this document, please let us know using this form. We would also be grateful for any recommendations and suggestions.
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SIMODRIVE 611 analog

StartUp Guide 10.2000 Edition

Overview of Documentation for SIMODRIVE 611 analog

SINUMERIK SIROTEC SIMODRIVE Accessories

Catalog Order Document NC 60

EMC Guidelines for SINUMERIK and SIROTEC Controls

SINUMERIK SIMODRIVE 840D/810D/ FMNC/611/ Motors

DOC ON CD The SINUMERIK System

Foreword General Information Supply Infeed Feed Modules

Valid for Equipment series 6SN11

Siemens AG 2000. All rights reserved.

Order No. 6SN11970AA600BP5 Printed in the Federal Republic of Germany

10.00 07.94 1.2 bbbbbbbbbb

S Trained in the proper care and use of protective equipment in accordance

S Trained in rendering first aid

Important This symbol appears in the documentation if a particular issue is significant.

Note When handling cables, observe the following

S All work should be undertaken with the system in a novoltage condition!

S Boards may only be placed on conductive surfaces (desk with ESDS

S Boards may not be brought close to data terminals, monitors or television

S Measuring work may only be carried out on the boards, if

S Only touch the control boards at the front panel

SINUMERIK and SIMODRIVE

S Are there line supply/motor contactors connected to the drive converter?

S When commissioning and fault finding, always proceed in a modular step

Space for notes

General Information (AL)

Permissible Combination of Power Modules and Control Boards . . . . . . .

AL Space for notes

Permissible Combination of Power Modules and Control Boards

FD control, analog 1axis, standard interface

FD control, analog 2axis, standard interface

MSD control, analog No direct measuring system 6SN11210BA110AA0

FD resolver control, analog 1axis, standard interface

FD resolver control, analog 2axis, standard interface 6SN11180BK110AA0

MSD control, analog

Parameter board FD analog userfriendly

6SN11140AA010AA0 HS option FD analog userfriendly

Power module, 108A

MSD: 60/80/ 102A

MSD: 60/80/ 102A

MSD: 60/80/ 102A

IM: 60/80/ 102A

IM: 60/80/ 102A

MSD: 60/80/ 102A

MSD: 85/110/ 127A

MSD: 85/110/ 127A

MSD: 85/110/ 127A

IM: 85/110/ 127A

IM: 85/110/ 127A

MSD: 85/110/ 127A

FD control, analog 1axis, standard interface

FD control, analog 2axis, standard interface

MSD control, analog No direct measuring system 6SN11210BA110AA0

FD resolver control, analog 1axis, standard interface

FD resolver control, analog 2axis, standard interface

MSD control, analog Ext. position output 6SN11210BA130AA0

Power module, 300A

6SN112V1AA0V0JA V Power module, 400A

MSD: 120/150/ 193A

MSD: 120/150/ 193A

MSD: 120/150/ 193A

IM: 120/150/ 193A