1 03 SIN El-Mod PDF

System components / DRIVE-CLiQ and electronic modules
Training objectives:
You are informed about
• the internal drive bus DRIVE-CLiQ
• the electronic modules
• the operating types, the software

architecture and its functions
SITRAIN Training for

SINAMICS Date:
File:
06/03/2007
ABU DHABI: Page 3 - 1 Automation and Drives
Siemens AG 2007. All rights reserved.

Content Page
Component overview SINAMICS S120 ............................................................................................ 4
Connection of components via communication................................................................................. 5
DRIVE-CLiQ connections (example: S120 Booksize-units)............................................................... 6
DRIVE-CLiQ connections (example: Cabinet-unit S150)................................................................... 7
DRIVE-CLiQ connection cable......................................................................................................... 8
Electronic rating plates..................................................................................................................... 9
“Must“ Rules for DRIVE-CLiQ Connections (generally)..................................................................... 10
“Can“ rules for DRIVE-CLiQ connections.......................................................................................... 11
“Must“ rules for DRIVE-CLiQ connections (additionally for Chassis)................................................. 12
Multi-drive configuration / example Booksize-unit........................................................................... 13
Control Units of the SINAMICS family.............................................................................................. 14
Control Unit CU320.......................................................................................................................... 15
Motion Control with SINAMICS S120 and SIMOTION C or P............................................................ 16
Combination of SIMOTION and SINAMICS S120............................................................................. 17
Control Units of the “SINAMICS-integrated“ family............................................................................ 18
Direct means of communication / BOP20....................................................................................... 19
Direct means of communication / AOP30....................................................................................... 20
continued on page 3

SINAMICS Date:
File:
06/03/2007
Content Page
Extension modules for Control Units................................................................................................. 21
Terminal-modules for SINAMICS and SIMOTION D......................................................................... 22
Properties of Terminal-Modules TMxx.............................................................................................. 23
Sensor Module (SMC)...................................................................................................................... 24
Connection of encoders................................................................................................................... 25
Modular software-architecture.......................................................................................................... 26
Drive objects.................................................................................................................................... 27
Configuration, Topology tree, Objects and Components................................................................... 28
Access to information and functions of objects.................................................................................. 29

SINAMICS Date:
File:
06/03/2007
Component overview SINAMICS S120
• SINAMICS S120 solves

complex drive tasks for a
large range of industrial
applications and is
therefore designed as a
modular system.
• The user can choose from

many harmonized
components and functions
to create a solution that
best meets his
requirements.

SINAMICS Date:
File:
06/03/2007
Connection of components via communication
Controller ET 200 HMI PG/PC CPU 317T-2 DP
PROFIBUS / PROFINET
SITOP
DRIVE-CLiQ
DC 24 V
Line filter
ET 200S
3AC 3AC
380 ... 480 V 0 …360V

SINAMICS Date:
File:
06/03/2007
DRIVE-CLiQ connections (example: S120 Booksize-units)

Motor Module
Motor Module
Motor Module
Motor Module
Line Module
CU320
SMC10/ SMC30
SMC20
TM31
Motor with Motor without

Digital/Analog DRIVE-CLiQ DRIVE-CLiQ DRIVE-CLiQ Conventional
Interface Interface Interface Encoder Encoder (TTL/HTL)
All components connected to the CU320 via DRIVE-CLiQ operate with firmware of their own.
If required the component firmware can be updated from the CF-card of the CU320.

SINAMICS Date:
File:
06/03/2007
DRIVE-CLiQ connections (example: Cabinet-unit S150)
VSM CIB CU320 CIB SMC TM31

ALM MM
Both power units (ALM,

MM) are controlled
from one CU320 via
module CIB through
Active Line Motor the internal drive bus
Module Module DRIVE-CLiQ.

SINAMICS Date:
File:
06/03/2007
DRIVE-CLiQ connection cable
„Drive Component Link with Intelligence Quotient“
DRIVE-CLiQ
The new connection to link drive components is based on the worldwide spread Ethernet
technology with 100 Mbps.
Additionally to the standard Ethernet connections, the extended RJ45 plugs and sockets provide
two additional contacts to distribute the 24 VDC voltage.
The Control Unit CU320 contains a database with “electronic rating plates“:
during booting the Control Unit recognizes the components that are connected via DRIVE-CLiQ;
it is no longer necessary to input the rating plate data input manually.

SINAMICS Date:
File:
06/03/2007
Electronic rating plates
• All the components

connected via DRIVE-
CLiQ have an elec-
tronic rating plate.
• The respective
technical data are
automatically loaded
to the Control Unit.
• A manual input of the

rating plate data is no
longer necessary.

SINAMICS Date:
File:
06/03/2007
“Must“ Rules for DRIVE-CLiQ Connections (generally)
maximum of 8 components in series, maximum of 16 per port, maximum of 198

per CU320 (via HUB-multiplier DMC20)
no ring wiring, no double wiring
only one Active Line Module per Control Unit CU320 (parallel operation excepted)
Double Motor Modules count as two single components
maximum of 9 Sensor Modules
Mixed operation of “Servo” and “Vector” on separate ports
Active Line Module + Motor Module “Vector” on separate ports (typically)
The compliance with the ”must“ rules is a condition for faultless operation

SINAMICS Date:
File:
06/03/2007
“Can“ rules for DRIVE-CLiQ connections
CU Active Single Single CU Active Single Double

320 Line Motor Motor 320 Line Motor Motor
Module Module Module Module Module Module
X203
X2: motor 2
X1: motor 1
X500 X500
X500 X500 X500 Encoder for motor 1
X500
Encoder for motor 2
• Motor Modules may always be continued from port X201 to port X200
• Sensor Module or DRIVE-CLiQ motor should be on corresponding Motor Module port X202
• Double Motor Modules: Sensor Module or DRIVE-CLiQ motor assigned to corresponding Motor Module
FW2.1 / 2.2: FW2.3:

• Active Line Module and Motor Module on • Active Line Module and Motor Modules in
separate CU-Ports operation type Servo can be operated in line
• On Active Line Module no further components topology (X201 – X200 / X201 – X200)
The compliance with the “can“ rules allows an automatic topology configuration

SINAMICS Date:
File:
06/03/2007
“Must“ rules for DRIVE-CLiQ connections (additionally for Chassis)
S150 S120 Chassis

Active Line Control Drive 1 Drive 2 Drive 3
Module Unit
400 µs 400 µs
250 µs (400 µs)
X400 X100 X400 X400 X400
X401 X101 X401 X401 X401
X102
Active 250 µs Single Single Single
Line X103
Motor Motor Motor
Module Module Module Module
Control
X402 X402 X402 X402
Unit
X500 X500 Sensor X500 Sensor X500 Sensor

Module Module Module
Voltage
Sensing M M M
Module 3~ 3~ 3~
Active
Interface Chassis Chassis Chassis
Module FS F or G FS H or J FS H or J
- Active Line Module and drives on different ports in operating types “Vector“ or “mixed“
- Within a DRIVE-CLiQ branch only one current controller cycle time rsp. an integer multiple
- Voltage Sensing Module on port X402 of the Active Line Module
(Æ S120 comm. manual 2-33ff)

SINAMICS Date:
File:
06/03/2007
Multi-drive configuration / example Booksize-unit
number of motors
6
FW 2.3
number current speed
5 + of axes controller controller
6 Servo 125μs 125μs
4
2 Vector 250μs 1000μs
3 Low / Vector – Vector 4 Vector 400μs 1600μs

Medium / Servo
Low / Vector – V/Hz Medium / Vector – V/Hz 6 V/Hz 400μs (limit+comp)
2 10 V/Hz 500μs (limit+comp)
Medium / Vector – Vector 5 Servo and V/Hz (mixed types)

1
number of axes includes
55 100 Active Line Module
ALM
CU-load [%]
On exceeding 55% CU-load a performance-extension is required

SINAMICS Date:
File:
06/03/2007
Control Units of the SINAMICS family
SINAMICS G110: CPM110

V/Hz
SINAMICS G120: CU220 (DP) CU230 (DP) CU240 (DP) (F) ET200S-FC: ICU2x (F)
V/Hz V/Hz+ FCC Vector
SIEMENS PM-E 4 DI 4 DI 2 DO 2 DO 2 AI PM-D FX1 xB1
SF SF IPM25
BF
ON
FRCE
RUN
STOP
ICU24F
IM 151 CPU
PWR SG1 SG2 Stat

SG4
SG5 SG6
DC LINK
ON
1 2
5 2
1 2
6 3
2
6
1
3
SINAMICS S120: CU310

(AC/AC Powerblocks)
DP PN
CU310
SINAMICS G130:
SINAMICS G150:
SINAMICS S120: CU320
CUA31
SINAMICS S150:
CU320 CUA31 CUA31 PM340
SINAMICS GM150:
CU adapter for
BOP20 S120 AC/AC
SINAMICS SM150: D445 + CX32

SINAMICS Date:
File:
06/03/2007
Control Unit CU320
44 DRIVE-CLiQ
DRIVE-CLiQ ports
ports for
for Mounting
Mounting device
device
communication
communication with
with further
further
drive
drive components:
components: Integrated
Integrated side
side mounting
mounting slot
slot
Active
Active Line-,
Line-, Motor
Motor Module;
Module;
Terminal-,
Terminal-, Sensor
Sensor Module
Module
88 digital
digital inputs
inputs
Cover
Cover
88 bidirectional
bidirectional DI/DO
DI/DO
(6
(6 of
of which
which asas fast
fast DI:
DI: 5µs)
5µs)
44 “3-coloured”
“3-coloured” status
status LEDs
LEDs
24VDC
24VDC input
input for
for
electronic
electronic power
power supply
supply
33 measuring
measuring sockets
sockets to
to
observe
observe signal
signal values
values
Option
Option slot
slot for
for interface
interface
extension
extension (TB30,
(TB30, CBP10,
CBP10,
CBC10,
CBC10, CBE30)
CBE30)
Compact
Compact Flash
Flash Card
Card
V02.02.01
for
for the
the software
software and
and for
for
parameter
parameter settings
settings PROFIBUS
PROFIBUS DP
DP
interface
interface
PROFIBUS
PROFIBUS address
address switch
switch
below
below cover;
cover; connection
connection for
for RS232/PPI
RS232/PPI interface
interface
BOP20
BOP20 (basic
(basic operator
operator panel)
panel) for
for AOP30;
AOP30; HyperTerminal
HyperTerminal
The Control Unit CU320 manages the communication, operation and control functions
for one or several Motor Modules and one Active Line Module if equipped.
Control Units CU320 are generally designed for multi-axis operation.

SINAMICS Date:
File:
06/03/2007
Motion Control with SINAMICS S120 and SIMOTION C or P
oder
Ethernet
SINAMICS S120 with SIMOTION C or P SINAMICS S120 in SIMOTION D435
The modular platform principle extends into the fusion of Drive and Motion Control functionality
(SINAMICS S120 and SIMOTION) into one single component (D425, D435, D445).

SINAMICS Date:
File:
06/03/2007
Combination of SIMOTION and SINAMICS S120
DRIVE-CLiQ
10 11 12
SIMOTION C230 SINAMICS S120 SIMOTION D445 SINAMICS CX32

for max. 16 with CU320; each for max. 16 integrated each for
SIMOTION axes for typically 6 axes SIMOTION axes typ. 6 axes typ. 6 axes
4 5
SIMOTION D435 SINAMICS SINAMICS S120

for max. 16 integrated with CU320; each
SIMOTION axes typ. 6 axes for typically 6 axes

SINAMICS Date:
File:
06/03/2007
Control Units of the “SINAMICS-integrated“ family

Drive based D 425 D 445 CX32 Drive
Simotion Runtime
SIMOTION D: Simotion Runtime
Drive CX32 Drive
D 435 CX32 Drive

Simotion Runtime BOP20
Drive
Drive CX32 Drive
Drive based NCU 710 NCU 730 NX10 Drive

SINUMERIK NC-Kernel / NC-Kernel /
HMI / PLC HMI / PLC NX10 Drive
(Solution Line):
Drive
NX10 Drive
NX10 NX10 Drive

NCU 720 Drive Technology
NC-Kernel / max. 31 axes
HMI / PLC NX10 Drive
Drive
Drive
NX10 Drive NX10 Drive
6 DRIVE-CLiQ 8 DRIVE-CLiQ
Panel based 802DSL 840DISL

Drive
SINUMERIK
i.e. 6 axes
(Solution Line): Drive MCI 2
CU320 CU320 CU320 (Medium / Servo)

SINAMICS Date:
File:
06/03/2007
Direct means of communication / BOP20
active drive selection and indication

in state RUN of drives in fault condition
active identification of
drive object BICO-inputs: bi, ci
BICO-outputs: bo, co
BICO-source of
indication of parameters, an object other than
indices, values, currently active
faults, alarms
S request to save in P acknowledgeable parameter C request to initiate an

non-volatile memory internal system routine
Fn P function depends on current indication

SINAMICS Date:
File:
06/03/2007
Direct means of communication / AOP30
Main menu Operating menu

F1
help
Parameterization
• pending faults Fault & alarm memory

• pending alarms
• help texts
• history Comm. / Service
Language
Status indication Function buttons Drive control

via LEDs with menu controlled ¾ Local / Remote
¾ On green function assignment ¾ On, Off
¾ Alarm yellow ¾ Reversing
Numeric keypad
¾ Fault red ¾ Inching, Up, Down
Access
Access ¾
¾ in
in operating
operating mode
mode “Local“
“Local“ the
the control
control priority
priority is
is
¾
¾ key Local/Remote Æ
key Local/Remote Æ Local
Local assigned
assigned toto the
the AOP30
AOP30
¾
¾ access “Local“ can be blocked
access “Local“ can be blocked ¾
¾ any
any other
other access
access in
in operating
operating mode
mode “Remote”
“Remote”

SINAMICS Date:
File:
06/03/2007
Extension modules for Control Units
CU320 Terminal Board TB30

D425, D435, D445 Digital In/outputs: 4 DI, 4 DO
Analog In/outputs: 2 AI, 2 AO, i.e. for analog
setpoint interface
Communication Boards
CAN-Bus interface with CAN protocol
according to CANopen drive profile CBC10
Second PROFIBUS interface CBP10
PROFINET (IRTE) CBE20 (for CU320)
CBE30 (for D4xx)
SINAMICS CU320 SIMOTION D4xx

CBE 20 CBE 30
TB30 yes yes

Device Controller
TCP, TCP, UDP,
RT, IRT RT, IRT
CBC10, CBP10 CBE20, CBE30

IRTE = Isochronous Real Time Ethernet

SINAMICS Date:
File:
06/03/2007
Terminal-modules for SINAMICS and SIMOTION D
Terminal Module TM31 and TM41 Terminal Module TM15 and

TM17 High Feature
Terminal module TM31 offers a large number of Extension for additional DI/DO, probes and cams
additional I/O and a PTC/KTY interface. (with 1µs resolution on TM17).
For SINAMICS cabinet-units it serves as central Module TM17 can only be used in conjunction with
customer interface for digital and analog in- and SIMOTION D4xx, as cam and probe functions are
outputs. programmed by means of SIMOTION technology
Terminal module TM41 additionally offers an objects.
encoder-emulation (for any signal source).

SINAMICS Date:
File:
06/03/2007
Properties of Terminal-Modules TMxx
TM15 24 bidirectional digital channels TM17 16 bidirectional digital channels
TM41 1 analog input TM31 2 analog inputs

4 digital inputs 2 analog outputs
4 bidirectional digital channels 8 digital inputs
encoder emulation 4 bidirectional digital channels
2 contactor outputs
temperature sensor evaluation PTC, KTY84
AA / n.set AI / X523 r4055 n.set / p1055 speed

controller
analog
control filter / dead time / no. of increments
INC s.act INC / X520 p4420 r0479 position
actual
encoder-
signals
TM41 CU320
filter / dead time / no. of increments

encoder- INC / X520 p1155
signals any setpoint
TM41

SINAMICS Date:
File:
06/03/2007
Sensor Module (SMC)

Sensors and sensor modules:
• Incremental encoder
- sin/cos 1 Vpp
- TTL/HTL
• Absolute value encoder
- EnDat
• Resolver
- multi pole
- 2-pole
• Motors with DRIVE-CLiQ interface
(EWN-range)
4) same number of poles as motor

SINAMICS Date:
File:
06/03/2007
Connection of encoders
SMI20
Faster and more simple
direct position measurement commissioning with SMI
• Automatic identification of motor and
encoder
1 SME20 • Storage of the data of the equivalent
circuit diagram and encoder in the
motor
Integration of direct position

measurement systems
• Use of measurement systems with
DRIVE-CLiQ interface
• Use of SMC/SME modules for signal
1 SMC20 conversion to DRIVE-CLiQ
Integration and parameterization of

third party encoders and motors
3 • Integration via SMC/SME modules
• Parameterization by graphical masks
2 SMC20 Sensor Module for encoder evaluation
SMI 20 Sensor Module with integrated DRIVE-

CLiQ connection (as external encoder or
built into the motor)
SMI20 1
SME20 Sensor Module for encoder evaluation
(like SMC20, with higher protection level)

SINAMICS Date:
File:
06/03/2007
Modular software-architecture
PROFIBUS
synchronous
terminals measuring DRIVE-CLiQ

multi-drive sockets
communication connection scheme
operating-
system
drive object n – TM31
drive object 2 – Servo / axis 2
drive object 1 – Servo / axis 1

motor- TM MM MM
potentio- setpoint- ramp function closed loop
meter channel generator control control
UP
x
M M
B &
DN x
TM31 Servo
Bpos / Free
functions DCC
function-
generator
axis
faults trace safety
B external sensor
A components
objects
drive object m – CU320 drive device
drive device
The modular software-architecture offers a very high degree of flexibility

SINAMICS Date:
File:
06/03/2007
Drive objects
drive objects
CU320 ALM MM i.e. SINAMICS S150
X103
X102 X402 X402 TM31 TM31

X101 X401 X401 X501 X501
X100 X400 X400 X500 X500
VSM SMC
1 M 4 5
Netz
X500 ~ X500
2 3
A Drive object is an independent and autonomous software functionality with its own
parameters, faults and alarms.

SINAMICS Date:
File:
06/03/2007
Configuration, Topology tree, Objects and Components

Configuration “Wiring” of components
Parameters for the

component number
p0121[P]: Power unit
p0131[M]: Motor
p0141[E]: SMx
p0142[E]: Encoder
p0151 TM31
p0161 TB30

SINAMICS Date:
File:
06/03/2007
Access to information and functions of objects

SINAMICS Date:
File:
06/03/2007

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System components / DRIVE-CLiQ and electronic modules

• the internal drive bus DRIVE-CLiQ

• the electronic modules

• the operating types, the software

SITRAIN Training for

System components / DRIVE-CLiQ and electronic modules

SITRAIN Training for

SITRAIN Training for

Component overview SINAMICS S120

• SINAMICS S120 solves

• The user can choose from

SITRAIN Training for

SITRAIN Training for

DRIVE-CLiQ connections (example: S120 Booksize-units)

Motor with Motor without

SITRAIN Training for

VSM CIB CU320 CIB SMC TM31

Both power units (ALM,

SITRAIN Training for

DRIVE-CLiQ connection cable

„Drive Component Link with Intelligence Quotient“

SITRAIN Training for

• All the components

• A manual input of the

SITRAIN Training for

“Must“ Rules for DRIVE-CLiQ Connections (generally)

 maximum of 8 components in series, maximum of 16 per port, maximum of 198

SITRAIN Training for

CU Active Single Single CU Active Single Double

FW2.1 / 2.2: FW2.3:

SITRAIN Training for

“Must“ rules for DRIVE-CLiQ connections (additionally for Chassis)

S150 S120 Chassis

X401 X101 X401 X401 X401

X500 X500 Sensor X500 Sensor X500 Sensor

SITRAIN Training for

3 Low / Vector – Vector 4 Vector 400μs 1600μs

Medium / Vector – Vector 5 Servo and V/Hz (mixed types)

On exceeding 55% CU-load a performance-extension is required

SITRAIN Training for

Control Units of the SINAMICS family

SINAMICS G110: CPM110

PWR SG1 SG2 Stat

SINAMICS S120: CU310

SINAMICS SM150: D445 + CX32

SITRAIN Training for

SITRAIN Training for

Motion Control with SINAMICS S120 and SIMOTION C or P

SINAMICS S120 with SIMOTION C or P SINAMICS S120 in SIMOTION D435

SITRAIN Training for

SIMOTION C230 SINAMICS S120 SIMOTION D445 SINAMICS CX32

SIMOTION D435 SINAMICS SINAMICS S120

SITRAIN Training for

Control Units of the “SINAMICS-integrated“ family

D 435 CX32 Drive

Drive based NCU 710 NCU 730 NX10 Drive

NX10 NX10 Drive

Panel based 802DSL 840DISL

SITRAIN Training for

active drive selection and indication

S request to save in P acknowledgeable parameter C request to initiate an

Fn P function depends on current indication

SITRAIN Training for

maximum of 8 components in series, maximum of 16 per port, maximum of 198