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MICROMASTER 4 (MM4), SINAMICS G120 (CU2x0x):

How do I proceed when parameterizing a "masterslave" drive?


This FAQ applies only to the SINAMICS G120/G120D Control Units without -2 in the product
name and MICROMASTER 4 inverters.
Task
This example shows you how to commission two inverters as "master-slave" drive.
Consider the simple example of a conveyor belt with two inverters: A master (leading) drive
and a slave (following) drive.
The belt velocity is entered via the master drive (motor M1) (e.g. via AIN 1). The slave drive
(motor M2) receives a torque setpoint from the master drive, which depends on the load on
the master drive. To do this the analog output of the master drive is connected to the analog
input of the slave drive. Closed-loop vector control (VC) with encoder is used as control type
for the master drive and closed-loop torque control with encoder is used for the slave drive.
Basic prerequisites
Both MICROMASTER 440 inverters as well as SINAMICS G120 with CU240S ... up to firmware
(FW) 3.2 can be used.
Solution
Now commission both of the drives as described in the Operating Instructions.
1. Quick (fast) commissioning of both drives
2. Motor identification for both drives
3. Commission the encoder for both drives
4. Connect analog output 2 of the master drive with analog input 2 of the slave drive
5. Set switch ADC2 of the I/O module of the slave drive into the ON setting (= 0-20mA input)
Before continuing with the commissioning first calibrate the motor speeds. To do this select
operating mode V/f (refer to P1300) and operate both drives with the same (operating) speed;
now compare parameter r0061 with r0021; the sign and magnitude must correspond (a slight
deviation can be accepted). If both conditions are fulfilled P1300 can be changed and the
closed-loop vector control / closed-loop torque control with encoder can be activated (refer to
the parameter list MM440, Chapter 3.29 Control type, parameter P1300; Chapter 3.5 Speed
encoder, parameter P0400; Operating Instructions MM440, Chapter 3.23.2).
If the direction of rotation is not correct, the output phases of the inverter or the encoder
channels should be checked and if required re-wired.
Note
The motor direction of rotation can also be reversed without interchanging the output phases
by changing P1820 to 1; the direction of rotation sense of the encoder can also be reversed
by changing parameter P0410 to 1 (only for SINAMICS G120; refer to parameter list
CU240S, parameter P0410).
Parameter changes required for the master drive
1. P0771.1 = r0079 torque setpoint at analog output 2
In order to be able to transfer negative values of the torque setpoint from the master to the
slave (for clockwise and counter-clockwise rotation of the drives) the analog output must be
scaled as follows:
2.
3.
4.
5.

P0777.1
P0778.1
P0779.1
P0780.1

=
=
=
=

0 % x1 value = 0 %
10 y1 value = 10 mA
100 % x2 value = 100 %
20 y2 value = 20 mA

6. P1300 = 21 vector control with sensor


Parameter changes required for the slave drive
7. P0756.1 = 2 analog input 2 to 0-20mA
Scaling of the analog input:
8. P0757.1 = 10 x1 value = 10 mA
9. P0758.1 = 0 % y1 value = 0 %
10. P0759.1 = 20 x2 value = 20 mA
11. P0760.1 = 100 % y2 value = 100 %

12.
13.
14.
15.

P1082
P1300
P1503
P2000

=
=
=
=

55 maximum frequency (higher than at the master)


23 vector closed-loop torque control with sensor
r0755.1 analog input 2 as torque setpoint
55 reference frequency (higher than that at the master)

If the slave fails with a fault then the master must be stopped as quickly as possible. For this
purpose, fault bit r0052.3 of the slave can be used as signal for an OFF2 command or setpoint
inhibit of the master. A digital output of the slave (e.g. DOUT1) should be connected to a
digital input of the master (e.g. DIN4).
Connect terminals 19 and 20 of the slave with terminals 8 and 9 of the master.
The appropriate parameterization should be made:
Slave
P0731.0 = 52.3
Master
P0704 = 99
P0844.0 = 722.3 OFF2 command
Or/and
P0852.0 = 722.3 setpoint inhibit
Schematic representation of the system