Service Documentation
04.97 Edition
Foreword
General information
AL
Supply infeed
NE
Feed modules
VS
Feed modules,
resolver control
VR
HS
AM
Spare parts
ES
Complete index
Valid for
04.97 Edition
SINUMERIK
SINUMERIK
840D/810D/
FMNC
840D/810D/
FMNC/611
Brochure
Catalog
Ordering Info. NC 60.1
Technical Info. NC 60.2
User Documentation
SINUMERIK
SIROTEC
SIMODRIVE
Accessories
SINUMERIK
SINUMERIK
SINUMERIK
840D/810D/
FMNC
840D/810D/
FMNC
840D/810D/
FMNC
AUTOTURN
Operators Guide
Short Guide
Unit Operator Panel
Programming (Part 1) HPU
Setup (Part 2)
Catalog
Accessories NCZ
User Documentation
SINUMERIK
SINUMERIK
840D/810D/
FMNC
840D/810D/
FMNC
Operators Guide
Short Guide
Operators Guide
Diagnostics Guide
SINUMERIK
SINUMERIK
810D
Programming Guide
Short Guide
Fundamentals
Advanced
Cycles
Measuring Cycles
SINUMERIK
SINUMERIK
840D/810D/
FMNC
840D/810D
810D
Operators Guide
MANUALTURN
SHOPMILL
Description of
Functions
MANUALTURN
SHOPMILL
Description of
Functions
Synchronous
actions
Wood, Glass,
Ceramics
Description of
Functions
Computer LInk
SINUMERIK
Manual
Configuring (HW)
FMNC
810D
840D
SINUMERIK
SIMODRIVE
SINUMERIK
840D/810D/
FMNC
611D
840D/810D
Manual
Operator
Components
(HW)
Description of
Functions
Drive Functions
SINUMERIK
840D/810D/
FMNC
Description of
Functions
Basic Machine
Extended Functions
Special Functions
SINUMERIK
SINUMERIK
840D/810D/
FMNC
840D/810D/
FMNC
Configuring KIt
MMC100/101
Configuring Syntax
Development Kit
Screen Kit
MMC100/101
SW Update and
Configuration
SINUMERIK
SINUMERIK
SINUMERIK
840D/810D
840D/810D/
FMNC
840D/810D
Description of
Functions
Tool Management
Description of
Functions
Operator Interface
OP 030
Description of
Functions
Operator Interface
HPU
Electronic Documentation
SINUMERIK
SIMODRIVE
840D/810D/
FMNC
611, Motors
DOC ON CD
The SINUMERIK System
SIMODRIVE
SINUMERIK
SINUMERIK
SIMODRIVE
SINUMERIK
840D
Description of
Functions
SINUMERIK
Safety Integrated
Description of
Functions
Digitizing
Installation &
Start-up Guide
FMNC
810D
840D/611D
SIMODRIVE
SINUMERIK
840D/810D
FMNC
611D
Lists
3ls
SIMODRIVE documentation
Edition coding
Brief details of this edition and previous editions are listed below
The status of each edition is shown by the code in the Remarks column.
07.94
6SN11970AA600BP0
10.94
6SN11970AA600BP1
12.94
6SN11970AA600BP2
03.96
6SN11970AA600BP3
04.97
6SN11970AA600BP4
09.97
09.97
09.97
09.97
09.97
SiemensAktiengesellschaft
07.94
Definitions
Qualified personal
For the purpose of these Instructions and product labels, a qualified person is
someone who is familiar with the installation, mounting, startup and operation
of the equipment and the hazards involved. He or she must have the following
qualifications:
Trained and authorized to energize, deenergize, clear, ground and tag circuits and equipment in accordance with established safety procedures.
Danger
This symbol in the document indicates death, severe personal injury or
substantial property damage will result if proper precautions are not taken.
Warning
This symbol appears in the document, if death, severe personal injury or property damage can result if proper precautions are not taken.
Caution
This symbol appears in the document indicating that minor personal injury or
material damage can result if proper precautions are not taken.
Wichtig
This symbol appears in the documentation if a particular issue is significant.
Note
For the purposes of these Instructions, Note indicates information about the
product or the respective part of the Instruction Manual which is essential to
highlight.
ii
07.94
Warning
Operational electrical equipment has parts and components which are at 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 personal may commission/startup this equipment.
This personal must have indepth knowledge regarding all of the warning information and service measures according to this Manual.
Perfect, save 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
Note
It is not permissible to connect SIMODRIVE equipment to a supply system with
ELCBs (this restriction is permitted according to DIN VDE 0160, 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 damage (permissible according 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.
iii
07.94
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.
iv
Warning
Before commissioning 611D, it should be checked that the encoder cable does
not have a ground fault.
If ground faults occur, for loads which exert a force on the drive, uncontrolled
movement could occur.
This no longer occurs for 6SN11180DV2V0AA0, Version B.
07.94
ESD information
S The human body, working area and packing should be well grounded when
handling ESDS components!
you are wearing ESDS shoes or ESDS shoe grounding strips in conjunction with an ESDS floor surface.
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.
Note
Startup software is available for startingup/commissioning the main spindle
and induction motor modules.
Startup software Order No.: 6SN11532AX10VABV
Documentation Order No.: 6SN11970AA300VPV
03.96
07.94
Handling
Check list
The following check list should help you to simply commission the components
we have supplied and guarantee a high availability when used in conjunction
with your product or equipment.
Ground all components and connect all of the shields. Connection X131 is
grounded.
CRT monitors may not be subject to magnetic fields (e.g. power supply unit
coils).
vi
03.96
07.94
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:
Further
information
pollutants
damaging gases
storage/transport
shock stressing
vibration stressing
ambient temperature
vii
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viii
AL
AL/1-3
ALi
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AL
ALii
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AL
Table 1-1
Selection table to set the current controller referred to the resulting inverter currents
necessary
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
possible
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
_____
6SN11220BA110AA1
6SN11210BA110AA1
6SN11220BA120AA
6SN11210BA130AA0
6SN11210BA120AA0y
6SN11180BK110AA0
6SN11180BJ110AA0
6SN11180AE110AA0
6SN11180AD110AA0
6SN11180AA110AA0
6SN11140AA010AA0
Main spindle option, feed
drive, analog, user
friendly
6SN11140AA020AAV
8A inverter module
FD:
4/8A
FD:
4/8A
_____
FDR:
3/6A
_____
_____
_____
_____
IM:
3/3/3 A
IM:
3/3/3 A
_____
IM:
3/3/3 A
FD:
7.5/15A
FD:
7.5/15A
_____
FDR:
5/10A
_____
_____
_____
_____
IM:
5/5/8 A
IM:
5/5/8 A
_____
IM:
5/5/8 A
FD:
12.5/25A
FD:
12.5/25A
_____
FDR:
9/18A
_____
_____
_____
_____
IM:
8/10/16A
IM:
8/10/16A
_____
IM:
8/10/16A
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
IM:
24/32/32A
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
IM:
30/40/51A
6SN112V1AA0V0HAV
15A inverter module
6SN112V1AA0V0AAV
25A inverter module
6SN112V1AA0V0BAV
50A inverter module
6SN112V1AA0V0CAV
80A inverter module
6SN112V1AA0V0DAV
120A inverter module
_____
_____
_____
_____
_____
MSD:
45/60/76A
MSD:
45/60/76A
MSD:
45/60/76A
IM:
45/60/76A
IM:
45/60/76A
MSD:
45/60/76A
IM:
45/60/76A
_____
_____
_____
_____
_____
MSD:
45/60/76A
MSD:
45/60/76A
MSD:
45/60/76A
IM:
45/60/76A
IM:
45/60/76A
MSD:
45/60/76A
IM:
45/60/76A
FD:
80/160A
FD:
80/160A
_____
MSD:
60/80/
102A
MSD:
60/80/
102A
MSD:
60/80/
102A
IM:
60/80/
102A
IM:
60/80/
102A
MSD:
60/80/
102A
IM:
60/80/
102A
FD:
100/200A
FD:
100/200A
_____
MSD:
85/111/
127A
MSD:
85/111/
127A
MSD:
85/111/
127A
IM:
85/111/
127A
IM:
85/111/
127A
MSD:
85/111/
127A
IM:
85/111/
127A
6SN112V1AA0V0GAV
_____
_____
_____
6SN112V1AA0V0FAV
AL/1-3
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AL
Table 1-1
Selection table to set the current controller referred to the resulting inverter currents
IM:
85/110/12
7A
IM:
85/110/12
7A
IM:
85/110/12
7A
6SN11220BA110AA1
IM:
85/110/12
7A
6SN11210BA110AA1
MSD:
85/110/12
7A
6SN11220BA120AA
MSD:
85/110/12
7A
6SN11210BA120AA0y
MSD:
85/110/12
7A
6SN11180BK110AA0
_____
6SN11180BJ110AA0
_____
6SN11180AE110AA0
_____
FD:
100/200A
6SN11180AD110AA0
6SN11180AA110AA0
FD:
100/200A
6SN11210BA130AA0
6SN112V1AA0V0FAV
300A inverter module
_____
_____
_____
_____
_____
MSD:
120/150/1
93A
MSD:
120/150/1
93A
MSD:
120/150/1
93A
IM:
120/150/1
93A
IM:
120/150/1
93A
IM:
120/150/1
93A
IM:
120/150/1
93A
_____
_____
_____
_____
_____
MSD:
200/250/2
57A
MSD:
200/250/2
57A
MSD:
200/250/2
57A
IM:
200/250/2
57A
IM:
200/250/2
57A
IM:
200/250/2
57A
IM:
200/250/2
57A
_____
_____
FD:
2x4/8A
_____
FDR:
2x3/6A
_____
_____
_____
_____
_____
_____
_____
_____
_____
FD:
2x7.5/15A
_____
FDR:
2x5/10A
_____
_____
_____
_____
_____
_____
_____
_____
_____
FD:
2x12.5/25
A
_____
FDR:
2x9/18A
_____
_____
_____
_____
_____
_____
_____
_____
_____
FD:
2x25/50A
_____
FDR:
2x18/36A
_____
_____
_____
_____
_____
_____
_____
6SN112V1AA0V0JAV
400A inverter module
6SN112V1AA0V0KA0
2x8A inverter module
6SN112V1AB0V0HA0
2x15A inverter module
6SN112V1AB0V0AA0
2x25A inverter module
6SN112V1AB0V0BAV
2x50A inverter module
6SN112V1AB0V0CAV
AL/1-4
6SN11301AA110VA0
6SN11301AA120VA0
6SN11301AD110VA0
6SN11301AE110VA0
6SN11351BA1V0VA0
MSD module
6SN11401BA1V0VA0
IM module
04.97
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AL
Note
The document describes all of the steps necessary to 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 connecting diagrams
S dimension sheets/dimension drawings
Please refer to the associate Planning Guide:
SIMODRIVE 611
Transistor PWM Inverters for AC Feed Drives and AC Main Spindle Drives
Order No.: 6SN11970AA000VPV
SIMODRIVE
AC Motors for Feed and Main Spindle Drives
Order No.: 6SN11970AA200VPV
AL/1-5
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AL
AL/1-6
NE/1-3
NE/2-7
2.1
NE/2-8
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NE/3-11
3.1
NE/3-12
3.2
NE/3-14
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NE
NEii
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Wichtig
Observe the information for sinusoidal current control for I/R modules!
A switch S1 is provided on the upper side of the NE and monitoring module to set the following functions:
S1
ON:
off1)
VSupply=480V+6%10%
Controlled infeed off
Sinusoidal current control
OFF:
Vsupply=415V10% VDC link=600 V1)
Ready signal
Regenerative feedback on
Control infeed
Standard setting
Fig. 1-1
1)
DIL switch S1
Wichtig
For I/R modules Order No. 6SN114V1VV0V0VV1 the basic setting is for
sinusoidal control (closedloop). Observe the information/instructions, Page
NE13!
Wichtig
Before the equipment is poweredup or down using the main switch or a line contactor,
terminal 63 (pulse enable) and/or terminal 48 (start terminal, contactor control) should be
deenergized or disconnected!
Only possible for I/R modules, monitoring thresholds are increased for all NE modules
NE/1-3
NE
Switch S 1.1 :
OFF:
ON:
NE
Switch S 1.2 :
OFF:
04.97
07.94
terminal 48
enabled)
ON:
terminal 63,64=ENERGIZED
no fault present (also not on feed drive 611A Standard,
or 611D drives)
feed drive with standard interface or resolver for setting
Ready is enabled (terminals 663,65)
Fault message (X111 ready relay)
For S1.2=ON, the relay switches if the following
conditions are fulfilled:
internal main contactor CLOSED (terminals NS1NS2 connected,
terminal 48
enabled)
no fault present (also not on feed drive 611A Standard,
or 611D drives)
feed drive with standard interface or resolver for setting
ready is enabled (terminals 663,65);
Switch S 1.3 :
OFF:
ON:
28kW)
Switch S 1.4 :
OFF:
ON:
NE/1-4
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07.94
Note
Only in conjunction with power modules, Order No. (6SN114V1VV0V0VV1).
For motors with shaft height <100: Utilization max. up to 60 k values. Please observe the
Planning Guide, Motors.
S1.4 ON overwrites the functions of S1.5 and S1.1 .
Switch S 1.5 :
Switch S 1.6 :
ON:
OFF:
ON:
Sinusoidal current is only permissible if the following secondary conditions are fulfilled :
I/R
16 kW
I/R
36 kW
I/R
55 kW
I/R
80 kW
I/R
120 kW
6SN114V
1BV010BA1
6SN114V
1BV020CA1
6SN114V
1BV0V0DA1
6SN114V
1BB000EA1
6SN114V
1BB010FA1
HF reactor
16 kW
HF reactor
36 kW
HF reactor
55 kW
HF reactor
80kW
HF reactor
120kW
6SN1111
0AA000BA0
6SN1111
0AA000CA0
6SN1111
0AA000DA0
6SN1111
0AA001EA0
6SN1111
0AA001FA0
6SN1111
0AA012BA0
6SN1111
0AA012CA0
6SN1111
0AA012DA0
6SN1111
0AA012EA0
6SN1111
0AA012FA0
1)
Wichtig
For all of the combinations not listed here, only squarewave current control is permissible.
In the sinusoidal line supply filters, contrary to the squarewave current filter modules, there is no HF commutating
reactor. The HF commutating reactor must be separately mounted.
NE/1-5
NE
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NE
NE/1-6
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1 LED, red
2 LED, red
3 LED green
4 LED yellow
5 LED, red
6 LED red
Effects:
1 red LED bright: Pulses for the complete drive group are canceled
2 red LED bright: Pulses for the complete drive group are canceled
4 yellow LED dark:
xxxx
5 red LED bright: 1) Only the I/R module pulses are canceled (regenerative feedback
no longer possible. Axes first continue to run. Ready relay dropsout
6 red LED bright: Pulses for the complete drive group are canceled
1)
Line supply fault identification time approx. 30ms
Line supply fault is identified for a threephase voltage < 280V.
For 1phase supply failure, the drive axes pulses are canceled after approx. 1 min.
(latched signal) valid for Order No. 6SN1114V1VV0V0VV1
NE/2-7
NE
04.97
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2.1
NE
For S1.2=OFF, the relay switches if the following conditions are fulfilled:
internal main contactor CLOSED (terminals NS1NS2 connected, terminal 48 enabled)
terminals 63, 64 =ENERGIZED
no fault present (also not on feed drive 611A Standard,
or 611D drives)
feed drive with Standard interface or resolver is enabled for the ready setting (terminals
663, 65)
For S1.2=ON, the relay switches if the following conditions are fulfilled:
internal main contactor CLOSED (terminal NS1NS2 connected, terminal 48 enabled)
no fault present (also not on feed drive 611A Standard, and 611D drives)
feed drive with Standard interface or resolver enabled for this ready setting
(terminals 663, 65).
X171: Terminal NS1NS2 (coil circuit of the internal line supply and precharging contactor):
is used to electrically isolate from the line supply
(signal contact, terminals 111213 must be interrogated)
may only be switched if terminal 48 is opencircuit (without any restriction from
Order No. 6SN114V1VV010VVV for 10, 16 and 55kW, from
Order No. 6SN114V1VV020VVV for 36kW, all 80 and 120kW)
NE/2-8
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> for feed drives 611 A, after the selected timer stages have expired
(as supplied: 240ms) all of the controllers and pulses are inhibited. The drive
brakes along the current limit.
> for 611D drives, the pulses are deleted after a selectable speed has
been fallen below and/or a time which can be set, has expired. The
drive brakes along the set limits. (For
spindles, a ramp can be achieved via regenerative limiting [kW])
NE
Caution
For induction motors, even for low VDC link, high speeds can be reached!
terminal 9: FR+:
24V enable voltage
max. load capability of the power supply:500mA (corresponds to 8 slots;1 optocoupler input
requires 12mA)
NE/2-9
04.97
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Monitoring module with line supply connection and additional connection of the power supply to the DC link:
for this operating mode, terminals 2U1, 2V1 and 2W1 of the power supply
must be supplied with the line supply voltage between the series reactor and I/R,
as otherwise the power supply will be destroyed.
terminal 63 must be switched via the ready relay of the I/R
in order to prevent the module, to the right of the monitoring module,
starting during precharging.
NE
Diagnostic instructions
If a line supply fault is displayed or if the yellow LED is dark, the overvoltage limiting module
must be checked.
Procedure:
Note
In this way, operation can be continued, but without overvoltage protection.
3. Insert the overvoltage limiting module 566018.9415.00 up to its end stop, and insert
connector X181 on the overvoltage limiting module.
NE/2-10
07.94
Appendix
Note
When using nonPELV circuits at terminals AS1, AS2, terminal 111, terminal 113, terminal
213, connector coding must be used to prevent the connector being interchanged (refer
to EN 602041 Section 6.4) refer to Catalog NC 60.1 for the Order No. of the coding connector. Only PELV circuits may be connected at terminal 19.
NE/3-11
NE
04.97
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3.1
NE
Table 3-1
Term.
No.
Terminal functions
Designation
U1
V1
Function
Typ
e
1)
Supply
3ph. 400 V AC
Max. crosssection
Refer to the Planning Guide
Terminals available in 3)
I/R, UE
W1
L1
L2
Supply connection
for contactor
PE
P600
M600
I
I
16mm2/10mm2 4)
16mm2/10mm2 4)
Protective conductor
DC link
DC link
I
I/O
I/O
0V
+300 V
300 V
Bolt
Busbar
Busbar
Grounding bar5)
I/O
300 V
Busbar
I/R, UE
I
I
+300 V
300 V
16mm2/10mm2 4)
16mm2/10mm2 4)
I/O
300 V
16mm2/10mm2 4)
X131
Electronics M
I/O
0V
X351
Equipment bus
I/O
Various
P600
M600
DC link
DC link
1R,
2R,
3R
M500
X181
X181
X181
X181
X181
X181
X181
DC link power
supply
DC link power
supply
Output L1
Input L1
Output L2
Input L2
Output L3
Input L3
P500
X181
1U1
2U1
1V1
2V1
1W1
2W1
7
45
44
10
15
R
X141
X141
X141
X141
X141
X141
P24
P15
N15
N24
M
RESET6)
5.3
5.2
5.1
63
9
9
64
19
X121
X121
X121
X121
X121
X121
X121
Relay contacts
Group message
I2t/motor temp.
Pulse enable2)
Enable voltage2)8)
Enable voltage2)8)
Drive enable2)
Enable voltage, reference potential
NE/3-12
MM
PR
16mm2/10mm2 4)
Ribbon cable
600 V DC
1.5
600 V DC
1.5 mm2
O
I
O
I
O
I
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
O
O
O
O
O
I
+20.4...28.8 V/50 mA
+15 V/10 mA
15 V/10 mA
20.4...28.8 V/50 mA
0V
Term.15/RE = 10 k
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
mm2
NC
NO
I
I
A
A
I
I/R, UE, MM
I/R, UE, MM
I/R, UE, MM
I/R, UE, MM
04.97
07.94
Table 3-1
Terminal functions
Term.
No.
Designation
74
nc
73.2
73.1
nc
72
X111
X111
X111
X111
X111
X111
9
112
X161
X161
Enable voltage2)8)
Settingup operation/
Standard operation2)
48
111
213
X161
X161
X161
Contactor control 2)
113
X161
AS1
AS2
X172
X172
Signaling contact
Start inhibit (terminal112)
NS1
NS2
X171
X171
19
X221
50
X221
Enable voltage
Reference potential
Control contact for fast
discharge
Function
Typ
e
1)
NC
Relay contact
Ready signal
I
I
NO
Signaling contacts
Line contactor
Max. crosssection
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
Terminals available in 3)
NE
I/R, UE, MM
+24 V
+21 V...30 V/RE = 1.5 k
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
I/R
O
I
+24 V
1.5 mm2
1.5 mm2
I/R, UE
0V
1.5 mm2
0V
1.5 mm2
O
I
I
I
NC
7)
I/R, UE, MM
I/R, UE
1.5 mm2
NO
I
NC
PR
1) I = Input, O = Output, NC = NC contact, NO = NO contact (for signal: Closed= high/open= low)
2) Terminal 19 is the reference ground (is connected inside the module with 10 k to the general reference ground
X131/terminal 15). It is not
permissible to connect terminal 15 to PE or to terminal 19. Donot connect external voltage sources to terminal 15! Terminal 19 can be
connected with X131.
3) I/R = infeed/regenerative feedback module;
UE = uncontrolled infeed;
monitoring module;
PW = pulsedresistor module
4) The 1st number is valid for cable lugs. The second number is valid for finelystranded conductors without
connector sleeves.
5) The grounding bar is used to ground the DC link M bus via 100 k (it should preferably always be
inserted for nongrounded supply networks).
6) RESET = resets the fault memory, edge triggered for the complete drive group (terminal R terminal 15 = RESET)
7) terminal 111213 positivelydriven NC contact (for I/R 16 kW and UE 10kW, only from MLFB (Order No.
6SN114V1VV010VVV).
Terminal 111113, NO contact, not positively driven
8) max. current load of terminals 919: 0.5A
NE/3-13
04.97
07.94
3.2
Table 3-2
NE
Term.
No.
U1
V1
Terminal functions
Designation
Typ
e1)
Function
Max. crosssection
4 mm2 finely stranded
without connector sleeves
6 mm2 with cable lug
X1
Supply
3ph. 400 V AC
Protective conductor
0V
X131
X351
Electronics M
Equipment bus
Grounding bar3)
I
I/O
I/O
0V
Various
300 V
M4 thread
34pin ribbon cable
Busbar
DC link
DC link
I/O
I/O
+300 V
300 V
Busbar
Busbar
I
I
O
I
O
I
O
I
300 V
+300 V
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
3ph. 400 V AC
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
W1
PE1
PE2
P600
M600
M500
P500
1U1
2U1
1V1
2V1
1W1
2W1
X181
X181
X181
X181
X181
X181
X181
X181
M5 thread
5.3
5.2
5.1
nc
X121A
X121A
X121A
X121A
Relay contact
Group signal
I2t/motor temperature
NC
NO
I
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
74
73.2
73.1
72
X121B
X121B
X121B
X121B
Relay signal
Ready/
fault
NC
I
I
NO
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
63
9
9
64
R
19
X141A
X141A
X141A
X141A
X141A
X141A
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
+24 V
+13 V...30 V/RE = 1.5 k
+13 V...30 V/RE = 1.5 k
+24 V
0/+24 V
0V
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
111
213
X161
X161
9
112
48
NS1
NS2
15
X141B
X141B
X141B
X141B
X141B
X141B
Pulse enable2)
FR+2)4)
FR+2)4)
Drive enable2)
RESET2)
FR, reference ground, enable
voltage
I
NC
Signaling contact
Line contactor
FR+2)4)
Settingup/standard operation2)
Contactor control2)
I
O
O
I
I
O
O
I
I
O
I
O
1) I = Input, O = Output, NC = NC contact, NO = NO contact (for signal: Closed= high/open= low)
2) Terminal 19 is the reference terminal (connected in the module to general reference ground X131
with 10 k).
3) The grounding bar is used to ground the DC link M bar via 100 k (this should always be
inserted for nongrounded supply networks).
4) max. current loading of terminals 9 19: A1
NE/3-14
VS/1-3
VS/1-3
VS/1-3
VS/2-17
2.1
Tachometer adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VS/2-18
2.2
VS/2-18
2.3
VS/2-19
2.4
VS/2-20
2.5
VS/2-21
2.6
VS/2-22
2.7
VS/2-22
2.8
Drift offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VS/2-23
VS/3-25
3.1
3.1.1
VS/3-25
VS/3-26
3.2
VS/3-29
Setpoint interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VS/4-33
VS/5-35
5.1
5.1.1
5.1.2
Presettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings with the control board removed . . . . . . . . . . . . . . . . . . . . . . . . .
Settings in operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VS/5-35
VS/5-35
VS/5-39
5.2
Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VS/5-40
VS/6-41
Poweron . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VS/7-43
VS/8-45
8.1
8.1.1
8.1.2
VS/8-45
VS/8-45
VS/8-47
8.2
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VS/8-48
1.2
2
VSi
VS
12.94
07.94
VS
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VS/9-49
9.1
Connecting terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VS/9-49
9.2
VS/9-52
9.3
VS/9-53
9.4
VS/9-54
Startup steps of the Startup is subdivided into steps; after the standard setting, this can be followed by an additional startup step or the drive converter poweredup.
feed drive modules
with userfriendly
and standard interface
Short startup
Standard settings
Sect. 1
Sect. 2
Sect. 3
Sect. 4
Sect. 5
Power.up, Sect. 7
Sect. 8
Service and
diagnostics
Appendix
VSii
Sect. 9
04.97
07.94
The setting elements for the userfriendly interface are located on the parameter board, for the standard interface, on the control (refer to Section 9 Appendix). The tachometer adaptation, current normalization and current controller
gain parameters should be set for a standard startup.
1.1
Tachometer adaptation for motors with tachometer voltages 16.5 V at rated speed
Only for 1FT503VVAF71 and 1FT504VVAF71 motors
Userfriendly and
standard interface
1.2
All three contacts, switch S1 (S4 for the 2nd axis standard interface) = ON
Further, an adjustment can be made using discrete resistors, refer to
Section 3.1 - 3.2.
Userfriendly interface
Standard interface
Note
The following setting values are valid for both control versions, as long as, in
individual cases, specific reference is not made to differences.
VS/1-3
VS
Table 1-1
VS
04.97
07.94
Current limit
[%]
Current limit
S2.x
or
S5.x
to ON
2
3
2
4
3
4
2
3
4
2
5
3
5
2
3
5
4
5
3
4
5
2
3
4
5
(%)
100
85
68
61
50
46
41
39
36
34
30
29
26
24
23
The current limit must be reduced at least to the peak value permitted for the
motor. It may be necessary to reduce it still further depending on the mechanical
system which is driven.
Current controller
gain Kp(I)
Kp(I) t
Imax LA
40
Table 1-2
S2.x
and
S5.x
to ON
6
7
6
8
7
8
6
9
7
9
6
7
9
8
9
7
8
9
6
7
8
9
Kp(I)
0.5
2.5
4.5
5.5
6.5
7.5
9.5
11
11.5
Userfriendly interface
The setting range of the current controller gain can be additionally increased
using R15 on the parameter board.
The following formula is valid for S2.6 to S2.9 closed (ON):
Kp(I) + 11, 5 )
VS/1-4
1230
R15
04.97
03.96
07.94
Adaptation tables
Table 1-3
Servomotor
1FT
1FT...
Mo [Nm]
Io [A]
nrated
t d [RPM]
0.93
Contacts
2
6000
Imax [A]
Contacts
Kp(I)
K
(I)
3.68
2.0
5034VAK71
0.5
5036VAK71
0.75
1.4
6000
5.44
2.0
5042VAF71
5042VAK71
0.66
0.66
0.75
1.2
3000
6000
x
x
o
x
o
o
x
o
2.72
4.88
x
x
x
x
o
o
o
o
2.5
2.5
5044VAF71
5044VAK71
1.3
1.3
1.5
2.3
3000
6000
o
o
x
o
o
o
o
o
5.44
8.0
x
x
x
o
o
o
o
o
2.5
1.0
5046VAF71
2.6
3.0
3000
8.0
2.0
5062VAC71
5062VAF71
5062VAG71
5062VAK71
2.2
2.2
2.2
2.2
1.3
2.0
2.7
3.9
2000
3000
4000
6000
o
o
o
o
x
o
o
o
o
o
o
o
o
o
o
o
5.44
8.0
8.0
8.0
x
o
o
x
x
x
o
o
x
o
x
o
x
x
o
o
11.5
7.5
4.0
1.0
5064VAC71
4.5
2.7
2000
8.0
7.5
5066VAC71
6.5
3.9
2000
8.0
4.5
5070VAC71
5070VAF71
5070VAG71
3.0
3.0
3.0
1.8
2.6
3.6
2000
3000
4000
o
o
o
o
o
o
o
o
o
o
o
o
8.0
8.0
8.0
x
o
x
x
x
o
x
o
x
x
x
o
11.5
7.5
4.5
5071VAC71
4.5
2.9
2000
8.0
8.0
1) The specified value is the maximum permissible current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-5
VS
Table 1-4
04.97
03.96
07.94
Servomotor
VS
1FT
1FT...
Mo [Nm]
Io [A]
nrated
t d [RPM]
5034VAK71
0.5
0.93
5036VAK71
0.75
5042VAF71
5042VAK71
Contacts
2
6000
1.4
6000
0.66
0.66
0.75
1.2
3000
6000
x
x
x
x
5044VAF71
5044VAK71
1.3
1.3
1.5
2.3
3000
6000
x
x
5046VAF71
5046VAK71
2.6
2.6
3.0
4.7
3000
6000
5062VAC71
5062VAF71
5062VAG71
5062VAK71
2.2
2.2
2.2
2.2
1.3
2.0
2.7
3.9
5064VAC71
5064VAF71
5064VAG71
4.5
4.5
4.5
5066VAC71
5066VAF71
Imax [A]
3.68
2.0
5.44
2.0
x
o
x
x
3.45
4.5
o
o
o
x
x
o
o
o
4.0
2.0
x
x
x
o
o
o
5.85
9.15
o
o
o
x
x
o
o
o
4.0
2.0
x
o
o
o
o
o
o
o
12.7
15.0
o
x
o
o
x
o
o
o
4.0
1.0
2000
3000
4000
6000
x
o
o
o
o
o
x
o
o
x
o
o
x
o
o
o
5.1
7.5
10.2
15.0
o
x
o
x
x
o
x
x
x
o
x
o
x
x
o
o
11.0
6.5
5.5
2.5
2.7
4.1
5.5
2000
3000
4000
o
o
o
x
o
o
o
o
o
o
o
o
10.2
15.0
15.0
o
x
x
o
o
x
x
o
o
x
x
o
9.5
6.5
2.5
6.5
6.5
3.9
6.0
2000
3000
o
o
o
o
o
o
o
o
15.0
15.0
o
o
o
o
x
x
x
o
9.5
4.0
5070VAC71
5070VAF71
5070VAG71
5070VAK71
3.0
3.0
3.0
3.0
1.8
2.6
3.6
5.3
2000
3000
4000
6000
o
o
o
o
o
x
o
o
x
o
o
o
o
o
o
o
7.5
10.2
15.0
15.0
x
o
x
o
x
o
x
o
x
x
o
x
x
x
x
o
11.5
9.5
8.0
4.0
5071VAC71
5071VAF71
5071VAG71
4.5
4.5
4.5
2.9
4.3
5.2
2000
3000
4000
x
o
o
o
o
o
o
o
o
o
o
o
12.7
15.0
15.0
x
x
x
x
o
o
x
o
x
x
x
o
11.5
6.5
4.5
5072VAC71
10.0
6.1
2000
15.0
8.0
5073VAC71
5073VAF71
7.0
7.0
4.3
6.4
2000
3000
o
o
o
o
o
o
o
o
15.0
15.0
o
o
o
o
x
x
x
o
9.5
4.0
5100VAC71
10.0
6.2
2000
15.0
5.5
1) The specified value is the maximum permissible current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-6
04.97
03.96
07.94
Table 1-5
Servomotor
1FT
1FT...
Mo [Nm]
Io [A]
nrated
t d [RPM]
5036VAK71
0.75
1.4
5044VAF71
5044VAK71
1.3
1.3
5046VAF71
5046VAK71
Contacts
2
6000
1.5
2.3
3000
6000
o
o
x
o
x
o
2.6
2.6
3.0
4.7
3000
6000
o
o
o
x
5062VAC71
5062VAF71
5062VAG71
5062VAK71
2.2
2.2
2.2
2.2
1.3
2.0
2.7
3.9
2000
3000
4000
6000
x
x
x
x
5064VAC71
5064VAF71
5064VAG71
5064VAK71
4.5
4.5
4.5
4.5
2.7
4.1
5.5
8.0
2000
3000
4000
6000
5066VAC71
5066VAF71
5066VAG71
5066VAK71
6.5
6.5
6.5
6.5
3.9
6.0
7.9
11.6
5070VAC71
5070VAF71
5070VAG71
5070VAK71
3.0
3.0
3.0
3.0
5071VAC71
5071VAF71
5071VAG71
5071VAK71
Imax [A]
Contacts
Kp(I)
K
(I)
5.75
2.0
x
x
6.0
9.0
o
o
o
x
x
o
o
o
4.0
2.0
x
o
o
o
12.5
17.0
o
o
o
x
x
o
o
o
4.0
2.0
x
o
o
x
x
o
x
o
x
x
o
o
5.75
8.5
10.25
15.75
x
x
o
x
x
x
x
x
x
o
x
o
x
x
o
o
11.5
8.0
5.5
2.5
x
o
o
o
o
x
o
o
x
o
o
o
o
o
o
o
10.25
17.0
25.0
25.0
x
x
o
x
x
o
x
x
x
o
x
o
x
x
o
o
11.5
6.5
5.5
2.5
2000
3000
4000
6000
o
o
o
o
x
o
o
o
o
o
o
o
o
o
o
o
17.0
25.0
25.0
25.0
o
x
x
o
o
o
x
x
x
o
o
o
x
x
o
o
9.5
6.5
2.5
2.0
1.8
2.6
3.6
5.3
2000
3000
4000
6000
o
x
o
o
x
o
x
o
o
x
o
o
x
o
o
o
7.5
11.5
17.0
25.0
x
o
o
x
x
x
o
o
x
x
x
o
x
x
x
x
11.5
11.0
9.5
6.5
4.5
4.5
4.5
4.5
2.9
4.3
5.2
7.9
2000
3000
4000
6000
o
o
o
o
o
x
o
o
x
o
o
o
o
o
o
o
12.5
17.0
25.0
25.0
x
x
x
x
x
x
x
x
x
o
o
o
x
x
x
o
11.5
8.0
8.0
2.5
5072VAC71
5072VAF71
5072VAG71
10.0
10.0
10.0
6.1
9.1
12.0
2000
3000
4000
o
o
o
o
o
o
o
o
o
o
o
o
25.0
25.0
25.0
x
o
x
x
o
x
x
o
o
x
x
o
11.5
6.0
2.5
5073VAC71
5073VAF71
5073VAG71
5073VAK71
7.0
7.0
7.0
7.0
4.3
6.4
8.1
12.5
2000
3000
4000
6000
o
o
o
o
x
o
o
o
o
o
o
o
o
o
o
o
17.0
25.0
25.0
25.0
o
x
x
x
o
o
o
o
x
o
x
o
x
x
o
o
9.5
6.5
4.5
1.0
5074VAC71
14.0
8.5
2000
25.0
8.0
5076VAC71
18.0
11.5
2000
25.0
5.5
5100VAC71
5100VAF71
5100VAG71
10.0
10.0
10.0
6.2
9.2
12.5
2000
3000
4000
o
o
o
o
o
o
o
o
o
o
o
o
25.0
25.0
25.0
o
o
x
o
o
x
x
x
o
x
o
o
9.5
4.0
2.5
5101VAC71
15.0
9.4
2000
25.0
5.5
5102VAA71
27.0
9.9
1200
25.0
8.0
5103VAC71
19.0
12.0
2000
25.0
4.0
1) The specified value is the maximum permissible current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-7
VS
Table 1-6
04.97
03.96
07.94
Servomotor
VS
1FT
1FT...
Mo [Nm]
Io [A]
nrated
t d [RPM]
5044VAK71
1.3
2.3
5046VAF71
5046VAK71
2.6
2.6
5062VAG71
5062VAK71
Contacts
2
6000
3.0
4.7
3000
6000
o
o
x
o
o
x
2.2
2.2
2.7
3.9
4000
6000
x
o
o
x
5064VAC71
5064VAF71
5064VAG71
5064VAK71
4.5
4.5
4.5
4.5
2.7
4.1
5.5
8.0
2000
3000
4000
6000
o
x
o
o
5066VAC71
5066VAF71
5066VAG71
5066VAK71
6.5
6.5
6.5
6.5
3.9
6.0
7.9
11.6
2000
3000
4000
6000
5070VAF71
5070VAG71
5070VAK71
3.0
3.0
3.0
2.6
3.6
5.3
5071VAC71
5071VAF71
5071VAG71
5071VAK71
4.5
4.5
4.5
4.5
5072VAC71
5072VAF71
5072VAG71
5072VAK71
Imax [A]
13.0
2.5
x
o
15.0
25.0
o
x
o
x
x
o
o
o
4.0
2.5
x
x
x
o
13.0
19.5
x
x
o
o
o
x
x
o
6.5
4.5
o
x
o
x
x
x
x
o
x
o
o
o
13.0
19.5
25.0
34.0
x
x
o
x
x
x
x
x
x
o
x
o
x
x
o
o
11.5
8.0
5.5
2.5
x
x
o
o
x
x
x
o
x
o
o
o
o
o
o
o
19.5
30.5
34.0
50.0
x
x
x
o
x
x
o
o
x
o
x
x
x
x
o
o
11.5
8.0
4.5
4.0
3000
4000
6000
o
x
o
x
o
o
x
o
x
x
x
o
12.0
17.0
25.0
x
o
x
x
o
o
x
x
o
x
x
x
11.5
9.5
6.5
2.9
4.3
5.2
7.9
2000
3000
4000
6000
o
o
o
o
o
x
o
x
x
x
x
o
x
o
o
o
13.0
20.5
25.0
34.0
x
o
x
o
x
o
x
o
x
x
o
x
x
x
x
o
11.5
9.5
8.0
4.0
10.0
10.0
10.0
10.0
6.1
9.1
12.0
17.5
2000
3000
4000
6000
o
x
o
o
o
o
o
o
x
o
o
o
o
o
o
o
25.0
42.5
50.0
50.0
x
o
x
x
x
o
o
x
x
x
o
o
x
x
x
o
11.5
9.5
6.5
2.5
5073VAC71
5073VAF71
5073VAG71
5073VAK71
7.0
7.0
7.0
7.0
4.3
6.4
8.1
12.5
2000
3000
4000
6000
o
x
x
o
x
x
o
o
x
o
o
o
o
o
o
o
20.5
30.5
42.5
50.0
x
x
o
x
x
x
x
x
x
o
o
o
x
x
x
o
11.5
8.0
7.5
2.5
5074VAC71
5074VAF71
5074VAG71
5074VAK71
14.0
14.0
14.0
14.0
8.5
13.0
16.5
25.0
2000
3000
4000
6000
x
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
42.5
50.0
50.0
50.0
x
x
x
x
x
o
o
o
x
o
x
o
x
x
o
o
11.5
6.5
4.5
1.0
5076VAC71
5076VAF71
5076VAG71
18.0
18.0
18.0
11.5
16.5
21.5
2000
3000
4000
o
o
o
o
o
o
o
o
o
o
o
o
50.0
50.0
50.0
o
x
x
x
o
x
x
x
o
x
o
o
11.0
4.5
2.5
5100VAC71
5100VAF71
5100VAG71
5100VAK71
10.0
10.0
10.0
10.0
6.2
9.2
12.5
18.0
2000
3000
4000
6000
x
x
o
o
x
o
o
o
o
o
o
o
o
o
o
o
30.5
42.5
50.0
50.0
x
x
x
x
x
o
o
x
x
o
x
o
x
x
o
o
11.5
6.5
4.5
2.5
5101VAC71
5101VAF71
5101VAG71
15.0
15.0
15.0
9.4
14.5
17.5
2000
3000
4000
x
o
o
o
o
o
o
o
o
o
o
o
42.5
50.0
50.0
o
x
x
o
o
x
x
x
o
x
o
o
9.5
4.5
2.5
5102VAA71
5102VAC71
5102VAF71
27.0
27.0
27.0
9.9
16.5
25.0
1200
2000
3000
x
o
o
o
o
o
o
o
o
o
o
o
42.5
50.0
50.0
x
x
x
x
o
x
x
o
o
x
x
o
11.5
6.5
2.5
1) The specified value is the maximum permissible current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-8
04.97
03.96
07.94
Table 1-6
Servomotor
1FT
1FT...
Mo [Nm]
Io [A]
nrated
t d [RPM]
5103VAC71
5103VAF71
5103VAG71
19.0
19.0
19.0
12.0
17.5
23.0
5104VAA71
5104VAC71
37.0
37.0
5106VAA71
5108VAA71
5132VAA71
Contacts
2
2000
3000
4000
o
o
o
o
o
o
o
o
o
o
o
o
14.0
22.5
1200
2000
o
o
o
o
o
o
45.0
17.0
1200
55.0
20.5
1200
60.0
22.5
1200
Imax [A]
50.0
50.0
50.0
x
x
o
x
x
x
o
o
o
o
o
x
8.0
2.5
2.0
o
o
50.0
50.0
x
o
x
o
x
x
x
o
11.5
4.0
50.0
8.0
50.0
6.5
50.0
7.5
1) The specified value is the maximum permissible current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-9
VS
Table 1-7
03.96
07.94
Servomotor
1FT
Mo [Nm]
Io [A]
nrated
t d [RPM]
4101VSK71
4101VSN71
20.0
20.0
33.0
39.0
4102VSG71
33.0
5046VAK71
Contacts
2
6000
8000
o
o
o
o
o
o
o
o
35.0
4000
2.6
4.7
6000
5062VAK71
2.2
3.9
6000
5064VAF71
5064VAG71
5064VAK71
4.5
4.5
4.5
4.1
5.5
8.0
3000
4000
6000
o
o
o
5066VAC71
5066VAF71
5066VAG71
5066VAK71
6.5
6.5
6.5
6.5
3.9
6.0
7.9
11.6
2000
3000
4000
6000
5070VAK71
3.0
5.3
5071VAF71
5071VAG71
5071VAK71
4.5
4.5
4.5
5072VAC71
5072VAF71
5072VAG71
5072VAK71
Imax [A]
80.0
80.0
o
x
x
o
o
o
o
o
2.0
1.0
80.0
4.0
24.0
2.5
19.2
4.0
x
o
o
x
o
x
x
x
o
19.2
28.8
40.0
x
x
o
x
o
o
o
o
x
x
x
o
8.0
6.5
4.0
o
o
o
o
x
o
o
x
x
o
x
o
x
x
o
o
19.2
28.2
40.0
54.4
x
x
o
x
x
x
o
o
x
o
o
x
x
x
x
o
11.5
8.0
6.0
4.5
6000
24.0
6.5
4.3
5.2
7.9
3000
4000
6000
o
x
o
o
o
o
x
o
x
x
x
o
20.8
27.2
40.0
o
x
x
o
x
o
x
o
x
x
x
o
9.5
8.0
4.5
10.0
10.0
10.0
10.0
6.1
9.1
12.0
17.5
2000
3000
4000
6000
o
o
o
o
o
o
x
o
o
x
o
o
x
o
o
o
28.8
40.0
54.4
80.0
x
o
o
o
x
o
x
x
x
x
o
x
x
x
x
o
11.5
9.5
7.5
5.5
5073VAC71
5073VAF71
5073VAG71
5073VAK71
7.0
7.0
7.0
7.0
4.3
6.4
8.1
12.5
2000
3000
4000
6000
o
x
o
o
o
x
o
x
x
x
x
o
x
o
o
o
20.8
31.2
40.0
54.4
x
x
x
x
x
x
o
x
x
o
o
o
x
x
x
o
11.5
8.0
6.5
2.5
5074VAC71
5074VAF71
5074VAG71
5074VAK71
5074VSG71
5074VSK71
14.0
14.0
14.0
14.0
16.0
16.0
8.5
13.0
16.5
25.0
19.0
28.0
2000
3000
4000
6000
4000
6000
o
o
o
o
o
o
o
x
o
o
o
o
x
o
o
o
o
o
o
o
o
o
o
o
40.0
54.4
80.0
80.0
80.0
80.0
x
o
x
x
o
x
x
x
o
x
o
x
x
o
o
o
o
o
x
x
x
o
x
o
11.5
7.5
6.5
2.5
6.0
2.5
5076VAC71
5076VAF71
5076VAG71
5076VAK71
5076VSG71
18.0
18.0
18.0
18.0
20.5
11.5
16.5
21.5
32.0
24.5
2000
3000
4000
6000
4000
x
x
o
o
o
x
o
o
o
o
o
o
o
o
o
o
o
o
o
o
48.8
68.0
80.0
80.0
80.0
o
x
x
o
o
x
o
o
x
o
x
o
x
o
x
x
x
o
o
o
11.0
6.5
4.5
2.0
4.0
5100VAC71
5100VAF71
5100VAG71
5100VAK71
10.0
10.0
10.0
10.0
6.2
9.2
12.5
18.0
2000
3000
4000
6000
x
o
o
o
x
o
x
o
x
x
o
o
o
o
o
o
31.2
40.0
54.4
80.0
x
x
o
o
x
o
x
o
x
o
x
x
x
x
o
o
11.5
6.5
5.5
4.0
5101VAC71
5101VAF71
5101VAG71
5101VAK71
15.0
15.0
15.0
15.0
9.4
14.5
17.5
26.5
2000
3000
4000
6000
o
o
o
o
o
x
o
o
x
o
o
o
o
o
o
o
40.0
54.4
80.0
80.0
x
o
x
o
x
x
o
x
o
x
x
o
x
o
o
o
8.0
5.5
4.5
2.0
1) The specified value is the maximum permisisble current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-10
03.96
07.94
Table 1-7
Servomotor
1FT
Mo [Nm]
Io [A]
nrated
t d [RPM]
5102VAA71
5102VAC71
5102VAF71
5102VAG71
27.0
27.0
27.0
27.0
9.9
16.5
25.0
31.5
5103VAC71
5103VAF71
5103VAG71
19.0
19.0
19.0
5104VAA71
5104VAC71
5104VAF71
Contacts
2
1200
2000
3000
4000
o
o
o
o
o
o
o
o
x
o
o
o
o
o
o
o
12.0
17.5
23.0
2000
3000
4000
o
o
o
x
o
o
o
o
o
37.0
37.0
37.0
14.0
22.5
34.0
1200
2000
3000
o
o
o
x
o
o
5106VAA71
5106VAC71
45.0
45.0
17.0
26.8
1200
2000
o
o
5108VAA71
5108VAC71
55.0
55.0
20.5
32.5
1200
2000
5132VAA71
5132VAC71
5132VSA71
60.0
60.0
70.0
22.5
35.5
26.0
5134VAA71
5134VSA71
75.0
90.0
5136VAA71
5138VAA71
Imax [A]
40.0
80.0
80.0
80.0
x
o
o
x
x
o
o
x
x
x
x
o
x
x
o
o
11.5
9.5
4.0
2.5
o
o
o
54.4
80.0
80.0
x
o
x
x
o
x
o
o
o
x
x
o
8.0
6.0
2.5
o
o
o
o
o
o
54.4
80.0
80.0
x
x
x
x
o
x
x
o
o
x
x
o
11.5
6.5
2.5
o
o
o
o
o
o
80.0
80.0
x
o
x
x
x
x
x
o
11.5
5.5
o
o
o
o
o
o
o
o
80.0
80.0
x
x
x
o
x
x
x
o
11.5
4.5
1200
2000
1200
o
o
o
o
o
o
o
o
o
o
o
o
80.0
80.0
80.0
x
x
x
x
o
x
x
x
x
x
o
x
11.5
4.5
11.5
28.0
34.0
1200
1200
o
o
o
o
o
o
o
o
80.0
80.0
o
o
o
o
x
x
x
x
9.5
9.5
85.0
31.5
1200
80.0
7.5
105.0
39.0
1200
80.0
6.0
1) The specified value is the maximum permisisble current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-11
VS
Table 1-8
03.96
07.94
Servomotor
VS
1FT
Mo [Nm]
Io [A]
nrated
t d [RPM]
4101VSK71
4101VSN71
20.0
20.0
33.0
39.0
4102VSG71
4102VSK71
33.0
33.0
4104VSG71
4104VSK71
Contacts
2
6000
8000
o
o
o
o
o
o
o
o
35.0
47.0
4000
6000
o
o
o
o
o
o
45.0
45.0
46.0
60.0
4000
6000
o
o
o
o
4106VSG71
59.0
56.0
4000
5064VAK71
4.5
8.0
6000
5066VAG71
5066VAK71
6.5
6.5
7.9
11.6
5071VAK71
4.5
5072VAF71
5072VAG71
5072VAK71
10.0
10.0
10.0
5073VAG71
5073VAK71
Imax [A]
160.0
160.0
x
x
o
x
x
o
o
o
4.5
2.5
o
o
160.0
160.0
x
x
x
o
o
x
x
o
8.0
4.5
o
o
o
o
160.0
160.0
o
x
x
x
x
o
o
o
5.5
2.5
160.0
4.5
41.6
4.5
4000
6000
o
o
x
o
x
o
x
x
38.4
57.6
o
x
o
o
o
x
x
o
6.0
4.5
7.9
6000
38.4
4.5
9.1
12.0
17.5
3000
4000
6000
o
o
o
o
o
o
x
o
x
x
x
o
41.6
57.6
80.0
o
x
o
o
x
x
x
o
x
x
x
o
9.5
8.0
5.5
7.0
7.0
8.1
12.5
4000
6000
o
o
o
x
x
x
x
o
41.6
65.5
x
o
o
o
o
x
x
o
6.5
4.0
5074VAC71
5074VAF71
5074VAG71
5074VAK71
5074VSG71
5074VSK71
14.0
14.0
14.0
14.0
16.0
16.0
8.5
13.0
16.5
25.0
19.0
28.0
2000
3000
4000
6000
4000
6000
o
o
o
x
o
x
o
x
o
x
o
x
x
x
x
o
x
o
x
o
o
o
o
o
41.6
65.6
80.0
97.6
80.0
97.0
x
x
x
x
o
x
x
x
o
x
x
x
x
o
o
o
x
o
x
x
x
o
o
o
11.5
8.0
6.5
2.5
5.5
2.5
5076VAC71
5076VAF71
5076VAG71
5076VAK71
5076VSG71
5076VSK71
18.0
18.0
18.0
18.0
20.5
20.5
11.5
16.5
21.5
32.0
24.5
36.0
2000
3000
4000
6000
4000
6000
o
x
o
o
o
o
x
o
x
o
x
o
o
x
o
o
o
o
x
o
o
o
o
o
48.0
73.6
108.8
160.0
108.8
160.0
o
o
x
o
o
o
o
x
o
o
x
o
x
o
o
x
x
x
x
x
x
o
o
o
9.5
7.5
6.5
4.0
5.5
4.0
5100VAF71
5100VAG71
5100VAK71
10.0
10.0
10.0
9.2
12.5
18.0
3000
4000
6000
x
x
o
x
x
o
o
x
x
x
o
o
46.4
62.4
80.0
x
x
o
x
o
o
o
o
x
x
x
o
8.0
6.5
4.0
5101VAC71
5101VAF71
5101VAG71
5101VAK71
15.0
15.0
15.0
15.0
9.4
14.5
17.5
26.5
2000
3000
4000
6000
o
o
o
x
o
x
o
o
x
x
x
o
x
o
o
o
41.6
65.6
80.0
136.0
o
x
x
o
o
o
o
o
x
o
x
x
x
x
o
o
9.5
6.5
4.5
4.0
5102VAA71
5102VAC71
5102VAF71
5102VAG71
5102VSF71
5102VSG71
27.0
27.0
27.0
27.0
34.0
34.0
9.9
16.5
25.0
31.5
31.5
39.5
1200
2000
3000
4000
3000
4000
x
o
o
o
o
o
x
o
x
o
x
o
o
x
o
o
o
o
x
o
o
o
o
o
46.4
80.0
108.8
160.0
108.8
160.0
x
o
o
o
x
x
x
o
x
x
o
o
x
x
x
x
x
x
x
x
o
o
o
o
11.5
9.5
5.5
5.5
4.5
4.5
5103VAC71
5103VAF71
5103VAG71
19.0
19.0
19.0
12.0
17.5
23.0
2000
3000
4000
o
o
o
o
o
x
o
x
o
x
o
o
57.6
80.0
108.8
x
o
x
x
o
o
o
o
x
x
x
o
8.0
6.0
4.5
1) The specified value is the maximum permisisble current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-12
03.96
07.94
Table 1-8
Servomotor
1FT
Mo [Nm]
Io [A]
nrated
t d [RPM]
5104VAA71
5104VAC71
5104VAF71
5104VSF71
37.0
37.0
37.0
48.0
14.0
22.5
34.0
44.0
5106VAA71
5106VAC71
5106VAF71
5106VSF71
45.0
45.0
45.0
57.0
5108VAA71
5108VAC71
5108VAF71
Contacts
2
1200
2000
3000
3000
x
o
o
o
x
x
o
o
x
o
o
o
o
o
o
o
17.0
26.8
42.5
54.0
1200
2000
3000
3000
o
o
o
o
o
x
o
o
x
o
o
o
55.0
55.0
55.0
20.5
32.5
50.5
1200
2000
3000
o
o
o
o
o
o
5132VAA71
5132VAC71
5132VAF71
5132VSA71
5132VSC71
5132VSF71
60.0
60.0
60.0
70.0
70.0
70.0
22.5
35.5
47.5
26.0
41.0
55.5
1200
2000
3000
1200
2000
3000
o
o
o
o
o
o
5134VAA71
5134VAC71
5134VSA71
5134VSC71
75.0
75.0
90.0
90.0
28.0
47.0
34.0
56.0
1200
2000
1200
2000
5136VAA71
5136VAC71
5136VSA71
5136VSC71
85.0
85.0
110.0
110.0
31.5
47.5
41.0
61.5
5138VAA71
5138VSA71
105.0
140.0
39.0
52.0
Imax [A]
62.4
108.8
160.0
160.0
x
o
x
o
x
o
o
x
x
x
o
x
x
x
x
o
11.5
9.5
6.5
5.5
o
o
o
o
80.0
108.0
160.0
160.0
x
o
x
o
x
x
o
o
x
o
x
x
x
x
o
o
11.5
7.5
4.5
4.0
x
o
o
o
o
o
80.0
160.0
160.0
x
o
o
x
o
o
x
x
x
x
x
o
11.5
9.5
4.0
x
o
o
x
o
o
o
o
o
o
o
o
o
o
o
o
o
o
108.8
160.0
160.0
108.8
160.0
160.0
x
x
o
x
x
x
x
x
x
x
x
x
x
o
x
x
o
x
x
x
o
x
x
o
11.5
8.0
5.5
11.5
8.0
5.5
o
o
o
o
x
o
x
o
o
o
o
o
o
o
o
o
108.8
160.0
108.8
160.0
x
x
x
x
x
o
x
o
x
o
x
o
x
o
x
x
11.5
6.5
11.5
6.5
1200
2000
1200
2000
x
o
x
o
o
o
o
o
o
o
o
o
o
o
o
o
136.0
160.0
136.0
160.0
x
x
x
x
x
o
x
o
x
o
x
o
x
x
x
o
11.5
6.5
11.5
6.5
1200
1200
o
o
o
o
o
o
o
o
160.0
160.0
x
x
x
x
x
x
x
x
11.5
11.5
1) The specified value is the maximum permisisble current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-13
VS
Table 1-9
03.96
07.94
Servomotor
VS
1FT
Mo [Nm]
Io [A]
nrated
t d [RPM]
4101VSK71
4101VSN71
20.0
20.0
33.0
39.0
4102VSG71
4102VSK71
33.0
33.0
4104VSG71
4104VSK71
Contacts
2
6000
8000
o
x
x
o
o
o
o
o
35.0
47.0
4000
6000
x
o
o
o
o
o
45.0
45.0
46.0
60.0
4000
6000
o
o
o
o
4106VSG71
59.0
56.0
4000
5066VAK71
6.5
11.6
6000
5072VAG71
5072VAK71
10.0
10.0
12.0
17.5
5073VAK71
7.0
5074VAF71
5074VAG71
5074VAK71
5074VSG71
5074VSK71
14.0
14.0
14.0
16.0
16.0
5076VAC71
5076VAF71
5076VAG71
5076VAK71
5076VSG71
5076VSK71
Imax [A]
136.0
170.0
x
x
x
x
o
o
o
o
2.5
2.0
o
o
170.0
200.0
o
o
o
x
x
x
x
o
9.5
5.5
o
o
o
o
200.0
200.0
x
x
o
x
o
o
x
o
6.5
2.5
200.0
5.5
60.0
4.5
4000
6000
o
o
x
x
o
x
x
o
60.0
82.0
x
o
x
x
o
x
x
o
8.0
5.5
12.5
6000
60.0
4.0
13.0
16.5
25.0
19.0
28.0
3000
4000
6000
4000
6000
o
o
o
o
o
x
x
o
x
o
o
x
x
x
x
x
o
o
o
o
60.0
82.0
100.0
82.0
100.0
x
x
x
o
x
x
o
x
o
x
o
o
o
o
o
x
x
o
x
o
8.0
6.5
2.5
6.0
2.5
18.0
18.0
18.0
18.0
20.5
20.5
11.5
16.5
21.5
32.0
24.5
36.0
2000
3000
4000
6000
4000
6000
o
x
o
o
o
o
o
x
o
x
o
x
x
x
x
o
x
o
x
o
o
o
o
o
52.0
78.0
100.0
136.0
100.0
136.0
x
x
o
x
x
x
x
x
x
x
o
x
x
o
x
o
x
o
x
x
o
o
o
o
11.5
8.0
5.5
2.5
4.5
2.5
5100VAF71
5100VAG71
5100VAK71
10.0
10.0
10.0
9.2
12.5
18.0
3000
4000
6000
x
o
x
x
x
o
x
o
x
x
x
o
46.0
60.0
92.0
x
o
x
x
o
o
o
o
x
x
x
o
8.0
6.0
4.5
5101VAC71
5101VAF71
5101VAG71
5101VAK71
15.0
15.0
15.0
15.0
9.4
14.5
17.5
26.5
2000
3000
4000
6000
x
o
x
o
x
x
o
x
x
o
x
o
x
x
o
o
46.0
60.0
92.0
136.0
o
o
o
o
o
o
o
o
x
o
o
x
x
x
x
o
9.5
6.0
6.0
4.0
5102VAA71
5102VAC71
5102VAF71
5102VAG71
5102VSF71
5102VSG71
27.0
27.0
27.0
27.0
34.0
34.0
9.9
16.5
25.0
31.5
31.5
39.5
1200
2000
3000
4000
3000
4000
x
x
o
o
x
o
x
x
o
x
x
x
x
x
x
o
o
o
x
o
o
o
o
o
46.0
78.0
100.0
136.0
122.0
136.0
x
o
x
x
o
o
x
o
o
o
x
o
x
x
x
x
x
x
x
x
o
o
o
o
11.5
9.5
4.5
4.5
5.5
4.0
5103VAC71
5103VAF71
5103VAG71
19.0
19.0
19.0
12.0
17.5
23.0
2000
3000
4000
o
x
x
x
o
x
o
x
o
x
o
o
60.0
92.0
122.0
o
x
o
o
o
x
x
o
x
x
x
o
9.5
6.5
5.5
5104VAA71
5104VAC71
5104VAF71
5104VSF71
37.0
37.0
37.0
48.0
14.0
22.5
34.0
44.0
1200
2000
3000
3000
o
o
o
o
x
o
x
x
o
x
o
o
x
o
o
o
60.0
100.0
136.0
136.0
x
x
o
x
x
x
x
o
x
o
x
x
x
x
o
o
11.5
8.0
5.5
4.5
5106VAA71
5106VAC71
5106VAF71
5106VSF71
45.0
45.0
45.0
57.0
17.0
26.8
42.5
54.0
1200
2000
3000
3000
x
x
o
o
x
x
o
o
x
o
o
o
o
o
o
o
78.0
122.0
200.0
200.0
x
x
o
x
x
x
x
o
x
o
x
x
x
x
o
o
11.5
8.0
5.5
4.5
1) The specified value is the maximum permisisble current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-14
03.96
07.94
Table 1-9
Servomotor
1FT
Mo [Nm]
Io [A]
nrated
t d [RPM]
5108VAA71
5108VAC71
5108VAF71
55.0
55.0
55.0
20.5
32.5
50.5
5132VAA71
5132VAC71
5132VAF71
5132VSA71
5132VSC71
5132VSF71
60.0
60.0
60.0
70.0
70.0
70.0
5134VAA71
5134VAC71
5134VSA71
5134VSC71
Contacts
2
1200
2000
3000
x
o
o
o
x
o
x
o
o
o
o
o
22.5
35.5
47.5
26.0
41.0
55.5
1200
2000
3000
1200
2000
3000
o
x
o
o
x
o
o
o
o
o
o
o
x
o
o
x
o
o
75.0
75.0
90.0
90.0
28.0
47.0
34.0
56.0
1200
2000
1200
2000
x
o
x
o
x
o
x
o
5136VAA71
5136VAC71
5136VSA71
5136VSC71
85.0
85.0
110.0
110.0
31.5
47.5
41.0
61.5
1200
2000
1200
2000
o
o
o
o
5138VAA71
5138VSA71
105.0
140.0
39.0
52.0
1200
1200
x
x
Imax [A]
92.0
136.0
200.0
x
x
x
x
x
o
x
o
x
x
x
o
11.5
8.0
4.5
o
o
o
o
o
o
100.0
170.0
200.0
100.0
170.0
200.0
x
o
x
x
o
x
x
o
o
x
o
o
x
x
o
x
x
o
x
x
x
x
x
x
11.5
9.5
6.5
11.5
9.5
6.5
o
o
o
o
o
o
o
o
122.0
200.0
122.0
200.0
x
x
x
x
x
x
x
x
x
o
x
o
x
x
x
x
11.5
8.0
11.5
8.0
x
o
x
o
o
o
o
o
o
o
o
o
136.0
200.0
136.0
200.0
x
x
x
x
x
x
x
x
x
o
x
o
x
x
x
x
11.5
8.0
11.5
8.0
o
o
o
o
o
o
170.0
170.0
x
x
x
x
x
x
x
x
11.5
11.5
1) The specified value is the maximum permissible current of the particular power module motor combination. It may be
necessary to reduce the specified value depending on the driven mechanical system.
VS/1-15
VS
07.94
VS
VS/1-16
07.94
The additional smoothing functions in the speed controller loop (damping mechanical resonance effects) are described in Section 3. Proceed as follows
when optimizing the speed controller:
VS
4. Tachometer adjustment
5. Gain Kp
6. Integral action time TN
7. Adaptation TN
(if required)
8. Icomponent limiting
(if required)
The potentiometer scale divisions (in the setting tables) are defined as follows:
6
6
8
7 8
7
99/
10
55
44
3
3 2
2
0
0/1
1
VS/2-17
2.1
04.97
07.94
Tachometer adjustment
For motors with tachometer voltages 16.5 V, it is necessary to also proceed
according to Section 1.1.
Potentiometer
Setting range
0.7 nrated 2.2 nact N 2.2 nrated
VS
910
Tachometer adjustment
Extending the setting range using R3 and R10 (only for the userfriendly
interface).
2.2
Function
Component
Mounted
Increase R3
0 (as supplied)
Mount R10
VS/2-18
04.97
07.94
Kp
Potentiometer TN
Right
hand
endstop
170
160
140
120
100
Center
80
Lefthand
endstop
60
40
20
0
0
910
Setting of pot. Kp
Fig. 2-2
2.3
TN in ms
45
40
30
20
10
0
10
Setting of pot. TN
Fig. 2-3
VS/2-19
VS
2.4
04.97
07.94
R34 = open
R34 = mounted
VS
TN
R34 + potentiometer ADAPT
Potentiometer TN
TNadapt
nx2
Adaptation
fully effective
Fig. 2-4
nx
nx1
Transition
range
Adaptation
ineffective
nx = jnsetp. + nact.j
TNadapt/TN
0.9
R34 = 10 k
R34 = 0
or standard
interface
0.7
0.5
0.3
0.1
0
910
VS/2-20
Dependency of adaptation TN
04.97
07.94
2.5
Wichtig
Offsets can occur in the transition range.
VS
Kp
Kpadapt
R38
Kp
R50 + potentiometer Kp
nx2
Adaptation
fully effective
Fig. 2-6
nx
nx1
Transition
range
Adaptation
ineffective
nx = jnsetp. + nact.j
Kpadapt/Kp
35
25
15
5
0
0
500
1000
1500
2000
2500
Fig. 2-7
VS/2-21
2.6
04.97
07.94
Userfriendly interface
Standard interface 1st axis (from Order No. 6SN11180AD110AA1)
Standard interface 2nd axis (from Order No. 6SN11180AE110AA1)
Rj = open
Rj = inserted
VS
R40 in k
150
130
Transition range
Adap
_
tation
fully
eff_
ective
110
90
70
50
Adap
tation
ineffect
ive
30
10
0
0
50
100
150
200
250
300
350
400
nx in mV
Fig. 2-8
Adaptation range
nx = jnsetp.1+ nact.j
2.7
Userfriendly interface
Standard interface 1st axis (from Order No. 6SN11180AD110AA1)
Standard interface 2nd axis (from Order No. 6SN11180AE110AA1)
R52 = open
R52 = 0
R52 can be between 100 k and 2 M to limit the speed controller I component, e. g. for slipstick effects.
VS/2-22
04.97
03.96
07.94
2.8
Drift offset
Adjusted using potentiometer for nset = 0 (terminals 56 and 14 connected)
Potentiometer drift
VS
VS/2-23
04.97
07.94
VS
VS/2-24
12.94
04.97
07.94
3.1
VS
S2/S5 contacts
10 x DIL
OFF
ON
2...5
6...9
10
Speedcontrolled operation1)
Currentcontrolled operation
S3/S6 contacts
8 x DIL
Function
OFF
ON
No smoothing1)
With = 2.2 ms
No smoothing1)
With = 280 s
No smoothing1)
With = 370 s
No smoothing1)
With = 110 s
OFF1)
ON
Ready/fault2)
Fault signal
Master/slave3)4)
Master1)
Slave4)
Currentcontrolled operation
With I component
Without I component1)
1) As supplied
2) Acts on the BB relay of the NE/monitoring module. If the userfriendly and standard interface are used together, or
just the standard interface alone, then the BB relay on the NE module dropsout if there is no enable signal or a
fault is present.
3) Function only for 2axis version
4) The slave axis must be operated in the currentcontrolled mode with enabled I component.
VS/3-25
04.97
07.94
The following supplementary functions can be set by mounting wired components onto the basic board. (from Order No. 6SN11180AD110AA1 (1 axis)
and from Order No. 6SN11180AE110AA1 (2 axis) .
Function
VS
BKZ axis 1
BKZ axis 2
Value range
C231
C235
0 ... 100nF
Smoothing nset
C232
C236
0 ... 2.2 mF
Smoothing nact
C233
C237
0 ... 100nF
Smoothing nset
C234
C238
0 ... 100nF
C239
C240
0 ... 2.2 mF
Tachometer adaptation
R542
R542
62 kW ... 1
Adaptation range
R543
R544
0 ... 1 kW
R545
R546
0 ... 1 kW
R547
R550
100 kW ... 2 MW
R548/R549
R551/R552
20 kW ... 1
R553
R554
0 ... 1 kW
Axial metal film resistors, type of construction 0204 (RM 7.62 mm) and radial
MKT capacitors (RM 5.08 mm) must be located at the positions provided. When
adapting the tachometer, it should be observed that the resistors have a relative
accuracy of 0.1% to one another and a Tk of < 25 ppm/k.
Note
Important
Only suitably qualified personnel may carryout soldering work on the board
(maintaining the ESD Guidelines).
3.1.1
TZst= +1.15
VS/3-26
C239 (C240)
mF
) 200 ms
04.97
07.94
c) Tachometer adaptation
The following equivalent circuit diagram is valid for the individual tachometer
voltages:
Vtach.
Rx
4 k
20 k
Vtach.X
8 k
tach.
Vtach.X
tach.
Vtach.X
) 7.5k]
)
VS
Fig. 3-1
VS/3-27
04.97
07.94
Speed controller
20 k 20 k
virt. M
Rx
VS
Rx=10k
nrequired
nrated nrequired
After mounting, the value at test socket T must be able to be measured with the
same polarity, with the axis inhibited.
h) Response threshold I2t-monitoring
The I2t monitoring limits the current setpoint to a thermally permissible value.
The response threshold is 55% of the power module peak current, and, when
required, can be reduced corresponding to the following characteristic, by
mounting R553 (R554):
Fig. 3-2
VS/3-28
04.97
07.94
3.2
Function
Component(s)
Effect
Ready/fault
Relay terminal 672/673/674
Ready signal
fault signal
Speed/current controlled
(permanently selected via switch)
Speed/current controlled
(selected via terminal)
Voltage divider at 10 V
Voltage divider at 10 V
Voltage divider at the ref. point
Voltage divider at 10 V
Voltage divider at 10 V
Voltage divider at the ref. point
R1 = 0 (as supplied)
R1 = open
I component inhibited P
I component active PI
Delayed
Instantaneous
Slave operaopera
tion
R54 [k] =
Monitoring active
Monitoring inactive
S2: 1 = OFF
= C3 68 k
= C4 10 k
= C5 5 k
= C6 1 k
R5 = 20 k (as supplied)
Iset10 V
Travel to endstop
(set using R12)
t = 230 ms
VS
t [ms]
47
0.56
) 40k
VS/3-29
Component(s)
Function
VS
04.97
07.94
Effect
Settingup operation
(central, via terminal 112 on the
NE module)
R12 according to
Fig.KEIN MERKER
terminal 112 = open
(when supplied, terminal 112 to
terminal 9)
R9 = 30 k (as supplied)
R9 according to Fig. 3-6
no weight equalization
Suppl. I set acc. to Fig. 3-7
Suppl. I set acc. to Fig. 3-7
Tachometer adaptation2)
[5k (V
tach.
Rx =
Clock frequency
R542
Iset
1 1
Vtach.X
Vtach.
) 7.5k]
)
Vtach.X
Refer to Fig.3-1
[%]
Imax
100
90
80
70
60
50
40
30
20
10
0
0.1
Fig. 3-3
1.0
10.0
100.0
1000.0
R12 [k]
Final
value
1%
1)
Warning
For version 4620087701.00 of the control board, for weight compensation, the
internal current setpoint must be reduced via R42!
R42 [k] =
20 I weight equalization/Imax
1 I weight compensation/Imax
For control boards, from version 4620087701.01 onwards, zero offset cannot be
measured after R46 and R48 have been mounted and an axis enabled. If R46
and R48 have been correctly mounted according to Fig. 3-7, the offset must be
able to be measured when the axis is inhibited.
2) Refer to Section 3.1.1
VS/3-30
04.97
07.94
Iset
Imax
[%]
100
90
80
70
60
50
VS
40
30
20
Final
value
1%
10
0
0
Fig. 3-4
1
2
3
4
5
6
7
8
9 10
VT.96
[V]
Iset
Imax
[%]
100
90
80
70
60
50
40
30
20
10
Initial 0
value
1.0
1%
Fig. 3-5
10.0
100.0
R2 [k]
VS/3-31
Icont.
Irated
04.97
07.94
[%]
Illegal area
110
100
90
80
70
60
50
VS
40
30
20
10
0
10.0
Fig. 3-6
100.0
1000.0
R9 [k]
Iweight compensation/Imax
Illegal area
1.0
0.8
0.6
0.4
0.3
0.2
0.1
0.08
0.06
0.04
0.03
R46 and
R48 [k]
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
VS/3-32
12.94
07.94
4 Setpoint interfaces
Feed modules (VS)
Setpoint interfaces
Definitions:
X
VS
Table 4-1
Mode
Term.24/2
0
Int.
setpoint
term.22
Int.
setpoint
term.23
Socket
NZ
Supplementary
setpoint
Main setpoint
Setpoint
Term.56/1
4
X
Main setpoint
Speed controlled
Current controlled
Supplementary
setpoint
Slave, I controlled
Current setpoint
input
Main setpoint
Main setpoint
Main setpoint
Table 4-2
Term.258
X
X
Supplementary
setpoint
X
Supplementary
setpoint
X
Supplementary
setpoint
Mode
Speed
S
eed controlled
Current controlled
Term.56/14
Term.24/20
ccw
cw
cw
Term.22
Term.23
R16/18 cw
R19/22 cw
R17/18 ccw
R21/22 ccw
R16/18 cw
R19/22 cw
R17/18 ccw
R21/22 ccw
Socket NZ
Master/slave
term.258
ccw
cw
(slave)
VS/4-33
4 Setpoint interfaces
Feed modules (VS)
07.94
VS
VS/4-34
04.97
07.94
5.1 Presettings
Feed modules (VS)
The settings for the control parameters for Caxis operation on the parameter
board, control parameters for main spindle drive operation, on the option board.
The main spindle drive option components which have to be modified, are
mounted on solder pins (layout, refer to Section 9).
VS
The potentiometer scale divisions (in the setting tables) are defined as follows:
10
9/
9 10
0/1 1
2 2
7
3
7 6
3
4
6 55 4
88
5.1
Presettings
5.1.1
Warning
Parameter board changes: Remove R4, R5 and R54 and, if necessary, C4
(when supplied this is not mounted).
If this is not observed, it could result in undesirable axis motion!
Rampup time
Table 5-1
10
Term.102 open
0.01
0.11
0.21
0.31
0.4
0.5
0.6
0.7
0.8
0.9
1.11
Term.102 to
term. 9
0.1
1.08
2.07
3.06
4.04
5.03
6.02
7.01
8.01
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
Constant power
range
I/Imax
R76
100
R213
13
VS
23
70
R225
100
R214
Fig. 5-1
n/nrated in %
Torque limiting
Table 5-2
Pot. R214
Start of the
range in %
Table 5-3
Pot. R213
Deviation
in %
Table 5-4
R76 in k
Iset/Imax in %
10
70
65
60
55
50
45
40
35
30
26
22
+20
10
20
Constant torque limiting Iset/Imax in % via R76 (solder pins), R76 is open
when supplied
3
4.3
6.2
8.2
11
15
18
22
27
36
10
20
30
40
50
60
70
80
90
100
R225 in k
Iset/Imax in %
4.7
7.5
11
16
22
30
47
70
100
10
20
30
40
50
60
70
80
85
VS/5-36
04.97
07.94
Pot. R903
10
Normalization
Factor
2.8
2.6
2.4
2.2
2.0
1.8
1.6
1.4
1.2
VS
T.110
T.108
T.115
T.114
R1081)
T.216
R1051)
R1061)
R170
R1711)
|Iact |> Ix
Fig. 5-2
T.127
T.126
R991)
R971)
R103
R98
R1041)
R107
2)
T.214
3)
nact = nset3)
Relay functions
1) As supplied
2) Relay drops out
3) Relay pullsin if the function is fulfilled.
VS/5-37
Table 5-7
04.97
07.94
4.5 %...100 %
jIactjuIx
pot. R211
Pot. R211
Ix =in %
100
90
81
71
62
VS
0.3 %...1.7 % nmax
pot. R10
Pot. R10
nmin=in %
0.3
jnactjtnx
pot. R43
Pot. R43
nx=in %
nset =
nset*
10
52
43
33
24
14
4.5
jnactjtnmi
n
10
1.02
1.16
1.31
1.45
1.59
1.74
3 %...100 % nmax
0
10
3.4
13
23
34
44
54
64
74
84
94
104
Monitoring threshold:
nset difft20 mV,
R179 = 2 k
hysteresis = 10 mV, R180 = 0
extension = 32 ms, C20 = 1 F
Component(s)
Effect
Tracking active
Tracking inactive
C40
No correction setpoint
Correction setpoint via T.24/20
jM/Pjdisplay
jIactjdisplay
Terminal 61 = open
Terminal 61 at term.9
R77/78
1)
1) Changeover speed =
2)
VS/5-38
[%]
Warning: The pulses are only canceled when the noff threshold is fallen below!
04.97
07.94
Braking range
Term.61 = H (w. r. t.
term.9)
MSD
operation
Term.61 =
open
Speed
n1
Parameter
changeover
point
Change
over
speed
VS
n2
n1 = main spindle drive speed
n2 = Caxis speed
Fig. 5-3
5.1.2
Settings in operation
Setting rule
1. Set the Caxis parameters via the parameter board (tachometer, TN, KP,
drift).
Caxis parameters, refer to the speed controller optimization, Section 2
2. Set the main spindle drive parameters via potentiometers on the option
board front panel:
Pot. R44
Pot. R35=ccw
Pot. R35=cw
Fig. 5-4
2
15
10
1
1
Extending the integral action time using pot. R44 and the influence of pot. R35
on the parameter board, extending TN by a specific factor
VS/5-39
04.97
07.94
Table 5-9
Reducing the proportional gain with pot. R45 and the influence of pot. R25 on the
parameter board, reduction of Kp in %
0
Pot. R45
left
PotentioPotentio
meter R25
center
Table 5-10
10
8.2
4.5
0.1
81
48.7
1.5
65
2.8
87
83.7 77.9
Lowest speed before controller and pulse inhibit (braking to noff for terminal 64/65
pulse cancellation) via potentiometer R1
noff as a %
of nmax
10
0.34
0.47
0.61
0.74
0.88
1.02
1.15
1.29
1.42
1.56
1.69
Table 5-11
Potentiometer R96
5.2
right
VS
Analog outputs
Function
Terminal
Boundary condition
Term.75
Power display
(utilization)
Term.162
jM/Pj display (as supplied) Fig. 55, displayjM/Pj , Table 56, Normalization
Term.162
M display
P display
nact
M/P display
M
P
[M /P ]
max
max
Iact = Imax
t
Fig. 5-5
M/Pjdisplay
VS/5-40
07.94
Feed modules (VS)
6
J
VS
VS/6-41
07.94
Feed modules (VS)
VS
VS/6-42
7 Power on
Feed modules (VS)
07.94
Poweron
Main switch: OFF
VS
Adapt the module to the motor,
standard settings, Section 1
Yes fault
No
No fault
Yes
1
VS/7-43
7 Power on
Feed modules (VS)
07.94
Enable term.65
VS
Inhibit term.65
Startup completed
Inhibit term.63!
S
S
VS/7-44
03.96
07.94
8.1
8.1.1
Userfriendly interface
Test sockets
X
NZ
Operating display
No
Yes
Controller enable 65
No
Currentcontrolled
Yes
Yes
Yes
Yes
No
No
Yes
Yes
Yes
No
Yes
No
Yes
Yes
No
No
No
No
Yes
VS/8-45
VS
03.96
07.94
Fault display
Fault
I2t monitoring or
heatsink temperature overtemp.
Speed controller
at its limit
VS
Tachometer
monitoring
Iact = 0
Motor overtemp.
5 V undervoltage (5
V faulted)
Effect:
Signal, NE:
Term. 5.x
Message FD:
T.291
T.297+
T.672/
T.674
Pulse
cancel.
Pulse
cancel.
Pulse
cancel.
Pulse
cancel.
Pulse
cancellation
Term. 5.x
T.5.x
T.294
T.297+
T.672/
T.674
T.672/
T.674
T.288+
T.672/
T.674
T.288+
T.672/
T.674
T.672/
T.6741)
I2t monitoring:
an alarm is issued at terminal 5.x of the NE module (nonlatching) a minimum of 250 ms before
limiting is activated
when limiting is activated, fault 1 is displayed and a signal is output at terminal 291 (latching)
an alarm is issued at terminal 5.x of the NE module when the heatsink shutdown temperature is
reached (nonlatching)
the pulses are inhibited, fault 1 is displayed and a signal is output at terminal 291 + terminal
672/terminal 674 after typically 4 s (latching)
Motor overtemperature
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 motors are protected from inadmissible high winding temperatures with the monitoring combination
(tripping temperature 150 C).
As the drive shouldnt unpredictably intervene in the machining process, the trip is only signaled to the
SIMODRIVE 611 via individual fault signal terminal 289/294/296 (latching) or centrally via terminals 5.1,
5.2 and 5.3 of the infeed module (latching) when the response temperature is reached (the drive is not
shutdown).
There is no internal system response to protect the motor. The user must ensure that the motor can thermally recover after the signal has been issued, by appropriately configuring the adaptation control. In this
case, it may be required to immediately shutdown the motor.
VS/8-46
04.97
03.96
07.94
8.1.2
Standard interface
T H2/M
M X
H1/A
VS
S I2tmonitoring
min. 250 ms before limiting starts, an alarm is issued at terminal 5.x of the NE module (nonlatching)
an alarm is issued at terminal 5.x of the NE module when the heatsink shutdown temperature is
reached (nonlatching)
the pulses are inhibited, fault H1 is displayed and a signal is issued at terminal 72/terminal
73/terminal 74 of the NE module after typically 4 s (latching)
Motor overtemperature
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 motors are protected from inadmissible high winding temperatures with the monitoring combination
(tripping temperature 150 C).
As the drive shouldnt unpredictably intervene in the machining process, the trip is only signaled to the
SIMODRIVE 611 or centrally via terminals 5.1, 5.2 and 5.3 of the infeed module (latching) as signal when
the response temperature is reached (the drive is not shutdown).
There is no internal system response to protect the motor. The user must ensure that the motor can thermally recover after the signal has been issued, by appropriately configuring the adaptation control. In this
case, it may be required to immediately shutdown the motor.
A delay time is not permissible.
If the motor is not thermally monitored, when an overload situation occurs or if the drive converter was over
dimensioned, the complete drive could be destroyed.
VS/8-47
04.97
03.96
07.94
8.2 Troubleshooting
Feed modules (VS)
8.2
Troubleshooting
Table 8-1
Troubleshooting
Fault, user
friendly interface
Fault, standard
interface
H1
H2
H1
H2
Refer to F2
H1
H1
VS
VS/8-48
04.97
07.94
Appendix
9.1
Connecting terminals
Table 9-1
Term.
No.
Userfriendly interface
Desig.
U2
V2
W2
Function
Motor connection
PE1
PE2
Protective conductor
Protective conductor
P600
M600
DC link
DC link
Equipment bus
X151/
351
1)
2)
3)
4)
5)
6)
7)
562)
142)
X321
X321
Speed setpoint 1
Differential input
AS1
AS2
X331
X331
Checkback contact
Relay, start inhibit
663
9
65
9
22
X331
X331
X331
X331
X331
23
Typ
e 1)
3ph. 0...450 V AC
I
I
0V
0V
I/O
I/O
I/O
I
I
NC
+300 V
300 V
Max. crosssection
According to the
Planning Guide
Bolt
Bolt
Busbar
Busbar
Ribbon cable
0V... 10V7)
1.5 mm2
1.5 mm2
1.5 mm2
I
O
I
O
I
+21...30 V
+24 V
+13...30 V
+24 V
+13...30 V
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
X331
Pulse enable3)
Enable voltage3)5)
Controller enable3)
Enable voltage3)5)
Select int. fixed setpoint 1 3)/ currentcontrolled operation
Select int. fixed setpoint 2 3)
+13...30 V
1.5 mm2
202)
242)
X331
X331
I
I
1.5 mm2
1.5 mm2
966)
446)
66)
2586)
166)
X331
X331
X331
X331
X331
I
O
I
I/O
O
0...30 V
15 V/10 mA
+13...30 V
0 V...10 V
0 V...10 V/Ri=1 k
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
289
288
290
291
293
294
296
297
299
X341
X341
X341
X341
X341
X341
X341
X341
X341
I
NO
NC
NO
NC
NO
NC
NO
NC
4)
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
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
VS/9-49
VS
Table 9-1
Term.
No.
672
673
674
VS
1)
2)
3)
4)
04.97
07.94
Userfriendly interface
Desig.
Function
X341
X341
X341
X311
Motor encoder
Typ
e 1)
NO
I
NC
Max. crosssection
1.5 mm2
1.5 mm2
1.5 mm2
VS/9-50
04.97
07.94
Table 9-2
Term.
No.
Desig.
1022)
612)
753)
1623)
X312
X312
X312
X312
110
108
115
114
216
214
127
126
X322
X322
X322
X322
X322
X322
X322
X322
TH = 1 : 10
Caxis operation
nact
Pact/Iact5)
jIactjuIx
jnactjtnmin
jnactjtnx
nset= nset*
I
I
O
O
NO/NC4)
I
NO/NC4)
I
NO/NC4)
I
NO/NC4)
I
Desig.
U2
V2
W2
Function
Motor connection
PE1
PE2
Protective conductor
Protective conductor
P600
M600
DC link
DC link
Equipment bus
X151/351
AS1
AS2
663
96)
X321
X321
X321
X321
56.1
14.1
65.1
96)
22.1
96)
X331
X331
X331
X331
X331
X331
56.2
14.2
65.2
96)
22.2
96)
X332
X332
X332
X332
X332
X332
1)
2)
3)
4)
5)
6)
7)
Max. crosssection
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
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
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
Standard interface
Table 9-3
Term.
No.
Type 1)
Function
Type
1)
3ph. 0...450 V AC
I
I
0V
0V
Max. crosssection
According to the
Planning Guide
Bolt
Bolt
I/O
I/O
I/O
+300 V
300 V
NC
1.5 mm2
I
O
+21 V...30 V
+24 V
1.5 mm2
1.5 mm2
I
I
I
O
I
O
0 V...10 V
I
I
I
O
I
O
Busbar
Busbar
Ribbon cable
7)
+13 V...30 V
+24 V
+13 V...30 V
+24 V
0 V...10 V
+13 V...30 V
+24 V
+13 V...30 V
+24 V
7)
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/9-51
VS
9.2
07.94
R77
6.23
U5
R124 R125
C61
R80
V14
R226
3 2 1
V21
R225
R214
R85
K4
3 2 1
R171
V22
R274
V47
R31
C4
U1
R98
R43
3 2 1
V1
R20
R33
N14
R97
5
K1
3 2 1
X11
V52
X7
V35
C37
C18
U3
R99
V8
V4
N3
R104
V6
3 2 1
C38
5
K2
N1
R103
49
V45
V12
C8
U2
R107
R100
50
5
K3
R213
C39
X322
R106
N8
C64
U6
R105
X12 C68
R108
R284
R285
R900
R901
X10
R157
N16
N12
R270
R102
C5
X9
C5
R906
R5
R101
X8 C20
R48
R2
R76
V10
V32
R170
R239
R78
V9
V30
U7
V31
VS
C59
U4
X312
V29
3 2 1
R96
C41
V19
V18
V43
X5
N10
N18
3 2 1
R27
R60
3 2 1
R111
R112
N7
R903
N8
V39
V20
N4
C28
R1
1
X305
N5
C40 X2
N17
X4
N5
X1
R179
R902
X3
R180
N13
R44
R160
N6
R45
N11
R207
1
R161 R92
C22
R164
R16 R93
R211
Fig. 9-1
X6 C87
VS/9-52
07.94
X53 X58
C2
R9
S1
X60 X69
R41
R19
R42
R21
R43
R22
R44
R23
R45
R24
R46
R26
R47
R27
R48
R28
R49
R29
R50
R30
R51
R31
R52
R32
R53
R10
C3
X61 X70
R12
R6
10
C8
R7
X84
R36
X83
X62 X71
R8
Fig. 9-2
R40
R18
Adapt
R39
R17
X54 X59
R35
TN
R38
R16
Kp(N)
R15
S2
R5
R25
R37
X88
R4
R11
X72 R34
R14
R54
R33
X81
X82
VS
X304
C5
X52 X57
C1
Tacho
meter
R3
R20
R13
C4
R2
X51 X56
Drift
X85
R1
X50 X55
X86
X87
9.3
X91
VS/9-53
9.4
04.97
07.94
VS
VS/9-54
VR/1-3
1.1
Pole numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR/1-3
1.2
VR/1-4
1.3
VR/1-5
VR/2-13
2.1
Tachometer adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR/2-14
2.2
VR/2-15
2.3
VR/2-16
2.4
Drift offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR/2-16
VR/3-17
3.1
Position processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR/3-17
3.2
VR/3-17
3.3
Other functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR/3-18
3.4
VR/3-20
Setpoint interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR/4-21
4.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR/4-21
4.2
VR/4-22
VR/5-23
VR/6-25
Powerup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR/7-27
VR/8-29
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR/9-31
9.1
Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR/9-31
9.2
9.2.1
9.2.2
Block diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block diagram, resolver control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block diagram, DIL switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR/9-32
VR/9-32
VR/9-34
9.3
9.3.1
9.3.2
Connector assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
X311/X312, encoder interface, axis 1/axis 2 . . . . . . . . . . . . . . . . . . . . . .
X391/X392, WSG interface, axis 1/axis 2 . . . . . . . . . . . . . . . . . . . . . . . .
VR/9-35
VR/9-35
VR/9-35
VRi
VR
12.94
07.94
Startup is subdivided into steps, after the standard setting, other startup
steps can follow, or the equipment can be poweredup.
Short startup
standard settings
Sect. 1
Optimization,
speed controller
Supplementary functions
Setpoint interfaces
VR
Sect. 2
Sect. 3
Sect. 4
Power.up, Sect. 7
Service and
diagnostics
Appendix
VRii
Sect. 8
Sect. 9
07.94
The setting elements (switches) are located on the board, and must be set before the control card is installed in the inverter module.
1.1
Pole numbers
The pole (pair) numbers for the motor and resolver must be set before startup.
Otherwise, the drive will be locked.
Axis 1:
Axis 2:
Table 1-1
VR
Wichtig
Pole numbers
2p motor
2p resolver
Axis 1
S1.x ON
1+2
S1.x ON
3+4
Axis 2
S2.x ON
1+2
S2.x ON
3+4
The pole pair numbers of the motors are dependent on the shaft height.
Table 1-2
Shaft height
36
48
63
80
100
132
Pole No. 2P
Table 1-3
Shaft height
36
48
63
80
100
Pole No. 2P
VR/1-3
1.2
04.97
07.94
VR
2000
3000
3000
6000
Axis 1
S4.x ON
1+3
2+4
1+2+3+4
Axis 2
S4.x ON
5+7
6+8
5+6+7+8
Optionally possible
Refer to Section 2.1 for more detailed information regarding the speed ranges
which can be set.
VR/1-4
04.97
07.94
1.3
DIL switch
Axis 1:
Axis 2:
DIL switch S3
DIL switch S6
Current limit
[%]
Imax must be reduced down to at least the peak current permitted for the motor.
Table 1-5
IMAX/ILIMIT [%]
100
70
Axis 1
S3.x ON
1+2
Axis 2
S6.x ON
1+2
Current controller
gain
Imax *
Kp(I)
<
VR
LA
25
25
Table 1-6
Kp(I)
7.5
8.5
9.5
Axis 1
S3.x ON
3+7
4+8
3+4
+
7+8
5+9
3+5
+
7+9
4+5
+
8+9
3+4+
5+7+
8+9
3+6
+
7+10
4+6
+
8+10
3+4+
6+7+
8+10
5+6
+
9+10
3+5+
6+7+
9+10
4+5+
6+8+
9+10
3+4+
5+6+
7+8+
9+10
Axis 2
S6.x ON
3+7
4+8
3+4
+
7+8
5+9
3+5
+
7+9
4+5
+
8+9
3+4+
5+7+
8+9
3+6
+
7+10
4+6
+
8+10
3+4+
6+7+
8+10
5+6
+
9+10
3+5+
6+7+
9+10
4+5+
6+8+
9+10
3+4+
5+6+
7+8+
9+10
Adaptation tables
Definition:
VR/1-5
Table 1-7
04.97
07.94
Servomotor
VR
1FT
Mo [Nm]
60
Io []
60
nrated
[RPM]
Contact
1+2
Imax
[%]
3+7
4+8
5+9
6+10
60314AK
0.83
1.2
6000
70
60344AK
1.65
2.15
6000
100
4.0
60414AF
2.15
1.55
3000
100
10.5
60414AK
2.15
2.55
6000
100
4.0
Kp(I)
K
(I)
5.0
60444AF
4.15
2.50
3000
100
7.5
60616AC
3.30
1.60
2000
100
16.0
60616AF
3.30
2.25
3000
100
8.5
60626AC
5.00
2.30
2000
100
11.5
1FK
Mo [Nm]
60
Io []
60
nrated
[RPM]
Contact
1+2
Imax
[%]
3+7
4+8
5+9
6+10
60326AK
0.90
1.40
6000
100
4.0
60406AF
1.30
1.10
3000
70
6.0
60406AK
1.3
2.2
6000
100
2.0
60426AF
2.65
2.20
3000
100
4.0
VR/1-6
Contact
Kp(I)
K
(I)
04.97
07.94
Table 1-8
Servomotor
1FT
Mo [Nm]
60
Io []
60
nrated
[RPM]
Contact
1+2
Imax
[%]
3+7
4+8
5+9
6+10
60344AK
1.65
2.15
6000
70
5.0
Kp(I)
K
(I)
60414AF
2.15
1.55
3000
70
14.5
60414AK
2.15
2.55
6000
100
7.5
60444AF
4.15
2.50
3000
100
13.5
60444AK
4.15
4.85
6000
100
4.0
60616AF
3.30
2.25
3000
100
16.0
60616AH
3.30
3.35
4500
100
7.5
60616AK
3.30
4.10
6000
100
4.0
60626AC
5.00
2.30
2000
70
16.0
60626AF
5.00
3.40
3000
100
10.5
60626AH
5.00
4.80
4500
100
5.0
60626AK
5.00
6.40
6000
100
3.0
60646AC
7.90
3.50
2000
100
14.5
60646AF
7.90
5.00
3000
100
7.5
60818AC
6.60
3.40
2000
100
13.5
1FK
Mo [Nm]
60
Io []
60
nrated
[RPM]
Contact
1+2
Imax
[%]
3+7
4+8
5+9
6+10
60406AK
1.30
2.20
6000
70
3.0
60426AF
2.65
2.20
3000
100
7.5
60606AF
5.00
3.60
3000
100
7.5
60806AF
6.60
4.50
3000
100
7.5
Contact
Kp(I)
K
(I)
VR/1-7
VR
Table 1-9
04.97
07.94
Servomotor
VR
1FT
Mo [Nm]
60
Io []
60
nrated
[RPM]
Contact
1+2
Imax
[%]
3+7
4+8
5+9
6+10
60444AK
4.15
4.85
6000
100
6.0
Kp(I)
K
(I)
60616AF
3.30
2.25
3000
70
16.0
60616AH
3.30
3.25
4500
100
11.5
60616AK
3.30
4.10
6000
100
7.5
60626AF
5.00
3.40
3000
100
16.0
60626AH
5.00
4.80
4500
100
8.5
60626AK
5.00
6.40
6000
100
5.0
60646AC
7.90
3.50
2000
70
16.0
60646AF
7.90
5.00
3000
100
12.5
60646AH
7.90
7.60
4500
100
5.0
60646AK
7.90
9.90
6000
100
3.0
60818AC
6.60
3.40
2000
70
16.0
60818AF
6.60
4.90
3000
100
10.5
60818AH
6.60
7.40
4500
100
5.0
60818AK
6.60
9.40
6000
100
3.0
60828AC
10.40
5.50
2000
100
14.5
60828AF
10.40
8.20
3000
100
6.0
60848AC
16.20
7.55
2000
100
10.5
60848AK
16.20
20.50
6000
100
1.0
61028AB
22.40
7.40
1500
100
12.5
1FK
Mo [Nm]
60
Io []
60
nrated
[RPM]
Contact
1+2
Imax
[%]
3+7
4+8
5+9
6+10
60606AF
5.00
3.60
3000
70
9.5
60636AF
9.10
6.60
3000
100
6.0
60806AF
6.60
4.50
3000
100
12.5
60836AF
13.30
8.50
3000
100
7.5
61008AF
15.00
10.20
3000
100
3.0
VR/1-8
Contact
Kp(I)
K
(I)
04.97
07.94
Table 1-10
Servomotor
1FT
Mo [Nm]
60
Io []
60
nrated
[RPM]
Contact
1+2
Imax
[%]
3+7
4+8
5+9
6+10
60626AH
5.00
4.80
4500
70
60626AK
5.00
6.40
6000
100
9.5
60646AF
7.90
5.00
3000
70
16.0
60646AH
7.90
7.60
4500
100
10.5
Kp(I)
K
(I)
11.5
60646AK
7.90
9.90
6000
100
6.0
60818AH
6.60
7.40
4500
100
10.5
60818AK
6.60
9.40
6000
100
6.0
60828AF
10.40
8.20
3000
100
13.5
60828AH
10.40
12.20
4500
100
6.0
60828AK
10.40
14.65
6000
100
4.0
60848AC
16.20
7.55
2000
70
14.5
60848AF
16.20
11.30
3000
100
9.5
60848AH
16.20
16.70
4500
100
4.0
60848AK
16.20
20.50
6000
100
3.0
60868AC
22.40
10.00
2000
100
16.0
60868AF
22.40
14.40
3000
100
8.5
60868AH
22.40
20.40
4500
100
4.0
61028AB
22.40
7.40
1500
70
16.0
61028AC
22.40
10.20
2000
100
13.5
61028AF
22.40
14.20
3000
100
7.5
61028AH
22.40
20.60
4500
100
3.0
61058AB
41.50
13.80
1500
100
14.5
61058AC
41.50
18.40
2000
100
8.5
60848SF
22.00
16.30
3000
100
8.5
1FK
Mo [Nm]
60
Io []
60
nrated
[RPM]
Contact
1+2
Imax
[%]
3+7
4+8
5+9
6+10
60636AF
9.10
6.60
3000
70
7.5
60836AF
13.30
8.50
3000
100
13.5
61008AF
15.00
10.20
3000
100
6.0
61018AF
22.40
14.40
3000
100
5.0
61038AF
30.00
19.00
3000
100
3.0
Contact
Kp(I)
K
(I)
VR/1-9
VR
Table 1-11
07.94
Servomotor
VR
1FT
Mo [Nm]
60
Io []
60
nrated
[RPM]
60626AK
5.00
6.40
Contact
1+2
Imax
[%]
3+7
4+8
5+9
6+10
6000
70
11.5
Kp(I)
K
(I)
60646AH
7.90
7.60
4500
70
11.5
60646AK
7.90
9.90
6000
100
9.5
60818AK
6.60
9.40
6000
70
6.0
60828AF
10.40
8.20
3000
70
14.5
60828AH
10.40
12.20
4500
100
11.5
60828AK
10.40
14.65
6000
100
6.0
60848AF
16.20
11.30
3000
100
16.0
60848AH
16.20
16.70
4500
100
6.0
60848AK
16.20
20.50
6000
100
5.0
60868AC
22.40
10.00
2000
70
16.0
60868AF
22.40
14.40
3000
100
9.5
60868AH
22.40
20.40
4500
100
6.0
61028AC
22.40
10.20
2000
70
16.0
61028AF
22.40
14.20
3000
100
11.5
61028AH
22.40
20.60
4500
100
5.0
61058AB
41.50
13.80
1500
70
16.0
61058AC
41.50
18.40
2000
100
13.5
61058AF
41.50
27.70
3000
100
6.0
61088AB
58.00
18.50
1500
100
16.0
61088AC
58.00
24.00
2000
100
9.5
61326AB
62.00
18.50
1500
70
16.0
61326AC
62.00
25.00
2000
100
12.5
61326AF
62.00
37.00
3000
100
6.0
61346AB
79.00
24.00
1500
100
16.0
61346AC
79.00
31.50
2000
100
14.5
61366AB
95.00
28.00
1500
100
14.5
60848SF
22.00
16.30
3000
100
14.5
60848SH
22.00
22.90
4500
100
6.0
60848SK
22.00
31.00
6000
100
4.0
60868SF
29.50
22.30
3000
100
9.5
61058SC
50.00
25.00
2000
100
11.5
VR/1-10
07.94
Mo [Nm]
60
Io []
60
nrated
[RPM]
Contact
1+2
Imax
[%]
3+7
4+8
5+9
6+10
60836AF
13.30
8.50
3000
70
14.5
61008AF
15.00
10.20
3000
70
7.5
61018AF
22.40
14.40
3000
100
7.5
61038AF
30.00
19.00
3000
100
5.0
1FK
Contact
Kp(I)
K
(I)
VR
VR/1-11
07.94
VR
VR/1-12
07.94
The additional smoothing functions in the speed controller loop (to dampen mechanical resonance effects) are described in Section 3. Proceed as follows
when optimizing the speed controller:
1. Tachometer adjustment
2. Gain Kp
3. Integral action time TN
4. Drift compensation (offset)
VR
The potentiometer scale divisions (in the setting tables) are defined as follows:
6
6
8
7 8
7
99/
10
55
44
3
3 2
2
0
0/1
1
VR/2-13
03.96
07.94
2.1
Tachometer adjustment
The actual drive speed can, for a 10 V speed setpoint, be varied within the
following range around the rated speed set as described under Section 1.2:
Potentiometer
Setting range
0.6 nrated nact N 1.8 nrated
The rated speeds, set according to Section 1.2 result in the following setting
ranges for a 10 V speed setpoint:
VR
nrated
2)
3510 RPM
to
1760 RPM
1170 RPM
nmotor N
1)
2)
5400 RPM
nrated
2)
2)
10800 RPM
nrated
2)
nmotor N 1)
to
1500
3600 RPM
to
2000
3000
2000
3000
4500
6000 [RPM]
6000 [RPM]
Fig. 2-1
When reducing the speed setpoint, the setting range is also appropriately reduced. It is recommended, that motors with a 6000 RPM rated speed are operated
with a 8 V speed setpoint, in order to limit the selectable maximum speed.
VR/2-14
Warning
Only the specified setting ranges are possible!
The setting range and maximum speed setpoint must be defined, so that the
maximum permissible speed of the motor is never exceeded. The maximum
permissible motor speeds are specified in the Planning Guide.
04.97
07.94
2.2
Kp
170
160
140
120
100
VR
80
60
40
20
0
0
10
Setting, potentiometer Kp
Fig. 2-2
If the electronic weight equalization is active (refer to Section 3.3) this proportional gain is increased by the following factor:
Iweight equalization
1+
IMax
VR/2-15
2.3
12.94
07.94
TN in ms
45
40
30
20
10
0
0
12
VR
10
Setting of pot. TN
Fig. 2-3
2.4
Drift offset
Compensation for nset = 0 using a potentiometer
Potentiometer drift
VR/2-16
07.94
3.1
Position processing
The WSG interface is not influenced by the controller inhibits (terminals 63, 64,
65, 663) and from the central reset (terminal R). The output signals are switched
into a highohmic condition if encoder faults develop and for a poweron reset.
VR
Switch for
axis 1
S1.x
S1.x
S2.x
S2.x
Phase sequence of
tracks A, B (WSG)
S1.6=OFF
S1.6=ON
S2.6=OFF
S2.6=ON
S1.7=OFF
S1.7=ON
S2.7=OFF
S2.7=ON
512 pulses/revolution
1024 pulses/revolution
S1.8+S11.x=OFF
S1.8=ON
S11.1=ON
S11.2=ON
S11.3=ON
S11.4=ON
S11.5=ON
S2.8+S11.x=OFF
S2.8=ON
S11.6=ON
S11.7=ON
S11.8=ON
S11.9=ON
S11.10=ON
Offset by 0d mechanical
Offset by 5.625d mechanical
Offset by 11.25d mechanical
Offset by 22.5d mechanical
Offset by 45d mechanical
Offset by 90d mechanical
Offset by 180d mechanical
2)
3)
4)
Effect
3.2
1)
Switch for
axis 2
Switch for
axis 1
S12.x=OFF
S12.4=ON
S12.3=ON
S12.3+4=ON
S12.2=ON
S12.2+3=ON
S12.1=ON
Switch for
axis 2
S12.x=OFF
S12.8=ON
S12.7=ON
S12.7+8=ON
S12.6=ON
S12.6+7=ON
S12.5=ON
Effect
Limiting to 100%
Limiting to 75%
Limiting to 55%
Limiting to 45%
Limiting to 25%
Limiting to 20%
Limiting to 5%
The pole pair numbers must be set before startup (refer to Section 1)
When viewing the drive shaft end
The resulting zero mark offset is the sum of all set offsets
The number of zero marks per mechanical revolution is the same as the pole pair number p of the resolver
VR/3-17
3.3
Other functions
Function
Switch for
axis 1
Switch for
axis 2
S5.1=OFF/ON
S5.2=OFF/ON
S5.5=OFF/ON
S5.7=OFF/ON
S5.3=OFF/ON
S5.4=OFF/ON
S5.5=OFF/ON
S5.6=OFF/ON
S5.8=OFF/ON
Components
for axis 1
Components
for axis 2
C1355)
C1435)
C1345)
R4486)
R3496)
R3486)
C1485)
C1495)
C1475)
R4546)
R3566)
R3556)
Function
VR
07.94
4)
Smoothing:
Speed setpoint
Speed actual value
Speed controller
TN limits in the speed controller
Weight equalization pos. ISET
Weight equalization neg. ISET
Calculating the
smoothing time
constants
Effect
Enable/inhibit
Enable/inhibit
Changeover, fault/ready signal
2nd axis as slave 3)
1 s / 300 ms
As supplied
33 nF corresponds to 220 ms
1 nF corresponds to 160 ms
VR/3-18
07.94
Parameterization
of the electronic
weight equalization
IWeight equalization/Imax
not in the permissible range
1.0
0.8
0.5
0.4
0.3
0.2
0.1
0.08
0.06
0.04
0.03
0.02
RX [k]
0.01
5
Fig. 3-1
Master slave
operation
10
20
33
56
680
100 150 220 390
47 68
470
VR
Currentcontrolled operation must always be selected for the slave axis using
terminal 22. For the 2axis control, master and slave can only be operated with
opposing directions of rotation.
When using a oneaxis control as master, the directions of rotation for the master and slave can be selected to either be opposing or the same. The selection
is realized by connecting the current setpoint output (terminal 258, terminal 15)
to the current setpoint differential input (terminal 24, terminal 20).
1)
2)
3)
4)
5)
6)
This function is only effective in the closedloop current controlled mode; in the closedloop speed controlled mode, the
current controller integrator is always enabled
For terminal 65 and monitoring speed controller at its limit
Caution: Master and slave directions of rotation oppose each other
Adaptation, only for difficult operating conditions.
Adaptation is realized, if required, by solderingin SMD components
SMD component, type of construction 0805
SMD component, type of construction 0204/MiniMelf; equivalent, type of construction 0805
VR/3-19
3.4
07.94
Measure
Signal
Pin
Jumper
Pin
Signal
TEMP_PLUS
13
25
TEMP_MINUS
SIN_PLUS
RES_POS
SIN_MINUS
11
RES_NEG
VR
Warning
If measure 1 is not made, the group signal I2t motor temperature of the I/R or
URE module is set to fault (overtemperature).
If measure 2,3 is not made, the ready relay of the I/R and UE module signals
fault/not ready.
VR/3-20
04.97
07.94
4 Setpoint interfaces
Feed modules, resolver control (VR)
Setpoint interfaces
4.1
Overview
Definitions:
X
Table 4-1
Operating mode
Speedcontrolled
Currentcontrolled
Setpoint
Main setpoint
T.56/14
T.24/20
T.258/151)
Supplementary
setpoint
Main setpoint
Supplementary
setpoint
Slave, Icontrolled
Current setpoint input
Main setpoint
Master, speedcontrolled
Current setpoint output
Main setpoint
1)
Supplementary
setpoint
X
Supplementary
setpoint
VR/4-21
VR
04.97
07.94
4 Setpoint interfaces
Feed modules, resolver control (VR)
4.2
20k
Rext=2k
20k
NO f
NO
Term. 56
VR
Cext
NO
NO f
Term. 14
NO
20k
Rext=2k
20k
External speed
setpoint smoothing
Internal speed
setpoint input
Fig. 4-1
The following is valid for the smoothing time constant of the speed setpoint:
tset, total = tset + tset, external
tset
tset, external
VR/4-22
03.96
07.94
5
J
VR
VR/5-23
VR/5-24
07.94
03.96
07.94
6
J
VR
VR/6-25
VR/6-26
03.96
07.94
03.96
07.94
7 Powerup
Feed modules, resolver control (VR)
Powerup
Main switch: OFF
VR
Main switch: ON
Yes fault
No
Drive runs
continuously?
No fault
Yes
1
VR/7-27
03.96
07.94
7 Powerup
Feed modules, resolver control (VR)
Enable terminal 65
Inhibit terminal 65
VR
Startup completed
S
S
VR/7-28
04.97
07.94
Test sockets
Terminal 16 = Iact and terminal 75 =nact are available for measurement purposes.
Normalization:
LED display
Table 8-1
LED bright
At least one axis is inhibited via a terminal or as the result of an fault signal.
Table 8-2
1)
Effect
1)
Stored
Encoder fault
Stored 1)
Heatsink overtemperature
Motor overtemperature
VR/8-29
VR
X391/X392
07.94
To support fault diagnostics, the following signals are available at the connector
of the WSG interface. 2)
Signal level : HCMOS / 5V
Table 8-3
Signal
Name
Pin
Hardware reset
I2t monitoring
No fault
ER_TNR
10
No fault
EN_WSG
Enable
WSG signals
11
READY
ER_IL
VR
Status
L=Low
Status
H=High
Warning
2)
VR/8-30
04.97
07.94
9.1 Terminals
Feed modules, resolver control (VR)
Appendix
9.1
Terminals
Table 9-1
Terminals
T.
No.
Location 2)
56
X321/322
14
Typ
e 1)
Speed setpoint
0V...10V
X321/322
Differential input
24
X321/322
Speed/current setpoint
20
X321/322
Differential input
75
X321/322
0V...10V
1.5 mm2
15
X321/322
Reference potential
0V
1.5 mm2
16
X321/322
0V...10V
1.5 mm2
96
X321/322
+13V...30V
1.5 mm2
X321/322
Enable potential
+24V
1.5 mm2
22
X321/322
Changeover, n/Icontrolled
+13V...30V
1.5 mm2
X331
Enable potential
24V
1.5 mm2
663
X331
Pulse enable
+21V...30V
1.5 mm2
AS1
X331
NC
max. 250VAC/1A
1.5 mm2
AS2
X331
floating contact
NC
X332
Enable potential
30VDC/1A
1.5 mm2
65.1
X332
+13V...30V
1.5 mm2
X332
Enable potential 3)
24V
1.5 mm2
65.2
X332
+13V...30V
1.5 mm2
Function
Max. crosssection
1.5 mm2
1.5 mm2
1.5 mm2
0V...10V
1.5 mm2
1.5 mm2
Terminals
T.
No.
Location
X332
65.1
Typ
e 1)
Enable potential
+24V
1.5 mm2
X332
Controller enable
+13V...30V
1.5 mm2
15
X332
Reference potential
0V
1.5 mm2
258
X332
Current setpoint
0V...10V
1.5 mm2
1)
2)
3)
Function
Max. crosssection
VR/9-31
VR
12.94
07.94
Block diagrams
9.2.1
S5
X301
X351
9.2
Smoothing/axis 1
X321
S6
S3
VR
R323
R454
C172
R652
R348
R675
C134
R518
R151
C143
R422
R566
R623
R374
R349
R371
C135
C6
Fig. 9-1
VR/9-32
S4
S1
S2
S11
R624
Component side
C149
R356
C147
Fig. 9-2
C148
Smoothing/axis 2
SMD components
VR
R448
R355
12.94
07.94
Solder side
VR/9-33
04.97
07.94
9.2.2
S2
S3
VR
S4
S5
S6
S11
S12
Fig. 9-3
VR/9-34
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
Axis 1
Current controller amplifier (reactive current)
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
Axis 2
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
9
10
Axis 1
Axes 1 and 2
DIL switches
04.97
07.94
9.3
Connector assignment
9.3.1
Resolver
control
Resolver control
Motor
SIN_PLUS
SIN_MINUS
5, 8, 24
COS_PLUS
11
COS_MINUS
12
RES_POS
10
RES_NEG
11
TEMP_PLUS
13
TEMP_MINUS
25
VR
9.3.2
Resolver
control
Signal
Remarks
Type
WSG 1)
Reference
pole
11
WSG 1)
RS422A
15
WSG
1)
RS422A
14
WSG
1)
RS422A
10
13
WSG 1)
RS422A
12
WSG
1)
RS422A
12
10
WSG
1)
A_INV
B
B_INV
R
R_INV
Resolver control
Numerik
FMNC
RS422A
13
12
11
READY
only X392 2)
HCMOS !
NC
NC
ER_IKL
Diagnostics 2)
HCMOS !
NC
NC
ER_TNL
Diagnostics 2)
HCMOS !
10
NC
NC
EN_WSG
Diagnostics 2)
HCMOS !
11
NC
NC
Warning
2)
VR/9-35
07.94
VR
VR/9-36
First steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HS/1-3
1.1
StartUp Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HS/1-4
1.2
Startup instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HS/1-7
1.3
HS/1-8
1.4
HS/1-12
1.5
Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HS/1-13
HS/2-15
2.1
2.1.1
2.1.2
2.1.3
HS/2-15
HS/2-15
HS/2-17
HS/2-20
2.2
2.2.1
2.2.2
2.2.3
Standard applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware version and module versions . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting parameters for standard applications . . . . . . . . . . . . . . . . . . . . .
HS/2-24
HS/2-24
HS/2-25
HS/2-26
2.3
2.3.1
2.3.2
2.3.3
2.3.4
2.3.5
2.3.6
Other applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Oriented spindle stop (via NC auxiliary function M19) . . . . . . . . . . . . .
C axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Spindle positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Openloop torque controlled operation (master/slave) . . . . . . . . . . . . .
Monitor function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HPC axis (FW 2.00) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HS/2-29
HS/2-29
HS/2-30
HS/2-30
HS/2-43
HS/2-47
HS/2-47
HS/3-53
3.1
HS/3-53
3.2
3.2.1
3.2.2
Input terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Permanentlywired terminal functions . . . . . . . . . . . . . . . . . . . . . . . . . . .
Freelyprogrammable terminal functions . . . . . . . . . . . . . . . . . . . . . . . .
HS/3-56
HS/3-56
HS/3-57
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
Output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Permanentlywired relay functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Freelyprogrammable relay functions . . . . . . . . . . . . . . . . . . . . . . . . . . .
Variable relay function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor encoder signals for NC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HS/3-59
HS/3-59
HS/3-59
HS/3-63
HS/3-64
HS/3-65
Controller optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HS/4-69
4.1
HS/4-69
4.2
HS/4-75
HSi
HS
07.94
HS
HSii
HS/5-77
5.1
5.1.1
5.1.2
5.1.3
5.1.4
5.1.5
5.1.6
5.1.7
Diagnostic aids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Measured value displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Test sockets X1, X2, IR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Minimum/maximum value memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transient recorder function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Openloop current/frequency control . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HS/5-77
HS/5-77
HS/5-78
HS/5-81
HS/5-82
HS/5-84
HS/5-84
HS/5-86
5.2
5.2.1
5.2.2
Fault analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault display, fault acknowledgment . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault message list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HS/5-87
HS/5-87
HS/5-88
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HS/6-93
6.1
HS/6-94
6.2
HS/6-99
6.3
Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . HS/6-103
6.4
6.5
6.6
04.97
07.94
1 First steps
Main spindle modules (HS)
First steps
Warning
This unit must be professionally transported stored, installed and mounted as
well as careful operator control and service to guarantee perfect, safe and reliable operation.
Severe bodily injuries or material damage can result if this warning information
is not observed.
The boards have components which can be destroyed by electrostatic discharge.
Please observe the ESDS information in the foreword.
Note
HS/1-3
HS
1.1
12.94
07.94
StartUp Guidelines
Structure of the
Startup Guide
1 First steps
Startup guidelines
Startup instructions
HS
2 System configuration
3 Converter interfaces
4 Contr. optimization
Speed controller
current controller
Connections
Input terminals
Output terminals
Standard applications
Additional applications
auxiliary function M19
CAxis
Spindle positioning
torquecontrolled operation
monitor function
HPC axis
Diagnostic resources
Fault analysis
6 Appendix
Fig. 1-1
HS/1-4
Connector assignment
Connection overviews
Startup steps
07.94
Parameter list
Warning
Number
Mot. 1
P040.1
Mot. 2
P270.1
Parameter
attributes
Change
effective
online,
RESET,
after
initialization,
after conversion
P051
setting range
4
10
Value range
Dimensions
Description
Parameter designation
Brief description of the parameter
FW x.xx
HS
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 parameter
P040.1
Gearbox stagedependent parameters
HS/1-5
10.94
07.94
Change effective
Online
Change is immediately effective
RESET
The unit must be powereddown and up again
After
conversion
A conversion program is initiated by setting to 1H, after which the parameter is automatically reset to 0H (P143, P177, P237, P239).
After initialization
Initialization is started by setting P097 to 1H.
P051
Write protection parameters
Remove write protection by entering 4H and 10H
Setting range
HS
Bit 8
Bit 9
or
or
0100H
0200H
Bit 6
Bit 7
0040H
0080H
Bit 8 + bit 9
0300H
or
Bit 6 + bit 7
00C0H
Description
FW x.xx
Firmwarerelease dependent coding of the function and parameter extensions. The extension is available from the specified firmwarerelease.
HS/1-6
03.96
07.94
1.2
Startup instructions
Startup possibilities
using
Reinitialize drive
converter
(if required)
S poweron reset:
Powerdown the unit and powerup approximately 2 s after the display has
disappeared:
P095 must then appear in the display.
The firmware can be replaced using the userprompted startup software for
main spindle and induction motor modules, from version V2.00.
Firmware release
Board
before FW 3.00
6SN11210BA1V0AA0
from FW3.00
6SN11210BA110AA1
Procedure:
1)
The drive converter setting data (parameters) can be saved on floppy disk using
the startup software. Proceed as follows to startup additional drive converters
(startup of series machines):
1. Initialize with the pulses and controllers inhibited:
Power module with MLFB (Order No.) 6SN112V1AV0VVVA1 are automatically identified from FW 3.00.
It is then no longer possible/necessary to enter P095.
HS/1-7
HS
1.3
07.94
Operator control
and display elements
The following operator control and display elements are available on the front
panel to startup and parameterize the SIMODRIVE 611 analog system, main
spindle drive module:
and
key)
6character LCD
The functions of the operator control elements are illustrated using parameter
P039 as example.
Gearboxstage dependent parameters are listed with subparameter numbers
(e.g. P039.1 toP039.8).
HS
<<
<
>>
>
Parameter
number
Subparameter number
Parameter value
HS/1-8
<
<<
>
>>
04.97
07.94
Control parameters
Note
If data storage (P052) is interrupted due to power failure or the power being
disconnected, then the modified/changed values are lost, and when the power
returns, the converter displays fault message F07. The parameter values
can be reset after fault message F07 is acknowledged (refer to Sec. 5.2.2).
Table 1-2
Control parameters
Parameter attributes
Number
Change
effective
Mot. 1
Mot. 2
P051
Setting
g range
g
P051
P151
Online
0...7FFF hex
P052
P152
Online
0...1 hex
P053
Online
0...FFFF hex
Description
p
Write protection
Remove the write protection by entering 4H or
10H.
Transfer parameters into FEPROM
Transfer into the drivemachine data memory is
initiated by setting to 1H.
The parameter is reset to 0H after successful
transfer.
Control word
Bit
Value
0000H
0001H
0000H
1
0002H
0000H
0010H
0000H
0020H
8
9
10
0000H
0100H
0200H
0300H
0400H
0500H
0600H
0700H
3.2
2.8 FW 3.0
6.3
5.0 FW 3.0
4.7
3.9 FW 3.0
7.8
5.9 FW 3.0
Note:
A pulse frequency > 3.2 kHz is
only possible if the drive is de
rated (refer to Fig. 13).
HS/1-9
HS
Table 1-2
Control parameters
Parameter attributes
Number
Change
effective
Mot. 1
Mot. 2
P051
Setting
g range
g
Description
p
0000H
11
0800H
P090
Online
10
0...FFFF hex
12
0000H
1000H
13
0000H
2000H
15
0000H
8000H
Control word
Bit
Value
0000H
0001H
0000H
0002H
0000H
HS
1
0004H
0000H
RESET
0008H
3
Online
4
HS/1-10
04.97
07.94
0000H
0010H
0000H
0020H
0000H
0040H
04.97
07.94
Various inverter clock frequencies can be parameterized, please observe current derating.
Table 1-3
50 A
80 A
108 A
120 A
160 A
200 A
300 A
400 A
In/Is6/Imax
in A
In/Is6/Imax
in A
In/Is6/Imax
in A
6SN11241AA0V
6SN11351BA1V
Code
No.
fT=3.20 kHz
fT=4.70 kHz
fT=6.30 kHz
fT=7.80 kHz
0CAV
0DAV
0LAV
0GAV
0EAV
0FAV
0JAV
0KAV
6
7
13
8
9
10
11
12
24/32/32
30/40/51
45/60/76
45/60/76
60/80/102
85/110/127
120/150/193
200/250/257
20/26/26
26/34/44
39/52/65
39/52/65
51/68/86
73/95/109/
101/127/163
169/211/217
15/20/20
21/28/36/
32/43/54
32/43/54
41/54/69
60/78/90
81/102/131/
135/169/174
10/14/14
17/23/29
26/34/43
26/34/43
31/42/53
48/63/72
62/78/101
104/130/134
In/Is6/Imax
in A
In/Is6/Imax
in A
In/Is6/Imax
in A
In/Is6/Imax
in A
fT=2.80 kHz
fT=3.90 kHz
fT=5.00 kHz
fT=5.90 kHz
In/Is6/Imax
in A
0CAV
0DAV
0LAV
0GAV
0EAV
0FAV
0JAV
0KAV
Code
No.
HS
from FW3.00
6
7
13
8
9
10
11
12
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
HS/1-11
Fig. 1-2
HS/1-12
X1
X2
A92
X451
A91
A31
A41
A51
A61
X431
E1
E2
E3
E4
E5
E6
E7
E8
E9
X441
A11
A21
24
8
Setting data
Test sockets
Analog outputs
D P012, P013, P026,
P320, P321
Zero marks/Bero
P206 to P218
Diagnostic functions
! dn/dt monitoring P20
Min/Max
P246
P247
Relay messages
P021, P023, P027, P047, P260,
P262, P263
P256, P257
P245
Freeprog.
relay
functions
relay
function
P022, P261
Shutdown with no
overshoot
P244
P243
P242
P241
P089
P088
P087
P086
P085
P084
Oscillation
Freeprog.
enable
terminals P154, P155,
P082
P083
Max.
speed
P095,
P096,
P098,
P097
Initialization
parameter
Standard motor
Initialization
parameter
P159, P160,
P161, P162,
P163, P164, Motor data
P165, P166, set
P167, P168,
P169, P170,
P171, P172,
P173, P174,
P175, P176,
Transfer motor
P177
data
P095,
P096,
P098,
P097
Digital
filter
current controller
P180
P237, P239
P219, P220,
P221, P222,
P223, P224,
P225, P226,
P227, P228,
P229, P230,
P231, P232,
P233, P234,
P235, P236,
P238
P177
P159, P160,
P161, P162,
P163, P164,
P165, P166,
P167, P168,
P169, P170,
P171, P172,
P173, P174,
P175, P176,
P096,
P098,
P097
Transfer motor
data
Enable
changeover
Transfer motor
data
Initialization
parameter
Star/delta motor,
2 motors
P095,
Special motor
position controller
Torque limiting
Speed controller
function parameter 2
function parameter 1
Controller optimization
Control parameters
P093, P094
Initialization
Round.off
P029, P264
P019
slip monitoring
P016, P017
Rampfct.
generator
P018, P053
Speed
setpoint
smoothing
Spindle positioning
P081
P156, P157
Channel CAxis
selection P114, P115, P149
P113
Torque setpoint
P053, P258
M19
P033
P141
HPC axis
Speed setpoint
System configuration
P109, P110, P149
1.4
X421
56
14
X432
X412
HPC
HS
04.97
07.94
1.5 Connections
Main spindle modules (HS)
1.5
Connections
X432
Warning!
Test sockets
DAU 3 X1
Motor
encoder,
RON 350
IR
X421
56
14
24
8
X2 DAU 4
M
X451
nset1
A91
M
A92
M
nset2
DAU 1
DAU 2
Outputs
Inputs
X431
663
65
81
IF
RF
HSS
E1
E2
E3
E4
2nd Md limit1)
E5
E6
E7
E8
E9
9
X441
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
X411
289
A11
A21
A31
A41
A51
A61
672
nact = nset1)
Md < Mdx1)
nact < nmin1)
nact < nx1)
Motor temp. rise1)
HS
Converter overtemp.1)
673
674
Ready/fault
AS1
AS2
Signal. contact
Start inhibit
X4332)
Bero connection
LC display
+
Equipment bus
X151
X351
P 600
DC link
M 600
Motor terminals
Fig. 1-3
U2
V2
W2
PE1
PE2
PE3
Connections
HS/1-13
07.94
Main spindle modules (HS)
HS
HS/1-14
04.97
07.94
Warning
The motor could accelerate to inadmissibly high speeds and terminal 64 (NE)
and terminal 65 (controller inhibit) could become ineffective if incorrect values
are set in P098. Only terminal 663 (axisspecific pulse cancellation) open is
effective.
2.1
2.1.1
HS
Initializing
Table 2-1
Initialization
Parameter attributes
Number
Chance effective
P051
Setting range
Description
Mot. 1
Mot. 2
P095
After
initial
ization
6...13 dec
P096
After
initial
ization
101...425 dec
P098
After
initial
ization
128...4096 dec
P097
0...1 hex
Initialization
SEtUP message is displayed.
The selected motor/power module combination is
loaded into the drivemachine data memory.
The P000 operating display is displayed after
successful initialization.
1)
Power modules with MLFB (Order No.) 6SN12V1AV0VVVA1 are automatically identified from FW 3.00.
It is then no longer possible to change P095.
HS/2-15
12.94
07.94
Operation from
an uncontrolled
infeed
Table 2-2
Number
Chance effective
P051
Setting range
Description
Mot. 1
Mot. 2
P173
After
conversion
10
100...6000 RPM
P176
After
conversion
10
1...150 %
P177
online
10
0...1 hex
P052
online
0...1 hex
1
V
HS
HS/2-16
04.97
07.94
2.1.2
Note
When special motors are used, the motor data must be discussed with the responsible SIEMENS office.
Overview
Initializing
special motors
Table 2-3
HS
Parameter attributes
Number
Chance effective
P051
Setting range
Description
Mot. 1
Mot. 2
P095
After
initial
ization
6...13 dec
P096
After
initial
ization
101...425 dec
P098
After
initial
ization
128...4096 dec
P097
0...1 hex
Initialization
SEtUP message is displayed.
The selected motor/power module combinations
are loaded into the drivemachine data memory.
The operating display P000 is displayed after
successful initialization.
1)
Power modules with MLFB (Order No.) 6SN112V1AV0VVVA1 are identified automatically from FW 3.00. It is then
not possible to change P095.
HS/2-17
Table 2-4
04.97
07.94
For special motors, the motor data must be entered. The motor data list (P159
to P176) is provided in Section 6.6.
Number
HS
Chance effective
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
stator leakage reactance P169/229.
Previously, P169/P229 had to be manually adapted. P158 and P294 influence the stall limiting and
the preassignment (presetting) of the current
controller.
Mot. 1
Mot. 2
P158
online
P159
to
P176
After conversion
10
Refer to Section
6.6
P177
online
10
0...1 hex
P052
online
0...1 hex
HS/2-18
04.97
07.94
Number
Chance effective
P051
Setting range
Description
Mot. 1
Mot. 2
P172
After conversion
10
10...10000 RPM
P173
After conversion
10
100...6000 RPM
P175
After conversion
10
100...300 %
. 100 %
After conversion
10
1...150 %
Magnetizing inductance
L
Flux setpoint
P175 [%]
Lh2
Lh1
(Rated value)
P173
Speed
[RPM]
100 %
P173
P172
Speed
[RPM]
HS/2-19
HS
2.1.3
04.97
07.94
Overview
Initializing star/
delta motors, 2
motors
Table 2-6
HS
Number
Chance effective
Setting range
Description
P051
Mot. 1
Mot. 2
P095
After
initial
ization
6...13 dec
P096
After
initial
ization
101...425 dec
P098
1)
After
initial
ization
128...4096 dec
Power modules with MLFB (Order No.) 6SN12V1AV0VVVA1 are automatically identified from FW 3.00.
It is then not possible to change P095.
HS/2-20
04.97
07.94
Table 2-6
Number
Mot. 1
Mot. 2
Chance effective
P097
P051
Setting range
0...1 hex
Description
Initialization
The SEtUP message is displayed.
The selected motor/power module combination is
loaded into the drivemachine data memory.
The operating display P000 is displayed
after successful initialization.
P238
After conversion
10
101...338 dec
P239
online
10
0...1 hex
P052
online
0...1 hex
For special motors, the motor data must be entered. The list of motor data sets
is provided in the Appendix (refer to Section 6.6).
HS
Number
Mot. 1
Mot. 2
P159
to
P176
P219
to
P236
Chance effective
After conversion
Setting range
Description
P051
10
Refer to Section
6.6
P158
P294
online
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
stator leakage reactance P169/229.
Previously, P169/P229 had to be manually adapted. P158 and P294 influence the stall limiting and
the preassignment (presetting) of the current
controller
HS/2-21
Table 2-7
04.97
07.94
Number
Setting range
Description
Mot. 1
Mot. 2
Chance effective
P177
P237
online
10
0...1 hex
P052
online
0...1 hex
P051
Number
HS
Chance effective
P051
Setting range
Description
Mot. 1
Mot. 2
P172
P232
After conversion
10
10...10000 RPM
P173
P233
After conversion
10
100...6000 RPM
P175
P235
After conversion
10
100...300 %
P175 =
. 100 %
P236
After conversion
10
1...150 %
Magnetizing inductance
L
Flux setpoint
P175 [%]
Lh2
Lh1
(Rated value)
P173
HS/2-22
Speed
[RPM]
100 %
P173
P172
Speed
[RPM]
03.96
07.94
Motor
changeover
Table 2-9
Motor changeover
Parameter attributes
Number
Mot. 1
Mot. 2
P180
Chance effective
P051
Setting range
Description
online
10
0...1 hex
HS
HS/2-23
04.97
07.94
2.2
Standard applications
2.2.1
Operating display
The actual converter operating status is displayed in parameters P000 and
P100.
Table 2-10
Operating display
Display
Function group
Relay function
HS
freelyprogr.
relay function 2 terminal A21
P242
|Md| < Mdx1)
freelyprogr.
relay function 3
terminal A31
P243
|nact| < nmin1)
inactive
freelyprogr.
relay function 4
terminal A41
P244
|nact| < nx1)
freelyprogr.
relay function 5
terminal A51
P245
mottemp1)
freelyprogr. relay function 6
terminal A61
P246
var. relay function
(P186)1)
ready/fault
terminal
672/674
P053
ready
The segment is
driven if the appropriate relay has
pulledin.
1)
Operating mode
Equipment status
pulse enable at
the NE module
missing
(T.63/T.48)
Operating mode
Display in P000:
(only for star/delta
mode)
Operating mode
M19
spindle positioning
mode
Gearbox stage 1
is selected
Gearbox stage
2 is selected
delta circuit selected
Gearbox stage
digital filter is
active
controller enable
missing at the NE
module (T.64 and/
or controller ena- Display in P100:
ble missing at the (only for spindle posimain spindle mo- tioning mode)
dule (T65)
RFG enable
position 1 semissing (T.81)
lected
Gearbox stage
3 is selected
Gearbox stage
4 is selected
Gearbox stage
5 is selected
Operating
mode
Caxis
setpoint enable
missing (select
terminal function No. 16)
Operating mode
HPC axis
0.5 ms or 0.3ms
Operating mode
HPC axis
0.6 ms or
0.35ms
diag. functions, I/f controlled operation
Oscillation function has been
selected (from
fct. 3.00)
position 2
selected
position 3 selected
Gearbox stage 6
is selected
motor operation
position 4 selected
generator operation
Speed controller
clock fast,
clock is active
incremental
positioning selected
Gearbox stage
7 is selected
Gearbox stage
8 is selected
Gearbox stage 1...8
Selected via freely
programmable terminal
function
P081...P089
=9, 10, 11
as supplied
HS/2-24
04.97
07.94
2.2.2
Table 2-11
Number
Chance effective
P051
Setting range
Mot. 1
Mot. 2
(P099)
0.00...99.00
(P150)
Description
Firmware release
Board code
HS
HS/2-25
2.2.3
04.97
07.94
Overview
Speed settings
torque limits
Motor temperature monitoring
Oscillation
Speed
setting values
Table 2-12
Speed settings
Parameter attributes
Number
Mot. 1
Mot. 2
P022
P261
Chance effective
P051
Setting range
Description
online
1...nrated RPM
online
0...15000 ms
Pulses are canceled with a delay after the controller is inhibited FW 3.00
Pulse cancellation can be delayed after controller
inhibit after braking along the down ramp via P025.
HS
P025
Control inhibit
n
Pulse cancellation
initiated
Shutdown
speed P022
t
Time delay, P025
P029
P036
HS/2-26
P264
online
online
0...nmaxMot RPM
400...400 dec
Speed limiting
Max. motor speed setting
Encoder phase error correction
If the two encoder tracks are not precisely shifted
through 90, then this results in torque ripple.
Setting resolution 1 corresponds to 0.18
max. value 400 corresponds to 72
03.96
07.94
Table 2-12
Speed settings
Parameter attributes
Number
Chance effective
P051
Setting range
Description
Mot. 1
Mot. 2
P037
P267
online
1...32000 RPM
P038
P268
online
1...500 RPM
Chance effective
P051
Setting range
Hysteresis, P037/P267
(from firmware V2.00, no longer relevant)
Table 2-13
Torque limits
Parameter attributes
Number
Description
Mot. 1
Mot. 2
P039.1
P269.1
online
5...300 %
P041
P271
online
5...100 %
P050
P290
online
0...nmaxMot RPM
P040.1
P270.1
online
5...100 %
P042
P272
online
1...nmaxMot RPM
P043
P273
online
0...nmaxMot RPM
Hysteresis, P042/P272
HS
Torque [%]
(referred to the rated motor torque)
P050
P039.1
Motoring
P041
P040.1
Speed [RPM]
Generating
P039.1
P042
Max. selectable torque limit:
Imaxconv.
I0 mot
Iratedmot
100 %
(referred to 10 s overload)
HS/2-27
04.97
07.94
Motor temperature
monitoring
Table 2-14
P051
Setting range
P291
online
0...170 C
P064
online
0...170 C
Fixed temperature
The motor parameter is calculated using this fixed
temperature if a value 0. Caution!
The motor temperature monitoring is
inactivated.
P065
online
0...600 s
Chance effective
P051
Setting range
Number
HS
Mot. 1
Mot. 2
P063
Description
Oscillation
Table 2-15
Oscillation
Parameter attributes
Number
Description
Mot. 1
Mot. 2
P154
online
nmaxMot...
nmaxMot RPM
Oscillation setpoint 1
P155
online
nmaxMot...
nmaxMot RPM
Oscillation setpoint 2
P156
online
10...10000 ms
10...10000 ms
0...10000 ms from
FW 3.00
P157
online
Speed [RPM]
P154
Time [ms]
P155
P156
HS/2-28
P157
10.94
07.94
2.3
Other applications
2.3.1
Table 2-16
P051
Setting range
Description
online
nmaxMot...
nmaxMot RPM
P055
online
C000...4000 hex
P056
online
0...nmaxMot RPM
P058
online
0...nmaxMot RPM
P062
online
0...nmaxMot RPM
P090
online
10
0...FFFF hex
Number
Mot. 1
Mot. 2
P054
Control word
P062 is activated by setting bit 4 = 1 (corresponds to 10H) in P090.w
HS/2-29
HS
2.3.2 C axis
Main spindle modules (HS)
2.3.2
10.94
07.94
C axis
Caxis operation can be switchedin using a select terminal
(E1 to E9) (Section 3.2.2). The setpoint can only be entered via terminals 24
and 8.
Table 2-17
Caxis
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P114.1
online
nrated1...nrated1
RPM
P115.1
online
C000...4000 hex
HS
2.3.3
Spindle positioning
Overview
function description
Position reference values
Function parameter 1
Position controller
Openloop control parameters
Function parameter 2
diagnostics parameter
short startup
Function description
HS/2-30
12.94
07.94
S with motor encoder (sin/cos tracks) without gearbox (all parameters are pre
initialized for this case)
S with motor encoder (sin/cos tracks) and external zero marks (BERO) at
the spindle when the gearbox stage is changedover
S with incremental spindle encoder (max. 8192 pulses per revolution), only for
versions with spindle encoder input (6SN11VVVBA120VA0)
Spindle encoder signals are always evaluated as squarewave including
pulse quadrupling.
Warning
It is not possible to connect spindle encoders to main spindle drive control
cards with pulse encoder signal outputs for external use
(MLFB 6SN11VVVBA130VA0)! If this is not observed, the equipment and
spindle encoder could be damaged.
S Drive braking
Starting from any speed, the drive brakes down to the search speed along
the ramp specified by the rampup/rampdown generator. The speed setpoint is entered from the positioning control and if a speed setpoint is injected
at terminal 56, this is suppressed.
The search speed, is the highest speed from which the drive can brake at
the reference position in one revolution without overshoot. The upper search
speed limit is defined by the deceleration capability of the drive, and thus by
the external moment of inertia.
S Position identification
The closedloop position controller is switchedin after the search speed
has been reached and the zero mark identified.
HS/2-31
HS
10.94
07.94
3
360
Last revolution
P134
P135
Distance
(degrees)
HS
Fig. 2-1
The initiation points and gradients of the individual sections can be set.
Thus, the approach characteristics can be adapted to the widest range of
requirements (P134 to P139).
If the drive is rotating at a lower speed than the search speed, it can accelerate up to the search speed to reduce the positioning time. (P142).
In most cases, it is sufficient to adapt the search speed P146 and adapt
parameters P137 or P138 for optimization purposes.
Reference format
The position reference value may only have values from 0 to max. +32767;
from firmware release V2.00 max. 64000 I/rev. (corresponds to max. encoder pulse number between two zero pulses). The direction of rotation is obtained from the polarity of the search speed. Position reference values are
entered in encoder pulses.
When positioning with the motor encoder, P141 allows a multiplication factor to be entered to improve the reference value resolution. This multiplication factor can be 1, 2, 4, 8, 16 and 32. The multiplication factor can be selected so high that an arithmetic pulse number of up to 32768 is obtained.
Example:
RON350 standard encoder (2048 pulses). When using multiplication factor
16 this results in a calculated pulse number of 32768. This value must be
entered into P131. Setpoint inputs from 0 to 32768, from firmware release
V2.00, max. 64000 pulses/revolution are possible. If higher values are entered, fault message FP01 is output when positioning.
HS/2-32
07.94
Select terminal
function 27
Position reference
value
0
1
0
1
0
0
1
1
1
2
3
4
P121
P122
P124
P125
Relay signals
Select relay functions 9 and 10 (refer to Section 3.3.2) are available for the
position reached relay signals. The associated tolerances are entered via
parameters P144 and P145.
HS/2-33
HS
07.94
Position reference
values
Table 2-18
HS
Change
effective
P051
Setting range
online
0...64000 dec
P122
online
0...64000 dec
P123
online
32768...32767
dec
P124
online
0...64000 dec
P125
online
0...64000 dec
Number
Mot. 1
Mot. 2
P121
HS/2-34
Description
07.94
Function
parameter 1
Table 2-19
Function parameter 1
Parameter attributes
Change
effective
P051
Setting range
Description
online
0.0...180 degrees
P149
online
0...FFFF hex
P129
online
0...1 hex
P130
online
0...64000 dec
P131
online
128...64000 dec
Number
Mot. 1
Mot. 2
P126
HS/2-35
HS
10.94
07.94
Position controller
Table 2-20
Position controller
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P134
online
0.0...180.0 degrees
P135
online
0.0...180.0 degrees
P136
online
0...FFFF hex
P gain, gradient 1
P137
online
0...FFFF hex
P gain, gradient 2
Gain setting when positioning with spindle encoder.
P138
online
0...FFFF hex
P139
online
0...FFFF hex
HS
HS/2-36
04.97
07.94
Control parameters
Table 2-21
Number
Mot. 1
Mot. 2
P141
Change
effective
P051
Setting range
online via
P 143
P143
0...FFFF hex
Description
Value
0000H
0001H
0000H
0002H
0000H
0004H
0100H
0200H
0400H
0800H
1000H
10
11
12
Note:
After changing the setpoint multiplication factor
(bits 8 to 12), before transferring the new settings
the pulse number must be adapted in P131 using
P143.
The changed settings must then be activated
using P143.
The setting of parameter P141 is transferred and
activated, by changing the contents of parameter
P143 from 0 to 1!
HS/2-37
HS
Table 2-21
07.94
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P143
online
0...1 hex
P142
online
0...21 hex
Value
0000H
0001H
0000H
0020H
HS
5
HS/2-38
07.94
Function
parameter 2
Table 2-22
Function parameter 2
Parameter attributes
Change
effective
P051
Setting range
online
0.00...18.00 degrees
P145
online
0.00...18.00 degrees
P146
online
0...4 nrated
Search speed
Speed setting value, where the position approach
sequence is started.
P148
online
0.0...180.0 degrees
Motion window
If the spindle is moved out of its position for pulse
inhibit during positioning operation, then when the
pulses are reenabled, the reference position is
reapproached through the shortest path. If bit 3 is
set in P149, this is only realized, if the motion
window (P148) was not exited, and the terminal
with function No. 28 (high) was not switched.
Number
Mot. 1
Mot. 2
P144
Description
HS/2-39
HS
Table 2-22
03.96
07.94
Function parameter 2
Parameter attributes
Number
Mot. 1
Mot. 2
P149
Change
effective
P051
Setting range
online
0...FFFF hex
Description
Value
0000H
0
0001H
0000H
1
0002H
HS
0000H
0004H
0000H
0008H
0000H
0020H
HS/2-40
0040H
0000H
0080H
04.97
07.94
Diagnostic
parameters
Table 2-23
diagnostics parameter
Parameter attributes
Change
effective
P051
Setting range
(P128)
(P132)
(P133)
(P140)
(P147)
(P320)
(P321)
Number
Mot. 1
Mot. 2
(P100)
Description
HS/2-41
HS
Short
startup
07.94
Startup example
Hardware design: Encoder signals and zero pulse from the motor encoder
Can the
position be set
by manually rotating the
spindle?
No
1. Enable drive
(terminals 663, 65, 81)
Yes
1. Issue controller and pulse inhibit.
HS
Write 1H into P129: The parameter value automatically resets itself, so that this position is defined
as software zero mark.
The offset to the hardware zero mark is displayed in parameter P130.
Required position
reached?
No
Yes
Optimize position using parameters P134 to P139.
The search speed can be changed via P146. Additional functions (refer to the parameter description,
tables 2-21 and 2-22) via parameters P142 and P149. The response bandwidth for both relay
signals
can be changed via P144 and P145.
Store the changed parameters in FEPROM (P052).
End
HS/2-42
03.96
07.94
2.3.4
Overview
function description
parameter settings
Parameter description
slip monitoring
Function description
Warning
If the mechanically rigid coupling is released, the slave drive must be changed
over to closedloop speed control, otherwise the drive will accelerate to max.
speed, although the Md setpoint input is 0.
Master drive
Speed setpoint
Term. 56/14
M
3
Term. A9n
Speed
setpoint
Torque setpoint
Slave drive
Term. 56/14
Mdset adaptation
Term. 24/8 via P048/049
Speed setpoint
for the slave for
openloop torque
control operation
with slip
Slip monitoring
monitoring
Term. En
Select terminal,
or
torque control
(fct. No. 4)
Rigid or quasi
rigid coupling,
which can also be
operationally
released.
M
3
Term. En
Select terminal,
slip monitoring
(fct. No. 32)
FW 2.00
Slave drive:
For rigid coupling, openloop torque control With
coupling released, closedloop speed control
Fig. 2-2
Master/slave operation
HS/2-43
HS
04.97
07.94
Note
For controller inhibit in the openloop torque controlled mode, the spindle must
be braked via the Md setpoint input; the pulses are only internally canceled
after the shutdown speed (P022) has been reached.
Parameter
settings
Example:
In order that the torque setpoint is available at terminals A92 and M of the master drive torque setpoint, address 0C6CH must be written into parameter
P068. Parameter P069 can be used, by shifting, to define which voltage is
available at a specific torque.
The normalization of the rated motor torque can be taken from the contents of
address 0F52H. Address 0F52H must be entered into P250 in order to determine this value, and the normalization value for the rated torque can be read
out of P251.
Contents,
P251 (hex)
Shift factor
P069
Value to be changed
(hex)
Output voltage
D/A converter 2 [V] at
Mdrated
0C00
0
1
2
3
0C00
1800
3000
6000
0.94
1.88
3.75
7.50
1000
0
1
2
1000
2000
4000
1.25
2.50
5.00
HS
At the max. output voltage, the torque limit in P039 must be taken into account
(160 % corresponds to Mdrated . 1.6), and it must be ensured, that saturation
does not occur (> 10 V).
If the slave drive is switched to the torque mode, parameters P048 and P049
are still effective. Torque adaptation can be executed using P048 (corresponding to P014 in closedloop speed controlled operation) and torque drift can
be compensated with P049 (corresponding to P015 in closedloop speed
controlled operation). Parameter P049 is not suitable for compensating for
frictional forces. P048 and P049, are ineffective in the closedspeed controlled mode.
From firmware release 3.00
The torque data is updated every 1 ms via address 304C (previously 20 ms)
and is normalized with 5 V the rated motor torque.
Example:
Output via terminals A92 and M
P68=304CH P69=0H
Normalization can be influenced by P26.
For P26=100%, 5 V corresponds to the rated torque.
For P26=160%, 8 V corresponds to the rated torque.
HS/2-44
03.96
07.94
Parameter
description
Table 2-24
Parameter description
Parameter attributes
Change
effective
P051
Setting range
online
250...250 %
online
C000...4000 hex
Number
Mot. 1
Mot. 2
P048
P049
Openloop torque
control with slip
monitoring
FW 2.00
Description
Normalization, Mdset
The setting is referred to the rated motor torque.
Torque setpoint offset
HS
HS/2-45
Table 2-25
12.94
07.94
slip monitoring
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P340
online
0.1...100.0 %
P346
online
0.0...100.0 %
Hysteresis to P340
P341
online
0.0...100.0 %
P343
online
0...999 ms
P344
online
0.01...100.00 %/ms
P345
online
0.01...100.00 %/ms
(P347)
online
HS
nact
P346
P340 @jnsetj
nset
P345
P341
t
P343
(P347) =
nact nset
@> 100 %
nset
HS/2-46
04.97
07.94
2.3.5
Monitor function
The address contents (data in the RAM area) of the main spindle drive module
can be read via parameters P249 to P251.
Note
A list of important measurement quantities (RAM variables) and their addresses
are provided in the Appendix (Section 6.5).
Table 2-26
Monitor function
Parameter attributes
Change
effective
P051
Setting range
online
10
0...FFFF hex
P250
online
10
0...FFFF hex
P251
online
Number
Mot. 1
Mot. 2
P249
2.3.6
Description
Overview
function description
system configuration
converter interfaces
controller optimization
diagnostics
Function
description
The HighPrecision C axis (HPC) mode permits improved load and control characteristics by reducing the speed controller clock to 0.5 or 0.6 ms. 0.3 or 0.35
ms is possible from FW 3.0.
Expanded functional scope in the HPCaxis mode:
it is possible to parameterize 2 digital filters in the torque setpoint channel for 0.6 ms speed controller clock (from FW 3.0=0.35 ms possible)
HS/2-47
HS
03.96
07.94
System
configuration
reciprocation
rampfunction generator
spindle positioning
HS
changeover into the standard mode is realized online; all functions are
then available again.
Number
Mot. 1
Mot. 2
P149
Change
effective
P051
Setting range
online
0...FFFF hex
Description
Value
0000H
0100H
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P109
online
5...180 %
P110
online
5...100 %
HS/2-48
07.94
Drive converter
interfaces
Analog setpoint
The analog speed setpoint or Md setpoint can only be entered via setpoint
channel 2
(terminal 24/8).
The speed setpoint is limited to nrated motor.
Table 2-29
P051
Setting range
Description
online
C000...4000 hex
online
nrated1...
+nrated1 RPM
Number
Mot. 1
Mot. 2
P093
P094
HS
Terminal functions
Terminal functions
Function No.
25
26
HPC axis
30
33.34
HS/2-49
07.94
Relay functions
Terminal functions
HS
Controller optimization
Table 2-32
Function No.
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P106
online
3...10000 ms
P053
online
0...FFFF hex
Control word
Bit
Value
0000H
0010H
P051
Setting range
online
3.0...240.0 dec
online
2...6000 ms
Number
Mot. 1
Mot. 2
P111
P112
HS/2-50
Description
07.94
Flux adaptation
Table 2-34
Flux adaptation
Parameter attributes
Number
Mot. 1
Mot. 2
P119
Change
effective
P051
Setting range
online
5...100 %
Description
HS
Number
Mot. 1
Mot. 2
P118
Change
effective
P051
Setting range
online
0...FFFF hex
Description
Value
0000H
P091
online
45...750 Hz
P092
online
0.50...10.00 dec
P107
online
45...750 Hz
P108
online
0.50...10.00 dec
0001H
0000H
0100H
0000H
0200H
HS/2-51
Table 2-35
04.97
07.94
Number
Mot. 1
Mot. 2
P117
Change
effective
P051
Setting range
0...FFFF hex
online
Description
Value
0000H
0001H
0000H
0100H
0000H
0200H
0000H
online
8
online
9
RESET
0400H
10
HS
Diagnostics
The following diagnostic functions are not available in the HPC axis mode:
HS/2-52
10.94
07.94
3.1
Overview
HS
Speed setpoint
channel selection
Table 3-1
Number
Mot. 1
Mot. 2
P113
Change
effective
P051
Setting range
online
0...3 dec
Description
Term.
56/14
off
on
off
on
Term.
24/8
off
off
on
on
HS/3-53
03.96
07.94
Normalization,
analog speed setpoint
Table 3-2
P051
Setting range
Description
P258.1
online
nmaxMot...
nmaxMot RPM
P024
online
5.0...15.0 V
Normalization, setpoint
Analog speed setpoint voltage for P014/P258
Note: Maximum setpoint voltage at terminal 56/14
and terminal 24/8, 11 V.
P015.1
online
C000...4000 hex
Number
Mot. 1
Mot. 2
P014.1
HS
Unipolar
speed setpoint input
Table 3-3
Number
Mot. 1
Mot. 2
P053
Change
effective
P051
Setting range
online
0...FFFF hex
Description
Control word
Bit
Value
0000H
2000H
13
HS/3-54
07.94
Steadystate
minimum speed
Table 3-4
Number
Change
effective
P051
Setting range
Description
P030
online
0...nmaxMot RPM
200
200
HS
HS/3-55
10.94
07.94
3.2
Input terminals
3.2.1
Warning
Terminal function parameters P081 to P089 may only be programmed when
the pulses are canceled (terminal 63 or terminal 663 open).
Table 3-5
Terminal function
Description
The inverter enable (motor control) is realized if the enable voltage is connected
at terminal 663 (axisspecific pulse enable) and terminal 65 (controller enable).
If the axisspecific pulse enable is removed with the motor is still rotating, the
inverter is inhibited after 20 ms and the motor coasts down in a nocurrent condition.
Controller enable
HS
Ramp
function generator
fast stop
HS/3-56
If terminal 65 is opened while the motor is still rotating, the drive brakes along the
rampfunction generator ramp.
If the absolute speed falls below the nmin threshold (P022), the inverter is inhibited and the motor is brought to a standstill with no overshoot.
If the enable voltage is connected to terminal 81, the speed setpoint is enabled. If
the input is left open, the speed setpoint is digitally set to zero. The drive brakes
along the torque limit without rampfunction generator. If bit 1 is set in P053, the
pulses are inhibited when the speed becomes zero.
Terminal
number
663
65
81
12.94
03.96
07.94
3.2.2
Overview
Terminal function
assignment
Table 3-6
Number
Mot. 1
Mot. 2
P081
to
P089
Change
effective
P051
Setting range
Description
online
1...34 dec
HS
Terminal functions
Table 3-7
Terminal functions
HS/3-57
Terminal function
07.94
Description
Fct.
No.
2nd torque
limit
The 2nd limit torque becomes active if this terminal is energized and the changeover
speed in P050 is exceeded.
E1 (P081)
Reciprocation
The speed setpoints, described in Section 2.2 Standard applications, are entered
to changeover gearbox stages.
E6 (P086)
Reset
fault memory (R)
(fault acknowledgment)
E3 (P083)
Openloop torque
controlled mode
E5 (P085)
Star/delta operation
M19 operation
NC auxiliary function for oriented 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.
E4 (P084)
Rampup time = 0
If the enable voltage is connected to this terminal, the internal rampfunction generator is bypassed
E2 (P082)
Integrator inhibit
speed controller
The integral component of the speed controller can be inhibited via this terminal
Gearbox stage
HS
Bit 2 0 0 0 0 1 1 1 1
E7 (P087)
10
E8 (P088)
11
E9 (P089)
If this terminal is open, the setpoint is a digital zero. When the enable voltage is
connected to this terminal, the setpoint is enabled (analog setpoint or oscillation
setpoint). If the terminal function is not selected, the setpoint is enabled.
16
Incremental positioning
If the spindle is in position, and if the enable voltage is connected to the terminal,
then the incremental position reference value in P0123 is added to the actual position reference value. The drive then moves to the thus calculated new position.
22
Together with the terminal, function number 27, this terminal is used to select the
position reference value defined via parameters P121, P122, P124, and P125
(Section 2.3.3.)
23
Caxis
The more finely graduated setpoint normalization, set in P114 is used in the Caxis
mode. Only setpoint 2 (terminal 24 and terminal 8) are evaluated.
24
By connecting the enable voltage to this terminal, a speed setpoint smoothing function is activated. The smoothing time is entered in P018 (also with P053).
25
Suppressing F11
By connecting the enable voltage to this terminal, fault message F11 (speed controller at its limit) can be suppressed.
26
Position
reference values 3..4
Together with the terminal, function No. 23, this terminal is used to select the position reference value, defined using parameters P121, P122, P124, and P125
(Section 2.3.3.)
27
Positioning on
28
Spindle
re synchronization
A positive edge at this terminal results in resynchronization when the next positioning command is received via terminal, function No. 28.The function latches.
29
HPC axis
By connecting the enable voltage to this terminal, the HPC axis mode is selected
when bit 8 was set in P149. FW 2.00
30
Slip monitoring
By connecting the enable voltage to this terminal, the openloop torque control is
activated with slip monitoring. FW 2.00
32
Parameter
It is possible to toggle between four clock frequencies
P053 P331 P332 P333 using these terminals. (from FW 3.00)
0
1 0
1
0
0
1 1
HS/3-58
33
34
07.94
3.3
Output terminals
3.3.1
Warning
It is only permissible to program the relays (P241 to 247) if the pulses are canceled (terminal 63 or 663 open).
Terminal function
Description
Terminal
number
Bit
Value
0000H
0
0001H
3.3.2
672
673
674
AS1
AS2
Overview
Message assignment
relay functions
Messages which can be parameterized
Control word messages
Note
The relay signals are updated with 20 ms for a 1 ms speed controller clock. For
a 0.5 ms speed controller clock, every 10 ms (refer to P90 bit 3).
HS/3-59
HS
07.94
Message
assignment
Table 3-9
Message assignment
Parameter attributes
Number
Mot. 1
Mot. 2
P241 to
P246
Change
effective
P051
Setting range
online
1...20 dec
Description
Programmable messages 1 to 6
Relay outputs A11 to A61 are assigned by entering the function number. The factory setting is
provided in the following table.
HS
HS/3-60
07.94
Relay functions
Table 3-10
relay functions
Relay function
Description
Fct.
No.
Relay
output
Rampup completed
The relay pullsin, if the calculated speed actual value, after a setpoint step,
enters the tolerance bandwidth around the new setpoint and has stayed within
this tolerance bandwidth at least 200 ms. The message is latched in the activated position, until the speed setpoint changes. The tolerance bandwidth can be
parameterized in P027.
Even if the calculated speed actual value exits the tolerance bandwidth again
after 200 ms, the signal remains active, unless, in the meantime, the setpoint
has changed.
If the tolerance bandwidth is reexited before 200 ms, the acceleration completed message remains inactive. The relay does not dropout due to speed
fluctuations caused by load changes. The time of 200ms can be parameterized
via P256 FW 3.00 onwards.
A11 (P241)
The relay pullsin atjMdj < Mdx . . This can be set using P047. If the relay nact
= nset dropsout when the speed setpoint is changed, then the jMdj < Mdx relay
can only dropout 800ms after the relay nact = nset has pulledin again. The
time of 800ms can be parameterized via P257 from FW 3.00.
A21 (P242)
The relay pullsin for jnactj < nmin ; this can be set via P021.
A31 (P243)
The relay pullsin at nact < nx; this can be set via P023.
A41 (P244)
Motor overtemperature
alarm
The relay dropsout when the motor has an overtemperature condition; this can
be set via P063. If the fault condition remains, the drive converter shuts down
with fault message F14 after the time, set in P065.
A51 (P245)
The relay dropsout, if the thermoswitch of the main heatsink responds. If the
overtemperature condition remains, the conv. shuts down after approx. 20 s
with the F15 fault mess.
A61 (P246)
jnactj < nx
HS
In position 1
The relay pullsin if the positioning program was executed, and the spindle is
located within the tolerance bandwidth, set in P144.
In position 2
The relay pullsin if the positioning program was executed, and the spindle is
located within the tolerance bandwidth, set in P145.
10
The external auxiliary contactor to change over the winding into the star configuration, can be controlled via this relay.
11
The external auxiliary contactor to change over the winding into the delta configuration, can be controlled via this relay.
12
The message nact = nset (actual) is active, after the calculated speed actual
value has entered the speed tolerance bandwidth around the setpoint, and has
remained in this tolerance bandwidth for at least 200 ms. If the tolerance bandwidth is exited, then the message nact = nset (actual) immediately becomes
inactive. The time of 200ms can be parameterized via P256 from FW 3.00.
20
HS/3-61
07.94
Messages which
can be parameterized
Table 3-11
P051
Setting range
P260.1
online
0...nrated RPM
P023.1
P262.1
online
0...nmaxMot RPM
P027.1
P263.1
online
0...nrated/16 RPM
P047.1
online
0...100 %
P256
online
0.00...0.50
P257
online
0.00...1.00
Change
effective
P051
Setting range
online
0...FFFF hex
Number
HS
Mot. 1
Mot. 2
P021.1
Description
Control word
messages
Table 3-12
Number
Mot. 1
Mot. 2
P247
HS/3-62
Description
Value
0001H
0002H
0004H
0008H
0010H
0020H
10.94
07.94
3.3.3
Table 3-13
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P185
online
0...FFFF hex
P186
online
0...FFFF hex
P187
online
0.00...10.00 s
P188
online
0.00...10.00 s
P189
online
0...FFFF hex
Hysteresis, monitoring 1
(hysteresis for threshold, P186)
P190
online
0...FFFF hex
P191
online
0...FFFF hex
P192
online
0.00...10.00 s
P193
online
0.00...10.00 s
P194
online
0...FFFF hex
Hysteresis, monitoring 2
(hysteresis for threshold, P191)
P247
online
0...FFFF hex
Value
0000H
0100H
0000H
0200H
0000H
1000H
12
0000H
13
HS
2000H
Note
A list of the most important measured quantities (RAM variables) and their addresses is provided in the Appendix (Section 6.5).
HS/3-63
3.3.4
07.94
Table 3-14
Number
Mot. 1
Mot. 2
P033
Change
effective
P051
Setting range
Description
online
0...7 dec
Factor
Square
wave pulses
Limiting speed
[RPM] for
RON350/
ERN 1387
2048
16000
0.5
1024
16000
4096
5000
8192
2500
P033
HS
Toothedwheel
encoder 256
I/rev.
1
256
24000
0.5
128
24000
512
24000
1024
12000
Toothedwheel
encoder 512
I/rev.
HS/3-64
512
12000
0.5
256
12000
1024
12000
2048
6000
07.94
3.3.5
Analog outputs
Overview
Function
technical data
Parameterization DAU 1, DAU 2
Fine normalization
Function
Technical data
Utilization
M/Mrated
HS
HS/3-65
03.96
07.94
Parameterization
DAU 1, DAU 2
Table 3-15
P051
Setting range
online
0...FFFF hex
P067
online
0...15 dec
P078
online
7F...FF80 hex
Offset, DAU 1
Compensation of a possible offset for DAU 1
P068
online
0...FFFF hex
Address, DAU 2
Presetting: Utilization (M/Mmax or P/Pmax)
(RAM address: 3048H)
A smoothing function can be set using P071.
P069
online
0...15 dec
P079
online
7F...FF80 hex
Number
HS
Mot. 1
Mot. 2
P066
Description
Address, DAU 1
Address of the RAM variables, which are to the
output at DAU 1.
Presetting: n/nmax (RAM address: 3044H)
Shift factor, DAU 1
Selected data values are shifted to the left
1 corresponds to multiplying by 2
n corresponds to multiplying by 2n
2nd overflow
3. overflow
4. overflow
+10.0
10.0
0000H
2000H
4000H
Shift factor = 0
Shift factor = 2
HS/3-66
6000H
8000H
A000H
C000H
E000H
FFFFH
Hex numerical value
Offset = 0 V
Fine normalization = 100 %
03.96
07.94
Fine normalization
Table 3-16
Fine normalization
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P012
online
200.0...200.0 %
P013
online
200.0...200.0 %
P026
online
200.0...200.0 %
P071
online
2...32767 ms
Note
A list of the most important measured quantities (RAM variables) and their addresses is provided in the Appendix (Section 6.5).
HS/3-67
HS
07.94
HS
HS/3-68
04.97
07.94
Controller optimization
4.1
Overview
HS
Number
Change
effective
P051
Change effective
Description
Mot. 1
Mot. 2
P018
online
3...10000 ms
P019
online
0...30 dec
P053
online
0...FFFF hex
Control word
Bit
Value
5
0000H
0010H
HS/4-69
07.94
Number
Change
effective
P051
Change effective
Mot. 1
Mot. 2
P034
online
1...10 ms
P053
online
0...FFFF hex
Description
Value
4
0000H
0020H
Rampfunction generator
Table 4-3
HS
Rampfunction generator
Parameter attributes
Number
Change
effective
P051
Change effective
Description
Mot. 1
Mot. 2
P016.1
online
0.01...64.00 s
P017.1
online
0.01...64.00 s
P053
online
0...FFFF hex
Control word
Bit
12
Speed
Rampfunction
generator output
Speed
Value
0000H
1000H
Speed setpoint
Rampfunction
generator output
Speed setpoint
HS/4-70
Time
07.94
P051
Change effective
online
3.0...120.0 dec
online
5...6000 ms
online
0...FFFF hex
Control word
Number
Mot. 1
Mot. 2
P031.1
P032.1
P090
Description
Bit
Value
0000H
0040H
If the speed controller is at its
max, the integrator is held.
FW 2.00
HS
HS/4-71
07.94
Speed controller
adaptation
Table 4-5
P051
Change effective
P283
online
0...nmaxMot RPM
P284
online
0...nmaxMot RPM
P198
P285
online
1.0...120.0 dec
P199
P286
online
1...200 %
P201
P288
online
5...6000 ms
P202
P289
online
1...200 %
P203
P293
online
0...7 dec
Number
Mot. 1
Mot. 2
P195
P196
HS
Description
Bit
1
Value
0000H
No adaptation
0002H
P gain [dec ]
Integral action
time [ms ]
P032.1
P202
P199
P199
P198
P201
P202
P031.1
Speed [RPM ]
P195
HS/4-72
P196
07.94
Torque setpoint
smoothing (pT1)
Table 4-6
Parameter attributes
Number
Change
effective
P051
Change effective
Description
Mot. 1
Mot. 2
P035
online
3...10000 ms
P045
P274
online
1...nmaxMot RPM
P046
P275
online
0...nrated RPM
P044
online
0...1 hex
Hysteresis P045/P275
Select, torque setpoint smoothing
0: no torque setpoint smoothing
1: torque setpoint smoothing above the switchin
speed P045
HS
HS/4-73
10.94
07.94
Digital filter
torque setpoint
channel
Table 4-7
P051
Change effective
P281
online
online
4
4
0...FFFF hex
0...1 hex
P103
P276
online
50...450 Hz
P104
P277
online
0.10...10.00 dec
P280
online
online
4
4
0...FFFF hex
0...1 hex
Number
Mot. 1
Mot. 2
P118
P117
HS
Amplitude
Description
Amplitude
3dB {
P104 0.5
Frequency [Hz]
P103
Low pass
P103
Bandstop
Frequency
[Hz]
Number
Mot. 1
Mot. 2
P248
HS/4-74
Change
effective
P051
Change effective
Description
online
100...10000 ms
04.97
07.94
4.2
Note
Normally, it is not necessary to change the following parameters, as the optimum current controller setting is calculated from the motor and power section
data.
Overview
Current controller
Inverter clock frequency
Current controller
Table 4-9
Current controller
Parameter attributes
Change
effective
P051
Change effective
P278
online
225...255 dec
P120
P292
online
500...10000 RPM
(P316)
online
Number
Mot. 1
Mot. 2
P116
HS
Description
HS/4-75
04.97
07.94
Number
Mot. 1
Mot. 2
P053
Change
effective
P051
Change effective
online
0...FFFF hex
Description
Control word
Bit
Value
8
9
10
0000H
0200H
0400H
0600H
0100H
0300H
0500H
0700H
3.2
4.7
6.3
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
Number
Mot. 1
Mot. 2
P331
P332
P333
Change
effective
P051
Change effective
online
online
online
4
4
4
07Hex
07Hex
07Hex
Description
(P330)
online
2.87.8kHz
HS/4-76
04.97
07.94
5.1
Diagnostic aids
5.1.1
Table 5-1
Number
Change
effective
P051
Setting range
Description
20000...20000
RPM
Speed setpoint
20000...20000
RPM
Mot. 1
Mot. 2
(P001)
(P002)
(P102)
(P003)
0...500 V
(P004)
0...100.0 %
(P006)
0...700 V
DC link voltage
(P007)
0...150 A
Motor current
(P008)
0...100 kVA
(P009)
0...100 kW
(P010)
0...150 C
Motor temperature
(P101)
200...200 %
(P330)
2.8...7.8 kHz
HS
Motor voltage
Utilization (referred to the actual torque limit)
HS/5-77
5.1.2
07.94
Status displays
P000, P100
operating display
P011
Status of the binary inputs
Table 5-2
Display
Display
value
HS
Term. 63
central
pulse enable
NE
Term. 64
central
controller enable
NE
Term. E6
Term. E2
freely
programmable
via P086
freely
programmable
via P082
Term. E7
Term. E3
freely
programmable
via P087
freely
programmable
via P083
Term. E8
Term. E4
freely
programmable
via P088
freely
programmable
via P084
Term. 81
open
rampfunction
generator fast
stop
Term. E9
Term. E5
Term. E1
freely
programmable
via P089
freely
programmable
via P085
freely
programmable
via P081
Term. 663
axisspecific
pulse enable
Term. 65
axisspecific
controller enable
HS/5-78
07.94
P254
Display of active
functions 1
Table 5-3
Display
Display
value
Fct. No. 9
Fct. No. 5
Fct. No. 1
gearbox stage
bit 0
star/delta
2. torque limit
Fct. No. 10
Fct. No. 6
Fct. No. 2
gearbox stage
bit 1
M19 operation
oscillation
Fct. No. 11
Fct. No. 7
Fct. No. 3
gearbox stage
bit 2
TH = 0
Fct. No. 8
Fct. No. 4
Fct. No. 16
setpoint enable
HS
HS/5-79
10.94
07.94
P255
Display of active
function 2
Table 5-4
Display
Display
value
Fct. No. 26
Fct. No. 32
suppress F11
HS
Fct. No. 23
Fct. No. 30
position ref.
values 1...2
HPC axis
Fct. No. 33
Inverter clock
frequency
bit 0
Fct. No. 24
Fct. No. 22
Fct. No. 34
C axis
incremental
positioning
Inverter clock
frequency
bit1
Fct. No. 28
Fct. No. 25
Fct. No. 29
positioning on
speed setpoint
smoothing
active
Spindle
resynchronization
Fct. No. 27
slip monitoring
position ref.
values 3...4
HS/5-80
04.97
07.94
5.1.3
Diagnostic parameters
Table 5-5
Diagnostic parameters
Parameter attributes
Number
Mot. 1
Mot. 2
(P020)
Change
effective
P051
Setting
range
Description
encoder defective
electronic ground not OK
motor ground not connected to the main spindle drive
module
measuring circuit 1 defective
(P028)
Diagnostic
Bit
Value
0008H
13
2000H
HS
short circuit
(P299)
Checksum, parameter
For each save (P052 = 1H), the checksum is generated
over the parameter contents. Thus, if there is a change in
the drivemachine data, this will be identified.
(P320)
(P321)
encoder defective
electronic ground not OK
motor ground not connected to the main spindle drive
module
Defective measuring circuit
encoder defective
electronic ground not OK
motor ground not connected to the main spindle drive
module
measuring circuit defective
HS/5-81
5.1.4
03.96
07.94
Overview
function
technical data
assignment
Normalization, IR
Parameterization X1 (DAU 3), X2 (DAU 4)
Function
Technical data
HS
Analog output of the phase current actual value and RAM variables for
measurement and diagnostics.
Assignment
X1
X2
IR
Fig. 5-1
X1:
X2:
IR:
M:
Normalization,
phase current IR
Table 5-6
HS/5-82
Normalization, IR
Power module
Normalization, IR
50 A
50 A corresponds to 8.25 V
80 A
80 A corresponds to 8.25 V
120 A
160 A
200 A
10
300 A
11
400 A
12
108 A
13
12.94
07.94
Parameterization
X1 (DAU 3),
X2 (DAU 4)
Table 5-7
Number
Change
effective
P051
Setting range
Description
Address, DAU 3
Address of the RAM variables which are to be output at DAU 3.
Presetting: |P/Prated| (RAM address: 3050H)
Mot. 1
Mot. 2
P076
online
0...FFFF hex
P077
online
0...15 dec
P080
online
7F...FF80 hex
Offset, DAU 3
A possibly existing offset is compensated for DAU
3
P072
online
0...FFFF hex
Address, DAU 4
Presetting: nact (RAM address: C04H)
P073
online
0...15 dec
P074
online
7F...FF80 hex
HS
2. overflow
3. overflow
4. overflow
+5.0
+2.5
0.0
0000H
2000H
4000H
Shift factor = 0
Shift factor = 2
6000H
8000H
A000H
C000H
E000H
FFFFH
Hex numerical value
Offset = 0 V
Fine normalization = 100 %
Note
A listing of the most important measured quantities (RAM variables) and their
addresses are provided in the Appendix (Section 6.5).
HS/5-83
5.1.5
04.97
07.94
Function
Table 5-8
P051
Setting range
online
0...FFFF hex
P179
online
0...2 hex
(P182)
(P183)
Number
Mot. 1
Mot. 2
P181
HS
Description
Note
A listing of important measured quantities (RAM variables) and addresses is
provided in the Appendix (Section 6.5).
5.1.6
Function
Simultaneous tracing of 2 RAM variables and output via test sockets X1 and X2.
Technical data
HS/5-84
07.94
Parameterization
Table 5-9
Parameterization
Parameter attributes
Change
effective
P051
Setting range
Description
online
0...10 hex
P212
online
0...FFFF hex
Address, signal 1
A listing of important measured quantities (RAM
variables) and their addresses are provided in the
Appendix (Section 6.5).
P213
online
0...FFFF hex
Address, signal 2
P208
online
0...FFFF hex
P209
online
0...FFFF hex
P210
online
0...FFFF hex
P211
online
0...FFFF hex
P206
online
0...1 hex
P215
online
0...15 dec
P216
online
0...15 dec
P217
online
0...FFFF hex
Trigger signal 1
Trigger signal amplitude low for D/A converter
output
P218
online
0...FFFF hex
Trigger signal 2
Trigger signal amplitude high for D/A converter
output
P214
online
0...1 hex
Number
Mot. 1
Mot. 2
P207
HS/5-85
HS
07.94
Note
A listing of the most important measured quantities (RAM variables) and their
addresses are provided in the Appendix (Section 6.5).
5.1.7
Function
Function
information
Above the field weakening speed (P173), the absolute current should be selected to be less than the noload current, as otherwise voltage limiting will be
initiated. The result is then erratic running and torque surges.
The frequency should be slowly changed, as I/f operation is prone to stalling.
Table 5-10
Number
HS
Change
effective
P051
Setting range
Description
Mot. 1
Mot. 2
P311
online
0.0...100.0 %
P312
online
0.0...800.0 Hz
P313
online
0...1hex
HS/5-86
10.94
07.94
5.2
Fault analysis
5.2.1
Fault display
Display
Inactive
1 fault
Several faults, changeover using
key
Fault display
HS
Fault acknowledgment
by
P key
Depress the
If the fault can be acknowledged, the system returns to the operator control
program.
If the fault cannot be acknowledged, for example, there is a defect, then this
can be temporarily suppressed in the display.
remote acknowledgment
One of the following terminals is energized, with the controller inhibited:
powerdown
Powerdown the converter and after the display has disappeared after approx. 2 s, powerup again.
Fault suppression
by
key
operator control program for approx. one
The system returns to the
minute after depressing the
HS/5-87
5.2.2
Table 5-11
Fault
04.97
07.94
Fault
Cause
Troubleshooting
message
F04
Erroneous setpo-
int conversion
F07
PROM unsuc-
cessful
HS
must be initiated.
F08
Irretrievable
D Defective FEPROM
data loss
F09
Fault encoder
system 1
(motor encoder)
Fault,
equipping
parameterization,
encoder system 2
version
FW 1/2
HS/5-88
04.97
07.94
Fault
Fault
Cause
Troubleshooting
message
F11
Speed controller
is at its limit,
speed actual value missing
D Motor overloaded
D DC link busbar
not connected
D DC link fuse defective
D Transistor in the power module defective
cable
phase sequence
sing) defective
or incorrectly connected
(the delay time can be set via P248.)
F14
Motor overtemperature
Motor
D Motor overloaded
HS
motor encoder
Replace the motor
Drive converter
overtemperature
cycle )
D Fan failed
Incorrect
power module
code
F17
from FW3.00
power module
HS/5-89
Fault
04.97
07.94
Fault
Cause
Troubleshooting
message
F18
Fault
encoder system 2
(spindle encoder)
connecting cable
Replace the control board
Temperature sen-
sor
D Interrupted
D Shortcir-
cuited
HS
Maximum motor
frequency
exceeded
F79
Division interrupt
(this message
ternal
FP02
HS/5-90
04.97
07.94
Fault
Fault
Cause
Troubleshooting
message
FP03
Zero mark
pulse number
FP04
No valid
zero mark
after poweron
Faults
after
HS
S supply ON
Operating control display inactive
EPROM/FEPROM defective
HS/5-91
04.97
07.94
HS
HS/5-92
07.94
Appendix
6 Appendix
Main spindle modules (HS)
HS
HS/6-93
6.1
07.94
Warning
If a fault is acknowledged at the NE module, with the main spindle drive module enabled, then the drive accelerates to nset.
Note
If data save is interrupted due to power failure or the power being disconnected, then the values which were changed since the last data save are lost, and
the drive converter displays fault message F07 after the power returns. The
parameter values can be reset after acknowledging fault message F07 (refer
to Section 5.2.2).
START
HS
yes
Fault
no
Does a
flashing
F... appear?
yes
Fault
(refer to Section 5.2.2)
no
Does the
operating display
P000 appear
(refer to
Sect. 2.2.1)
no
yes
1
HS/6-94
04.97
07.94
Set P051 to 4H
(remove write protection)
Set P097 to 0H
(start initialization)
Set P052 to 1H
(write into FEPROM)
Wait until P052 is again set to 0H,
then switch the converter off and 2 s
after the operating display has been
canceled, powerup again.
HS
Set P097 to 1H
SEtUP is
displayed
Wait until operating
display P000 appears
(refer to Section 2.2.1)
Is a special
motor used, where
there is no code number
defined for P096?
yes
HS/6-95
07.94
HS
P014
P015
P024
Normalization, nset
Offset correction, nset
Normalization, nset
P016
P017
P029
P021 to P023 ,
P027
P039 to P043
P047 to P050
Torque limits
P081 to P089
Freelyprogrammable
terminal functions
P185 to P194,
P241 to P246
P180
Freelyprogrammable
relay functions
for Y/ motor
Values changed?
no
yes
Set P052 to 1H
Wait until P052 is again set to 0H.
The changed values are transferred
into the FEPROM.
HS/6-96
07.94
Controller enable
Connect the enable voltage to terminal
65 on the main spindle drive module.
HS
Is
terminal fct. 16
(setpoint enable) selected
and not switched
in.
no
yes
HS/6-97
07.94
no
Values changed?
yes
Set P052 to 1H.
Wait until P052 is again set to 0H. The changed values are transferred into the
FEPROM.
HS
End
HS/6-98
04.97
07.94
6.2 Code numbers for the power modules and standard motors
Main spindle modules (HS)
6.2
Table 3-1
Power
mod.
type
Order No.
6SN11231AA0V
6SN11241AA0V
6SN11351BA1V
Rated output
current
[A]
50 A
0CAV
24
32
32
80 A
0DAV
30
40
51
108 A
0LAV
45
60
76
13 FW 2.40
120 A
0GAV
45
60
76
160 A
0EAV
60
80
102
200 A
0FAV
85
110
127
10
300 A
0JAV
120
150
193
11 FW 2.00
400 A
0KAV
200
250
257
12 FW 2.00
Table 3-2
MLFB
1PH6...3ph.
motor
Rated motor
output
[kW]
Rated motor
current
[A]
Motor no
load current
[A]
Rated speed
[RPM]
101VNF4
101VNG4
103VNF4
103VNG4
105VNF4
105VNG4
105VNZ4
107VNC4
107VNF4
107VNG4
3.7
4.7
5.5
7.0
7.5
9.5
12.0
5.0
9.0
11.5
12.5
13.7
17.9
19.4
22.5
25.3
27.0
22.7
26.9
29.8
6.2
6.9
9.1
9.9
11.5
13.1
15.6
11.7
14.2
15.6
1500
2000
1500
2000
1500
2000
3000
750
1500
2000
131VNF4
131VNG4
131VNZ0
133VNB4
133VNF0
133VNF4
133VNG0
133VNG4
135VNF0
135VNF4
135VNG4
137VNB4
137VNF4
137VNG0
137VNG4
137VNZ4
138VNF0
138VNF4
138VNG4
9.0
12.0
8.0
4.5
11.0
11.0
14.5
14.5
15.0
15.0
20.0
7.9
18.5
24.0
24.0
11.0
22.0
22.0
28.0
27.2
32.1
23.2
26.0
26.7
31.3
31.5
37.5
35.0
41.3
50.6
43.6
50.2
50.0
57.8
41.8
51.5
61.0
66.1
11.7
13.6
10.9
9.8
11.5
13.4
14.5
16.1
16.1
18.8
22.8
18.6
22.9
23.2
26.5
18.0
24.6
28.7
31.4
1500
2000
1500
525
1500
1500
2000
2000
1500
1500
2000
525
1500
2000
2000
750
1500
1500
2000
Maximum
speed
[RPM]
Motor code
No. P096
9000
101
102
103
104
105
106
140
131
107
108
8000
109
110
141 FW 2.00
132
111
112
136
113
114
115
116
133
117
137
118
143 FW 3.00
119
120
121
HS/6-99
HS
6.2 Code numbers for the power modules and standard motors
Main spindle modules (HS)
Table 3-2
HS
04.97
07.94
MLFB
1PH6...3ph.
motor
Rated motor
output
[kW]
Rated motor
current
[A]
Motor no
load current
[A]
Rated speed
[RPM]
161VNF0
161VNF4
161VNG4
163VNB4
163VNF0
163VNF4
163VNG4
163VNZ0
167VNB4
167VNF0
167VNF4
167VNG0
167VNG4
168VNF0
22.0
22.0
28.0
11.5
30.0
30.0
38.0
19.0
14.5
37.0
37.0
45.0
45.0
40.0
53.5
60.8
68.1
66.2
72.5
86.0
84.0
56.0
78.0
79.6
95.7
83.3
91.0
84.0
23.9
26.9
31.3
27.8
33.3
40.3
37.5
25.2
34.4
36.3
43.5
32.2
41.0
38.0
1500
1500
2000
500
1500
1500
2000
950
500
1500
1500
2000
2000
1500
6500
122
123
124
134
125
126
127
139
135
128
129
138
130
142 FW 2.00
186VNB4
186VNB9
26.8
30.8
66.0
67.0
35.5
35.0
610
700
6100
161
167
186VNB4
186VNE4
186VNF4
206VNB4
206VNE4
206VNF4
226VNF4
22.0
42.0
50.0
32.0
63.0
76.0
100.0
66.0
86.0
100.0
96.0
125.0
149.0
192.0
35.5
46.0
52.0
48.0
64.0
68.0
79.0
500
1250
1500
500
1250
1500
1500
5000
160
163
164
162
165
166
168 FW 2.00
MLFB1PH7...
motor
Rated motor
output
[kW]
Rated motor
current
[A]
Motor no
load current
[A]
Rated speed
[RPM]
Maximum
speed
[RPM]
Motor code
No. P096
101xNF4
103xNF4
105xNF4
107xNF4
131xNF4
133xND4
133xND4
137xND4
137xNG4
163xND4
163xNF4
167xNF4
1842NEV
1842NBV
184xNTx
1862NEV
1862NBV
186xNTx
2242NFV
2242NCV
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
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
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
1500
2000
1500
1500
1500
1000
2000
1000
2000
1000
1500
1500
1250
500
500
1250
500
500
1500
700
9000
9000
9000
9000
8000
8000
8000
8000
8000
6500
6500
6500
5000
5000
5000
5000
5000
5000
4500
4500
400 FW 3.00
402 FW 3.00
403 FW 3.00
404 FW 3.00
406 FW 3.00
408 FW 3.00
409 FW 3.00
411 FW 3.00
412 FW 3.00
414 FW 3.00
415 FW 3.00
417 FW 3.00
418 FW 2.40
419 FW 2.40
424 FW 3.00
420 FW 2.40
425 FW 3.00
421 FW 2.40
422 FW 2.40
423 FW 2.40
HS/6-100
Maximum
speed
[RPM]
Motor code
No. P096
6.2 Code numbers for the power modules and standard motors
Main spindle modules (HS)
07.94
Table 3-3
Star/deltamotors
MLFB 1PH6...
Y/ motors
Rated motor
output
[kW]
Rated motor
current
[A]
Y/n
Motor no
load current
[A]
Y/n
Rated speed
[RPM]
1334NB8
1374NB8
4.3
7.5
15.3/13.5
25.2/22.5
6.4/8.0
11.7/13.5
525/1250
525/1250
8000
200
202
1634NB8
1674NB8
11.5
14.5
39.5/35.2
45.5/40.5
14.3/20.8
17.9/23.2
500/1250
550/1250
6500
204
206
1864NB8
2064NB8
2264NB8
22.0
32.0
42.0
55.0/50.0
76.0/73.0
94.0/88.0
31.0/35.0
38.0/49.0
56.0/55.0
500/1250
500/1250
500/1250
5000
208
210
214 FW 2.00
Table 3-4
Maximum
speed
[RPM]
Motor code
No. P096
Watercooled motors
MLFB 1PH4...
motors
Rated motor
output
[kW]
Rated motor
current
[A]
Motor no
load current
[A]
Rated speed
[RPM]
Maximum
speed
[RPM]
1034NG6
8.5
36.4
17.7
2000
18000
301
1054NG6
12.0
51.3
24.4
2000
17000
303
1074NG6
1334NF6
16.0
14.0
55.5
55.9
26.9
21.4
2000
1500
16000
305
307
1354NF6
20.0
76.6
29.7
1500
15000
309
1374NF6
25.0
92.8
35.9
1500
14000
311
1384NF6
28.0
102.2
40.0
1500
13000
313
1634ND6
25.0
103.8
42.4
1000
12000
315
1674ND6
31.0
129.4
50.7
1000
11000
317
1684ND6
35.0
143.9
58.6
1000
10000
319
1034NF2
1054NF2
1074NF2
7.5
11.0
14.0
25.2
36.6
45.0
11.5
16.4
19.0
1500
1500
1500
9000
300
302
304
1334NF2
1354NF2
1374NF2
1384NF2
15.0
22.0
27.0
30.0
53.1
70.7
81.9
97.3
17.4
25.5
30.3
33.8
1500
1500
1500
1500
8000
306
308
310
312
1634NF2
1674NF2
1684NF2
37.0
46.0
52.0
103.0
115.0
143.0
44.0
49.2
58.8
1500
1500
1500
6500
314
316
318
Motor code
No. P096
HS
HS/6-101
6.2 Code numbers for the power modules and standard motors
Main spindle modules (HS)
Table 3-5
HS
12.94
07.94
Builtin motors
MLFB 1PH2...
motors
Rated motor
output
[kW]
Rated motor
current
[A]
Motor no
load current
[A]
Rated speed
[RPM]
0924WG4
0964WG4
4.7
10.0
20.6
41.6
10.6
21.5
2000
2000
18000
326
327
1234WF4
1274WF4
1284WF4
11.5
21.0
25.0
54.5
80.8
97.1
21.1
33.4
37.4
1500
1500
1500
16000
328
329
330
1434WF4
1474WF4
30.0
38.0
96.5
111.3
41.8
43.7
1500
1500
12000
331
332
0936WF4
0956WF4
1136WF4
1156WF4
1176WF4
1186WF4
7.5
10.0
15.0
16.5
18.0
23.0
23.1
28.4
53.3
52.7
58.9
78.9
10.9
13.6
21.8
21.9
24.7
32.8
1500
1500
1500
1500
1500
1500
10000
320
321
322
323
324
325
1826WC4
1846WP4
1866WB4
11.8
14.5
18.3
37.0
56.0
62.5
17.0
25.7
31.0
750
600
525
8000
333 FW 2.00
334 FW 2.00
335 FW 2.00
1886WB4
2546WB4
23.6
28.8
78.0
118.0
38.0
42.0
500
500
6000
336 FW 2.00
337 FW 2.00
2566WB4
39.3
119.0
54.0
500
4000
338 FW 2.00
Maximum
speed
[RPM]
Motor code
No. P096
Measuring system pulse No. 256 or 512 depending on the encoder used
HS/6-102
04.97
07.94
6.3
6.3 Connections
Main spindle modules (HS)
Connections
Overview
Connecting diagram
connecting terminals
Relay terminals
star/delta changeover
Warning
Cable shields and cores of power cables which are not used (e.g. cores for
brakes) must be connected to PE potential in order to discharge charging currents caused by capacitive coupling.
If this is not observed, hazardous voltages can occur which can result in death
or severe bodily injury.
Note: If non-PELV circuits are used at terminals AS1 and AS2, connector coding
must be used so that the connector cannot be interchanged (refer to EN
602041, Section 6.4)
Order No. for the coding connector, refer to Catalog NC 60.1
HS/6-103
HS
6.3 Connections
Main spindle modules (HS)
04.97
07.94
Connection diagram
SIMODRIVE 611 analog system
NE module
MSD module
74
73.2
73.1
Ready, signal
5.3
5.2
5.1
63
9
9
64
19
Drive enable
X141
7
45
44
10
15
15
R
X161
9
112
48
111
213
113
Setup
Contactor control
Signal. contact
Line contactor
X171
External
nset1
FR +
FR +
nset2
FR
External
IF
RF
HSS
P24
P15
N15
N24
M
M
RESET
FR +
T.11)
T.21)
T.31)
T.41)
T.51)
T.61)
T.71)
T.81)
NS1
NS2
AS1
AS2
SPP
EXT
X181 M500
P500
2U1
1U1
2V1
1V1
2W1
1W1
U1 V1 W1
Signaling
contact
5 V Start inhibit
UNIT
U DC
link>>
X351
X172
L1
L2
L3
X2
IR
RS232C
interface
X421
X451
56
14
24
A91
M
A92
M
8
X431
X441
663
65
81
E1
E2
E3
E4
E5
E6
E7
E8
E9
9
289
A11
A21
A31
A41
A51
A61
672
673
674
AS1
AS2
X411
X433
Equipment bus
DC link
Module
internal
DAU 1
DAU 2
Internal
Relay 11)
Relay 21)
Relay 31)
Relay 41)
Relay 51)
Relay 61)
Ready
Fault
Signaling
contact
Start inhibit
Bero input2)
P 600
M 600
PE1
FN LK
T.91)
FR +
X151
X121
Pulse enable
HS
X1
72
X131
Group signal
I2t, temperature
monitoring
X412
Motor encoder
X351
Module
internal
X111
External
U2 V2 W2 PE1 PE2
at
M
3
SG
from the NC
PE
!
Fig. 6-1
Warning!
If a power contactor is used between the motor and main spindle drive module, then it
must be ensured, that this contactor only switches in a nocurrent condition. (When
shutting down, first cancel the pulses (terminal 663), then 40 ms later the contactor).
Connecting diagram
HS/6-104
04.97
07.94
6.3 Connections
Main spindle modules (HS)
Connecting terminals
Table 3-6
Term.
No.
connecting terminals
Designation
Function
Type
1)
Typ. voltage/
limit values
Max. crosssection
U2
V2
W2
Motor connection
3ph. 0...450 V
AC
PE1
PE2
Protective conductor
Protective conductor
I
O
0V
0V
P600
M600
DC link
DC link
I/O
I/O
+300 V
300 V
Busbar
Busbar
Equipment bus
I/O
Various
Ribbon cable
X151/351
10V/0.5mA
(max. 11 V)
10V/0.5mA
(max. 11 V)
Bolt
Bolt
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
56
14
24
8
X421
X421
X421
X421
Speed setpoint 1
(differential input)
Speed setpoint 2
(differential input)
Caxis or supplementary
speed setpoint
E
E
E
E
663
65
81
E1
E2
E3
E4
E5
E6
E7
E8
E9
93)
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
I
I
I
I
I
I
I
I
I
I
I
I
O
+21V...+33V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+13V...+30V
+24V
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
A91
M
A92
M
X451
X451
X451
X451
O
O
O
O
10 V 3 mA
0V
10 V 3 mA
0V
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
Test socket
Test socket
Test socket
Test socket
O
O
O
O
0 V...5 V 3 mA
0 V...5 V 3 mA
10 V 3 mA
0V
X1
X2
IR
M
1) I = input, O = output
2) can be freelyprogrammed via operator control parameters
3) refer to Section 3.1...3.2
HS/6-105
HS
6.3 Connections
Main spindle modules (HS)
10.94
07.94
Relay terminals
Table 3-7
Relay terminals
Term.
No.
Designation
289
X441
A11
A21
A31
A41
A51)
A61
X441
X441
X441
X441
X441
X441
672
673
674
X441
X441
X441
AS 1
AS 2
X441
X441
Type
Function
1)
Typ. voltage/
limit values
30 V/6.0 A max3)
1.5 mm2
NO
NO
NO
NO
NO
NO
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
NO
I
NC
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
1.5 mm2
1.5 mm2
1.5 mm2
I
NC
250 VAC/1 A,
30 VDC/2 A
1.5 mm2
1.5 mm2
Max. crosssection
HS
1) I = input
NC = NC contact
NO = NO contact
HS/6-106
6.3 Connections
Main spindle modules (HS)
07.94
Star/delta
changeover
The motors with star/delta changeover permit a wide constant power range. At
low speeds, the drive is operated in the star circuit configuration (high torque)
and at high speeds, in the delta circuit configuration (high stall torque). Changeover is also possible during operation. The changeover command (star/delta)
must be entered externally (similar to a gearbox stage changeover).
Selectable relay
outputs2)
U2
V2 W2 PE
T. En1)
T. 663
T. An2)
T. An2)
T. 289
K2
Kx3)
Auxiliary contactor
power supply
K1h max. 30 V DC
K1
K2h
Kx3)
K1
U1 V1 W1
K1h
K2h
K2
K1
HS
K2
U2 V2 W2
U2
V2
W2
K1
1PH
K2
Y/
Y/
changeover
Pulse
enable
From the
NC/PLC
Fig. 6-2
HS/6-107
6.4
07.94
Connector assignment
Overview
Note: The connector may only be inserted or withdrawn when the system
is in a novoltage condition.
HS
Table 3-8
Signal name
X412/PIN No.
P encoder
10
M encoder
100
Inner shield
17
11
12
5 V sense
16
10
100
0 V sense
11
15
12
13
+ Temp
14
Temp
15
9
8
11
15
10
16
9
8
9
15
1
12 2
13 100
17
14 4
7 6
HS/6-108
04.97
07.94
Signal name
Explanation
5V
0V
100
Signal A
Signal A, inverted
Signal B
Signal B, inverted
5 V sense
10
11
0 V sense
12
Signal R
13
Signal R, inverted
14
15
Note: The connector may only be inserted or withdrawn when the system
is in a novoltage condition.
Table 3-10
Sensor line
May not be used
Signal name
Explanation
10
FR +
24V
14
BERO
Signal
15
FR
Ground
Note: The connector may only be inserted or withdrawn when the system
is in a novoltage condition.
Table 3-11
Signal name
Explanation
FR +
24V
BERO
Signal
100
FR
Ground
HS/6-109
HS
07.94
Note: The connector may only be inserted or withdrawn when the system
is in a novoltage condition.
Table 3-12
Signal name
0V
100
Signal A
Signal A, inverted
HS
Signal B
Signal B, inverted
10
11
HS/6-110
Explanation
12
Signal R
13
Signal R, inverted
14
15
07.94
Connector X432
B
a
R1
td
R2
R3
Fig. 6-3
td
td
td
td
td
HS
Edge distance:
Reference signal:
Delay time:
|td| 50 ns
Load capability:
Iahigh 20 mA
Ialow 20 mA
Cload 1000 pF
Signal level:
HS/6-111
6.5
03.96
07.94
1)
Low
address
Value
Corresponds to
Speed setpoint
0C02H
0C00H
10 0000H nrated
0C06H
0C04H
10 0000H nrated
1402H
1 000H nrated
0C0AH
0C08H
10 000H nrated
0C66H
0C6CH
Adr. 0F52H
Mdrated
Adr. 0F52H
Mdrated
HS
High
address
0C6EH
0E00H
0E02H
10 0000H nrated
0E04H
0E06H
10 0000H nrated
0F5CH
2 000H Irated
0F5EH
2 000H Irated
0F7CH
2 000H frated
Stator temperature
0FC2H
1B08H
Adr. 0F52H
Mdrated
1B0AH
Adr. 0F52H
Mdrated
DC link voltage
906H
Output P/Prated
3064H
4000H Prated
Output |P/Prated|
3050H
4000H Prated 1)
64H 100 C
3593 600 V
from FW2.00
HS/6-112
03.96
07.94
6.6
HS
HS/6-113
HS/6-114
mot 1
5.1.1
5.1.1
5.1.1
5.1.2
4.1
4.1
4.1
(P028) Diagnostics
2.2.3
5.1.3
mot 1 3.3.2
2.2.3
3.3.5
1.20
1.20
1.20
1.20
1.20
3.00
1.20
1.20
mot 1 3.3.2
P023 RPM
x for RPM
act < RPM
x signal
3.1
1.20
mot 1 2.2.3
1.20
1.20
2.40
1.20
1.20
1.20
mot 1 3.3.2
kW
C
hex
%
%
100.0
100.0
200.0...200.0
200.0...200.0
A
kVA
RPM
RPM
s
ms
dec
hex
RPM
2.00
5
0
12
3...10000
0...30
1...n rated
0...n maxmot
0...n rated/16
200.0...200.0
0...15000
5.0...15.0
0...n maxmot
hex
RPM
maxmot RPM
RPM
%
100.0
20
V
ms
RPM
10.0
6000
RPM
rated/256 RPM
2.00
0.01...64.00
0.01...64.00
0...n rated
hex
RPM
maxmot RPM
C000...4000
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
P021 RPM
min for n act < RPM
min signal
5.1.3
4.1
3.1
3.1
3.3.5
5.1.1
3.3.5
5.1.1
5.1.1
(P004) Utilization
1.20
1.20
1.20
1.20
Dim.
Setting
Setting range
5.1.1
5.1.1
5.1.1
2.2.1
Sec. Firmware
status
Designation
P No.
1
HS
0...1
0...FFFF
1.20
1.20
1.20
1.20
1.20
1.20
2.40
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
4.1
4.1
2.3.4
2.3.4
1.3
1.3
1.3
2.3.1
2.3.1
Hysteresis, P037
Regenerative limiting
Hysteresis, P042
mot 1 3.3.2
4.1
Hysteresis, P045
Write protection
Control word
P034
P035
P036
P037
P038
P039
P040
P041
P042
P043
P044
P045
P046
P047
P048
P049
P050
P051
P052
P053
P054
P055
3.3.4
2.3.1
2.3.1
P056
P058
P062
0...10
RPM
RPM
32000
50
32000
0...500
0...7FFF
0...n maxmot
C000...4000
250...250
0...100
0...n rated
1...n maxmot
0...1
0...n maxmot
1.20
2.00
1.20
1.20
0...n maxmot
0...n maxmot
0...n maxmot
C000...4000
%
RPM
RPM
hex
RPM
RPM
%
%
hex
50
20
1
4000
50
90
100
0
5...100
500
5...100
1...n maxmot
100
100
5...300
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
ms
400...400
dec
ms
dec
ms
20
100
dec
32.0
100
3...1000
3.00
1.20
0...7
1.20
RPM
Setting Dim.
RPM
RPM
rated/128 RPM
RPM
hex
RPM
rated
RPM
hex
hex
0
11
RPM
rated
hex
4 RPM
rated RPM
2.3.1
mot 1 2.2.3
mot 1
mot 1
P033
4.1
5...6000
3.0...120.0
1.20
mot 1
P032
2.00
1.20
3.1
4.1
mot 1
P031
Setting range
0...n maxmot
Firm
Sec. ware
status
Designation
P030
P No.
1
03.96
04.97
07.94
6.6 Setting and check data (parameter list)
Main spindle modules (HS)
HS
HS/6-115
HS/6-116
3.3.5
Address, DAU 2
Address, DAU 4
P067
P068
P069
P071
P072
P073
3.2.2
3.2.2
3.2.2
1.3
2.3.6
2.3.6
Offset, DAU 1
Offset, DAU 2
Offset, DAU 3
Control word
P077
P078
P079
P080
P081
P082
P083
P084
P085
P086
P087
P088
P089
P090
P091
P092
1.20
7F...FF80
1...34
1...34
1...34
1...34
1.20
1.20
1.20
1.20
1.20
1...34
1...34
1.20
1.20
3.2.2
3.2.2
2.00
2.00
1.20
0.50...10.00
45...750
0...FFFF
1...34
1.20
300
1.00
dec
Hz
hex
dec
11
002D
dec
10
dec
dec
2
1...34
1.20
dec
1.20
dec
3.2.2
4
dec
dec
dec
100
hex
hex
7F...FF80
1.20
0
hex
0...15
dec
hex
hex
dec
hex
ms
dec
hex
dec
7F...FF80
3050
C04
20
3048
1.20
0...FFFF
7F...FF80
0...15
0...FFFF
0...32767
0...15
0...FFFF
0...15
s
hex
240
3044
0...600
0...FFFF
1.20
1.20
1.20
1.20
1.20
2.40
1.20
1.20
1.20
1.20
Dim.
1...34
3.2.2
3.2.2
3.2.2
5.1.4
3.3.5
3.3.5
5.1.4
5.1.4
Offset, DAU 4
Address, DAU 3
P074
P076
5.1.4
5.1.4
5.1.4
3.3.5
3.3.5
3.3.5
2.2.3
3.3.5
Address, DAU 1
Mot.typdep.
Setting
P065
0...170
0...170
Setting range
P066
Fixed temperature
1.20
2.2.3
1.20
mot 1 2.2.3
FirmSec. ware
status
P063
Designation
P064
P No.
1
100
HS
2.3.6
2.00
500...10000
5...100
0...FFFF
mot 1 4.1
0...FFFF
mot 1 4.1
255...255
C000...4000
1.20
1.20
1.20
1.20
2.3.2
mot 1 4.2
1.20 nrated1...+nrated 1
0...3
1.20
3.1
2...6000
3.0...240.0
2.3.2
2.00
5...100
5...180
0.50...10.00
45...750
3...10000
0.10...10.00
50...450
0.00...99.00
2.00
2.00
2.00
2.00
2.00
1.20
1.20
1.20
0...1
128...4096
2.3.6
2.3.6
2.3.6
2.3.6
2.3.6
2.3.6
2.3.6
mot 1 4.1
mot 1 4.1
5.1.1
5.1.1
1.20
2.2.1
1.20
2.2.2
1.20
1.20
P098
2.1
Initialization
P097
6...13
101...425
1.20
2.1
P095
P096
C000...4000
2.00
1.20
2.3.6
Setting range
mot 1 2.1
2.3.6
FirmSec. ware
status
P094
Designation
P093
P No.
Mot.typdep.
100
RPM
rated/8
20
10.0
100
100
1.00
300
100
1.00
300
RPM
hex
hex
dec
hex
RPM
hex
ms
dec
dec
Hz
ms
dec
Hz
RPM
dec
dec
hex
dec
2048
dec
7
101
hex
RPM
0
RPM
rated/8
Setting Dim.
1
100
5
6
03.96
04.97
07.94
6.6 Setting and check data (parameter list)
Main spindle modules (HS)
HS/6-117
HS
HS/6-118
2.3.3
0.0...180.0
1.20
1.20
2.3.3
2.3.3
1.0
500
1.20
0... 4 RPM
rated
1.20
2.3.3
5.00
0.00...18.00
1.20
2.3.3
hex
0
1.00
0...1
0.00...18.00
1.20
2.3.3
hex
0...21
hex
0...FFFF
1.20
2.3.3
1.20
2.3.3
dec
1.20
hex
100
0...FFFF
1.20
2.3.3
2.3.3
hex
degr.
dec
RPM
degr.
degr.
hex
44
hex
degr.
0...FFFF
2.0
0.0...180.0
degr.
1.20
2.3.3
10.0
0.0...180.0
220
dec
220
1.20
2.3.3
dec
2048
128...64000
0...FFFF
1.20
2.3.3
dec
0...64000
hex
0
dec
dec
0...1
dec
0...FFFF
1.20
2.3.3
1.20
1.20
2.3.3
2.3.3
1.20
2.3.3
1.20
2.3.3
1.20
1.20
2.3.3
2.3.3
1.20
2.3.3
1.20
dec
0
10.0
0...64000
0.0...180.0
1.20
2.3.3
(P132) Absol. pos. act. value without zero mark offset 2.3.3
dec
0...64000
1.20
2.3.3
dec
256
32768...32767
1.20
2.3.3
dec
dec
0
0
0...64000
0...64000
1.20
1.20
2.3.3
Setting Dim.
2.3.3
Setting range
FirmSec. ware
status
Designation
HS
P No.
1
100
5
6
Designation
0
0
1.20
1.20
2.2.3
2.2.3
2.2.3
1.20
1.20
1.20
1.20
1.20
1.20
2.1
2.1
2.1
2.1
2.1
2.1
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
L h characteristic mot 1
mot 1
mot 1
L h characteristic
0...4096
1.20
2.1
mot 1
1.20
2.1
2.1
2.1
1.20
1.20
1.20
1.20
2.1
2.1
1.20
1.20
2.1
2.1
0...1
50...150
50...300
0...20000
100...6000
100...24000
0...65535
0...32767
0...32767
1.20
2.1
1.20
0...32767
1.20
2.1
0...32767
1.20
2.1
0.0...500.0
0.00...200.0
2.1
2.1
0.002...32.000
1.20
2.1
0.0...150.0
0.000...65.535
3.00
2.2.3
mot 1
0...1
hex
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
hex
RPM
RPM
RPM
Hz
RPM
Mot.typdep.
kW
Mot.typdep.
kgm 2
mH
ms
ms
RPM
RPM
hex
hex
hex
Mot.typdep.
Mot.typdep.
0.000
1000
1000
1.20
1.3
0...7FFF
1.20
1.3
40
0...FFFF
Setting Dim.
1.20
1.20
Setting range
2.2.2
2.3
FirmSec. ware
status
P No.
1
100
5
6
04.97
07.94
6.6 Setting and check data (parameter list)
Main spindle modules (HS)
HS
HS/6-119
HS/6-120
1.20
1.20
1.20
1.20
1.20
1.20
5.1.5
5.1.5
3.3.3
3.3.3
3.3.3
3.3.3
3.3.3
4.1
mot 1
0...FFFF
0...FFFF
0...FFFF
1.20
1.20
1.20
5.1.6
5.1.6
5.1.6
0...1
0...10
1.20
5.1.6
1.20
5.1.6
0...7
1...200
5...6000
1...200
0.0...120.0
1.20
1.20
1.20
1.20
0...n maxmot
0...n maxmot
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...FFFF
4.1
mot 1
4.1
mot 1
1.20
4.1
mot 1
4.1
1.20
4.1
mot 1
4.1
1.20
3.3.3
mot 1
1.20
3.3.3
1.20
3.3.3
1.20
3.3.3
3.3.3
1.20
0...FFFF
1.20
5.1.5
0...1
1.20
2.1.3
0...2
1.20
Setting range
5.1.5
FirmSec. ware
status
Designation
100
80
100
24.0
1200
1000
0.00
0.00
C06
0.00
0.00
C06
hex
hex
hex
hex
hex
dec
ms
dec
RPM
RPM
hex
hex
hex
hex
hex
hex
hex
hex
hex
hex
hex
Setting Dim.
HS
P No.
1
100
5
6
0...1
0...15
0...15
1.20
1.20
1.20
1.20
1.20
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
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
50...150
0...1
101...425
1.20
50...300
0...20000
1.20
1.20
100...6000
100...24000
0...65535
0...32767
0...32767
0.00...200.00
0.0...500.0
0.0...409.6
0...4096
0.0...500.0
0.00...200.00
1.20
1.20
mot 2 2.1.3
L h characteristic
mot 2 2.1.3
mot 2 2.1.3
1.20
1.20
1.20
1.20
1.20
0...32767
1.20
mot 2 2.1.3
1.20
mot 2 2.1.3
0.0...150
1.20
mot 2 2.1.3
0.002...32.000
1.20
mot 2 2.1.3
0...FFFF
0...FFFF
0...FFFF
0...FFFF
1.20
1.20
5.1.6
1.20
5.1.6
0...FFFF
Setting range
5.1.6
FirmSec. ware
status
Designation
P No.
101
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
dec
hex
RPM
RPM
RPM
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
A
m
Mot.typdep.
Hz
RPM
kW
kgm 2
hex
hex
dec
dec
hex
hex
hex
hex
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Mot.typdep.
Setting Dim.
1
5
6
04.97
07.94
6.6 Setting and check data (parameter list)
Main spindle modules (HS)
HS
HS/6-121
HS/6-122
1.20
3.3.2
5.2.2
2.3.5
2.3.5
2.3.5
mot 2 2.2.3
1.20
1.20
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
4.1
4.1
mot 2
mot 2
1.20
mot 2 2.2.3
5...100
5...300
0...500
32000
5...6000
3.0...120.0
0...n maxmot
0...n rated/16
1.20
mot 2 3.3.2
100
100
50
32000
20
32.0
RPM
maxmot
20
6000
RPM
rated/256
1...n rated
0...n maxmot
12
0...n rated
RPM
maxmot
0.80
0.00...1.00
nmaxmot ... n maxmot
0.20
750
100
RPM
RPM
ms
dec
RPM
RPM
RPM
RPM
RPM
RPM
hex
hex
hex
hex
hex
ms
hex
dec
dec
dec
dec
dec
dec
dec
Setting Dim.
0.00...0.50
0...FFFF
0...FFFF
1.20
1.20
1.20
1.20
3.00
3.00
1.20
1.20
1.20
1.20
1.20
100...10000
0...FFFF
1...20
1...20
3.3.2
P262 RPM
x for RPM
x signal
act < RPM
mot 2 3.3.2
P260 RPM
min for n act < RPM
min signal
3.3.2
mot 2 3.1
P257
3.3.2
P256
= n signal
set act
Delay time n
5.1.2
1.20
3.3.2
5.1.2
1.20
3.3.2
1.20
3.3.2
1...20
1.20
3.3.2
2.00
1...20
1.20
3.3.2
1...20
1...20
1.20
1.20
2.1.3
3.3.2
Setting range
0...1
FirmSec. ware
status
Designation
P No.
1
5
6
HS
0.10...10.00
255...255
0...1
0...1
0.0...120.0
1...200
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
mot 2 2.2.3
mot 2 2.2.3
4.2
1.20
5.1.7 1.20
5.1.7
0...1
0.0...800.0
1.20
0.0...100.0
1.20
0.000...65.535
2.00
5.1.7
5.1.3
500...10000
1.20
0...170
1.20
mot 2 2.2.3
100
0.0
0.0
0.000
Mot.typdep.
Mot.typdep.
4 RPM
rated RPM
%
ms
80
dec
24.0
100
RPM
1200
hex
0
hex
dec
RPM
dec
1.00
Hz
1000
RPM
50
RPM
300
RPM
20
4000
%
RPM
50
500
Setting Dim.
dec
dec
Hz
hex
mH
dec
RPM
0...7
1...200
0...nmaxmot
1.20
5...6000
0...nmaxmot
0...nmaxmot
1...nmaxmot
1.20
1.20
0...nrated
50...450
1.20
0...nmaxmot
5...100
1...nmaxmot
1.20
mot 2 2.2.3
Setting range
mot 2 2.2.3
FirmSec. ware
status
Designation
P No.
1
5
6
04.97
07.94
6.6 Setting and check data (parameter list)
Main spindle modules (HS)
HS/6-123
HS
HS/6-124
2.3.4 2.00
2.00
2.3.4
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
3.00
3.00
4.2
4.2
3.00
5.1.1 3.00
4.2
5.1.3 3.00
FirmSec. ware
status
5.1.3 3.00
Designation
0.0...100.0
0.01...100.00
0.01...100.00
0...999
0.0...100.0
0.1...100.0
0...7
0...7
0...7
Setting range
0.00
0.10
0.50
200
50.0
10.0
%/ms
%/ms
ms
hex
hex
hex
kHz
Setting Dim.
HS
P No.
1
5
6
First steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/1-3
1.1
StartUp Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/1-4
1.2
Startup instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/1-7
1.3
AM/1-9
1.4
AM/1-13
1.5
Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/1-14
AM/2-15
2.1
AM/2-15
2.2
2.2.1
2.2.2
2.2.3
Standard applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting parameters for standard applications . . . . . . . . . . . . . . . . . . . . .
AM/2-22
AM/2-22
AM/2-23
AM/2-23
2.3
2.3.1
2.3.2
2.3.3
Multimotor operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parallel operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter set changeover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor changeover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/2-27
AM/2-27
AM/2-32
AM/2-32
2.4
AM/2-34
2.5
Monitor function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/2-36
AM/3-37
3.1
AM/3-37
3.2
3.2.1
3.2.2
Input terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Permanentlywired terminal functions . . . . . . . . . . . . . . . . . . . . . . . . . . .
Freelyprogrammable terminal functions . . . . . . . . . . . . . . . . . . . . . . . .
AM/3-40
AM/3-40
AM/3-41
3.3
3.3.1
3.3.2
3.3.3
3.3.4
Output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Permanentlywired relay functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Freelyprogrammable relay functions . . . . . . . . . . . . . . . . . . . . . . . . . . .
Variable relay function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/3-43
AM/3-43
AM/3-44
AM/3-47
AM/3-48
Controller optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/4-51
4.1
Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/4-54
4.2
Current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/4-57
4.3
Field controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/4-59
4.4
AM/4-60
4.5
Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/4-61
4.6
AM/4-62
4.7
Manual optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/4-64
AMi
AM
07.94
AM/5-75
5.1
5.1.1
5.1.2
5.1.3
5.1.4
5.1.5
5.1.6
5.1.7
Diagnostic aids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Measured value displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Test sockets X1, X2, IR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Minimum/maximum value memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transient recorder function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Openloop current/frequency control . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/5-75
AM/5-75
AM/5-76
AM/5-79
AM/5-80
AM/5-83
AM/5-84
AM/5-86
5.2
5.2.1
5.2.2
Fault analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault display, fault acknowledgment . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault message list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/5-87
AM/5-87
AM/5-88
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AM/6-91
6.1
AM/6-92
6.2
AM/6-10
6.3
Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
AM/6-10
6.4
Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
X432 connector assignment for BERO . . . . . . . . . . . . . . . . . . . . . . . . . .
6
X412 connector assignment for the motor temperature sensor . . . . . .
6
X411 serial interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
AM/6-10
6.5
AM/6-10
6.6
AM/6-10
6.4.1
6.4.2
6.4.3
AMii
AM/6-10
AM/6-10
AM/6-10
04.97
07.94
1 First steps
Induction motor modules (AM)
First steps
Warning
Professional transport, storage, installation and mounting as well as careful
operator control and service are absolutely necessary to guarantee perfect and
safe operation of this drive converter.
Severe bodily injury or material damage can occur if this warning information is
not observed.
The boards contain components which can be destroyed by electrostatic discharge.
Please observe the ESDS instructions in the foreword.
Note
AM/1-3
AM
1.1
StartUp Guidelines
Structure of the
StartUp
Guide
1 First steps
Startup guidelines
Startup instructions
07.94
2 System configuration
3 Converter interfaces
4 Contr. optimization
Speed controller
Input terminals
current controller
Permanentlywired
Field
terminal function
Multimotor operation
Freelyprogram
mable terminal
function
Parallel operation
Overview, setting
data
Parameter set
Connections
Motor changeover
changeover
Output terminals
Monitor function
Openloop controlled
range
Limits
Special speeds and
speed ranges
Manual optimization
AM
5 Diagnostics, fault analysis
Diagnostic aids
Fault analysis
6 Appendix
Fig. 1-1
AM/1-4
Flow diagram
Connections
Startup steps
04.97
07.94
Parameter listing
Warning
Number
P024
P014.M
P039.G
P114.F
(P001)
Parameter
attributes
Change
effective
P051
Setting range
online
Value range
dimensions
after
initialization
10
Description
Parameter designation
Brief description of the parameter
FW x.xx
Number
P024
AM
P014.M
motordependent parameter
subparameter P014.1...P014.4
P039.G
gearbox stagedependent parameter
subparameter P039.1...P039.8
P114.F
fixed setpointdependent parameter
subparameter P114.1...P014.7
(P001)
display parameter; value cannot be changed.
AM/1-5
04.97
12.94
07.94
Change effective
online
Change is immediately effective.
After initialization
Initialization is started by setting P097 to 1H.
P051
Write protection parameters
Remove the write protection by entering 04H and
remove the special write protection by entering 0010H.
Setting range
For several control words, the functions are activated by setting the bits of a
binary number and these are then entered in a hexadecimal form.
Example:
BIT
15
14
13
12
11
10
Bit 6:
Bin
0040H
Bit 7:
Bin
0080H
AM
BIT
15
14
13
12
11
10
Bit 6+Bit 7
Bin
00C0H
Description
FW x.xx
Firmwarerelease dependent coding of the function and parameter extensions. The extension is available from the specified firmware release.
AM/1-6
04.97
12.94
07.94
1.2
Startup instructions
Startup possibilities
via
Reinitialize
drive converter
(if necessary)
S poweron reset:
Powerdown the unit and powerup approximately 2 s after the display has
disappeared:
P095 must then appear in the display.
The firmware can be replaced using the userprompted startup software for
main spindle and induction motor modules from version V2.00.
Dependency, firmware release/board
Firmware release
Board
before 3.00
6SN11220BA1V0AA0
from 3.00
6SN11220BA120AA1y
AM
Procedure:
S
S
S
S
S
AM/1-7
Startup of series
machines, module
replacement,
component replacement
07.94
The drive converter setting data (parameters) can be saved on floppy disk using
the startup software. Proceed as follows for series startup of additional drive
converters:
1. Initialize with the pulses and controller inhibited:
AM
1)
Power modules with MLFB (Order No.=) 6SN112V1AV0VVVA1 from FW 3.00, are automatically identified.
Then, it is no longer possible/necessary to enter P095.
AM/1-8
07.94
1.3
Operator control
and
display elements
The following operator control and display elements are available on the front
panel to startup and parameterize the SIMODRIVE 611A induction motor
module:
and
key)
<<
<
Parameter number
>>
>
AM
Subparameter number
+
P
Parameter value
<
<<
>
>>
AM/1-9
07.94
Control parameters
Note
If data storage (P052) is interrupted due to power failure or the power being
disconnected, then the modified/changed values are lost, and when the power
returns, the converter displays fault message F07 (refer to Section 5.2.2).
The parameter values can be reset after fault message F07 is acknowledged (refer to Section 5.2.2).
Table 1-2
P051
Setting data
P051
P151
online
0...FFFF hex
P052
P152
online
0...1 dec
P053
online
0...FFFF hex
Number
Description
Write protection
Remove write protection by entering 4H.
Remove special write protection by entering 10H.
Parameter transfer into the FEPROM
Transfer into the nonvolatile drivemachine data
memory is started by setting to 1. The parameter is
reset automatically after parameter transfer.
Control word
Bit
AM
Value
0000H
0001H
0000H
AM/1-10
0002H
The motor parameter set is immediately changedover after another motor is selected (parameter set changeover)
0000H
0004H
0000H
0008H
04.97
07.94
Table 1-2
Number
P053
Change
effective
P051
Setting data
online
0...FFFF hex
Description
Control word
Bit
13
15
P090
online
0...FFFF hex
Value
0000H
0020H
0000H
0080H
0000H
0100H
The field controller integral component is not influenced for voltage limiting. However, voltage limiting cannot
be automatically exited, as the field
generating current is continuously increased.
0000H
2000H
0000H
8000H
Control word
Bit
Value
0000H
0001H
AM/1-11
AM
04.97
12.94
07.94
Table 1-2
Number
Change
effective
P051
Setting data
Description
P153
online
10
1...1 dec
0000H
Field weakening speed and stall torque to the DC link voltage, specified
by P061, is inhibited.
0004H
Field weakening speed and stall torque adaptation to the DC link voltage
specified by P061 are enabled (from
FW 2.00).
0000H
0008H
AM
AM/1-12
Fig. 1-2
E1
E2
E3
E4
E5
E6
E7
E8
E9
X1
X2
A92
X451
A91
A31
A41
A51
A61
X441
A11
A21
X431
24
8
P022
Shutdown without
overshoot
Test sockets
D P072, P073, P074,
Analog outputs
D P012, P013,
P247
!
P206 to P218
P179, P181
Diagnostic functions
Min/max
P246
P245
! Monitor function
prog.
functions
P154, P155,
P156, P157, P113
Oscillation
Parallel operation
Adaptation
P031, P032
Calculation
Controller data
P166, P167,
P168, P169,
P170, P171
P153
Calculation
Equivalent circuit
diagram data
Controller data
Optimization
Backup
data set
P153
P204, P205
P052
P052
Backup
data set
Optimization
Transfer
P018, P036,
P158, P159,
P160, P161,
P162, P163,
P164, P174,
P175, P178
P219
Transfer
P018, P036,
P158, P159,
P160, P161,
P162, P163,
P164, P174,
P175, P178
P219
P204, P205
Initialization
parameters
P095,
P097
Initialization
parameters
P095,
P097
P115, P116
P gain
current controller
Version 2
P034, P035
P gain, integral
action time
Field
P053, P056
Motor changeover
Torque limiting
Version 1
P053, P056
Speed controller
P160, P161,
P163, P178
Initialization
Multimotor operation
Max.
speed
P029, P174
Freely
prog.
relay
Freely
enable
relay
P114
P016, P017
Rampfct.
generator
P018
Initial roundingoff
P244
P243
P242
P241
P089
P088
P087
P086
P085
P084
P083
P082
P081
P113
1.4
X421
56
14
X432
X412
12.94
07.94
1.4 Overview setting data
Induction motor modules (AM)
AM
Setting data
AM/1-13
04.97
07.94
1.5 Connections
Induction motor modules (AM)
1.5
Connections
X412
Input,
motor temperature
sensor from FW 3.00
X432
Input
BERO
from FW
3.003)
3)
Test sockets
DAU 3
X1
X2 DAU 4
IR
X421
56
14
24
8
X451
n1
A91
M
A92
n22)
DAU 12)
DAU 22)
Outputs
Inputs
663
65
81
E1
E2
E3
E4
E5
E6
E7
E8
E9
9
X431
AM
IF
RF
HSS
X441
2nd Md limit1)
TH = 01)
Reset1)
Fixed set., bit 01)
Fixed set., bit 11)
Fixed set., bit 21)
G. box stage, bit 01)
G. box stage, bit 11)
G. box stage, bit 21)
Enable voltage
289
A11
A21
A31
A41
A51
A61
672
673
674
AS1
AS2
nact = nset1)
Md < Mdx1)
nact < nmin1)
nact < nx1)
I2t alarm1)
Rampup ended1)
Ready/fault
Signal. contact
Start inhibit
RS232C
Interface
X411
LCD display
+
Equipment bus
X151
X351
P 600
DC link
M 600
Type plate
Version
Motor terminals
U2
V2
W2
PE1
PE2
Connections
AM/1-14
07.94
2.1
Overview
Warning
The motor could accelerate to inadmissibly high speeds and terminal 64 (NE:
Central
drive inhibit) and Terminal 65 (controller inhibit) are not effective.
Only terminal 63 open (NE: Central pulse inhibit) and terminal 663 open
(axisspecific pulse inhibit) are then effective.
AM
initialization
DC link voltage sensing
motor data set
Speed ranges
AM/2-15
12.94
07.94
Initialization
Table 2-1
Initialization
Parameter attributes
Change
effective
P051
Setting range
P095
after
initialization
1...13 dec
P096.M
after
initialization
0...7 dec
P097
online
0...1 hex
Initialization
Number
Description
S
S
SEtUP is displayed
The selected power section data set is loaded in
the drivemachine data memory
P000 operating display appears after successful initialization
Sensing the
DC link voltage
AM
Table 2-2
Number
P061
Change
effective
P051
Setting range
online
10
0...700 V
Description
1) Power module with MLFB (Order No.) 6SN112V1AV0VVVA1 is automatically identified with/from FW 3.00.
It is then no longer possible to change P095.
AM/2-16
07.94
Table 2-3
For special motors, the motor data must be entered. The controllers can then be
subsequently optimized using the selfsetting routing according to Section 4.
P051
Setting range
P158.M
online
10
0.000...65.000 mH
P159.M
online
10
0.0...6535.5 gm2
P219.M
online
10
0...15 kgm2
P160.M
online
10
0.00...650.00 kW
P161.M
online
10
0.00...650.00 A
P162.M
online
10
0.00...650.00 V
P163.M
online
10
0...65000 RPM
P164.M
online
10
0...1200.0 Hz
P166.M
online
10
P167.M
online
10
0.000...65.000
Number
Description
AM
equivalent circuit
diagram value
online
10
0.000...65.000
P169.M
online
10
0.000...65.000
P170.M
online
10
0.000...65.000
equivalent circuit
diagram value
AM/2-17
Table 2-3
03.96
07.94
P051
Setting range
Description
P171.M
online
10
0.00...650.00
P172.M
online
10
0...32000 RPM
P173.M
online
10
0...32000 RPM
P174.M
online
10
0...32000 RPM
P175.M
online
10
0.0...500.0 min
P176.M
online
10
0...32000 RPM
P178.M
online
10
0.000...1.000
P018.M
online
10
4.00...100.00 ms
P036.M
online
10
0...7 hex
Number
AM
AM/2-18
07.94
Parameter attributes
Change
effective
P051
Setting range
Description
P153
online
10
1...1 dec
P153
online
10
1...1 dec
Number
For highspeed motors, increase the speed limiting P029 = 6000 RPM to maximum speed.
Note
The motor configuration should be selected, so that neither the required terminal voltage exceeds the maximum converter output voltage, nor that the induction motor 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 a Y circuit configuration, then the motor does not have the same output as when operated from an uncontrolled I/R module with VDC link = 600V /
625 V from a 400 V supply due to the reduced speed at the start of field weakening (P173) and the lower stall torque speed (P176).
If the motor is changedover to the delta configuration, then this can achieve
the full rated output when connected to a converter dimensioned for Iratedn motor .
Example 2
If a motor is to be operated at rated current in a Y circuit configuration
IratedY motor < 0.1 Icont. module , this can be adapted to the induction motor module
using the n circuit, if the following is valid:
Iratedn motor 0.1 Icont. module
AM/2-19
AM
07.94
Note
If only S6duty values are specified in the rating plate data, then these should
be converted to S1duty for parameterization, and the limits increased after
optimization. For forcecooled motors, the rating plate data for parameterization should be converted to data for S1duty of a motor with natural air cooling having the same size, and the limits increased after optimization.
Irated
IS1
rated
AM
AM/2-20
07.94
Speed ranges
Table 2-4
Speed ranges
Parameter attributes
Change
effective
P051
Setting range
Description
P172.M
online
10
0...32000 RPM
P173.M
online
10
0...32000 RPM
P176.M
online
10
0...65535 RPM
Number
P
U
Y
M
nch
output characteristic
voltage characteristic
flux characteristic
torque characteristic
changeover speed, open/
closedloop control
nrated rated speed
nstall stall torque speed
nFS
speed at the start of
field weakening
nmax max.motor speed
FP P rated
U
rated
FM Mrated
M
0 nch
F
nrated FP
M
nFS
nstall
nmax
Motor speed n
The torque and output limits can be modified with factor FM (parameters P039, P041 ) or FP (P060). The following
speed ranges are obtained:
0 |n| nch
fieldweakening range
AM/2-21
AM
12.94
07.94
2.2
Standard applications
2.2.1
Operating display
The actual drive converter operating status is displayed in P000 and P100.
Table 2-5
Operating display
Display
Function group
Motor number
motor 1
is selected
motor 2
is selected
motor 3
is selected
motor 4
is selected
AM
Motor selection
1...4
Selected via
freelyprogrammable
terminal functions
P081...P089
=20, 21
Relay function
freelyprog. relay function 1
terminal A11
P241
nact = nset1)
freelyprog. relay function 2
terminal A21
P242
|Md| < Mdx1)
freelyprog. relay function 3
terminal A31
P243
|nact| < nmin1)
Operating mode
drive not enabled:
Progress condition, refer to
the converter
status column
all enable
signals present:
Openloop or
closedloop
controlled
operation
Equipment status
Setpoint source
Gearbox stage
pulse enable at
the NE module
missing
(T.63/T.48)
analog setp.
ch. 1 P113=1
ch. 2 P113=2
ch. 1+2 P113=3
gearbox stage
1
is selected
analog setp.+
fixed setpoint
ch. 1 + freely
prog. terminal
function 17, 18,
19, 24 P113=9
zero setp.
P113=0
P113=7
P113=8
gearbox stage 2
is selected
axisspecific
pulse enable
missing (T.663)
...
fixed setp.
1...7
...
fixed setp.
8...15
RFG enable
missing (t.81)
Operating mode
display for enabled
motor:
motor operation
generator operation
gearbox stage
3 is selected
gearbox stage
4 is selected
gearbox stage 5
is selected
gearbox stage
6 is selected
gearbox stage 7
is selected
gearbox stage 8
is selected
Gearbox stages
1...8
selected via
freelyprogrammable terminal
function
P081...P089
=9, 10, 11
1) As supplied
AM/2-22
07.94
2.2.2
Firmware version
Table 2-6
Firmware version
Parameter attributes
Number
(P099)
2.2.3
Change
effective
P051
Setting range
0.00...99.99
Description
Firmware release
Indicates the release of the firmware which has been loaded.
Overview
speed settings
maximum speed monitoring via BERO
torque limits
motor temperature monitoring
motor temperature simulation
reciprocation
AM
speed settings
Parameter attributes
Change
effective
P051
Setting range
Description
P022.M
online
10
2...16000 RPM
P029.G
online
10
0...32000 RPM
Speed limiting
The actual motor speed is limited to the limit of the
current gearbox stage.
Selected using freelyprogrammable terminal function 9, 10, 11.
Number
Maximum speed
monitoring via
BERO
A BERO switch can be connected via X432 to monitor the maximum speed.
When the threshold is exceeded, the pulses are canceled and fault message
F90 is output.
FW 3
AM/2-23
04.97
07.94
Cable interruption
monitoring
If BERO pulses are not received for a calculated speed greater than 1200 RPM/
pulse number, then it can be assumed that the cable is interrupted. F90 is also
output.
Table 2-8
Parameter attributes
Change
effective
P051
Setting range
P131.M
online
10
0...10 1 RPM
P132.M
online
10
0...65535 RPM
Change
effective
P051
Setting range
Description
P039.G
online
10
0...399 %
P041.G
online
10
0...399 %
Number
Description
Torque limits
Table 2-9
Torque limits
Parameter attributes
Number
AM
Motor temperature
monitoring
AM/2-24
07.94
above approx. 200 degrees C cause pulses to be canceled and a fault message, F19
PTC: Interrupted sensor cable and shortcircuit are not identified.
Table 2-10
Parameter attributes
Change
effective
P051
Setting range
P053.M
online
10
0...FFFFhex
P063.M
online
10
0...170 degrees C
P064.M
online
10
0...170 degrees C
Fixed temperature
The motor temperature monitoring is activated by
entering the value zero.
P065.M
online
10
0...600 s
Number
Description
Control word
Bit value
13 0000H KTY84 motor temperature sensor
2000H PTC motor temperature sensor
Motor temperature
simulation
Table 2-11
AM
Number
P175.M
Change
effective
P051
Setting range
online
10
0.0...500 min
Description
Note
A temperature model is calculated for every motor parameter set.
However, quantities such as fan effect and air intake temperature cannot be
taken into account. Thus, it is preferable if the temperature is monitored using a
motor temperature sensor.
AM/2-25
07.94
Oscillation mode
Table 2-12
Reciprocation
Parameter attributes
Change
effective
P051
Setting range
P154
online
10
32000...32000
RPM
Oscillation setpoint 1
P155
online
10
32000...32000
RPM
Oscillation setpoint 2
P156
online
10
0.002...60 s
P157
online
10
0.002...60 s
Number
Description
Speed [RPM]
P154
P155
P156
P157
Time [s]
AM
AM/2-26
07.94
2.3
Multimotor operation
The following applications can be combined with one another:
parallel operation
parameter set changeover
motor changeover
Motor selection
Table 2-13
Motor selection
Parameter attributes
Number
P056
Change
effective
P051
Setting range
online
10
0...4
Description
Motor selection
The actual motor is selected
0
selected via freelyprogrammable terminal
function 20, 21.
1...4 motor 1...4 active
Note
If P053, bit 1 = 0, then changeover is only realized after the pulses have been
canceled.
2.3.1
Parallel operation
Several motors can be operated simultaneously from one induction motor module. The motors are supplied with the same voltage and frequency as they are
fed in parallel. Thus, the motors must have the same voltagefrequency characteristic, i. e., the ratios of rated voltage to rated frequency of the individual motors must be the same. If different motor types are used, an output ratio of 1 : 10
should not be exceeded.
If the motors, connected in parallel, have the same pole pair number, then they
rotate at approximately the same speed.
Warning
With different loads, the speeds differ by the slip speed differences, i. e., an
individual motor can have a different speed than the calculated speed of the
complete system, and can exceed a set speed limit.
AM/2-27
AM
07.94
The tendency to stall is higher in parallel operation than in singlemotor operation. In order to be able to correct load surges, it is recommended that the current limit P059 is set to 150 % of the total current. If a steadystate rated torque is required in the lower speed range, P057 should also be increased
(current in the openloop controlled range). The induction motor module should
be dimensioned for this current rating and it should be ensured that the motors
are adequately cooled.
In parallel operation, the total current can only be sensed, which is subdivided
between the individual motors, depending on the load. Thus, these should be
externally and individually thermally monitored. If a monitoring function responds, it is not permissible that the power cables are interrupted before pulse
cancellation.
For highspeed special motors (fmax > 150 Hz), it is recommended that a reactor is switched between the induction motor module and the motor group.
>
Pulse enable
T. 663
SIMODRIVE 611A
analog system,
induction motor
module
U2 V2 W2
1)
AM
M1
3~
Motor 1
M2
3~
Motor 2
M3
3~
Motor 3
M8
3
Motor 8
AM/2-28
Parallel operation from the SIMODRIVE 611A analog system, induction motor
module
03.96
07.94
Parallel operation
Parameter attributes
Change
effective
P051
Setting range
P158.M
online
10
0.000...65.000 mH
P160.M
online
10
0.00...650.00 kW
P161.M
online
10
0.00...650.00 A
P162.M
online
10
0.00...650.00 V
P163.M
online
10
0...65000 RPM
Number
Description
Prated i
Prated total
. nrated i
online
10
0...1200.0 Hz
P174.M
online
10
0...32000 RPM
P178.M
online
10
0.000...1.000
Irated i
Irated total
P018.M
online
10
4.0...100.00 ms
P036.M
online
10
0...7 hex
cos i
Initial roundingoff
applicationspecific
For motors with deepbar squirrelcage rotors:
Increase parameter to approx. 30 ms
Inverter clock frequency
The current controller dynamic performance is improved when the switching frequency is increased, however the permissible continuous current load capability is reduced.
The switching frequency should be selected as high
as possible, especially for highspeed motors, but
still maintaining the specified derating.
The current controller must be reoptimized if the
switching frequency is changed.
AM/2-29
AM
07.94
Parameter attributes
Change
effective
P051
Setting range
Description
P159.M
online
10
0.0...6535.5 gm2
P219.M
online
10
0...15 kgm2
P166.M
online
10
P167.M
online
10
0.000...65.000
P168.M
online
10
0.000...65.000
P169.M
online
10
0.000...65.000
P170.M
online
10
0.000...65.000
P171.M
online
10
0.00...650.00
P175.M
online
10
0.0...500.0 min
Number
AM
manufacturers data
Lowest time constant of the motor group
External individual monitoring is recommended.
refer to Section 2.2.3
P172.M
AM/2-30
online
10
0...32000 RPM
12.94
07.94
Parameter attributes
Change
effective
P051
Setting range
Description
P173.M
online
10
0...32000 RPM
P176.M
online
10
0...32000 RPM
Number
AM
AM/2-31
2.3.2
07.94
2.3.3
Motor changeover
The induction motor module allows four complete motor data sets to be simultaneously setup. The current data set can be selected via freelyprogrammable
terminals (refer to Section 3.2.2) or via parameter P056. There are freelyprogrammable relay functions for the four motor data sets (refer to Section 3.3.1),
which indicate which data set is active.
If various motors are to be operated from the induction motor module, one after
another, then this function can be used for motor changeover.
In this case, bit 1 should be set to 0 in parameter P053. Thus, after a motor
changeover request, the motor data are first changedover, when the induction
motor module pulses are inhibited (refer to Section 1.3). The user can decide
which of the enable terminals is used for pulse inhibit. The pulse inhibit is
latchedin for approx. 20 ms during the changeover operation.
This latch is then canceled and the relay motor ... active of the newly loaded
motor, pullsin. This relay signal can be used to control a contactor for motor
changeover. The currently valid motor data set is displayed in the first position
at the left in the operating display (P000, P100).
AM
AM/2-32
07.94
Pulse enable
SIMODRIVE 611
analog system
IM module
K1
K2
K3
K4
T. 663
P053 bit 1 = 0
Motor selection 1
0
Bit 0
2
1
Bit 1
Relay outputs
Aw
Ax
Ay
Az
En
U2 V2 W2
K1H
1)
K1
M1
3
K2
K3
K4
K1
K3
K4
Motor 1
Fig. 2-2
M2
3
Motor 2
K1
K2
K4
K4H
K4
K3H
K2H
K1H
1)
K3
K2
K3H
K2H
K4H
M3
3
Motor 3
K1
K2
K3
M4
3
Motor 4
Motor changeover
AM/2-33
AM
2.4
12.94
07.94
Warning
All parameters which physically represent a speed with the units RPM, as well
Pulse number P131 as the BERO pulse number P131, are entered or displayed decreased by a
factor as follows:
Parameter
settings
Motor speed
Factor
32000...64000 RPM
1/2
1/3
In order to be able to operate motors with a maximum motor speed > 32000
RPM, settings must be made according to Table 213.
AM
AM/2-34
03.96
07.94
Table 2-15
Parameter attributes
Number
Change
effective
P051
Setting range
P163.M
online
10
0...64000 RPM
Description
P174.M
online
10
0...64000 RPM
P153
P153
online
online
10
10
1 ... 1 dec
1 ... 1 dec
Input
32000...64000 RPM
Input
32000...64000 RPM
32000...64000 RPM
Controller data
32000...64000 RPM
If speed setting values with units of RPM are manually entered, all values must
be multiplied by factors 1/2 or 1/3.
1)
AM/2-35
AM
2.5
07.94
Monitor function
Address contents (data in the RAM area) of the induction motor module can be
read via parameters P249 to P251.
Note
A list of important measurement quantities (RAM variables) and their addresses
are provided in the Appendix (Section 6.5).
Table 2-16
Monitor function
Parameter attributes
Change
effective
P051
Setting range
P249
online
10
0...FFFF hex
P250
online
10
0...FFFF hex
(P251)
0...FFFF hex
Number
Description
AM
AM/2-36
12.94
07.94
Overview
Number
P113
Change
effective
P051
Setting range
online
0...9 hex
AM
Description
digital setpoint 0
1H:
2H:
3H:
4H:
6H:
digital setpoint from the electronic motorized
potentiometer
9H:
AM/3-37
12.94
07.94
Normalization, analog
speed setpoint
Table 3-2
Parameter attributes
Number
P014.M
Change
effective
P051
Setting range
Description
online
32000...32000
RPM
AM
P024
online
2...10 V
P015
online
E000...2000 hex
P025
online
2...10 V
P019
online
E000...2000 hex
Fixed setpoints,
motorized potentiometer setpoint
Table 3-3
Parameter attributes
Change
effective
P051
Setting range
Description
P114.F
online
32000...32000
RPM
Fixed setpoint 1 to 7
Adjustable speed setpoint
Selected via freelyprogrammable terminal function
17, 18, 19 (refer to Section 3.2.2).
P119.F
online
32000...32000
RPM
Fixed setpoint 8 to 15
Selectable speed setpoint
Selected via freelyprogrammable terminal function
17, 18, 19, 24 (refer to Section 3.2.2)
from FW 2.00
P114.8
online
32000...32000
RPM
Number
AM/3-38
04.97
12.94
07.94
Setpoint priority
Table 3-4
Priority
Setpoint
Setpoint source
Selectable using
High
Low
Effect
Desig.
Imot = 0
T63 or
T663
Open
Pulse enable
inhibited
n=0
T81
Open
Rampfunction
generator fast stop
n=0
T64 or T65
Open
Controller enable
inhibited
n=0
T.fct. 16
Open
Setpoint enable
inhibited
n nmin
P030
Value
entry
Min. steadystate
speed
n Dn
P054
P055
Value
entry
Range suppression
n = +n/n
T.fct. 12
Act
ivated
Cw/ccw phase
sequence
n = P114.8
P113 = 6
Value
entry
Increase/decrease setpoint
n1 = P154
n2 = P155
T.fct. 2
Con
trolled
oscillation
reciprocation
n1 = P114.1
to
n7 = P114.7
n8 = P119.1
to
n15 =
P119.8
T.fct. 17
T.fct. 18
T.fct. 19
T.fct. 24
Con
trolled
Fixed setpoint
Standard
setpoint
source
P113
AM
Value
entry
Standard setpoint
AM/3-39
07.94
3.2
Input terminals
3.2.1
Warning
When the motor pulses are canceled, there is no information on the motor
speed. The calculated speed actual value is then set to 0. Thus, all of the
speed actual value signals, and relay signals, which monitor the speed (|nact| <
nmin, rampup ended, nact < nx, |nact| = nset) no longer provide any information
if the motor pulses have been canceled. The motor pulses can be canceled by
removing the enable signals or with fault signals.
Warning
If a drive is shutdown using a rampfunction generator fast stop (terminal 81
open), and is kept at zero speed for a longer time with the inverter enabled,
then adequate motor cooling must be ensured, as a current is impressed in the
motor which is approximately the rated current (percentage in P057).
Caution for selfventilated motors.
Table 3-5
Terminal function
AM
Axisspecific
pulse enable
Controller enable
Ramp
function generator
fast stop
Description
The inverter enable (motor gating) is realized, if terminal 663 (axisspecific pulse
enable) and terminal 65 (controller enable) are at the enable voltage potential.
If terminal 663 (axisspecific pulse enable) is disconnected/disabled while the
motor is still rotating, the inverter is inhibited after 20 ms, and the motor coasts
down in a nocurrent condition.
If terminal 65 (controller enable) is disconnected/disabled while the motor is still
rotating, the drive brakes along the braking ramp.
When the absolute value of the nmin threshold (P022) is fallen below, the inverter is inhibited and the motor is shutdown without any overshoot.
If terminal 81 (rampfunction generator fast stop) is energized, the speed setpoint is enabled. If the input is opencircuit, a digital setpoint of zero is entered.
If terminal 81 is disconnected/disabled while the motor is still rotating, the motor
brakes without the rampfunction generator along the effective limiting characteristic (current limiting P057...P059, torque limiting P039, P041, power limiting P060).
Once zero speed has been reached, the current from P057 is still impressed. If
bit 2 is set in P053, after the speed in P022 has been fallen below, the pulses
are inhibited, and the motor is switched to a nocurrent condition.
Terminal
number
663
65
81
Note
To start a motor, the enable signals must be provided step by step in the sequence of their priority (refer to Table 3-5).
AM/3-40
12.94
07.94
3.2.2
Warning
Overview
Number
P081
to
P089
Change
effective
P051
Setting range
Description
online
1...24 dec
AM
AM/3-41
04.97
03.96
07.94
Terminal
functions
Table 3-7
Terminal functions
Terminal
function
Description
Fct
.
No.
If this function is selected, the 2nd torque limit in P041 becomes active, if the
changeover speed from P050 is exceeded.
Oscillation
If this function is selected, the oscillation generator speed setpoint from P154
to P157 becomes active.
If this function is selected, a fault message is acknowledged when the controller is inhibited (terminal 65 or terminal 663 opencircuit).
E1 (P081)
Rampup time =
0
E1 (P081)
Gearbox stage
Bit 0 0 1 0 1 0 1 0 1
Bit 1 0 0 1 1 0 0 1 1
Bit 2 0 0 0 0 1 1 1 1
E1 (P081)
E1 (P081)
11
E1 (P081)
If this function is activated, only positive setpoints are permitted, negative setpoints result in speed n=0. If the appropriate terminal is energized, only a counterclockwise rotating field, otherwise a clockwise rotating field is output.
12
Rampfunction
generator 2
If this function is selected, the 2nd parameter set P042 and P043 of the
internal rampfunction generator is activated.
13
Increase
setpoint
14
If this function is activated, then the appropriate terminal must also be energized in order to move the drive. If the terminal is opened (deenergized), the
drive brakes with the appropriate deceleration time, and remains at standstill,
but with current flowing through it.
16
Decrease
setpoint
Setpoint enable
Fixed setpoint
selection
10
11
12
13
14
15
Bit 0 0 1 0 1 0 1 0 1 0 1
Bit 1 0 0 1 1 0 0 1 1 0 0
Bit 2 0 0 0 0 1 1 1 1 0 0
Bit 3 0 0 0 0 0 0 0 0 1 1
Motor selection
A total of 15 binary
coded fixed values
P114.1 to P114.7
and
dP
P119.1 to
P119.8 can be selected using these
terminals. If all of
these terminals remain opencircuit, the
setpoint,, defined in
P113,
remains valid.
15
17
E1 (P081)
18
E1 (P081)
19
E1 (P081)
24
Bit 0 0 1 0 1
Bit 1 0 0 1 1
AM/3-42
E1 (P081)
10
Clockwise/
counter clockwise
AM
Input terminals, as
supplied
A total
t t l off 4 binarycoded
bi
d d motor
t data
d t sets,
t motor
t 1 to
t
motor 4 can be selected using these terminals.
20
21
07.94
3.3
Output terminals
3.3.1
Warning
When the motor pulses are canceled, there is no information on the motor
speed. The calculated speed actual value is then set to 0. Thus, all of the
speed actual value signals, and relay signals, which monitor the speed (|nact| <
nmin, rampup ended, nact < nx, |nact| = nset) no longer provide any information
if the motor pulses have been canceled. The motor pulses can be canceled by
removing the enable signals or with fault signals.
Caution
All relays dropout when the electronics power supply fails or is shutdown.
Terminal
function
Description
Terminal
number
0000H
0
0001H
Checkback
signal, start
inhibit
AM
Value
The relay pullsin, if no fault is
present, and the pulses and controller
are enabled.
The relay pullsin, if there is no fault
present.
672
673
674
AS1
AS2
AM/3-43
04.97
07.94
3.3.2
Warning
It is only permissible to program the relays (P241 to 247) when the pulses are
inhibited (terminal 63 or 663 open).
Overview
AM
Assignment of the
signals/messages
Table 3-9
Number
P241
to
P246
AM/3-44
Change
effective
P051
Setting range
Description
online
1...20 dec
Programmable messages 1 to 6
Functions 1 to 20 are assigned to relay outputs A11
to A61 by entering the function number. The factory
setting can be taken from the following table.
04.97
07.94
Relay functions
Table 3-10
Relay functions
Relay function
Funct.
No.
Relay output,
as supplied
The relay pullsin, if the calculated speed falls below the current value set in
P021.1 to P021.8.
A31 (P243)
The relay pullsin if, after the setpoint jump, the calculated speed actual value
enters the actual tolerance
bandwidth around the new setpoint, and has remained within this tolerance
bandwidth for at least 200 ms.
If the tolerance bandwidth is exited before the 200ms has expired, the acceleration ended relay remains inactive.
The tolerance bandwidth is set via P027.1 to P027.8.
The signal is interlocked (latched) in the activated setting, until the speed setpoint changes.
If the tolerance bandwidth is exited after 200 ms, the signal remains active,
unless, the setpoint has, in the meantime, changed.
The relay does not dropout as a result of speed
fluctuations due to load changes.
A61 (P246)
|Md|< Mdx
The relay pullsin, if the torque falls below the actual limit value.
The limit value is set via P047.1 to P047.8.
If the relay nact=nset dropsout during speed setpoint changes, the
|Md|< Mdx relay can dropout only 800ms after the relay nact =nset has
pulledin again.
A21 (P242)
|nact|< nx
A41 (P244)
I2talarm
The relay dropsout, if the actual thermal motor model is overloaded. The thermal time constant setting for each motor is separately realized in P175.1 to
P175.4.
The user is responsible in responding to this alarm.
The function of the fan and air intake temperature are not taken into account.
Thus, it is preferable if a temperature sensor is evaluated.
A51 (P245)
Drive converter
overtemperature
alarm
Variable
relay function 1
Reserved
Reserved
10
One of these relays pullsin if the appropriate motor data set is active. Using
this rela
relay function,
f nction the e
external
ternal contactor can be controlled for motor changechange
over.
It is recommended that the contactor
pulse enable are mutually interlocked
interlocked.
11
12
13
14
16
20
A11 (P241)
|nact|< nmin
Rampup completed
Variable
relay function 2
Motor 1 active
Motor 2 active
Motor 3 active
Motor 4 active
Description
Motor
The relay dropsout when the motor temperature is too high. If the fault condiovertemperature, tion remains, the drive converter shuts down after the time, set in P065, with
alarm
the fault message F14.
From FW 3.00
nact =nset
The relay pullsin, if the calculated speed actual value enters the tolerance
bandwidth around the setpoint before the rampfunction generator and has
remained in this tolerance bandwidth for at least 200 ms.
The tolerance bandwidth is set using P027.1 to P027.8 .
If the tolerance bandwidth is exited, the relay nact =nset immediately drops
out.
The relay dropsout as a result of speed fluctuations due to load changes.
AM
AM/3-45
07.94
Messages which
can be parameterized
Table 3-11
P051
Setting range
P021.G
online
2...16000 RPM
P023.G
online
0...32000 RPM
P027.G
online
0...29000 RPM
P047.G
online
0...100 %
Change
effective
P051
Setting range
online
0...FFFF hex
Number
Description
Control word
messages
AM
Table 3-12
Number
P247
Description
AM/3-46
Bit
Value
0001H
0002H
0004H
0008H
0010H
0020H
12.94
07.94
3.3.3
Table 3-13
P051
Setting range
P185
to
P189
P185
online
0...FFFF hex
P186
online
0...FFFF hex
P187
online
0.00...10.00 s
P188
online
0.00...10.00 s
P189
online
0...7FFF hex
Hysteresis, monitoring 1
Hysteresis for threshold P186
P190
to
P194
P190
online
0...FFFF hex
P191
online
0...FFFF hex
P192
online
0.00...10.00 s
P193
online
0.00...10.00 s
P194
online
0...7FFF hex
Hysteresis, monitoring 2
Hysteresis for threshold P191
P247
online
0...FFFF hex
Number
Description
Bit
0000H
0100H
0000H
0200H
0000H
1000H
0000H
2000H
12
13
AM
Value
AM/3-47
04.97
07.94
Note
A list of important measured quantities (RAM variables) and their addresses
are listed in the Appendix (Section 6.5).
3.3.4
Analog outputs
Note
Analog outputs are not possible for MLFB (Order No.) 6SN11220BA110AA0.
Overview
Function
technical data
Parameterization, DAU 1, DAU 2
connection for analog displays
Function
AM
Analog output of RAM variables for measurement purposes via two 8bit
D/A converters.
Note
A list of important measured quantities (RAM variables) and their addresses
are listed in the Appendix (Section 6.5).
Technical data
AM/3-48
07.94
Parameterization
DAU 1, DAU 2
Table 3-14
P051
Setting range
Description
P066
online
0...FFFF hex
Address, DAU 1
Address of the RAM variables which are to be output at DAU 1.
Presetting: 11B6H absolute calculated speed actual value
P067
online
0...F hex
P012
online
1000.0...1000.0 %
Normalization, DAU 1
Fine normalization of the selected data value
P078
online
127...127 dec
Offset, DAU 1
Compensation of a possible offset for DAU 1
P068
online
0...FFFF hex
P069
online
0...F hex
P013
online
1000.0...1000.0 %
P079
online
127...127 dec
Number
Address, DAU 2
Presetting: 11B8H utilization
Shift factor, DAU 2
Normalization, DAU 2
Offset, DAU 2
AM
2nd overflow
3. overflow
4. 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/3-49
Connection for
analog displays
Table 3-15
07.94
P051
Setting range
Description
P012
online
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 %
P013
online
1000.0...1000.0
Normalization, DAU 2
P068 = 11B8H utilization
Displays the utilization in the following ranges
Constant torque: Md/Mdmax
Constant power: P/Pmax
(taking into account the actual torque limits P039,
P041 and the current and power limits P059 and
P060)
For P013 = 100 % and P069 = 0H, the following is
valid:
Noload = 0 V
Max. torque or power = + 10 V
1 V corresponds to 10 %
Number
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
4 Controller optimization
Induction motor modules (AM)
Controller optimization
Warning
During the automatic optimization runs, the motor is under voltage and can
reach its maximum speed. The optimization runs involved are identified with the
following symbol:
Note
When using an UE module, to reduce the regenerative power, the rampdown
time P017 or P043 must be increased, until braking can be achieved from
maximum motor speed down to 0 without a fault message being issued (DC
link overvoltage).
AM
Table 4-1
Control optimization
Parameter attributes
Number
Change
effective
P051
Setting range
Description
Optimization: Controller data of the actual motor with the drive enabled
P204
online
P205
online
10
0...8 dec
0...1 dec
P204
online
P205
online
10
0...8 dec
0...1 dec
1)
P031
online
0.0...255.9
P032
online
10.0...6000.0 ms
AM/4-51
4 Controller optimization
Induction motor modules (AM)
Table 4-1
12.94
07.94
Control optimization
Parameter attributes
Number
Change
effective
P051
Setting range
Description
P034
online
0.0...600.0 A/V s
P035
online
5.0...600.0 ms
P204
online
P205
online
10
online
P205
online
10
0...1 dec
online
P205
online
10
0...1 dec
online
P205
online
10
0...1 dec
0...1 dec
online
P205
online
10
online
P205
online
P052
online
AM/4-52
10
0...8 dec
0...1 dec
P204
0...8 dec
AM
P204
0...8 dec
P204
0...8 dec
P204
0...8 dec
P204
0...8 dec
0...1 dec
0...1 hex
04.97
12.94
07.94
4 Controller optimization
Induction motor modules (AM)
Note
If the noload current adjustment with F60 is aborted, a possibly effective
speed limiting via the noload speed should be increased.
If the adjustment with F60 is aborted due to voltage limiting, the sequence can
be repeated with a lower value in P166, or the DC link voltage can be increased to 625 V (refer to the NE module).
Note
To adjust the total moment of inertia, the rampup time (accelerating time)
P016 and P042 should be set to the lowest possible value (preferably to
zero).
If the speed controller requires an integral action time P032 > 250 ms, then
the total moment of inertia adjustment must be manually executed according to
Section 4.7.
To reduce the regenerative power in conjunction with a UE module, the ramp
down time P017 and P043 can be increased.
Note
If the motor shaft rotates when optimizing the current controller, then the optimization point must be repeated by entering speed setpoint zero (e.g. using
terminal 81 HSS).
AM/4-53
AM
4.1
12.94
07.94
Speed controller
Overview
Rampfunction generator
Gain, integral action time
Speed contr. adaptation
Speed controller clock
Total moment of inertia
Rampfunction generator
Table 4-2
Rampfunction generator
Parameter attributes
Change
effective
P051
Setting range
P016.M
online
0.00...320.00 s
P017.M
online
0.00...320.00 s
P042.M
online
0.00...320.00 s
P043.M
online
0.00...320.00 s
P018.M
online
4.00...100.00 ms
P053
online
0...FFFF hex
Number
AM
Description
Initial roundingoff
Torque setpoint smoothing
Control word
Bit
Speed
Rampfunction
generator output
Speed
Value
0000H
0008H
Rampfunction
generator output
Speed
setpoint
AM/4-54
Time [s]
With rampfunction generator
tracking
12.94
07.94
Gain,
integral action
time
Table 4-3
P051
P031.M
online
0.0...255.9
P032.M
online
10...6000 ms
Number
Setting range
Description
When calculating the controller data P153 = 1, the speed controller parameters are, among other parameters, defined.
In several cases, the control characteristics can still be improved (refer to Section 4.7)
Speed controller
adaptation
Table 4-4
P051
Setting range
P195.M
online
0...32000 RPM
P196.M
online
0...32000 RPM
P197.M
online
0.0...255.9 dec
P198.M
online
0.0...255.9 dec
P199.M
online
1...150 %
P203.M
online
0...1 hex
Number
Description
AM
P gain [dec]
P197 P199
P198 P199
P195
Speed [RPM]
P196
AM/4-55
04.97
07.94
Speed controller
clock
Table 4-5
Number
P090
P051
Setting range
0...FFFFHex
Description
Control word
Bit
Word
0000H
0008H
Total moment of
inertia
Table 4-6
P051
Setting range
Description
P159.M
online
0.0...6535.5 gm2
P219.M
online
0...15 kgm2
Number
AM
AM/4-56
04.97
03.96
07.94
4.2
Current controller
Overview
Table 4-7
The module could be destroyed if the current controller P gain, P115 or P116
is set too high.
If the inverter clock frequency is increased, then the power derating, specified
in Table 48 must be maintained.
Current controller optimization
Parameter attributes
Number
P036.M
(P037)
Change
effective
P051
Setting range
Description
online
0...3 hex
2.8...7.8 kHz
4.7 kHz
3.9 kHz
2
3
6.3 kHz
6
7
5.0 kHz
7.8 kHz
AM
5.9 kHz
AM/4-57
04.97
07.94
Table 4-8
Power
module
type
In / Is6 / Imax
in A
In / Is6 / Imax
in A
In / Is6 / Imax
in A
In / Is6 / Imax
in A
6SN11231AA0V
6SN11231AA0V
6SN11231AA0V
Code
No.
fT:3.2kHz
fT:4.7kHz
fT:6.3kHz
fT:7.8kHz
8A
0HAV
3/3/3
2/2/2
15 A
0AAV
5/5/8
25 A
0BAV
8 / 10 / 16
50 A
0CAV
24 / 32 / 32
20 / 26 / 26
15 / 20 / 20
10 / 14 / 14
80 A
0DAV
30 / 40 / 51
26 / 34 / 44
21 / 28 / 36
17 / 23 / 29
108 A
0LAV
13
45 / 60 / 76
39 / 52 / 65
32 / 43 / 54
26 / 34 / 43
120 A
0GAV
45 / 60 / 76
39 / 52 / 65
32 / 43 / 54
26 / 34 / 43
160 A
0EAV
60 / 80 / 102
51 / 68 / 86
41 / 54 / 69
31 / 42 / 53
200 A
0FAV
10
85 / 110 / 127
73 / 95 / 109
60 / 78 / 90
48 / 63 / 72
300 A
0JAV
11
81 / 102 / 131
62 / 78 / 101
400 A
0KAV
12
Power
module
type
Order Nos.
In / Is6 / Imax
in A
In / Is6 / Imax
in A
In / Is6 / Imax
in A
In / Is6 / Imax
in A
AM
6SN11231AA0V
6SN11231AA0V
6SN11231AA0V
Code
No.
from FW3.00
8A
0HAV
3/3/3
15 A
0AAV
5/5/8
25 A
0BAV
8 / 10 / 16
7.5 / 9.3 / 15
6 / 7.5 / 12
50 A
0CAV
24 / 32 / 32
22 / 29 / 29
19 / 25 / 25
16 / 21 / 21
80 A
0DAV
30 / 40 / 51
28 / 37 / 48
25 / 33 / 42
22 / 30 / 38
108 A
0LAV
13
45 / 60 / 76
42 / 56 / 71
37 / 50 / 63
34 / 45 / 57
120 A
0GAV
45 / 60 / 76
42 / 56 / 71
37 / 50 / 63
34 / 45 / 57
160 A
0EAV
60 / 80 / 102
56 / 74 / 95
49 / 65 / 83
43 / 58 / 73
200 A
0FAV
10
85 / 110 / 127
79 / 103 / 119
71 / 91 / 106
63 / 82 / 95
300 A
0JAV
11
98 / 122 / 157
86 / 108 / 139
400 A
0KAV
12
P115.M
online
0...255 dec
P116.M
online
0...300 dec
AM/4-58
07.94
Noload motor
current
Table 4-9
Number
P166.M
4.3
Change
effective
P051
Setting range
online
0.00...Irated LT
Description
Field controller
Gain,
integral action
time
Table 4-10
P051
Setting range
P034.M
online
0.0...600.0
100 A/Vs
P035.M
online
5.0...600.0 ms
Number
Description
AM
When calculating the controller data P153 = 1, the field controller parameters
are, among other parameters, defined.
In several cases, the control behavior can be improved (refer to Section 4.7)
AM/4-59
4.4
07.94
Table 4-11
P051
Setting range
P057.M
online
0...150 %
P058.M
online
0...399 %
P172.M
online
0...32000 RPM
Number
Description
AM
Note
If the current is limited by the maximum available converter current when accelerating, then the torquegenerating components are reduced.
A reduction of the current in P057 in this case shortens the rampup time.
AM/4-60
4.5 Limits
Induction motor modules (AM)
07.94
4.5
Limits
Table 4-12
Limits
Parameter attributes
Change
effective
P051
Setting range
Description
P174.M
online
0...32000 RPM
P059.M
online
0...399 %
Current limiting
Percentage of the rated motor current
P060.M
online
0...399 %
Output limiting
Percentage of the rated motor output
P029.G
online
0...32000 RPM
P039.G
online
0...399 %
P041.G
online
0...399 %
P050.G
online
0...32000 RPM
Number
Speed limiting
Highest required motor speed
AM
Note
If a drive is to be operated in the overload range, the limits must first be increased after the controller has been optimized.
The various limits are always simultaneously taken into account.
If an overload is permitted, then generally more than one limit has to be increased.
If the rampup time is to be shortened, it is also practical to make a change in
the openloop controlled range.
AM/4-61
4.6
07.94
Overview
Number
P030.M
Change
effective
P051
Setting range
Description
online
0...32000 RPM
AM
200
Steadystate minimum speed
(P030 < 200 RPM)
200
input setpoint [RPM]
200
AM/4-62
07.94
Speed
range
suppression
Table 4-14
Number
P054.M
P055.M
Change
effective
P051
Setting range
Description
online
online
4
4
0...32000 RPM
0...32000 RPM
AM
Shutdown without
overshoot
Table 4-15
Number
P022.M
Change
effective
P051
Setting range
online
2...32000 RPM
Description
AM/4-63
4.7
12.94
07.94
Manual optimization
Overview
current controller
speed controller
field controller
Noload motor current
main field reactance
motor and external moment of inertia
motor rotor resistance
If manual optimization is required, the specified signals at the appropriate measuring points should be traced using a storage oscilloscope, and the parameters set, so that the required signal characteristics are obtained. The sequence
can be triggered by the first of the specified signals.
For several adjustments, the settling characteristics of setpoint jumps have to
be evaluated (if possible, rampup time P016 or P042 = 0) (step response).
These can be entered using the oscillation generator (refer to Section 2.2.3). In
this case, braking energy can be fed back into the supply when I/R modules are
used.
When UE modules are used, this energy is converted into heat.
Rampdown time P017 or P043 can be increased to reduce the braking
power.
AM
Current controller
Phase current
AM/4-64
Test point
IR test socket
Parameterization
Address
Shift factor, e. g.
07.94
Phase current
Phase current
Fig. 4-1
t [ms]
P115 correct
Phase current
t [ms]
t [ms]
P gain
300
Max. value
255
P116 = 300
200
AM
P116 = 200
75
Fig. 4-2
P115 = 75
Base speed
range
P174
From the field weakening speed P173, the current controller gain is linearly
increased, and, at maximum speed P174, reaches the value of P116, but, a
maximum of 255.
If a value > 255 is entered in P116, the current controller gain reaches the
maximum value already at speeds < P174.
P116.M + 255(255P115.M) @ P173.M
P174.M
AM/4-65
07.94
In some cases, the behavior can be further improved using a somewhat higher
value.
Table 4-17
No.
Fault profile
No.
Fault profile
F11
F11
Table 4-18
No.
Fault profile
No.
Fault profile
F11
Spontaneous stall
AM
AM/4-66
07.94
Speed controller
Test point
Parameterization
Address
Shift factor, e. g.
Torquegenerating
current
X1 test socket
P076 = 10D2H
P077 = 0H
X2 test socket
P072 = 1110H
P073 = 4H
Torquegenerating
current
Torquegenerating
current
Torquegenerating
current
AM
t [ms]
Speed actual value
t [ms]
Speed actual value
t [ms]
P031 too low
Fig. 4-3
t [ms]
Speed actual value
t [ms]
t [ms]
P031 correct
AM/4-67
Table 4-20
07.94
No
.
Fault profile
No
.
Table 4-21
Fault profile
Speed oscillations with a low period
interval for speed steps
No
.
Fault profile
Tendency to oscillate when there is
an elastic coupling and a high external moment of inertia
Fault profile
Long settling characteristics when
speed changes occur
AM
AM/4-68
07.94
Field controller
Test point
Parameterization
Address
Shift factor, e. g.
X1 test socket
P076 = 1110H
P077 = 0H
Fieldgenerating
current
X2 test socket
P072 = 10CAH
P073 = 2H
t [ms]
Fieldgenerating
current
AM
t [ms]
Fieldgenerating
current
t [ms]
P034 too low
t [ms]
Fieldgenerating
current
t [ms]
P034 correct
t [ms]
P034 too high
Fig. 4-4
AM/4-69
07.94
Table 4-23
P166
Noload motor
current
No.
Fault profile
No.
Fault profile
F11
F11
Note
If the value of parameter P166 is changed, the main field reactance P171
should be readjusted.
Table 4-24
Signal name
Test point
Parameterization
Address
Shift factor, e. g.
Phase current
IR test socket
Motor current
(P007) display
(P010) display
Table 4-25
AM
Procedure
P172
P057
Speed
setpoint
Adjust so that
(P005) =
UA
(P162/P164) + 2
3 P158 P161
AM/4-70
P057
P166
P172
P057
07.94
P171
Magnetizing reactance
Note
If the value of parameter P171 is changed, the motor noload current P166
must be readjusted.
Table 4-26
Signal name
Integral component,
field controller
Test point
X1 test socket
Parameterization
Address
Shift factor, e. g.
P076 = 116A
P077 = 2
Set with the drive enabled at the field weakening speed P173.
Adjust the field controller integral component with parameter P171 to zero.
Integral component,
field controller
Integral component,
field controller
t [ms]
Integral component,
field controller
t [ms]
P171 correct
AM
t [ms]
Fig. 4-5
AM/4-71
12.94
07.94
P159
motor and external
moment of inertia
P219
additional moment
of inertia
Table 4-27
Parameterization
Signal name
Test point
Address
Shift factor, e. g.
X1 test socket
P076 = 1110H
P077 = 0H
Integral component,
speed controller
X2 test socket
P072 = 117CH
P073 = 2H
Setting with load coupled and the drive enabled in the oscillation mode.
Enter setpoint steps from n = 2 P172 to nmax with the oscillation generator.
Set the speed controller integral component with parameter P159 or P219 so
that this remains at approximately zero during acceleration.
AM
t [ms]
Integral component,
speed controller
t [ms]
Integral component,
speed controller
t [ms]
Integral component,
speed controller
Friction torque
0
0
t [ms]
0
t [ms]
t [ms]
Fig. 4-6
AM/4-72
07.94
P168
motor rotor
resistance
Note
Motor rotor resistance setting is not required for motors with deepbar squirrel
cage rotors.
Table 4-28
Signal name
Test point
Parameterization
Address
Shift factor, e. g.
X1 test socket
P076 = 1110H
P077 = 0H
Integral component,
speed controller
X2 test socket
P072 = 117CH
P073 = 2H
AM
t [ms]
Integral component,
speed controller
t [ms]
Integral component,
speed controller
t [ms]
Integral component,
speed controller
Friction torque
t [ms]
P168 too low
t [ms]
t [ms]
P168 correct
Fig. 4-7
AM/4-73
07.94
Induction motor modules (AM)
AM
AM/4-74
04.97
12.94
07.94
5.1
Diagnostic aids
5.1.1
Warning
Table 5-1
When the motor pulses are canceled, there is no information regarding the motor speed. The calculated speed actual value is then set to zero. Thus, all
speed actual value displays no longer provide any information.
In addition to P133, BERO speed actual value if the speed is monitored.
P051
Setting range
(P001)
(P101)
32000...32000
RPM
Speed setpoint
(P002)
(P102)
32000...32000
RPM
(P003)
399.0...399.0 %
(P004)
0.0...100.0 %
(P005)
1250...1250 Hz
(P006)
0...700 V
(P007)
399.0...399.0 %
Motor current
Referred to the rated motor current
(P008)
0.0...399.0 %
(P009)
0.0...399.0 %
Active power
Referred to the rated motor output
(P010)
0...450 Veff
0...170C
Number
(P110)
(P133)
0...65535 RPM
(P037)
AM
Description
Torquegenerating current
Referred to the rated motor current
Utilization
Referred to the effective limiting
Motor frequency
DC link voltage
Realized via NE or the monitoring module or using
P061
AM/5-75
5.1.2
07.94
Status displays
P000, P100
operating display
P011
Status of the binary inputs
Table 5-2
Display
Display
value
Term. 63
Term. E9
Term. E5
Term. E1
central
pulse enable
freelyprogramm. via
P089
freelyprogramm. via
P085
freelyprogramm. via
P081
Term. 64
Term. 663
Term. E6
Term. E2
central
drive enable
axisspecific
pulse enable
freelyprogramm. via
P086
freelyprogramm. via
P082
Term. 112
open
settingup
operation
Term. 65
Term. E7
Term. E3
axisspecific
controller
enable
freelyprogramm. via
P087
freelyprogramm. via
P083
Term. 81
open
rampfunction
generator fast
stop
Term. E8
Term. E4
freelyprogramm. via
P088
freelyprogramm. via
P084
AM
Term. R
AM/5-76
07.94
P254
Display of active
functions 1
Table 5-3
Display
Display
value
Fct. No. 13
Fct. No. 9
Fct. No. 1
rampfunction
generator 2
gearbox stage
bit 0
Fct. No. 14
Fct. No. 10
increase
setpoint
gearbox stage
bit 1
oscillation
Fct. No. 15
Fct. No. 11
Fct. No. 7
Fct. No. 3
decrease
setpoint
gearbox stage
bit 2
rampup time
TH = 0
reset fault
memory
(fault acknowledgment)
Fct. No. 16
Fct. No. 12
setpoint enable
clockwise/
counterclockwise phase
sequence
2nd torque
limit
Fct. No. 2
AM
AM/5-77
12.94
07.94
P255
Display of active
functions 2
Table 5-4
Display
Display
value
Fct. No. 21
Fct. No. 17
motor selection
bit 1
fixed setpoint
bit 0
Fct. No. 24
Fct. No. 18
AM
motor selection
bit 0
AM/5-78
12.94
07.94
5.1.3
Diagnostic parameters
P020
Executed selfsetting
Table 5-5
Display
Display
value
self
optimization
5
self
optimization
1
setting, moment
of inertia
optimization,
phase current
controller
self
optimization
6
self
optimization
2
setting, rotor
resistance
setting, power
offset
self
optimization
7
self
optimization
3
AM
calculation,
setting, noload
speed controller
current
self
optimization
8
self
optimization
4
setting, field
weakening
speed
setting, main
field reactance
AM/5-79
12.94
07.94
Table 5-6
ParameterAttribute
Number
(P028)
(P200)
5.1.4
Change
effective
P051
Setting range
0...FFFFH
0...FFFFH
Description
Diagnostics
Bit
Value
13
2000H
Division interrupt
Error in the calculation routine by
incorrect data entry
Checksum, parameter
At every backup (P052=1H), the checksum is formed over the parameter contents.
Thus, a change in the drivemotor data is identified.
Overview
Function
technical data
assignment
Normalization, IR
AM
Technical data
Analog output of the phase current actual value and RAM variables for measurement and diagnostic purposes.
AM/5-80
03.96
07.94
Assignment
X1
X2
IR
Fig. 5-1
X1:
X2:
IR:
M:
Normalization IR
Table 5-7
Normalization, IR
Normalization, IR
8 A corresponds to 8.25 V
15 A corresponds to 8.25 V
25 A corresponds to 8.25 V
50 A corresponds to 8.25 V
80 A corresponds to 8.25 V
10
11
12
13
AM/5-81
AM
07.94
Parameterization
X1 (DAU 3),
X2 (DAU 4)
Table 5-8
P051
Setting range
Description
P076
online
0...FFFF hex
Address, DAU 3
Address of the RAM variables which are to be output
at DAU 1.
Presetting: 1110H calculated speed actual value
1 V corresponds to 15000 RPM
P077
online
0...F hex
P080
online
127...127 dec
P072
online
0...FFFF hex
P073
online
0...F hex
P074
online
127...127 dec
Number
AM
2nd overflow
3. overflow
4. overflow
+5.0
+2.5
0.0
0000H
2000H
Shift factor = 0
4000H
6000H
8000H
A000H
Offset = 0 V
Fine normalization = 100 %
Shift factor = 2
C000H
E000H
FFFFH
Hex numerical value
Note
A listing of important measured quantities (RAM variables) and their addresses
is listed in the Appendix (Section 6.5).
AM/5-82
07.94
5.1.5
Function
Table 5-9
ParameterAttribute
Change
effective
P051
Setting range
Description
P181
online
0...FFFF hex
P179
online
0...3 hex
(P182)
0...FFFF hex
(P183)
0...FFFF hex
Number
Note
A listing of important measured quantities (RAM variables) and their addresses
is listed in the Appendix (Section 6.5).
AM/5-83
AM
04.97
07.94
5.1.6
Function
Simultaneous tracing of two RAM variables and output via test sockets X1 and
X2.
Technical data
Parameterization
Table 5-10
Parameterization
ParameterAttribute
Number
AM
P207
Change
effective
P051
Setting range
online
0...C hex
Description
P212
online
0...FFFF hex
Address signal 1
A list of all of the important measured quantities
(RAM variables) and their addresses are provided in
the Appendix (Section 6.5).
P213
online
0...FFFF hex
Address, signal 2
AM/5-84
07.94
Table 5-10
Parameterization
ParameterAttribute
Change
effective
P051
Setting range
Description
P208
online
0...FFFF hex
P209
online
0...FFFF hex
P210
online
0...FFFF hex
P211
online
0...FFFF hex
P206
online
0...1 hex
P215
online
0...15 dec
P216
online
0...15 dec
P217
online
0...FFFF hex
Trigger signal 1
Trigger signal amplitude low for D/A converter output with 1 ms duration.
An edge is output, which follows the traced signal
when entering various signal levels in P217 and
P218.
P218
online
0...FFFF hex
Trigger signal 2
Trigger signal amplitude high for 1 ms D/A converter output.
P214
online
0...1 hex
Number
Note
A listing of important measured quantities (RAM variables) and their addresses
is listed in the Appendix (Section 6.5).
AM/5-85
AM
5.1.7
07.94
Warning
Function
Function
information
Table 5-11
AM
P051
Setting range
P057.M
online
0...150 %
P058.M
online
0...399 %
P172.M
online
0...32000 RPM
Number
AM/5-86
Description
07.94
5.2
Fault analysis
5.2.1
Fault display
Display
1 fault
Inactive
key
Fault acknowledgment
using the
P
key
Depress the
If the fault can be acknowledged, the system returns to the operator control
program.
If the fault cannot be acknowledged, for example, there is a defect, then this
can be temporarily suppressed in the display.
remote acknowledgment
One of the following terminals is energized, with the controller inhibited:
powerdown
Powerdown the converter and after the display has disappeared after approx. 2 s, powerup again.
Fault suppression
using the
key
The system returns to the operator control program for approx. one
minute after depressing the
AM/5-87
AM
5.2.2
Warning
Table 5-12
When the motor pulses are canceled, there is no information regarding the motor speed. The calculated speed actual value is then set to 0.The motor impulses can be canceled by fault messages.
Fault message
F04
F05
03.96
07.94
Fault
D/A conversion
error
Motor current = 0
Cause
F07
F08
AM
F11
F13
Field controller is at
its limit
AM/5-88
04.97
07.94
Table 5-12
Fault message
F14
Fault
Overtemperature,
motor
Cause
F15
Overtemperature,
converter
F16
F17
motor overloaded
motor current too high, e.g. due to incorrect motor data
defective temperature sensor (motor)
motor fan defective
winding short circuit, motor
converter overloaded
(incorrect motor/converter assignment, incorrect duty cycle)
ambient temperature too high
induction motor module fan failed
defective temperature sensor in the induction motor module
acknowledge after cooling below 50 C 15 K only by
switching the supply voltage off and on
incorrect code number 3 selected in P095 (for power modules without
automatic identification)
power section
Temperature sensor,
motor
F19
interrupted
AM
short circuit
only KTY 84
F51
Parameterizing error:
Rated torque too high
F52
Parameterizing error:
Torque constant
inadmissible
F53
Parameterizing error:
Rated motor current
too low
F60
Maximum speed
BERO exceeded
illegal ratio of
P160.M P164.M
P161.M P163.M P171.M
from FW 2.00
Ratio of the rated motor current to rated power module current too low
F90
AM/5-89
Faults
07.94
after
S supply ON
Operating control display inactive
defective EPROM/FEPROM
S controller enable
Motor rotates counterclockwise, although the induction motor module outputs a clockwise rotating field, or vice versa
AM
AM/5-90
07.94
Appendix
6 Appendix
Induction motor modules (AM)
AM
AM/6-91
6.1
07.94
Note
If data save is interrupted due to a power failure or the power being disconnected, then the values which were changed since the last data save are lost, and
the drive converter displays fault message F07 after the power returns. The
parameter values can be reset after acknowledging fault message F07 (refer
to Section 5.2.2).
START
AM
Powerup the unit
(supply ON)
yes
Fault (refer to
Section 5.2.2)
No
Does a
flashing F...
appear?
yes
Fault (refer to
Section 5.2.2)
No
Does the
operating display
P000 appear
(refer to
Sect. 1.3)
No
yes
1
AM/6-92
07.94
Set P051 to 4H
(remove write protection)
Set P097 to 0H
(start initialization)
Set P052 to 1H
(write into FEPROM)
Wait until P052 is again set to 0H,
then switch the converter off and 1 s
after the operating display has been
canceled, powerup again.
AM
Set P051 to 4H
(remove write protection)
No
Yes
Enter P061 fixed DC link
voltage (V)
AM/6-93
12.94
07.94
3
Enter the following parameters1)
P158
P160
P161
P162
P163
P164
P174
No
P166
P167
P168
P169
P170
P171
AM
Yes
No
Yes
Enter P1591) motor and external moment of inertia (gm2). If the set value is too low, enter P2191)
additional moment of inertia (kgm2).
AM/6-94
07.94
Set P052 to 1H
Wait until P052 is again set to 0H. The
entered values are
transferred into the FEPROM.
No
Yes or
unknown
No
Yes
Observe derating
(refer to Section 4.2)
AM
Set P056 motor selection
to the motor data set to be
processed
10
AM/6-95
07.94
Status of the two center digits of the operating display P000 after
switching (refer to Section 2.2.1)
Controller enable
Connect the enable voltage to terminal 65 at the IM module.
No
AM
Is
terminal fct. 16
(setpoint enable)
activated?
Yes
Remove rampfunction generator fast stop. Connect the enabled voltage to terminal 81.
Yes
No
F05
F11
Refer to
Section 5.2.2
AM/6-96
03.96
07.94
Yes
No
Max. motor speed
> 6000 RPM
1)
AM
Caution!
The motor rotates at the no
load speed, with a clockwise
phase sequence.
Note:
Set P174 and P029 to at
least the rated synchronous
speed to optimize the noload
current.
Yes
No
Does F60 or F17 fault message
appear in the display?
Fault (refer to
Section 5.2.2)
AM/6-97
12.94
07.94
8
Caution!
The motor runs with the field weakening speed, clockwise phase sequence.
Yes
No
Is fault message F60
displayed?
Fault (refer to
Section 5.2.2)
Caution!
Oscillation up to the maximum
speed with clockwise phase
sequence (if required, limit with
P029).
No
Speed controller
integral action time
P032 > 250 ms
Yes
Caution!
Oscillation up to the maximum
speed with clockwise phase
sequence (if required, limit with
P029).
AM
No
Deepbar squirrelcage rotor?
Yes or unknown
Caution!
Oscillation up to the
maximum speed with clockwise phase sequence.
Yes
No
Is fault message F60
displayed?
Fault (refer to
Section 5.2.2)
8a
AM/6-98
07.94
8a
10
Yes
No
Set P204 to 7
(set P031, P032, P205, speed controller setting
calculation to 1)(start selfsetting)
Wait until P205 is set to 0
Set P051 to 4H
(remove write protection)
AM
9
AM/6-99
07.94
AM
P014
P015
P024
normalization nset
offset correction nset
normalization nset
P016
P017
P029
P021 to P023,
P027
P039 to P043
P047
torque limits
P057 to P058
opencontrolled range
P059 to P060
limits
P081 to P089
freelyprogrammable
terminal functions
P113 to P114
speed setpoints
P185 to P194,
P241 to P246
freelyprogrammable
Relay functions
11
AM/6-100
07.94
11
Values changed?
No
Yes
AM
Set P051 to 0H.
Set write protection
End
AM/6-101
04.97
03.96
07.94
6.2
Table 6-1
Power
mod. type
Order No.
6SN11231AA0V
6SN11241AA0V
6SN11401BA1V
Rated output
current [A]
Power module
code number
P095
8A
0HAV
FW 2.10
15 A
0AAV
FW 2.10
25 A
0BAV
10
16
50 A
0CAV
24
32
32
80 A
0DAV
30
40
51
108 A
0LAV
45
60
76
13
120 A
0GAV
45
60
76
160 A
0EAV
60
80
102
200 A
0FAV
85
110
127
10
300 A
0JAV
120
150
193
11
FW 2.00
400 A
0KAV
200
250
257
12
FW 2.00
FW 2.10
AM
Fig. 6-1
AM/6-102
6.3 Connections
Induction motor modules (AM)
03.96
07.94
6.3
Connections
Overview
Warning
The shields and unused cores of power cables (e.g. unused brake conductors
in the cable) must be connected to PE potential in order to discharge charging
currents cause by capacitive coupling effects.
Hazardous voltages could be present, resulting in death or serious injury, if this
is not observed.
Note: When non-PELV circuits are used at terminals AS1, AS2, connector coding must be used so that the connector cannot be interchanged (refer to
EN602041, Section 6.4)
Order No. of the coding connector, refer to Catalog NC60.1
AM
AM/6-103
04.97
03.96
07.94
6.3 Connections
Induction motor modules (AM)
Connection diagram
SIMODRIVE 611 analog system
NE module
IM module
74
Ready
signal
X1
X2
IR
Motor temperature
sensor3)
5.3
5.2
5.1
63
9
9
64
19
Drive enable
X141
nset1
EN+
EN+
FR
9
112
48
111
213
113
Settingup
contactor control
Signal. contact
Line contactor
X171
External
IF
RF
HSS
P24
P15
N15
N24
M
M
RESET
EN+
7
45
44
10
15
15
R
X161
nset22)
T. 11)
T. 21)
T. 31)
T. 41)
T. 51)
T. 61)
T. 71)
T. 81)
NS1
NS2
SPP
EXT
X181
M500
P500
2U1
1U1
2V1
1V1
2W1
1W1
U1 V1 W1
FN LK
Signal.
contact
5 V Start inhibit
UNIT
VDC
link>>
X351
AS1
AS2
T. 91)
EN+
RS232C
interface
X421
X451
56
14
24
A91
8
X431
M
A92
X441
663
65
81
E1
E2
E3
E4
E5
E6
E7
E8
E9
9
AS1
AS2
X411
X442
289
A11
A21
A31
A41
A51
A61
672
673
674
Equipment bus
DC link
DAU 12)
DAU 22)
Internal
Relay 11)
Relay 21)
Relay 31)
Relay 41)
Relay 51)
Relay 61)
Ready
Fault
Signal.
contact
Start inhibit
P 600
M 600
PE1
X131
X172
X151
X121
X351
72
Pulse enable
L1
L2
L3
BERO input3)
73.2
73.1
Group signal
I2t temperature
monitoring
AM
X412
X432
X111
U2 V2 W2 PE1 PE2
at
M
3
from the NC
PE
Warning!
!
Fig. 6-2
If a power contactor is used between the motor and the induction motor module, then it
must be ensured that this contactor is only switched in a nocurrent condition. (When
shutting down, first cancel the pulses (terminal 663), then 40 ms later, the contactor).
connecting diagram
AM/6-104
04.97
03.96
07.94
6.3 Connections
Induction motor modules (AM)
Connecting terminals
Table 6-2
T. No.
Terminals
Location
Function
Type
1)
Typ. voltage/
limit values
Max. crosssection
U2
V2
W2
Motor connection
3ph. 0...450 V
AC
PE1
PE2
Protective conductor
Protective conductor
I
O
0V
0V
P600
M600
DC link
DC link
I/O
I/O
+300 V
300 V
Busbar
Busbar
Equipment bus
I/O
Various
Ribbon cable
X151/351
10 V
(max. 11 V)
10 V
(max. 11 V)
Bolt
Bolt
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
56
14
24
8
X421
X421
X421
X421
663
65
81
E1
E2
E3
E4
E5
E6
E7
E8
E9
94)
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
X431
I
I
I
I
I
I
I
I
I
I
I
I
O
+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
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
A91
M
A92
M
X451
X451
X451
X451
O
O
O
O
10 V 3 mA
0V
10 V 3 mA
0V
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
Test socket
Test socket
Test socket
Test socket
O
O
O
O
0 V...5 V 3 mA
0 V...5 V 3 mA
10 V 3 mA
0V
X1
X2
IR
M
1)
2)
3)
4)
Speed setpoint 1
(differential input)
Speed setpoint 2
(differential input)
I
I
I
I
I = input
O = output
can be freelyprogrammed via operator control parameters
Function not possible with Order No. 6SN11220BA110AA0
Refer to Section NE 3.1... 3.2
AM/6-105
AM
6.3 Connections
Induction motor modules (AM)
07.94
Relay terminals
Table 6-3
relay terminals
Type
T. No.
Location
Function
289
X441
A11
A21
A31
A41
A51
A61
X441
X441
X441
X441
X441
X441
672
673
674
X441
X441
X441
AS 1
AS 2
X441
X441
Typ. voltage/
limit values
1)
Ready/
no axisspecific
fault
Signal.
contact
Start inhibit
30 V/6.0 A max
1.5 mm2
NO
NO
NO
NO
NO
NO
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
1.5 mm2
NO
I
NC
30 V/1.0 A max
30 V/1.0 A max
30 V/1.0 A max
1.5 mm2
1.5 mm2
1.5 mm2
I
NC
1.5 mm2
1.5 mm2
6.4
Interfaces
6.4.1
AM
Max. crosssection
PIN NO.
Signal name
Explanation
10
EN+
+24V
14
BERO
Signal
15
FR
Ground
6.4.2
Signal name
14
+ Temp
15
Temp
6.4.3
1) I = input
Signal name
TxD
RxD
M5
NC = NC contact
NO = NO contact
AM/6-106
07.94
6.5
Address
Value
Corresponds to
11B6H
7FFFH
nmax
(P174/P029)
Utilization
11B8H
7FFFH
1110H
7FFFH
37499 RPM
Torque setpoint
10ECH
2000H
Mdrated
10C6H
2000H
Imot. n
10C4H
2000H
Imot. n
10D2H
2000H
Imot. n
10CAH
2000H
Imot. n
0E02H
7FFFH
37499 RPM
1140H
10000H
1142H
10000H
1148H
2000H
PS rated
114AH
2000H
PS rated
117CH
2000H
Mdrated
116AH
2000H
Imot. n
10E6H
2000H
Imot. n
AM/6-107
AM
6.6
04.97
07.94
generallyvalid parameters
motordependent parameters
AM
AM/6-108
5.1.1
5.1.1
5.1.1
5.1.1
5.1.2
5.1.1
5.1.3
3.3.2
(P028) Diagnostics
3.1
3.1
3.3.2
2.2.3
3.3.2
5.1.3
3.1
4.1
4.1
4.1
3.1
M
3.1
3.3.4
5.1.1
3.3.4
5.1.1
(P004) Utilization
1.10
5.1.1
1.10
5.1.1
1.10
0...FFFF
2.0...10.0
0...32000
1.10
2.0...10.0
0...32000
2...16000
2...16000
0...00FF
E000...2000
4.00...100.00
0.00...320.00
0.00...320.00
E000...2000
32000...32000
1000.0...1000.0
1000.0...1000.0
0...FFFF
0.0...450.0
399.0...399.0
0.0...399.0
0.0...399.0
0...700
1250...1250
0.0...100.0
399.0...399.0
32000...32000
32000...32000
special characters
Setting range
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
5.1.1
1.10
FirmSec. ware
status
2.2.1
Desig.
PNo.
100.0
V
maxmot
10.0
100
hex
maxmot
10.0
maxmot
10
8
hex
3000
hex
maxmot
s
dec
0.00
0.00
hex
0
0.00
maxmot
100.0
n RPM
hex
maxmot
Hz
maxmot
Dim.
Setting
1
Settings
6
04.97
07.94
6.6 Setting and checking data (Parameter list)
Induction motor modules (AM)
AM
AM/6-109
AM/6-110
P036
P037
P039
P041
3.0
1.10
1.10
Write protection
Control word
P050
P051
P052
P053
2.2.3nd 3.00
2.2.3nd 3.00
M
M
Current limiting
Output limiting
Fixed temperature
P058
P059
P060
P061
P063
P064
P065
4.4
1.10
1.10
1.10
1.10
1.10
2.2.3nd3.00
2.1
4.5
4.5
4.4
1.10
1.10
P057
2.3
4.6
Motor selection
P056
1.10
4.6
P055
1.10
1.3
P054
1.10
1.10
1.10
1.3
1.3
4.5
3.3.2 1.10
1.10
4.1
1.10
2.2.3 1.10
2.2.3 1.10
5.1.1
4.2
4.3
1.10
1.10
1.10
4.1
4.3
4.1
4.1
0...600
0...170
0...170
0...700
0...399
0...399
0...399
0...150
0...4
0...32000
0...32000
100
240
30
150
100
deg. C
deg. C
100
dec
maxmot
90
maxmot
hex
0...1
dec
0...FFFF
hex
6000
0...7FFF
maxmot
s
%
5.00
90.0
0...32000
0.0...100.0
0.00...320.00
0.00...320.00
50
5.00
100
0...399
0...399
hex
kHz
dec
30.0
0
0...7
5.0...600.0
100 A/Vs
dec
40.0
140.0
10.0...6000.0
0.0...600.0
dec
maxmot
maxmot
50.0
6000
Setting Dim.
0...32000
4.6
AM
0.0...255.9
0...32000
2.2.3 1.10
1.10
Setting range
Firm
Sec. ware
status
P047
P035
P043
P032
P034
P031
P042
P030
G
M
P029
Desig.
Speed limiting
PNo.
1
Settings
6
Address, DAU 2
Address, DAU 4
Offset, DAU 4
Address, DAU 3
Offset, DAU 1
Offset, DAU 2
Offset, DAU 3
P068
P069
P072
P073
P074
P076
P077
P078
P079
P080
P081
P082
P083
P084
3.3.4 1.10
P067
Control word
Initialization
P086
P087
P088
P089
P090
P095
P096
P097
0...F
127...127
127...127
1...21
1...21
1...21
1...21
1.10
1.10
1.10
1.10
1.10
1.10
0...7
1.10
2.1
2.1
1.10
1.10
1.10
2.2.2
2.2.1
5.1.1
32000...32000
special characters
0.00...99.99
0...1
4...10
2.1
1.10
1...21
0...FFFF
1...21
1.10
1.10
1...21
1.10
1.10
1...21
1.10
1...21
127...127
1.10
1.10
0...F
0...FFFF
127...127
1.10
1.10
1.10
1.10
0...FFFF
0...F
0...FFFF
0...F
0...FFFF
Setting range
1.10
1.3
3.2.2
P085
3.2.2
3.2.2
3.2.2
3.2.2
5.1.4
3.3.4
3.3.4
5.1.4
5.1.4
5.1.4
5.1.4
5.1.4
1.10
3.3.4 1.10
3.3.4 1.10
3.3.4 1.10
FirmSec. ware
status
Address, DAU 1
Desig.
P066
PNo.
incr.
incr.
dec
dec
dec
dec
dec
dec
0
0
1
7
3
17
18
19
dec
hex
dec
dec
hex
dec
maxmot
11
000D
3
0
0
dec
incr.
dec
hex
hex
1110
10
hex
incr.
hex
hex
hex
10D2
11B8
hex
hex
11B6
0
Dim.
Setting
1
Settings
6
04.97
07.94
6.6 Setting and checking data (Parameter list)
Induction motor modules (AM)
AM
AM/6-111
AM/6-112
M 2.2.3 3.00
0...65535
5.1.1 3.00
1.10
1.10
2.1
4.2
2.1
M
M
M
M
M
1.10
2.1
2.1
0...65000
0.0...1200.0
1.10
2.1
1.10
0.00...650.00
1.10
2.1
2.1
0.00...650.00
1.10
0.000...65.000
0.000...65.000
0.000...65.000
0.00...650.00
1.10
2.1
0.000
0.000
0.000
50.0
1500
379.00
0.00
0.00
0.0
0.0...6535.5
0.000
0.000...65.000
1.10
1.000
1.000
1.10
2.2.3 1.10
0.002...60.000
2.2.3 1.10
4.1
0.002...60.000
2.2.3 1.10
32000...32000
2.2.3 1.10
0
0
32000...32000
1.10
1.3
1.3
65535
Hz
maxmot
kW
gm 2
mH
maxmot
maxmot
dec
dec
hex
maxmot
maxmot
maxmot
dec
dec
maxmot
maxmot
dec
deg. C
maxmot
Setting Dim.
0...1
1...1
1.10
AM
0...7FFF
1.10
1.3
0...65535
0...10
0...300
0...255
0...9
P131
2.00
1.10
3.1
32000...32000
1.10
1.10
3.1
1.10
32000...32000
1.10
3.1
3.1
5.1.1
32000...32000
1.10
3.00
5.1.1
Setting range
Desig.
FirmSec. ware
status
PNo.
1
Settings
5
6
1.10
1.10
1.10
1.10
1.10
1.10
1.10
1.10
1.10
1.10
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
M
M
M
M
2.00
1.10
1.10
5.13
1.10
4.1
M 4.1
1.10
5.1.5
1.10
5.1.5
1.10
0...FFFF
0...FFFF
1.10
5.1.5
0...1
0 ... FFFF
1...150
0.0...255.9
0.0...255.9
0...32000
0...32000
0...7FFF
0.00...10.00
0.00...10.00
0...FFFF
0...FFFF
0...7FFF
0.00...10.00
0.00...10.00
0...FFFF
0...FFFF
0...FFFF
0...3
1.10
0.000...1.000
1.10
2.1
5.1.5
0...65535
0.0...500.0
0...32000
0...32000
0...32000
0.00...650.00
0.000...65.000
Setting range
2.2.3 1.10
1.10
2.1
2.1
1.10
2.1
1.10
1.10
2.1
2.1
1.10
2.1
FirmSec. ware
status
Desig.
PNo.
min
1500
1.0
maxmot
dec
dec
%
0
50.0
10.0
100
maxmot
dec
hex
s
hex
0
0
hex
hex
1110
s
hex
0.00
hex
0
0.00
hex
hex
hex
1110
hex
1110
hex
0.800
32767 maxmot
maxmot
maxmot
1500
maxmot
300
0.00
0.000
Setting Dim.
1
Settings
5
6
04.97
07.94
6.6 Setting and checking data (Parameter list)
Induction motor modules (AM)
AM
AM/6-113
AM/6-114
M
1...20
1...20
1.10
1.10
1.10
1.10
1.10
1.10
1.10
1.10
3.3.2
3.3.2
3.3.2
3.3.2
3.3.2
2.4
2.4
2.4
5.1.2 1.10
5.1.2 1.10
0...FFFF
0...FFFF
0...FFFF
0...FFFF
0...FFFF
0...FFFF
1...20
1...20
1...20
1...20
1.10
3.3.2
1.10
3.3.2
0 ... 15
0...FFFF
5.1.6 1.10
5.1.6 1.10
4.1
0...15
0...FFFF
5.1.6 1.10
0...1
0...15
5.1.6 1.10
0...FFFF
5.1.6 1.10
1.10
0...FFFF
0...FFFF
0...FFFF
0...FFFF
0...FFFF
0...C
0...1
5.1.6
1.10
1.10
1.10
0...1
0...7
Setting range
5.1.6
1.10
5.1.6
5.1.6
1.10
5.1.6
1.10
5.1.6
1.10
5.1.6
1.10
1.10
4
4
FirmSec. ware
status
Desig.
PNo.
20
7FFF
10D2
1110
hex
hex
hex
hex
hex
dec
dec
dec
dec
dec
dec
kgm
hex
hex
dec
dec
hex
hex
hex
hex
hex
hex
hex
hex
hex
dec
dec
Setting Dim.
1
2
Settings
6
AM
No.
P018
P036
P158
No.
P166
P167
P168
P169
P170
P171
P172
P173
P176
No.
P160
P161
P162
P163
P164
P174
P178
Special settings
Parameter
Initial roundingoff
Converter switching frequency
Series reactor inductance
No.
P095
P096
P056
P099
No.
P031
P032
P034
P035
P115
P116
P159
P219
(P251)
(P251)
Customer:
140
Calculated value
P153 = 1
Calculated value
P153 = +1
Rating plate
data
Value
/
dec
hex
mH
1
1
5
5
2
2
Units
8
8
Selfoptimized value
P204 =
7
7
hex
hex
Units
dec
dec
100 A/Vs
dec
dec
dec
gm 2
kgm 2
Postoptimized value
A
2p =
Units
maxmot
maxmot
maxmot
Units
kW
A
V
maxmot
Hz
maxmot
dec
IM module:
Motor type:
Motor parameter set
Machine:
Comments
Comments
Comments
Comments
Comments
Date:
04.97
07.94
6.6 Setting and checking data (Parameter list)
Induction motor modules (AM)
AM
AM/6-115
04.97
07.94
AM
AM/6-116
Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ES/1-3
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ES/2-5
2.1
Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ES/2-5
2.2
Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ES/2-6
2.3
Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ES/2-6
2.4
ES/2-6
ES
ESi
1 Components
Spare parts (Sp)
03.96
07.94
Components
ES
ES/1-3
1 Components
Spare parts (Sp)
07.94
ES
ES/1-4
2.1 Connectors
Spare parts (Sp)
03.96
07.94
Accessories
2.1
Connectors
When required, the connectors listed in Table 2-1 (customer interfaces) can be
ordered as spare parts.
Table 2-1
Connectors
Grid dimension
5.08
6SY9433
5.08
6SY9906
5.08
6SY9432
5.08
6SY9896
5.08
6SY9898
5.08
6SY9897
1)
7.60
6SY9900
12
5.08
6SY9901
13
5.08
6SY9903
15
5.08
6SY9902
Power connector
motor connection
3 pin
6SY9904
Power connector
pulsed resistor connection
3 pin
6SY9905
ES
3507661
Crimp contacts
9268841
ES/2-5
2.2 Cable
Spare parts (Sp)
2.2
03.96
07.94
Cable
50 mm equipment bus cable, Item No. 462 0080126.00
2.3
Fuses
Refer to the Planning Guide for recommended line fuses.
2.4
ES
ES/2-6
04.97
07.94
Index
A
Adaptation tables, VS/1-5, VR/1-5
Address, RAM variables, HS/6-112
Addresses, RAM variable, AM/6-107
Analog output, HS/3-65
Fine normalization, HS/3-67
M/Mrated display, HS/3-67
nact display, HS/3-67
P/Pmax display, HS/3-67
Parameterization DAU 1, DAU 2, HS/3-66
Analog outputs, AM/3-48
Connection for analog displays, AM/3-50
Parameterization DAU, AM/3-49
B
Bit, HS/1-6
Block diagram, component side, VR/9-32
Block diagram, MSD option board, VS/9-52
Block diagram, parameter board, VS/9-53
Block diagram, solder side, VR/9-33
Board code, HS/2-25
Builtin motors, HS/6-102
C
C axis, HS/2-30
Caxis, HS/2-24, HS/3-57
Caxis operation, VS/5-39
Cable, ES/2-6
Changeover speed, AM/2-18, AM/2-21
Code numbers for the power module and standard motors, HS/6-99
Component replacement, HS/1-7, AM/1-8
Component side, VR/3-18, VR/9-32
Connection overview
Connecting diagram, HS/6-104
Connecting terminals, HS/6-105, AM/6-105
Connection diagram, AM/6-104
Relay terminals, HS/6-106, AM/6-106
Star/delta changeover, HS/6-107
Connections, HS/1-13, AM/1-14
Connector assignment, VR/9-35
for Bero, HS/6-109
Motor encoder signal output, HS/6-110
Spindle encoder cable, HS/6-109
Connectors, ES/2-5
Control parameters, AM/1-10
Current actual value normalization, VS/1-4,
VR/1-5
Current controller, HS/4-75, AM/4-57
Current controller gain, VS/1-4, VR/1-5
D
DAU, HS/3-66, AM/3-48
DC link voltage, AM/2-16
Diagnostic parameters, HS/5-81, AM/5-79
Diagnostics, VS/8-45, VR/8-29, HS/5-77, AM/5-75
Display, HS/2-24, HS/5-87, AM/2-22, AM/5-87
Display elements, of the monitoring and NE modules, NE/2-7
Display elements of the feed modules, VS/8-45
Display parameters, HS/2-24, HS/5-77, AM/2-22
Drift offset, VS/2-23, VR/2-16
E
Electronic weight equalization, VS/3-30, VS/3-32,
VR/3-19
Encoder phase error correction, HS/2-26
Equipment status, HS/2-24, AM/2-22
F
Fault, HS/5-91, AM/5-88
acknowledgment, HS/5-87, AM/5-87
display, HS/5-87, AM/5-87
suppression, HS/5-87, AM/5-87
Fault display, VS/8-46
Fault message, VR/3-18, AM/5-88
Field controller, AM/4-59, AM/4-69
Fieldweakening range, AM/2-21, AM/4-65
Filter, HS/4-74
Firmware release, AM/2-23
Firmware replacement, HS/1-7, AM/1-7
Firmware version, HS/2-25
Fixed setpoints, AM/3-38
Flux adaptation, HS/2-51
Functions via fixed values, VS/5-38
G
Gain Kp, VR/2-15
Gain Kp with adaptation, VS/2-21
Gain Kp without adaptation, VS/2-18
Gearbox stage, HS/2-24, AM/2-22
Index-1
04.97
07.94
I
Initialization, AM/2-16, AM/2-21
Special motors, HS/2-17
Star/delta motors, HS/2-20
Initializing, Standard motors, HS/2-15
Input terminals, AM/3-40
Input terminals , HS/3-56
Integral action time limiting, VR/3-18, VR/3-20
Integral action time TN without adaptation,
VS/2-19
Integral action time with adaptation, VS/2-20
Integral action time/speed controller, VR/2-16
Integrator inhibit, VR/3-18
Interfaces, AM/6-106
Inverter clock frequency, HS/3-57, HS/4-76,
AM/4-57
L
LED display, VR/8-29
Limit value stages, VS/5-37
Limiting the I component, VS/2-22
Limits, AM/4-61
M
M19, HS/2-24, HS/2-29
Magnetizing reactance, AM/4-71
Main field reactance , AM/2-18
Maintenance and diagnostics, VS/8-45, VR/8-29
Manual optimization, AM/4-64
Master/slave, VS/3-29, VR/3-18, VR/3-19
Master/slave operation, HS/2-43
Maximum speed monitoring, AM/2-23
Measured value displays, HS/5-77, AM/5-75
Minimal/maximum value memory, AM/5-83
Minimum speed, HS/3-55
steadystate, AM/4-62
Module replacement, HS/1-7, AM/1-8
Moment of inertia, AM/2-17, AM/4-53, 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/2-21, AM/2-17
Motor rotor resistance, AM/2-17, AM/4-73
Motor temperature monitoring, HS/2-28, AM/2-25
Motorized potentiometer function, AM/3-37
MSD option board, VS/9-52
Index-2
O
Openloop controlled range, AM/4-60
Openloop current/frequency control, AM/5-86
Openloop torque control operation, HS/2-43
Openloop torque controlled mode
Master drive, HS/2-43
Slave drive, HS/2-43, HS/2-44
Torque setpoint, HS/2-44
openloop torque controlled mode, torque setpoint, HS/2-43
Openloop torque controlled operation, Function
description, HS/2-43
Operating display, VS/8-45, HS/2-24, AM/2-22
Operating mode, HS/2-24, AM/2-22
Master, speed controlled, VR/3-18
master, speed controlled, VR/3-20
Master, speed controlled , VR/3-19
Slave, current controlled, VR/3-18, VR/3-19
slave, current controlled, VR/3-20
Operator control and display elements, HS/1-8,
AM/1-9
Optimization, openloop controlled range,
AM/4-60
Oriented spindle stop, HS/2-29
Oscillation, HS/2-28
Oscillation mode, AM/2-26
Output terminals, HS/3-59, AM/3-43
P
Parallel operation, AM/2-27
Parameter
attributes, HS/1-5
Listing, AM/1-5
Number, AM/1-9
Subparameter number, AM/1-9
Transfer into FEPROM, HS/1-9
Value, AM/1-9
write protection, HS/1-6
Parameter board, VS/9-53
Parameter changeover for Caxis operation,
VS/5-39
Parameter list, AM/6-108
Parameter set changeover, AM/2-32
04.97
07.94
Parameters
Attributes, AM/1-5
gearboxstage dependent, HS/1-8
list, HS/1-5
Number, HS/1-8
number, HS/1-5
Setting range, HS/1-5, HS/1-6, AM/1-5,
AM/1-6
Subparameter number, HS/1-8
Value, HS/1-8
Write protection, HS/1-9, AM/1-6
Phase sequence of tracks A, B (WSG), VR/3-17
Pole numbers, VR/1-3
Position processing, VR/3-17
Power derating, AM/4-57
Power module code number, HS/6-99, AM/2-16
Poweringup, VR/7-27
Proportional gain Kp, VR/2-15
Proportional gain Kp with adaptation, VS/2-21
Proportional gain Kp without adaptation, VS/2-18
Pulse number of the WSG interface, VR/3-17
RAM variable, AM/6-107
RAM variables, HS/6-112
Rampfunction generator, HS/4-70, AM/4-54
tracking, AM/4-54
Rampup time, NE/2-10, VS/5-35
Reinitialize drive converter, HS/1-7, AM/1-7
Relay function, HS/2-24, AM/2-22
Control word, messages, HS/3-62, AM/3-46
Freelyprogrammable, HS/3-59
freelyprogrammable, AM/3-44
Messages which can be parameterized,
HS/3-62
messages which can be parameterized,
AM/3-46
Permanentlywired, HS/3-59
permanentlywired, AM/3-43
variable, HS/3-63, AM/3-47
RS232C interface, AM/1-7, AM/1-14
Series machines, HS/1-7, AM/1-8
Setpoint interfaces, VR/4-21
Setpoint priority, AM/3-39
Setting data, HS/1-12, AM/1-13
Setting elements
with standard interface, VS/3-25, VR/4-21,
VR/4-22
with userfriendly interface, VS/3-29
Setting settings, VS/1-3
Setting the integral action time, VR/2-16
Setting and checking data, AM/6-108
Settings via fixed values, VS/5-38
Index-3
04.97
07.94
Tachometer adaptation, VS/1-3
Tachometer adjustment, VS/2-18, VR/2-14
Terminal function
assignment, HS/3-57, AM/3-41
freelyprogrammable, AM/3-41
Permanentlywired, HS/3-56, AM/3-40
Index-4
Uncontrolled line supply infeed, HS/2-16
Userfriendly interface, VS/1-3
Watercooled motors, HS/6-101
Zero mark offset, VR/3-17