611U FB SW14-2 A1014 Englisch
611U FB SW14-2 A1014 Englisch
611U FB SW14-2 A1014 Englisch
Edition
10/2014
Valid for
Control
SIMODRIVE
SIMODRIVE
SIMODRIVE
SIMODRIVE
SIMODRIVE
SIMODRIVE
SIMODRIVE
SIMODRIVE
SIMODRIVE
SIMODRIVE
SIMODRIVE
SIMODRIVE
SIMODRIVE
611
611
611
611
611
611
611
611
611
611
611
611
611
Software version
universal
2.x
universal
3.x
universal/E
4.x
universal/E
5.x
universal/E
6.x
universal/E
7.x
universal/E
8.x
universal/E
9.x
universal/E
10.x
universal/E
11.x
universal/E
12.x
universal/E
13.x
universal/E
14.x
10/2014 Edition
Product Overview
Installing and
ConnectingUp
Parameterizing
the Board
Commissioning
Communications via
PROFIBUSDP
Description of the
Functions
Fault Handling/
Diagnostics
Lists
Abbreviations
References
Certificates
Index
3ls
SIMODRIVE documentation
Printing history
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.
Status code in the Remarks column:
A.... New documentation
B....
C....
Edition
Order No.
Remarks
01.99
6SN11970AB200BP0
04.99
6SN11970AB200BP1
10.99
6SN11970AB200BP2
05.00
6SN11970AB200BP3
08.01
6SN11970AB200BP4
02.02
6SN11970AB200BP5
08.02
6SN11970AB200BP6
02.03
6SN11970AB200BP7
07.03
6SN11970AB200BP8
06.04
6SN11970AB201BP0
10.04
6SN11970AB201BP1
04.05
6SN11970AB201BP2
09.05
6SN11970AB201BP3
04.06
08.06
12.06
07.07
02.08
09.08
06.09
05.10
06.11
10.14
6SN11970AB201BP4
6SN11970AB201BP5
6SN11970AB201BP6
6SN11970AB201BP7
6SN11970AB201BP8
6SN11970AB202BP0
6SN11970AB202BP1
6SN11970AB202BP2
6SN11970AB202BP3
6SN11970AB202BP4
Trademarks
All names identified by R are registered trademarks of Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of
the owner.
SiemensAktiengesellschaft
Foreword
SIMODRIVE 611
documentation
S General documentation
S Manufacturer/service documentation
Additional
information
You can find information on the following topics under the following link:
S Ordering documentation/overview of documentation
S Additional links to download documents
S Using documentation online (finding and searching in manuals/information)
http://www.siemens.com/motioncontrol/docu
Please send any questions about the technical documentation (e.g.
suggestions for improvement, corrections) to the following e-mail address:
docu.motioncontrol@siemens.com
My Documentation
Manager
The following link provides information on how to create your own individual documentation based on Siemens content and adapt it for your
own machine documentation:
http://www.siemens.com/mdm
Training
FAQs
SIMODRIVE 611
You can find information on SIMODRIVE 611 under the following link:
http://www.siemens.com/simodrive
Target group
iii
Foreword
Benefits
This publication describes the functions so that the target group understands these functions and can appropriately select them. It provides
the target group with the information required to implement the appropriate functions.
Should you wish for additional information or should exceptional problems arise that are not addressed in sufficient detail in this manual, you
can request the required information from your local Siemens office.
Standard scope
S Functions can be described in the documentation that are not available in a particular product version of the drive system. The functionality of the supplied drive system should only be taken from the
ordering documentation.
S Extensions or changes made by the machine manufacturer are documented by the machine manufacturer.
S Further, for the sake of simplicity, this documentation does not con-
tain all detailed information about all types of the product and cannot
cover every conceivable case of installation, operation or maintenance.
Technical Support
Certificates
You will find the certificates for the products described in this documentation in the Internet:
http://www.support.automation.siemens.com
There as a search term enter the number 15257461 or contact your
local Siemens office.
The EC Declaration of Conformity for the LowVoltage Directive can be
found on the Internet under:
http://www.support.automation.siemens.com
There as a search term enter the number 22383669.
iv
Foreword
Note
The function manual describes a reference state, which ensures reliable operation and compliance with EMC limit values when maintained.
For deviations from the requirements listed in the function manual,
suitable measures, for example, measurements, should be applied to
secure and/or verify the required reliable operation and ensure compliance with EMC limit values.
Spare parts
Foreword
Information for
using this Manual
S
S
S
S
none
! not 611u !
! not 611ue !
! 611ue diff !
Board
vi
611u
611ue
Foreword
S P0660
S P1451:8
S P0080:64
:8
:64
The following applies: Colon (:) the parameter has the subparameter
Number: these subparameters are available (from :0)
S P1650.15
vii
Foreword
Edition of the
documentation?
Software release of
the board?
What is new?
S Example:
S Jerk limitation
S External block change
S Input signal Suppress fault 608 (speed controller output limited)
S Optional PROFIBUSDP module:
S PROFIBUS
The stop response (STOP I to STOP VII) is specified for each one
viii
Foreword
S SimoCom U
ix
Foreword
S Spindle positioning
S Possibility of integrating into an external safety concept
Safe standstill
S Passive homing
S Filter parameterization (current, speed setpoint)
S SIMODRIVE 611 universal HR control board
(HR stands for high resolution)
S PROFIdrive conformance
Edition 02.03 describes the functionality of SW 2.x,
SW 3.x, SW 4.x, SW 5.x, SW 6.x and SW 7.1.
What are the essential new functions that have been added for SW 7.1?
S
S
S
S
S
Electronic handwheel
Password protection
Any gearbox ratio
Changes/modifications for the CAN bus
Directiondependent faststop using a hardware switch
Foreword
S Troubleshooting
xi
Foreword
S PROFIBUS-DP expansion and optional module interfaces for parameters > 2000
S Oscillation function enabled via P 0878.6 = 1
S Troubleshooting
xii
Foreword
xiii
Foreword
Safety information/
instructions
This documentation contains information that must be observed to ensure your personal safety and to prevent material damage. The instructions for your personal safety are marked by a warning triangle. Instructions relating solely to material damage are not marked by a warning
triangle. Depending on the degree of hazard, the warning information is
shown as follows in decreasing sequence:
Danger
Indicates that death or severe personal injury will result if proper
precautions are not taken.
Warning
Indicates that death or severe personal injury may result if proper
precautions are not taken.
Caution
With a warning triangle indicates that minor personal injury can result if
proper precautions are not taken.
Caution
Without warning triangle indicates that material damage can result if
proper precautions are not taken.
Notice
Indicates that an undesirable result or state may arise if the relevant
note is not observed.
Proper use
xiv
Foreword
Further notes
Note
This symbol indicates important information about the product or part
of the document, where the reader should take special note.
Readers note
This symbol is shown, if it relates to important information which the
reader must observe.
Technical information
Warning
When electrical equipment is operated, certain parts of this equipment
are inevitably under dangerous voltage.
Incorrect handling of these units, i.e. not observing the warning
information, can therefore lead to death, severe bodily injury or
significant material damage.
Only appropriately qualified personnel may commission/start up this
equipment.
This personnel must have indepth knowledge regarding all of the
warning information and service measures according to this operating
instructions.
Professional transport, storage, mounting, and installation, as well as
careful operation and service, are essential for the errorfree, safe and
reliable operation of the equipment.
Hazardous axis motion can occur when working with the equipment.
Danger
Protective separation (PELV/SELV) in the drive can only be
guaranteed when the following points are taken into consideration:
S Certified components are used.
S The degree of protection for all components is ensured.
S With the exception of the DC link and motor terminals, all of the
circuits (e.g. digital inputs) must fulfill the requirements of PELV or
SELV circuits.
S The braking cable shield must be connected to PE through the
largest possible surface area.
S For unlisted motors, protective separation is required between the
temperature sensor and motor winding.
xv
Foreword
Note
When handling cables, observe the following:
S They are not damaged,
S they may not be stressed,
S they may not come into contact with rotating components.
Warning
All of the SIMODRIVE unit connections must be withdrawn or
disconnected when the electrical equipment on the machines is subject
to a voltage test (EN 602041 (VDE 01131), Point 20.4).
This is necessary, as the SIMODRIVE insulation has already been
tested, and should not be subject to a new test (additional voltage
stressing).
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/EEC.
Warning
The information and instructions in all of the documentation supplied
and any other instructions must always be observed to eliminate
hazardous situations and damage.
S For special versions of the machines and equipment, the
information in the associated catalogs and quotations applies.
S Further, all of the relevant national, local land plant/systemspecific
regulations and specifications must be taken into account.
S All work should be undertaken with the system in a novoltage
condition!
Caution
When using mobile radios (e.g. cellular phones, mobile phones, 2way
radios) with a transmission power of > 1 W close to the equipment
(< 1.5 m) the function of the equipment can be disturbed.
xvi
Foreword
ESDS information
and instructions
S
S
S
S
xvii
Foreword
xviii
Table of Contents
1
Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-23
1.1
1-24
1.2
1-28
1.3
1.3.1
1.3.2
1.3.3
1-32
1-35
1-37
1-40
1.4
1.4.1
1.4.2
1.4.3
1-43
1-44
1-45
1.4.4
1.4.5
2
1-46
1-53
1-55
2-59
2.1
2.1.1
2.1.2
2.1.3
2.1.4
2.1.5
2-60
2-60
2-61
2-62
2-64
2-67
2.2
2.2.1
2.2.2
2.2.3
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General information on connectingup . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connectingup and setting the line supply infeed module . . . . . . . . . . . . .
Connectingup the power module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-70
2-70
2-73
2-74
2.3
2.3.1
2.3.2
2.3.3
2-75
2-75
2-76
2.4
2-86
2.5
Cable diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-89
2.3.4
2-82
2-84
xix
Table of Contents
3-91
3.1
3-92
3.2
3.2.1
3.2.2
3-93
3-94
3-99
3.3
3-100
3-100
3-103
3-109
3-115
3.3.1
3.3.2
3.3.3
3.3.4
4
xx
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-121
4.1
4.2
4.3
4.3.1
4.3.2
4.3.3
4.3.4
4.3.5
4.3.6
4.4
4.5
4.6
4.7
4.7.1
4.7.2
4.7.3
4.7.4
4-148
4-148
4-151
4-155
4-160
4.8
4.8.1
4.8.2
4.8.3
4.8.4
4-163
4-163
4-165
4-169
4-172
4.9
4.9.1
4.9.2
4.9.3
4-174
4-174
4-176
4-177
4.10
4.10.1
4.10.2
4.10.3
4.10.4
4.10.5
4.10.6
4-178
4-178
4-181
4-188
4-191
4-193
4-197
4-126
4-127
4-128
4-129
4-132
4-132
4-133
Table of Contents
4.10.7
4.10.8
4.11
4.12
4.13
5.2
5.3
5.4
5.5
5.6
5.6.1
5.6.2
5.6.3
5.6.4
5.6.5
5.6.6
5.6.7
5-226
5-226
5-230
5-243
5-253
5-265
5-280
5-283
5.7
5.7.1
5.7.2
5.7.3
5-291
5-291
5-295
5-299
5.8
5.8.1
5.8.2
5.8.3
5.8.4
5.8.5
5-303
5-305
5-307
5-310
5-312
5-314
5.9
5.10
5.10.1
5.10.2
5.10.3
5.10.4
5.10.5
5-324
5-324
5-327
5-328
5-330
5-333
xxi
Table of Contents
xxii
6-341
6-341
6-342
6-344
6-346
6-348
6-350
6-351
6-359
6.2
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.2.6
6-368
6-369
6-376
6-379
6-404
6-404
6.2.7
6.2.8
6.2.9
6.2.10
6.2.11
6.2.12
6.3
6.3.1
6.3.2
6.3.3
6.3.4
6-446
6-447
6-476
6-478
6-484
6.4
6.4.1
6.4.2
6.4.3
6.4.4
6.4.5
6.4.6
6-495
6-495
6-496
6-497
6-521
6-521
6-523
6.5
6.6
6.6.1
6.6.2
6.6.3
6.6.4
6.6.5
Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Basic setting of the analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
nset mode or nset with Mred mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mset mode or Mset with Mred mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque/power reduction via terminal 24.x/20.x . . . . . . . . . . . . . . . . . . . . . . .
Application example master/slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7
6.8
6.8.1
6-367
6-410
6-414
6-416
6-421
6-423
6-436
6-441
6-551
6-552
6-553
6-557
6-560
6-563
Table of Contents
6.8.2
6.8.3
6.9
6.10
6.11
6.11.1
6.11.2
6.11.3
6.11.4
6.11.5
6.12
6.13
6.14
6.15
6.16
6.17
6.18
6.19
6.20
6.21
6.22
6.23
6-604
6-604
6-610
6-612
6-613
6-616
7.2
7.2.1
7.2.2
7.3
7.3.1
7.3.2
7.4
7.4.1
7.4.2
7.4.3
7.4.4
Commissioning functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Function generator (FG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Trace function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Test sockets, DAC1, DAC2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Measurement function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-762
7-763
7-771
7-773
7-776
7.5
7.5.1
7.5.2
7.5.3
7-777
7-777
7-778
7-780
7.6
xxiii
Table of Contents
Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-781
A.1
A.2
A.3
A.3.1
A.3.2
A.3.4
A.3.5
List of motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of the rotating synchronous motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of permanentmagnet synchronous motors with
field weakening (1FE1, 2SP1, PE spindle) . . . . . . . . . . . . . . . . . . . . . . . . . .
List of permanentmagnet synchronous motors without
field weakening, builtin torque motors (1FW6, from SW 6.1) . . . . . . . . . .
List of linear synchronous motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of induction motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4
A.4.1
A.4.2
A.3.3
A-927
A-927
A-939
A-946
A-951
A-957
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-983
Certificates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-987
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-997
xxiv
1
Product Overview
1.1
1-24
1.2
1-28
1.3
1.3.1
1.3.2
1.3.3
1-32
1-35
1-37
1-40
1.4
1.4.1
1.4.2
1.4.3
1-43
1-44
1-45
1.4.4
1.4.5
1-46
1-53
1-55
1-23
1 Product Overview
1.1
1.1
! 611ue diff !
What can
SIMODRIVE 611
universal do?
SIMODRIVE 611 universal is a control board, which can be universally used in the modular SIMODRIVE 611 converter system as a result of its communication interfaces, the motors and encoder systems
and option modules which can be used.
Two independent drive controls are implemented on a 2axis board.
The closedloop drive controls can be operated in the following operating modes with motor frequencies up to 1400 Hz:
In this case, the board is used for closedloop speed control, open
loop torque control and/or torque reduction.
S Positioning mode:
A maximum of 64 (256 from SW 10.1) traversing blocks can be selected and executed. Every traversing block can be freely parameterized, and in addition to the block number, it also contains additional data, e.g. target position, acceleration, velocity, command and
block enable circuit.
Interfaces
1-24
1 Product Overview
! 611ue diff !
Optional modules
1.1
This module provides an additional 8 digital inputs and 8 digital outputs (e.g. necessary to select and start a traversing block in the
positioning mode).
Note
The input/output terminals of the optional TERMINAL module are:
S Before SW 4.1: permanently assigned to drive A or axis A
S From SW 4.1: can be freely assigned axes
1-25
1 Product Overview
1.1
Which encoders
can be
connected?
! 611ue diff !
Parameter
assignment
Data save
Where can
SIMODRIVE 611
universal
be used?
1-26
S
S
S
S
S
S
Packaging machines
Machine tools
Handling equipment
Conveyor and transport equipment
Machines to machine/handle wood, glass or ceramics, etc.
1 Product Overview
! 611ue diff !
1.1
Function
overview
Control units
Optional modules
Operating modes
Serial interface
S n-set
S Positioning
S RS232
S RS485
2 analog
interfaces ($10 V)
per drive
Angular incremental
encoder interface
S Electronic handwheel
(from SW 8.1)
4 digital inputs and
4 digital outputs
per drive (can be freely
parameterized)
SIMODRIVE
611
universal
2 test sockets (0 5 V)
Safe start inhibit
(AS1/AS2)
2 analog outputs
($10 V) per drive
(speed/torque setpoint)
Speed control
Openloop torque control
Torque reduction
Dyn. Servo Control
(DSC, from SW 4.1)
Spindle positioning (from SW 5.1)
Oscillation (from SW 11.1)
Speed monitoring using a BERO
(from SW 12.1)
Positioning
HW/SW limit switches
64 (256) traversing blocks (maximum)
Positionrelated switching signals
Rotary axis with modulo correction
(from SW 2.4)
Jerk limiting (from SW 3.1)
External block change (from SW 3.1)
Travel to fixed stop
(from SW 3.3)
Axis couplings (from SW 3.3)
Position measuring system with
distancecoded reference marks
(from SW 4.1)
Jogging via velocity and incremental
(from SW 4.1)
Teachin (from SW 4.1)
MDI operation (from SW 7.1)
sequence control
8 parameter sets
Memory module (can be replaced)
IM operation
S Firmware (system software)
V/Hz operation (diagnostics)
S User data (parameter)
Motor changeover (from SW 2.4)
Display and operator unit
Direct measuring system
SimoCom
U parameterizing and
(from SW 3.3)
startup tool
S APC (from SW 10.1)
S Therm. motor model (from SW 11.1) Communication
S Power section derating (from SW 13.1)S SimoCom U <> drive
via serial interface
S Dynamic energy management
via PROFIBUS (from SW 3.1)
(from SW 13.1)
S Motor diagnostics, ground fault test S PROFIBUS-DP
Motors
(from SW 13.1)
Encoder
S Incremental encoder with sin/cos 1Vpp
S 1FK, 1FT synchronous motors
S Absolute encoder with sin/cos 1Vpp and
S 1FE1 permanentmagnet synchronous motors
EnDat interface
S 1PH induction motors
S
Resolver with pole pair numbers 1, 2, 3, 4,
S 1LA standard induction motors
5 and 6
S 1FN linear motors
S Incremental encoders with TTL signals
S 1FW6 builtin torque motors
(only induction motors) (from SW 8.1)
S
Pushbuttons and LEDs
S
for
S
S POWER ON-RESET
S
S FAULT
S
Fig. 1-1
1-27
1 Product Overview
1.2
1.2
! 611ue diff !
How is the
SIMODRIVE 611
universal
integrated into the
SIMODRIVE 611
system?
S Commutating reactor(s)
S Supply infeed module (NE module)
S Power module(s) with control board
SIMODRIVE 611 universal or
SIMODRIVE 611 universal HR (from the middle of 2002 with
SW 5.1)
SIMODRIVE 611 universal HRS (from the middle of 2005 with
SW 9.1)
SIMODRIVE 611 universal HRS / HRS2 (from 2014 with SW
14.2)
Note
In the following chapters of the Description of Functions, a
differentiation is not made between SIMODRIVE 611 universal and
SIMODRIVE 611 universal HR/HRS/HRS2.
The functionality, specified under SIMODRIVE 611 universal also
applies for SIMODRIVE 611 universal HR/HRS/HRS2.
and, when required
S Line filter
S Monitoring and pulsed resistor module
S Transformer
Reference:
Configuration
S Phase 1 (engineering)
The motor is selected
The power module and the supply infeed are selected
S Phase 2 (integration)
Create circuit diagrams
1-28
1 Product Overview
! 611ue diff !
1.2
Note
The following documentation, SW Tools and Catalogs are available
when engineering the system:
S Reference:
/PJU/, SIMODRIVE 611,
Configuration Manual, Drive Converters
S Reference:
/PJM/, SIMODRIVE 611,
Configuration Manual, Motors
AC Motors for Feed and Main Spindle Drives
S PC Tool:
/SP/, SIMOPRO,
Program to engineer SIMODRIVE drives
http://www.ad.siemens.de/mc/html_00/info/projektier_tools/index.htm
S Reference:
/BU/, Catalog NC 60, Ordering Documentation
S CD:
S CD:
1-29
1 Product Overview
1.2
! 611ue diff !
System overview
PROFIBUSDP
Supply infeed module
PG/PC
(from SW 3.1)
Power module
Parameterizing
and startup tool
SimoCom U
Setup.exe
DP slave
...
Optional
TERMINAL
module
or
SIEMENS
SIMODRIVE
DC link
Equipment bus
Optional
PROFIBUSDP
module
Memory module
Motor and encoders
e.g. 1FT6, 1FK6 or 1PH7 and
encoders with sin/cos 1Vpp
Fig. 1-2
1-30
1 Product Overview
! 611ue diff !
Components
1.2
The most important components and their function are listed in the following table.
Table 1-1
Component
Function
Equipment bus
DC link
Power modules
SIMODRIVE 611
universal
control board
Memory module
Optional modules
Encoder
Parameterizing
and
startup tool
(SimoCom U)
for PG/PC
S
S
S
S
S
S
1-31
1 Product Overview
1.3
1.3
! 611ue diff !
Description
Features
Cons.
No.
Hardware
Control unit
1
2
nset
2axis1) for encoders
with sin/cos 1 Vpp or
Positioning
TTL signals9)
3
4
5
nset
2axis1) for resolvers
6SN11181NH000AAV2)6)
6SN11181NH010AAV5)7)
6SN11180NK000AAV2)6)
Positioning
6SN11181NK000AAV2)6)
6SN11181NK010AAV5)8)10)
7
9
6SN11180NH010AAV5)7)
6SN11180NK010AAV5)8)10)
6
8
6SN11180NH000AAV2)6)
nset
1axis for resolvers
6SN11180NJ000AAV2)6)
6SN11180NJ010AAV5)8)10)
Positioning
6SN11181NJ000AAV2)6)
6SN11181NJ010AAV5)8)10)
10
TERMINALS
6SN11140NA000AA0
PROFIBUSDP13)
6SN11140NB000AA0
PROFIBUSDP24)
6SN11140NB000AA2
PROFIBUSDP34)
6SN11140NB010AA1
SimoCom U,
drive firmware,
Toolbox, GSD
file, readme
file, etc.
6SN1153VNX20VAG02)
Data carrier
1
CD
1-32
1 Product Overview
! 611ue diff !
1.3
Readers note
Please observe the information in the readme.txt file on the CD
for SIMODRIVE 611 universal.
S Settings
All driverelated settings of the control board can be made as follows:
using the parameterizing and startup tool SimoCom U on an
external PG/PC (refer to Chapter 3.3)
using the display and operator unit on the front panel
(refer to Chapter 3.2)
using PROFIBUSDP
(parameter area, PKW area, refer to Chapter 5.6.7)
1-33
1 Product Overview
1.3
! 611ue diff !
S Optional modules
Optional TERMINAL module,
8 digital inputs and 8 digital outputs for drive A
Optional PROFIBUSDP module
1-34
1 Product Overview
! 611ue diff !
1.3.1
Control
board
for 2 axes
1.3
Mounting slot for
S Optional TERMINAL module
or
X302
S Optional PROFIBUSDP
module
S Interfaces
S Terminals
S Switches
Memory module
S Firmware
S User data
Pulse interface
Equipment bus
The following applies to retaining
screws:
1-35
1 Product Overview
1.3
Control
board
for 1 axis
! 611ue diff !
X302
S Optional PROFIBUSDP
module
S Interfaces
S Terminals
S Switches
Memory module
S Firmware
S User data
Pulse interface
Equipment bus
The following applies to retaining
screws:
1-36
1 Product Overview
! 611ue diff !
1.3.2
1.3
Signaling terminals
Pushbutton for
POWERON
RESET
AS2
AS1
X421
Red FAULT
LED
Terminals for supply and
pulse enable
P24
or
S Optional PROFIBUSDP
module
X423 (interface)
(refer to Chapter 1.3.3)
M24
9
Terminals, drive B
663
X431
19
Analog outputs
75.A
16.A
75.B
16.B
15
(reference)
X452
X441
A+.A
A.A
B+.A
B.A
R+.A
R.A
15
O0.A
O1.A
O2.A
O3.A
X462
X34
M DAC1 DAC2
Terminals, drive A
56.A
14.A
24.A
20.A
65.A
9
I0.A
I1.A
I2.A
I3.A
1)
X451
A+.B
A.B
B+.B
B.B
R+.B
R.B
O0.B
O1.B
O2.B
O3.B
2)
A+.B
A.B
B+.B
B.B
R+.B
R.B
15
O0.B
O1.B
O2.B
O3.B
X461
2)
A+.A
A.A
B+.A
B.A
R+.A
R.A
O0.A
O1.A
O2.A
O3.A
1)
56.B
14.B
24.B
20.B
65.B
9
I0.B
I1.B
I2.B
I3.B
Switch S1
Serial
interface
(RS232/RS485)
X471
Display and
operator unit
Equipment bus
X351
1-37
1 Product Overview
1.3
! 611ue diff !
Readers note
The display and operator control elements provided on the front panel
are described in the following.
Additional information about
Button for
POWER
ONRESET,
FAULT, LED red
Display
and
operator unit
1-38
1 Product Overview
! 611ue diff !
1.3
Readers note
Handling the display and operator unit
S How to parameterize SIMODRIVE 611 universal is described in
Chapter 3.2.
S To remove faults and warnings refer to Chapter 7.2.
Switch S1
Switch S1
Serial
interface
X471)
Fig. 1-6
OFF ON
Ang. enc. interf. (drive A)
if used as output
> switch = OFF
term. resistor is switchedout
RS485
terminating resistor is
switchedout
Note:
2
3
5
6
7
8
1-39
1 Product Overview
1.3
1.3.3
! 611ue diff !
Optional modules
Optional
TERMINAL module
An additional 8 digital inputs and outputs can be realized using this optional module.
The functionality of these inputs/outputs can be freely parameterized.
Note
S The input/output terminals of the optional TERMINAL module are
Before SW 4.1: permanently assigned to drive A or axis A
From SW 4.1: can be freely assigned axes
I4
I5
I6
I7
I8
I9
I10
I11
O4
O5
O6
O7
O8
O9
O10
O11
Fig. 1-7
X422
8 inputs
X432
8 outputs
Readers note
Information regarding
S Installing the option
S The input and output terminals (X422 and X432)
1-40
1 Product Overview
! 611ue diff !
Optional
PROFIBUSDP
module
1.3
X423
Table 1-3
Designation
PROFIBUSDP1
(can no longer be
used from
SW 4.1)
6SN11140NB000AA0
S PROFIBUSASIC SPC3
S Cyclic data transfer (PKW and PZD section) possible
PROFIBUSDP2
6SN11140NB000AA2
Features
S Requirement:
Features that
PROFIBUSDP2 and DP3 have in common
PROFIBUS DP3
6SN11140NB010AA1
S
S
S
S
1-41
1 Product Overview
1.3
Table 1-4
! 611ue diff !
Which optional modules can be used for the various software releases?
Situation
Firmware version
Optional module
DP1
DP2
DP3
from SW 3.1
No
Yes
Yes
before SW 4.1
Yes
Yes
Yes
from SW 4.1
No
Yes
Yes
from SW 6.1
No
Yes
Yes
Note
Case 1 is for new applications with the DP2, DP3 module.
Cases 2 and 3 are for series commissioning of drives using DP1
modules and for replacing a defective DP1 module by a DP2 module.
From SW 4.1, the DP1 module can no longer be used.
Readers note
Information regarding
S Installing the optional module
S The interface (X423)
>
>
refer to Chapter 2
refer to Chapter 2
1-42
refer to Chapter 2
1 Product Overview
! not 611u !
1.4
1.4
Description
Features
6SN11140NB010AA0
1-43
1 Product Overview
1.4
1.4.1
! not 611u !
Control board
with optional
PROFIBUSDP
module
SIMODRIVE 611 universal E control board
2 axis for encoders with sin/cos 1Vpp
Optional
PROFIBUSDP3
module
with PROFIBUSASIC
DPC31 with PLL
Mounting slot
for the optional
PROFIBUSDP3 module
X302
S Interfaces
S Terminals
S Test sockets
Serial interface
(RS232)
Encoder interface
for TTL encoders
The following applies to retaining
screws:
Tighten (due to the shield contact)
Max. torque = 0.8 Nm
For plug connections:
Memory module
S Firmware
S User data
1-44
Display and
operator unit
1 Product Overview
! not 611u !
1.4.2
1.4
Motor
encoder
drive A
X411
Red
FAULT
LED
Button for
POWER
ON RESET
Signaling terminals
AS1
Motor encoder
drive B
X412
Optional
PROFIBUSDP3
module
X423
X421
AS2
Terminals for supply and
pulse enable
Terminals, drive B
P24
56.B
14.B
24.B
20.B
65.B
9
I0.B
I1.B
O0.B
O1.B
X454
M24
9
663
X431
19
Analog outputs
75.A
16.A
75.B
16.B
15
(reference)
X441
X34
M DAC1 DAC2
Terminals, drive A
56.A
14.A
24.A
20.A
65.A
9
I0.A
I1.A
O0.A
O1.A
X453
Serial
interface
(RS232)
X471
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
P_Encoder
M_Encoder
A
*A
Reserved
B
*B
Reserved
P_Encoder
R
M_Encoder
*R
Reserved
Reserved
Reserved
Display
and
operator unit
Equipment
bus
X351
1-45
1 Product Overview
1.4
1.4.3
Boardspecific
terminals and
interfaces
Table 1-5
! not 611u !
Terminal
Type
Technical specifications
1)
No.
Designation
AS1
NC
AS2
Contact:
Floating NC contact
AS1
AS1
AS2
T. 663
Feedback signal
from terminal 663
X421
Connector type:
AS2
Relay, safe
start inhibit
Relay, safe
start inhibit
T. 663
X431
P24
X431.1
Voltage tolerance
(including ripple):
10 V to 30 V
M24
X431.2
S The external supply is required for the 4 digital outputs (O0.A, O1.A and O0.B, O1.B).
X431.3
Enable voltage
(+24 V)
Reference:
Terminal 19
500 mA
Note:
The enable voltage (terminal 9) can be used to supply
the enable signals (e.g. pulse enable) as 24 V auxiliary voltage.
1) NC: NC contact; S: Supply
2) Corresponding to EN 602041 (Safety of Machinery), control transformers should be used when using
AC control voltages.
1-46
1 Product Overview
! not 611u !
Table 1-5
1.4
Terminal
Function
Type
Technical specifications
1)
No.
Designation
X431.4
Pulse enable
(+24 V)
Voltage tolerance
(including ripple): 21 V to 30 V
Typ. current consumption:
25 mA at 24 V
Note:
The pulse enable acts simultaneously on drive A and
drive B. When this pulse enable is withdrawn, the
drives coast down unbraked.
19
X431.5
Reference
Note:
If the enable signals are to be controlled from an external voltage and not from terminal 9, then the reference
potential (ground) of the external source must be connected to this terminal.
X471
IO
X423
IO
X351
Equipment bus
IO
Ribbon cable:
34pole
Voltages:
various
Signals:
various
DAC1
DAC2
T
X34
MA
MA
Reference
MA
Test socket:
2 mm
Resolution:
8 bits
3 mA
1-47
1 Product Overview
1.4
! not 611u !
The drivespecific terminals are available for both drive A and drive B.
Drive
specific
terminals
Table 1-6
Terminal
Type
Technical specifications
1)
Drive A
No.
Designation
Drive B
No.
Designation
X411
X412
Motor encoder
connection, drive A
Reference:
Motor encoder
connection, drive B
or
connection, direct
measuring system
(from SW 3.3)
AO
X441.1
16.A
X441.2
AO
75.B
X441.3
AO
16.B
X441.4
AO
15
X441.5
15
X441.5
Reference
Maximum current:
3 mA
Resolution:
8 bits
1-48
1 Product Overview
! not 611u !
1.4
Table 1-6
Function
Type
Technical specifications
1)
Drive B
Drive A
No.
Designation
No.
Designation
Terminals for the analog inputs and digital inputs/outputs (X453, X454)
X453
X454
Connector type:
X453.1
56.B
X454.1
None
14.A
X453.2
14.B
X454.2
None
24.A
X453.3
24.B
X454.3
None
20.A
X453.4
20.B
X454.4
None
65.A
X453.5
65.B
X454.5
Controller enable
drivespecific
X453.6
X454.6
Enable voltage
(+24 V)
Reference:
Terminal 19
Maximum current
(for the total group):
500 mA
Note:
The enable voltage (terminal 9) can
be used to supply the enable signals
(e.g. controller enable).
I0.A
X453.7
I0.B
X454.7
DI
Voltage:
24 V
Fast
input 3)
I1.A
X453.8
I1.B
X454.8
Digital input
12)
DI
S An opencircuit input is
interpreted as 0 signal.
1-49
1 Product Overview
1.4
Table 1-6
! not 611u !
Function
Type
Technical specifications
1)
Drive A
Drive B
No.
Designation
No.
Designation
O0.A
X453.9
O0.B
X454.9
DO
500 mA
600 mA
X453.10 O1.B
DO
Shortcircuit proof
Note:
Parameterization of the output terminals as well as the standard assignment is described in Chapter 6.4.5.
Note:
S The power switched via these outputs is supplied via terminals P24/M24 (X431). This must be
taken into account when dimensioning the external supply.
S The digital outputs only function if an external power supply is available (+24 V, T. P24/M24).
1) DO: Digital output
2) Can be freely parameterized
The digital outputs are updated in the interpolation clock cycle (P1010). This is supplemented by a
hardwarerelated delay time of approx. 200 s.
1-50
1 Product Overview
! not 611u !
1.4
Encoder interface
for TTL encoders
(X472)
Table 1-7
Function
Type
Technical specifications
1)
No.
Designation
X472
P_Encoder
M_Encoder
*A
Reserved
*B
Reserved
P_Encoder
10
11
M_Encoder
12
*R
13
14
15
S Cabling
S
The information is
transferred to a
I
higherlevel control via PROFIBUS. S
See Chapter 5.6.4
I
15 m
Reserved
Reference:
/BU/ Catalog NC 60, Connection system MOTION
CONNECT
Voltage:
Shortcircuit proof
5.1 V $2%
Max. current:
300 mA
TTL encoder:
1 MHz
1) I: Input; S: Supply
1-51
1 Product Overview
1.4
! not 611u !
Button for
POWER
ONRESET,
FAULT, LED red
Display
and
operator unit
1-52
1 Product Overview
! not 611u !
1.4.4
1.4
Requirements
The following prerequisites must be fulfilled in order to be able to commission a drive using the SimoCom U parameterizing and startup
tool:
1. All of the prerequisites for commissioning are fulfilled, according to
Chapter 4.1 this means that the system with SIMODRIVE 611 universal E can be commissioned.
2. The checklist for commissioning according to Chapter 4.1 has been
checked.
3. The optional PROFIBUSDP3 module is inserted into the control
board (refer to Chapter 1.3.3).
4. The SimoCom U tool is installed on the PC/PG, which is to be
used to commission the drive.
5. There is a connecting cable between the PG/PC and control board
(RS232 connecting cable, refer to Chapter 2.5).
6. The PC/PG with SimoCom U is connected to the control board
(X471).
Readers note
S Cable diagrams for the connecting cable
1-53
1 Product Overview
1.4
Procedure when
commissioning the
drive for the first
time
! not 611u !
Please proceed as follows when commissioning SIMODRIVE 611 universal E using the SimoCom U parameterizing and startup tool for
the first time:
1. Powerup the drive group
2. Start SimoCom U
3. Request online operation for drive A
Operator action:
Execute the Search for online drives function in the Startup
menu, and select drive A in the Drive and dialog browser.
Is the startup required window displayed?
Yes: > Start the drive configuration assistant
>This means you signal the drive the existing configuration
(PROFIBUS node address, power module, motor, etc.).
No: > Press reconfigure drive button
> This means that you change the configuration on the control
board (PROFIBUS node address, power module, motor, etc.).
4. Execute the drive configuration, and at the end, press the Calculate
controller data, save, reset button.
Note
If drive B is to be commissioned, then the points must be executed for
drive B from point 3 onwards.
1-54
1 Product Overview
! not 611u !
1.4.5
Table 1-8
Difference
The
information in
this document
1.4
611 universal E
The following
chapter is of no
significance:
Readers note:
S Chapter1.4
Before the 10.99 Edition (SW 3.1) the following was valid:
This documentation only contains information for SIMODRIVE 611 universal.
From the 10.99 Edition (SW 3.1) the following is valid:
This documentation contains information for SIMODRIVE 611 universal
and SIMODRIVE 611 universal E.
The information for SIMODRIVE 611 universal E is provided in this Chapter.
The following abbreviations have been introduced to identify the information for both modules in the other chapters:
Board
611u
611ue
S
S
S
S
Operating
mode
S Speed/
torque setpoint
S Positioning
Designation
Significance
none
! not 611u !
! not 611ue !
! 611ue diff !
S Speed/
torque setpoint
S No
P0700 = 1
(operating mode speed/torque setpoint)
1-55
1 Product Overview
1.4
Table 1-8
Difference
Software
release
! not 611u !
S
S
S
S
S
S
S
S
S
S
S
S
S
S
SW 1.1
SW 2.1
SW 2.4
SW 3.x
SW 4.1
SW 5.x
SW 6.x
SW 7.x
SW 8.x
SW 9.x
SW 10.x
SW 11.x
SW 12.x
SW 13.x
611 universal E
S
S
S
S
S
S
S
S
S
S
S
S
S
S
No
No
No
SW 3.x
SW 4.1
SW 5.x
SW 6.x
SW 7.x
SW 8.3
Note:
The SW version installed and supplied with the
SIMODRIVE 611 universalE control board is that which
has been approved for combination with SINUMERIK
802D!
SW 8.3
SW 8.3
SW 8.3
SW 8.3
SW 8.3
Module
type
P0870 = 0004hex
Analog
inputs
S Term.
S No
S No
S
S
S
S
Term. I0.x
No
S
S
S
S
Term. O0.x
56.x/14.x
S Term.
24.x/20.x
Digital
inputs
Digital
outputs
Optional
TERMINAL
module
S
S
S
S
Term. I0.x
S
S
S
S
Term. O0.x
Term. I1.x
Term. I2.x
Term. I3.x
Term. O1.x
Term. O2.x
Term. O3.x
Yes,
can be used
Term. I1.x
No
Term. O1.x
No
No
No,
cannot be used
Optional
PROFIBUS
module
S PROFIBUS S No
DP1
S PROFIBUS S No
DP2
S PROFIBUS S PROFIBUS
DP3
1-56
DP3
P0872 = 4
> The following option module was detected:
Optional PROFIBUSDP3 module (from SW 3.1)
with PROFIBUSASIC DPC31 with PLL
Order No. (MLFB): 6SN11140NB010AA0 or
SN11140NB010AA1
1 Product Overview
! not 611u !
Table 1-8
Difference
Serial
interface
1.4
S RS232
S RS485
(independent of the
hardware)
Angular
incremental
encoder
interface
Yes
611 universal E
S RS232
S No
S Permissible settings
No
P0890 = 0
P0890 = 4
P0890 = 0
No
Yes
(TTL encoder)
terface is used
to connect an
additional measuring system
(TTL encoders,
encoder 3)
with PROFIBUSDP function (clock cycle synchronous operation, e.g. together with SINUMERIK 802D).
Note:
S Sensor 1
S Encoder 2
(from
SW 3.3)
S Sensor 1
S Encoder 2
(from
SW 3.3)
S No
S Sensor 3
Traversing to
fixed
stop
Yes
No
Axis
couplings
Yes
from SW 3.3
from SW 3.3
Encoder 1
Encoder 2
Encoder 3
No
1-57
1 Product Overview
1.4
1-58
2.1
2.1.1
2.1.2
2.1.3
2.1.4
2.1.5
2-60
2-60
2-61
2-62
2-64
2-67
2.2
2.2.1
2.2.2
2.2.3
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General information on connectingup . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connectingup and setting the line supply infeed module . . . . . . . . . . . . .
Connectingup the power module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-70
2-70
2-73
2-74
2.3
2.3.1
2.3.2
2.3.3
2-75
2-75
2-76
2.4
2-86
2.5
Cable diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-89
2.3.4
2-82
2-84
2-59
2.1
Warning
It is only permissible to install/remove a control board or an option
module when the system is in a novoltage condition (powered down).
If boards or option modules are inserted or withdrawn under voltage,
this can result in data loss or destruction of components.
Note
The screws retaining electrical connections at the modules must be
tightened with the following torque:
Screw size
> tightening torque
M3
>
0.5 Nm (for electrical connections)
M3
>
0.8 Nm (for mechanical connections)
M4
>
1.8 Nm
M5
>
3.0 Nm
Tolerance
>
0/+30 %
After transport, the screws should be tightened!
2.1.1
Warning
The ESDS measures must be observed when installing/removing the
control board.
1. Ensure that the power module is in a novoltage condition.
2. Check that the memory module is inserted and locked into place in
the control board.
If it is not inserted, then refer to the point installing/removing the
memory module.
3. Insert the control board in the power module.
4. Tighten up the screws retaining the board
(2 screws on the front panel, max. torque= 0.8 Nm).
5. Connectup the front panel of the board corresponding to the connection diagram (refer to Chapter 2.3.1).
The mating connectors are inserted at the appropriate interface.
2-60
2.1.2
Warning
Bolt
...
Bolt
SIEMENS
SIMODRIVE
Bolt
Fig. 2-1
Memory module
For screws:
Tighten (due to the shield contact)
Max. torque = 0.8 Nm
Note
The PROFIBUS firmware, associated with the 611u firmware must be
available on the PROFIBUSDP option module. Otherwise the
firmware must be upgraded. PROFIBUSDP1 option modules from
SW 4.1 and also in this particular case can no longer be used.
2-61
2.1.3
The memory module can be replaced, and when supplied from the factory, a new control board is already installed.
General
What types of
memory modules
are available?
How is the
memory module
replaced?
2-62
Control unit
Latch
Slot for
memory
module
Latch
Fig. 2-2
Referencing
2
Memory module
2-63
2.1.4
General
2
old
new
6SN11180N000AA
SIMODRIVE 611 universal control board
6SN11181N000AA
6SN1118N010AA0
6SN1118N010AA0
6SN11180NH110AA0
X461/X462
Reconnect the terminal block
(this is not present for 611 universal E)
Fig. 2-3
How is a
control board
replaced?
2-64
5. Install the SimoCom U startup tool with version 5.1 (or higher)
or, when using an older version, observe the following information:
Exit SimoCom U.
Make a backup copy of the test file ...\siemens\lists\control.txt
in the main SimoCom U directory (generally under C:\Program
Files\Siemens\SimoComU).
Then open this file with Microsoft Wordpad (not with a text editor!).
Search for the following line under the Section 611U or the last
line of this section:
6SN11181NJ000AAx
resolver 1axis X_SOLL
259
0x00000000 1 1 2 1 ;611U
0x00000000 2 2 1 7 ;611U
6SN11180NK010AA0
7
resolver HR 2axis N_SOLL
0x00000000 1 2 1 8 ;611U
6SN11180NJ010AA0
8
resolver HR 1axis N_SOLL
0x00000000 1 1 1 8 ;611U
6SN11181NH010AA0
261
encoder HR 2axis X_SOLL
0x00000000 2 2 2 7 ;611U
6SN11181NK010AA0
263
resolver HR 2axis X_SOLL
0x00000000 1 2 2 8 ;611U
6SN11181NJ010AA0
264
resolver HR 1axis X_SOLL
0x00000000 1 1 2 8 ;611U
0x00000000 2 2 1 9 ;611UE
2-65
9. Reconnect the front panel of the module corresponding to the connection diagram.
Insert the mating connector at the appropriate interface.
Notice
For SIMODRIVE 611 universal, connectors X461 and X462
have been extended to an 11pole version. This means that the signal
conductors connected to this terminal block must be
reconnected to the new (11pole) terminal block (terminal block
assignment, refer to Fig. 1-5).
10.Download your machine data, saved under 6., into the new control
board using the SimoCom U startup tool.
Warning
It is only permissible to install/remove a control board when the system
is in a novoltage condition (i.e. powereddown).
If a control board is inserted or removed under voltage (with the
system poweredup), this can result in data being lost or components
being destroyed.
The ESDS measures must be observed when installing/removing the
control board.
Note
For spare control boards, a set of installation instructions are provided
which describes how the control board is replaced.
2-66
2.1.5
General
Fig. 2-4
Table 2-1
Control board
MLFB
Firmware Version
SimoCom U
X461 / X462 1)
611U
611U E
6SN1118N000AA
6SN11180NH100AA2
all possible
all possible
10pin
611U HR
611U E HR
6SN1118N010AA0
6SN11180NH110AA0
all possible
all possible
11pin
611U HRS
611U E HRS
6SN1118N010AA1
6SN11180NH110AA1
q 8.3 required
q 8.3 required
11pin
611U HRS2
6SN1118N010AA2
q 14.1 required
q 14.1 required
11pin
2-67
How is a
control board
replaced?
2-68
Warning
In addition, the axes have to be newly referenced for a control board
with motors with absolute encoders and a firmware version < 9.1, even
if they appear to have been referenced. If referencing of the axes is
complicated and timeconsuming it is possible to rescue the reference
points. This possibility is described under Product Support in the Internet under FAQs ID21821692.
11. Reconnect the front panel of the module according to your connection diagram. Insert the mating connector into the appropriate interface.
Notice
HR, HRS and HRS2 connectors X461 and X462 have now been
changed to an 11pin design. This is why the assigned signal cables of
the (10pin) terminal block of SIMODRIVE 611 universal have to be
rewired to the new (11pin) terminal block. Terminal 15 remains free
(terminal block assignment see figure 1-5) .
Note
For spare control boards, a set of installation instructions are provided
which describes how the control board is replaced.
2-69
Wiring
2.2
Wiring
2.2.1
2
Readers note
Information on the subjects
Cabinet design
Basic rules regarding electromagnetic compatibility (basic EMC
rules)
Equipotential bonding
are included in
Reference:
Warning
Cable shields and cores/conductors of power cables which are not
used (e.g. brake conductors) must be connected to PE potential in
order to discharge charges arising from capacitive coupling.
Nonobservance can cause lethal shock voltages.
2-70
Mini connector
MICRO
COMBICON
Wiring
For the SIMODRIVE 611 universal control board, a compact connector is used (this is also known as mini connector).
The following information is required when handling this mini connector:
Connector part
Test sockets
To measure the voltage at a terminal,
Base housing
a measuring probe with max. 1 mm
diameter can be inserted in this
socket.
Marking
The selfadhesive
labeling strips can
then be attached.
Coding grooves
The coding elements are
inserted here
(red insulating material)
Coding lugs
The appropriate lugs
are broken off for
coding.
Introducing the conductor
(max. 0.5 mm2)
Stranded conductor
or
Levertype opener
The terminal contact to introduce the conductor or to release a
conductor is opened using this element.
pressed
>
terminal contact opened
not pressed
>
terminal contact closed
Fig. 2-5
solid conductor
8 mm
2-71
Wiring
Recommended
cable
Recommended cable
Cable
for
Description
Analog
inputs
6FX20081BD21
mm2
Analog
outputs
Term. 75.A/15
Term. 16.A/15
Angular
incremental
encoder
interface
Term. A+.A
6FX20081BD21
Term. A.A
Term. B+.A
Term. B.A
Term. R+.A
Term. R.A
Shield connection
to the side of the
power module
Conductors:
4 2 0.38 mm2 +
4 0.5 mm2
Condition to maintain the
burst strength: Cable
length < 30 m
50conductor cable without overall shield
Conductors: 50 0.38
mm2
To connect the shield to the side of the power module, the cable end
must be prepared as illustrated in Fig. 2-6.
With the shield exposed, the cable is connected at the top of the power
module using a shield connecting terminal (tapped holes are provided).
Approx. 300
Approx. 15 Approx. 15
Shrinkon sleeve
Fig. 2-6
2-72
Conductors:
4 2 0.38 mm2 +
4 0.5 mm2
Cable sheath
Exposed shield
not
to scale
Wiring
Note
The cable shield should be connected at both cable ends through
the largest possible surface area.
Recommendation for the end of the conductor:
Remove 5 mm of insulation from the end of the conductor and
attach the specified cable lug using the manual crimping tool.
Pintype cable lug from the AMP company
Type A, yellow, DIN cable crosssection range 0.14
0.35 mm2, max. insulation diameter 2.1 mm, Order No.:
1655141
Manual crimping tool from AMP
CERTICRIMP, Order No.: 1694850
2.2.2
Wiring
Setting switch S1
/PJU/
SIMODRIVE 611,
Configuration Manual, Drive Converters
Chapter Line infeed (NE)
/PJU/
SIMODRIVE 611,
Configuration Manual, Drive Converters
Chapter Line infeed (NE)
2-73
Wiring
2.2.3
Table 2-3
Terminal
Type
Technical specifications
1)
No.
Designation
Motor connections
U2
A1
V2
Motor connection
for drive A
Motor connection
for drive B
(only for 2axis
power modules)
Protective conductor
W2
U2
A2
V2
W2
PE
Note:
Reference:
0V
Bolt
DC link
P600
DC link
IO
Conductor bar
Equipment bus
IO
Ribbon cable:
M600
Equipment bus
X151
34pole
Voltages:
various
Signals:
various
Warning
If a contactor is used between the motor and the power module, then it
must be ensured that this contactor is only switched in a nocurrent
condition (power circuit).
Switchoff
When terminal 663 (pulse cancellation) is simultaneously deenergized
and the coil of the power contactor, this condition is maintained. The
pulses are almost instantaneously canceled, the contactor contacts are
then in a nocurrent condition, and switch somewhat later due to the
contact delay.
Switching on:
Terminal 663 may only be energized if all of the main contacts of the
power contactor are closed (e.g. terminal 663 is switched through an
auxiliary contact of the power contactor).
2-74
2.3
2.3
2.3.1
Drive enable
X141
X161
Settingup oper.
Contactor control
Signaling
contacts,
line contactorX171
Signaling
contact
Start inhibit
7
45
44
10
15
15
R
9
112
48
111
213
113
EN+
EN+
EN
P24
P15
N15
N24
M
M
RESET
EN+
0 ... 10 V
(e.g. nset 1)
Digital
inputs
(I: Input)
NS1
NS2
AS2
JP
EXT
X151
PE1
X131
U1 V1 W1
L1
L2
L3
Angular
incremental
encoder
interface
X172 AS1
LK
to (from)
higherlevel
control
75.A
16.A
75.B
16.B
15
56.A
14.A
24.A
20.A
65.A
9
I0.A
I1.A
I2.A
I3.A
Analog
input 2
RF
EN+
5V
UNIT
Equip
UDC link>>
ment
X181 M500
bus
Note:
P500
2U1
The terminals which
1U1
are highlighted
2V1
must, as a minimum,
1V1
be connected up in
2W1
1W1
order that the drives
can operate.
Fr
EN+
IF
Reference EN
external
AO1
AO2
Analog
outputs AO1
AO2
Reference
72
5.3
5.2
5.1
63
9
9
64
19
External
supply
Digital
outputs
(O: Output)
A+.A
A.A
B+.A
B.A
R+.A
R.A
151)
O0.A
O1.A
O2.A
O3.A
DAC1
Test sockets
X34
DAC2
DC link
Analog
input 1
56.B
14.B
24.B
20.B
65.B
9
I0.B
I1.B
I2.B
I3.B
Analog
input 2
RF
EN+
Digital
inputs
(I: Input)
A+.B
A.B
B+.B
B.B
R+.B
R.B
151)
O0.B
O1.B
O2.B
O3.B
X471
Angular
incremental
encoder
interface
Digital
outputs
(O: Output)
Serial interface
P 600
M 600
A1
to X411
E
U2 V2 W2
A2
PE PE PE
M
3
Drive A (motor 1)
PE
1) from SW 5.1, for 6SN1118N010AA: Order No.[MLFB] refer to Table 1-2
Fig. 2-7
External
IF: Pulse enable
RF: Contr. enable
EN+: Enable volt.
X452
X121
73.2
73.1
Signaling contact
Start inhibit
X421
X462
Group signal,
I2t/temperature
monitoring
Pulse enable
74
Chkb. signal
Pulse enable
X441
Relay contact
Ready
signal
Internal
X451
X111
X412
AS1
AS2
X351
External
Motor encoder
drive B
X411
X461
U2 V2 W2
M
3
to X412
E
Drive B (motor 2)
2-75
2.3.2
Board
specific
terminals and
interfaces
Table 2-4
! not 611ue !
Terminal
Type
Technical specifications
1)
No.
Designation
AS2
Signaling contact
Start inhibit
X421
NC
Contact:
Floating NC contact
AS1
AS1
T. 663
Feedback signal
from terminal 663
AS2
Connector type:
Relay, safe
start inhibit
AS2
T. 663
Relay, safe
start inhibit
2-76
Table 2-4
2.3
Terminal
Type
Function
Technical specifications
1)
No.
Designation
X431
P24
M24
X431.1
X431.2
Voltage tolerance
(including ripple):
10 V to 30 V
2.4 A
480 mA
Example:
Board/module
Control board
Outputs
8
Control module +
optional TERMINAL module 8 + 8
9
X431.3
Enable voltage
(+24 V)
Reference:
> 24 V/1.8 A
Terminal 19
663
X431.4
Pulse enable
(+24 V)
Voltage tolerance
(including ripple):
21 V to 30 V
19
X431.5
Reference
(Reference for all
digital inputs)
Note:
If the enable signals are to be controlled from an external voltage and not from terminal 9, then the reference
potential (ground) of the external source must be connected to this terminal.
1) I: Input; S: Supply
2-77
Table 2-4
! not 611ue !
Terminal
Function
Type
Technical specifications
1)
No.
Designation
X471
IO
Online operation via the serial RS232/RS485 interface > refer to Chapter 3.3.3
X351
Equipment bus
IO
Ribbon cable:
34pin
Voltages:
various
Signals:
various
Test socket:
2 mm
Resolution:
8 bits
X34
MA
MA
Reference
MA
3 mA
2-78
2.3
The drivespecific terminals are available for both drive A and drive B.
Drive
specific
terminals
Table 2-5
Function
Type
Technical specifications
1)
Drive A
No.
Designation
Drive B
No.
Designation
X411
X412
Reference:
HRS2
X441.1
AO
16.A
X441.2
AO
75.B
X441.3
AO
16.B
X441.4
AO
15
X441.5
15
X441.5
Reference
(electronics ground)
Connector type:
Wiring:
refer to3)
8 bits
2-79
Table 2-5
! not 611ue !
Function
Type
Technical specifications
1)
Drive B
Drive A
No.
Designation
No.
Designation
X452
Connector type:
56.A
X451.1
56.B
X452.1
Analog input 1
14.A
X451.2
14.B
X452.2
Reference 1
24.A
X451.3
24.B
X452.3
Analog input 2
20.A
X451.4
20.B
X452.4
Reference 2
65.A
X451.5
65.B
X452.5
Controller enable
drivespecific
AI
Differential input
Voltage range
(limit values):
12.5 V to +12.5 V
X451.6
X452.6
Enable voltage
(+24 V)
Reference:
Terminal 19
Maximum current
(for the total group):
500 mA
Note:
The enable voltage (terminal 9) can
be used to supply the enable signals
(e.g. controller enable).
I0.A
X451.7
I0.B
X452.7
DI
input3)
Voltage:
24 V
e.g. for
equivalent zero
mark, external
block change (from
SW 3.1)
I1.A
X451.8
I1.B
X452.8
DI
I2.A
X451.9
I2.B
X452.9
DI
I3.A
X451.10 I3.B
DI
Note:
An opencircuit input is
interpreted as 0 signal.
2-80
Table 2-5
2.3
Function
Type
Technical specifications
1)
Drive B
Drive A
No.
Designation
No.
Designation
X462
Connector type:
A+.A
X461.1
A+.B
X462.1
Signal A+
IO
A.A
X461.2
A.B
X462.2
Signal A
IO
B+.A
X461.3
B+.B
X462.3
Signal B+
IO
B.A
X461.4
B.B
X462.4
Signal B
IO
R+.A
X461.5
R+.B
X462.5
Signal R+
IO
R.A
X461.6
R.B
X462.6
Signal R
IO
153)
X461.7
15
X462.7
Ground reference
Note:
Devices (stations) that conform to the RS485/RS422 Standard must be connected.
The permissible signal level lies between 0 V and +5 V. The module will be destroyed if higher
voltages are connected, e.g. 24 V!
The angular incremental encoder interface can be parameterized as either input or output (refer
to Chapter 6.8).
Input (from SW 3.3)
To enter incremental position reference values
Output
To output incremental position actual values
O0.A
X461.8
O0.B
X462.8
DO
O1.A
X461.9
O1.B
X462.9
DO
O2.A
X461.10 O2.B
DO
O3.A
X461.11
X462.11
DO
O3.B
Note:
The power switched via these outputs is supplied via terminals P24/M24 (X431). This must be
taken into account when dimensioning the external supply.
The digital outputs only function if there is an external supply (+24 V/0 V, terminals
P24/M24).
2-81
2.3.3
! not 611ue !
Connection
diagram for the
optional
TERMINAL module
External
supply
External
reference
EN+
IF
EN
P24
M24
9
663
19
X431
Internal
Control board
X422
Optional
TERMINAL
module
I4
I5
I6
I7
I8
I9
I10
I11
Digital
inputs
(I: Input)
O4
O5
O6
O7
O8
O9
O10
O11
Digital
outputs
(O: Output)
External
X432
Fig. 2-8
2-82
2.3
Connectingup the
optional
TERMINAL module
(X422, X432)
Table 2-6
Connector type:
8pin plug connector
Max. conductor crosssection for finelystranded or solid conductors:
0.5 mm2
Terminal
Type
Technical specifications
1)
No.
Designation
X422.1
DI
Voltage:
I5
X422.2
DI
I6
X422.3
DI
I7
X422.4
DI
I8
X422.5
DI
I9
X422.6
Digital input
92)
DI
I10
X422.7
DI
I11
X422.8
DI
Electrical isolation:
24 V
Ref. is T. 19/T. M24
X432.1
DO
O5
X432.2
DO
O6
X432.3
DO
O7
X432.4
Digital output
73)
DO
50 mV at 100 mA
O8
X432.5
DO
Electrical isolation:
Example:
O9
X432.6
DO
O10
X432.7
DO
O11
X432.8
DO
100 mA
120 mA
480 mA
Shortcircuit proof
Note:
The parameterization of the terminals and the standard assignment is described in Chap.6.5.
The power switched via these outputs is supplied via the boardspecific terminal 431 (external supply, P24, M24) from the control board.
This must be taken into account when dimensioning the external supply.
The digital outputs only function if an external power supply is available (+24 V, T.
P24/M24).
2-83
2.3.4
! not 611ue !
Connection
diagram for the
optional
PROFIBUSDP
module
e.g. SIMATIC S7300 (DP master)
PG/PC
MPI
CP 5511
or
(from SW 3.1)
CP 5611
PROFIBUS DP
DP slave
DP slave
X423
X423
Power module with
SIMODRIVE 611 universal
control board and
optional PROFIBUSDP module
...
Fig. 2-9
...
Warning
The serial interface (X471) and the PROFIBUSDP interface (X423)
use 9pin DSUB socket connectors.
If the cables are interchanged when connectingup, this could destroy
the module or board of the communications partner.
2-84
2.3
The following bus connectors can be connected to the optional PROFIBUSDP module:
Bus connector for fiberoptic cables (baud rate: max. 1.5 Mbaud)
Order No. (MLFB): 6GK1 5021AA00
Optional PROFIBUSDP module
80.1 (348)
74.9 (343)
R86
R75
18
Front panel
Bus connector for copper
cables (with PG connection)
Note:
Front panel
The dimensions in brackets specify the total depth up to the rear cabinet panel.
The external shield should be connected through the largest possible surface area (refer to Fig. 2-6).
Fig. 2-10 Mounting depth of the bus connector for the optional PROFIBUSDP module
Readers note
Additional information on configuring a PROFIBUSDP network is
provided in:
References:
2-85
2.4
Pin assignment of
X411/X412 for
the control board
for encoder with
sin/cos 1Vpp and
TTL signal (from
SW 8.1)
Connector designation:
Connector type:
Table 2-7
Pin
Pin
Signal name
P_Encoder
14
5 V sense
M_Encoder
15
EnDat_DAT
16
0 V sense
*A
17
Inner shield
18
*R
19
*B
20
*C
Inner shield
21
Reserved
22
*D
10
EnDat_CLK
23
*EnDat_DAT
11
Reserved
24
Inner shield
12
*EnDat_CLK
25
Temp (KTY/PTC)
13
+Temp (KTY/PTC)
Cable
2-86
/BU/
Catalog NC 60,
Connection system MOTION CONNECT
Pin assignment of
X411/X412 for the
control board for
resolvers
Connector designation:
Connector type:
Table 2-8
Pin
Pin
Reserved
14
Reserved
M_Encoder
15
Reserved
SIN_PLUS
16
Reserved
SIN_MINUS
17
Reserved
Inner shield
18
Reserved
COS_PLUS
19
Reserved
COS_MINUS
20
Reserved
Inner shield
21
Reserved
Excitation_Pos
22
Reserved
10
Reserved
23
Reserved
11
Excitation_Neg
24
Inner shield
12
Reserved
25
Temp (KTY/PTC)
13
Temp+ (KTY/PTC)
Cable
Signal name
References:
Serial
interface
X471
Catalog NC 60,
Connection system MOTION CONNECT
Connector type:
Table 2-9
Pin
Pin
Signal name
RS485 DATA+
Reserved
RS232 TxD
RS232 CTS
RS232 RxD
RS232 RTS
Reserved
RS485 DATA
Ground 0 V
Note:
The cable diagrams for the serial interface are provided in Chapter 2.5.
2-87
Pin assignment of
X423 for
the optional
PROFIBUSDP
module
Pin
Pin
Reserved
VP,
Supply voltage plus (P5V)
Reserved
Reserved
RxD/TxDP,
Receive/send data P
RxD/TxDN,
Receive/send data N
B cable
2-88
Signal name
A conductor
Reserved
DGND,
Data reference potential (M5V)
2.5
Cable diagrams
Cable diagrams
PG/PC
RxD
TxD
0V
RTS
CTS
9pin
Dsub
skt. con.
2
3
5
7
8
0.1 mm2
Connection to a
serial interface,
e.g. COM1/COM2 for PC/PG
TxD
RxD
0V
CTS
RTS
9pin
DSub
plug con.
Connection at X471
Setting the interface to
RS232 (P0801 = 0)
PG/PC
RxD
TxD
0V
RTS
CTS
9pin
Dsub
skt. con.
2
3
5
7
8
0.1 mm2
Jumpered
in the
connector
Connection to a
serial interface,
e.g. COM1/COM2 for PC/PG
TxD
RxD
0V
CTS
RTS
9pin
DSub
plug con.
Connection at X471
Setting the interface to
RS232 (P0801 = 0)
2-89
Cable diagrams
PG
RxD
TxD
0V
RTS
CTS
DSR
DTR
3
2
7
4
5
6
20
1
25pin
DSub
plug con.
0.1 mm2
2
3
5
7
8
Jumpered in the
connector
Remove the latch
interlock on the
SIMODRIVE side
Connection to a
serial interface
e.g. COM1 V24/AG for PG
TxD
RxD
0V
CTS
RTS
9pin
DSub
plug con.
Connection at X471
Setting the interface to
RS232 (P0801 = 0)
Order No.:
6FC9 3482T00
= B > Length 5 m
= C > Length 10 m
RS232/RS485
interface
converter
0.1 mm2
RS485
First
node
Connection at X471
Setting the interface to
RS485 (P0801 = 1)
PG/PC
RS232
RS485
Note:
Pins which are not used
may not be assigned.
1 (data +)
9 (data )
9pin
Dsub, plug
nth
node
Connection at X471
Setting the interface to
RS485 (P0801 = 1)
2-90
3.1
3-92
3.2
3.2.1
3.2.2
3-93
3-94
3-99
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3-100
3-100
3-103
3-109
3-115
3-91
3.1
General
RAM
(volatile
memory)
Drive B
Drive
A
Para
meter
Para
set
meter
set
Power on
POWERON
RESET
Serial
interface
X471)
Drive
A
Para
meter
Para
set
meter
set
(from SW 3.1)
PG/PC
to
display
and
change
parameters
PROFIBUS DP
interface
(e.g. X423)
or
Serial
interface
(e.g. COM1)
Display and
operator unit
Drive B
Save
Parameterizing
and startup tool
SimoCom U
Online operation
> the parameter set of a drive is
processed in the RAM of
SIMODRIVE 611 universal
Offline mode
> the parameter set is processed in
a file on the PG/PC
Setup.exe
Fig. 3-1
3-92
3.2
General
S Select, display and change parameters, subparameters and parameter values (refer to Chapter 3.2.1)
The display unit on the front panel of the SIMODRIVE 611 universal
control board can have the following operating statuses:
Operating statuses
of the display unit
Table 3-1
Operating state
Poweron mode
Parameterizing
mode
(refer to Chapter
3.2.1)
Description
Automatically
after poweron
S Poweron mode
or
S Alarm mode
Note:
You cannot change into another mode from
the parameterizing mode.
The other modes are automatically selected.
Automatically
after at least one fault or warning
occurs
3-93
3.2.1
Parameterizing mode
Display types
In the parameterizing mode, a differentiation is made between the following display types:
S Parameter display
S Subparameter display
Note
Only those parameters are displayed, which correspond to the
selected authorization level.
Parameter P0651 is used to define which parameters can be read and
written into (refer to Chapter 4.5).
S Value display
Parameters
without
subparameter
and value display,
max. 6 digits
Parameter display
Previous
parameter
+
Value display
Fig. 3-2
3-94
Subsequent
parameter
+: Key +
: Key
P: Key P
Parameter with
subparameter
and value display,
max. 6 digits
Parameter display
+: Key +
: Key
P: Key P
Subparameter display
Value display
Fig. 3-3
Parameters
without
subparameter
and value display
> 6 digits
Parameter display
Previous
parameter
+:
: Key
P: Key P
Value display
(e.g.
the value 123 456.789)
Fig. 3-4
Subsequent
parameter
P
+
+
Display up to the
6th position
3-95
Parameters with
subparameter
and value display
> 6 digits
Parameter display
Previous
parameter
+: Key +
: Key
P: Key P
Subsequent
parameter
P
Value display
(e.g.
the value 123 456.789)
Fig. 3-5
+
Display from the
7th position
+
Display up to the
6th position
Note
Examples:
3-96
Display in
A081.0H
123
3
A081.0L
456.789
459.765
Key
combinations
Description
Jump to the next higher existing parameter number
Parameter
display
P
P
Sub
parameter
display
Value display
P
P
P
3-97
Parameters for
drives A and B
Parameters of drive A
3
+
P
+
Parameters of drive B
Fig. 3-6
Representation of
hexadecimal
values
Displaying
parameter
numbers
Designating
parameters which
are effective after
POWER ON
=0
=1
The parameters, which are effective after POWER ON, are designated
in the parameter display by a point after the drive letters.
Designating parameters which are
effective after POWER ON
Fig. 3-7
3-98
3.2.2
Example:
Changing a
parameter value
Task description:
The analog setpoint is to be inverted via terminal 56.B/14.B. In this
case, in drive B, parameter P0608 must be set to 1.
Assumptions:
3-99
3.3
3.3.1
Installing SimoCom U
Note
SimoCom U is a tool that is used for commissioning, diagnostics and
parameterization. It is not permissible to use this tool as operator
interface for continuous operation of drives!
3
Prerequisite
A PG/PC is required to install the tool; it must fulfill the following minimum requirements:
S Operating system:
Windows 98 or Windows NT or
from SW 4.1 also Windows ME or Windows 2000 or
from SW 6.1, also Window XP
from SW 9.1, also WIN Server 2003
from SW 9.2, only Windows XP, WIN Server 2003
from SW 12.1, only Windows XP, WIN Server 2003 or
Windows Vista
from SW 13.2, only Windows XP, WIN Server 2003
Windows Vista or Windows 7
S 32 MB RAM memory
S Free memory required on the hard disk
Installing with one language
>
30 MB
plus approx. 10 MB
Software supply
3-100
Which SimoCom U
version is the
optimum one?
Installing
SimoCom U
3-101
Uninstalling
SimoCom U
S Using the Control Panel just like any other Windows program
Select the control panel
> START > SETTINGS > CONTROL PANEL
3-102
3.3.2
Prerequisite
Fig. 3-8
Note
When using SimoCom U, please be aware of the following:
The program attempts to think with you:
S If you select a command, which is presently not available for a
specific reason (e.g. you are offline and wish to move an axis ),
then the program does what you would probably wish it to do:
It goes online, and offers you a list of drives and after the required
drive has been selected, it opens the traversing window. However,
if you do not wish to do this, then you can exit and continue as
required.
S Only the information is provided in the dialog boxes which must be
available as a result of the selected configuration.
Example:
If a synchronous motor is set, then a rampfunction generator is
not made available in the dialog boxes for parameterization.
3-103
The information listed in Table 3-3 provides basic information and instructions on how to handle the SimoCom U parameterizing and
startup tool.
Information on
SimoCom U
Table 3-3
Information on SimoCom U
Description
Function
Tasks, which can be
executed using
SimoCom U
S Check the wiring (go into the Online Help: connection diagrams)
S Establish a connection to the drive to be parameterized
S Change the parameters
S
S
S
S
S
S
S
S
S
S
3-104
Table 3-3
Function
Description
Working offline
... this means that you are only working at the computer and you do not have a
connection to a SIMODRIVE 611 universal drive.
The opened files are now included in the drive selection box of the toolbar.
Working online
... this means that you are connected with one or several SIMODRIVE 611
universal drives and SimoCom U also knows these drives.
This is the case, if SimoCom U has already searched for the interface.
You go online, if
S You make the selection with the operator action Search for online drives
In the online mode, the toolbars of the opened files are included in the drive
selection box together with all of the drives available at the interface.
Recommended interface setting:
If you are starting SimoCom U for the first time, then you will be prompted about
the default setting of the interface:
Note:
The parameters, displayed via SimoCom U, are not cyclically read.
Examples:
S If a first commissioning is executed using the display and operator unit while
SimoCom U is in the online mode with the drive, then SimoCom U cannot
identify that the drive has been started up (commissioned).
Remedy:
After changing parameters using the display and operator unit or via PROFIBUSDP, you should first go offline with SimoCom U, in order to go back online
with updated data.
Working in the drive
or
in the file
You can work in a file directly in the drive or only at the PC however, only with
one data set at any one time.
For instance, you can be connected with a double axis module (and therefore
have access to the parameter sets in the two drives A and B) and at the same
time, have several files open. All of these parameter sets are then displayed in
the selection box in the toolbar, and also in the file menu.
When you select Drive A, you will see the status and the parameters which are
active directly in Drive A otherwise none. When changing over to a my.par
file, then you will only see the parameters of this file.
Opened parameter files can also be reclosed:
Menu File/Close file.
3-105
Table 3-3
Function
Expert list
Description
... displays all of the SIMODRIVE 611 universal parameters.
You can individually change any parameter via the expert list. The operator has
no additional support here. This list parameterization should only be used in
exceptional cases.
S Operating Instructions
If you open the list, you will additionally obtain the menu, which can also
be reached using the righthand mouse key.
It is especially interesting that the standard value and value limits for the
actual parameters are displayed in the status line.
Modified values only become effective after pressing the Enter key or if
another parameter was selected. Values which are inactive have a red
background.
In the List menu, you can select which data should appear in the list:
All, or only the controller data, or only the subparameter set 0 or ....
Furthermore, you can search for specific terms with F3 (or list/search
menu), e.g. you can search for temp if you wish to change the
temperature warning threshold value.
Bitcoded values: Go with the cursor to the line and press F4 (or menu,
List/bit values). You then obtain a plain text display of the individual bits
and can select these at a click of the mouse.
... means that the terminal signals are ignored at the terminals and instead, the
drive evaluates signals set by the PC.
This means that the enable signals to traverse the drive can be output from the
PC.
Exceptions:
S The pulse enable (terminal 663) and the controller enable (terminal 65.x)
S During PCcontrol, digital input 10 with the external block exchange parameter assignment is not active even if set via the PC
(Diagnostics > Diagnostics Views > CTRL L).
3-106
... you then obtain a display of the voltage level available at the terminals
compared to the signals set by the PC.
The master control is only transferred back to the terminals after
acknowledgement.
Table 3-3
Function
Commissioning
required
Description
A drive that has still not been commissioned, logson with:
Commissioning required!
You have 5 possibilities:
1. Open the Startup Assistant if you have not already created a file, which
you wish to load into the drive.
2. Load an existing file into the drive.
3. Optionally, you can switch the drive, which logson, into the passive state
(this is only possible for drive B).
4. Work offline this means that you disconnect the link to the drive without
start up the drive.
5. Emergency exit in this case, you remain online without carrying out any
commissioning (e.g. in order to upgrade the firmware before commissioning)
Procedure when
commissioning
Recommendation:
Go through the Startup menu, from the top to the bottom.
The parameters are arranged according to importance:
1.)
Drive configuration
... here, enter which power modules, which motors, which encoders are used
with this drive, and in which operating mode the drive is used.
If this data is changed, the controller data is recalculated,
i.e. previous changes made to the relevant parameters will be overwritten.
2.)
Basic commissioning
... here, you will find the data, which is in most cases necessary and also
sufficient for the motor and the operating mode that has been entered.
You can access all of the parameters in the expert list.
After the drive has been configured, you can already operate the drive from the
PC.
Call: Operator control/Traverse/ ... menu
Data transfer
3-107
Integrated help
S By pressing key F1
3
Printing
Data for the following dialog boxes can be printed using the print symbol in the symbol bar:
S Traversing blocks
S Teach In
S User parameter list
S Operating conditions
S Status parameters
S Trace function
S Measurement function
S Expert List
3-108
3.3.3
General
Note
When working with the interface, it is imperative to observe the following points:
S The data cables should not be removed when the SimoCom U is in
the online mode. Should you have nevertheless removed the data
cable, close and restart SimoCom U, and then you may continue
working.
S Before removing the data cable, cancel pulse enable of the I/RF
and all drive modules. Thus. you avoid damage to the serial interface in closedloop control or if a PC / notebook is connected.
S When uploading measurement data from the drive, note that the
cancellation of servo enable using the <F8> key or spacebar is not
accepted. The hardware terminal, however, remains effective.
3-109
The following parameters are available for the serial interface (X471):
Parameter
overview
Table 3-4
! 611ue diff !
Interface
Parameter
No.
0801
Name
Toggling between RS232/RS485
Min.
Stan- Max.
dard
Unit
Effective
PO
The serial interface (X471) is either set to RS232 or RS485 using this
parameter.
3
Switch S1
=1
=0
= 1
Reserved
The interface can be changed over from both drives. As the interface
can either be set to RS232 or to RS485, when changing the parameter
in a drive, the parameter in the other drive is automatically changed.
Note:
The RS485 interface can only function for control boards from a certain
hardware version onwards.
> refer under the index entry RS485 (from HW ...1)
0802
Serial
interface
X471)
31
PO
= 1 to 31
Note:
Note:
Before changing over the serial interface, it must be checked that the appropriate correct connecting
cable is connected at X471.
Interface
parameters
3-110
For SIMODRIVE 611 universal, the interface parameters for the serial
interface are permanently assigned and cannot be changed.
Communications
via RS232
PG/PC
Parameterizing
and startup tool
SimoCom U
Setup.exe
RS232 connecting cable
3-111
Communications
via RS485
(the function is
dependent on the
hardware)
! 611ue diff !
3-112
Name:
Order No.:
6ES7 9013BF200XA0
Cable length:
5m
Connector:
Power supply:
3. Cable
RS232 connecting cable
Cable between the PG/PC and interface converter
(cable diagram: refer to Chapter 2.5)
RS485 connecting cable
Cable between the RS232/RS485 interface converter and the
nodes to establish an RS485 link
(cable diagram: refer to Chapter 2.5 or Fig. 3-10)
4. Terminating resistor for the RS485 bus
Generally applies:
First and last node > terminating resistor switchedin
Other nodes on the bus > terminating resistor switchedout
(switch S1, refer to Chapter 1.3.2)
Example:
Communications
between the PG/PC
and 6 drives
via RS485
Communications from a PG/PC to 3 SIMODRIVE 611 universal control boards (2axis versions) should be possible via the serial interface.
Online operation between a PG/PC and the individual control boards
must be realized via an RS232/RS485 converter and the appropriate
cabling on the RS485 side, so that the drive can go online at any time.
Assumptions for the example:
S The serial interface must be set to RS485 for all drives (P0801 = 1).
S Setting the drive number (P0802)
1st board
2nd board
3rd board
3-113
! 611ue diff !
Serial interface
(e.g. COM 1)
PG/PC
9pin
plug
PC/PPI
cable
RS232
RS48
5
RS232/RS485
interface converter
9pin
socket
9pin
socket
3rd module
2nd module
1st module
Drive A: P0801 = 1
Drive B: P0801 = 1
Drive A: P0801 = 1
Drive B: P0801 = 1
Drive A: P0801 = 1
Drive B: P0801 = 1
Drive A: P0802 = 5
Drive B: P0802 = 3
Drive A: P0802 = 7
Drive B: P0802 = 8
Drive A: P0802 = 4
Drive B: P0802 = 2
Terminating resistor in
S1: Switch 7 = ON
S1: Switch 8 = ON
0V
+24 V
9pin
socket
9pin
plug
1
Data +
Data
Note
Essentially the same as when specifying the possible node addresses
(drive numbers), up to 31 drives can be connected to an
RS232/RS485 interface converter (PC/PPI cable).
3-114
3.3.4
Description
S Online operation via the CP 5511/CP 5611/CP 5613 directly with the
field bus
3-115
Settings for
SimoCom U
PROFIBUS and
>
Direct connection
> if the coupling is directly with the field bus
or
>
MPI > PROFIBUS Routing
> if the coupling is via the MPI interface
or
>
Communication via OPC server (from SW 6.1)
> if the coupling is via OPC server
Then, online operation can be established directly to the drive via the
field bus using the Search for online drives function.
3-116
Conditions
In order to go online with a drive via the PROFIBUSDP field bus using
SimoCom U, the following prerequisites must be fulfilled:
1. SIMODRIVE 611 universal control board from SW 3.1 with the following option module:
Optional PROFIBUSDP2 module (with ASIC DPC31 without
PLL)
Order No. (MLFB):
6SN11140NB000AAx
or
Optional PROFIBUSDP3 module (with ASIC DPC31 with PLL)
Order No. (MLFB):
6SN11140NB010AAx
2. SimoCom U parameterizing and startup tool from version 3.1
3. Communication boards, if connected via PROFIBUS
CP 5511 (PROFIBUS connection via PCMCIA card)
Setup:
PCMCIA card, type 2 + adapter with 9pin SUBD socket connector to connect to PROFIBUS.
Order No. (MLFB):
6GK15511AA00
or
CP 5611 (PROFIBUS connection through a short PCI card)
Setup:
Short PCI card with 9pin SUBD socket to connect to
PROFIBUS.
Order No. (MLFB):
6GK15611AA00
6GK15613AA00
3-117
Note
Going online/offline in cyclic operation via PROFIBUS:
While PROFIBUS is in cyclic operation, SimoCom U with CPxx
can be attached or disconnected from the field bus via the following
plugin cable without creating a fault
Order No. (MLFB):
3
Prerequisites with
the OPC server
(from SW 6.1)
S Hardware
PROFIBUS card must be installed in the PC cards from third
party manufacturers can also be used
Connecting cable
S Software
Driver software and the associated OPC server for the installed
Profibus card
Configuring software for the OPC server
Most OPC server/Profibus cards require a bus setting (e.g. baud
rate, protocol) several also require that the existing drives are
configured on the bus.
Readers note
Please refer to the documentation of the appropriate manufacturer
regarding information on how to configure a PROFIBUS card and OP
server. These procedures depend on the particular manufacturer.
The OPC server, provided by the manufacturer, offers a possibility of accessing MSAC2 services according to DPV1 (EN50170)
including the DataTransport service.
OPC servers that have registered themselves with the system
under the Category ProfibusDPV1OPC server Version 1.0
fulfill this requirement.
When selecting the interface, SimoCom U offers this OPC server
in a separate selection box.
3-118
3-119
Example:
SimoCom U via
PROFIBUSDP
PG/PC
Parameterizing
and startup tool
SimoCom U
MPI
or
Setup.exe
CP 5511
or
CP 5611
or
CP 5613
(from SW 4.1)
or
OPC server
(from SW 6.1)
PROFIBUS card
X423
DP slave 611U
Assumptions:
2axis board
P0918 (node address) = 15
X423
PROFIBUS DP
X423
DP slave 611U
Assumptions:
1axis board
P0918 (node address) = 16
DP slave 611U
Assumptions:
2axis board
P0918 (node address) = 17
3-120
Commissioning
4.1
4.2
4.3
4.3.1
4.3.2
4.3.3
4.3.4
4.3.5
4.3.6
4.4
4.5
4.6
4.7
4.7.1
4.7.2
4.7.3
4.7.4
4-148
4-148
4-151
4-155
4-160
4.8
4.8.1
4.8.2
4.8.3
4.8.4
4-163
4-163
4-165
4-169
4-172
4.9
4.9.1
4.9.2
4.9.3
4-174
4-174
4-176
4-177
4.10
4.10.1
4.10.2
4.10.3
4.10.4
4.10.5
4.10.6
4.10.7
4.10.8
4-178
4-178
4-181
4-188
4-191
4-193
4-197
4-200
4-201
4.11
4.12
4.13
4-126
4-127
4-128
4-129
4-132
4-132
4-133
4-121
4 Commissioning
4.1
4.1
Commissioning
First commissioning
If there is still not a matching parameter set for the drive, then the
drive must be commissioned for the first time.
The drive can be commissioned for the first time using
Series commissioning
An existing data set can be transferred to the control board via the
SimoCom U tool (refer to Chapter 4.3.2).
Examples:
Several systems having the same configuration and functions
are to be commissioned.
For the first system, a first commissioning must be executed,
and for additional systems, a series commissioning.
Replacing a control board.
Note
SimoCom U is a startup tool for qualified commissioning
personnel
SimoCom U has neither been designed nor is suitable for
operational control of the system!
When called via several PCs, only that PC displays modified data,
from which the changes were also made!
Note
The original status of the board when shipped can always be
reestablished as follows:
via P0649 = 1 (from SW 3.1)
via the SimoCom U tool using the boot board function (from
version 03.03)
4-122
4 Commissioning
4.1
Prerequisites
for
commissioning
OK
Check list
for
commissioning
The following checklist should help you to simply commission the components that we supplied, and to also guarantee a high availability
when used in conjunction with your product:
The load capability of the central power supply system is not exceeded.
Only discharge the unit at the DC link buses through a minimum of
20 .
4-123
4 Commissioning
4.1
The units are designed for the specified mechanical, climatic and
electrical ambient conditions. None of the limit values may be exceeded in operation nor during transport. Please pay special attention to the following:
Line supply conditions
Pollutants
Damaging gases
Ambient climatic conditions
Storage/transport
Shock load
Vibratory load
Ambient temperature
Total (summed) current of the digital outputs (refer to Chapter 2.3)
Readers note
More detailed information on the drive group and the ambient
conditions is provided in:
Reference:
/PJU/
SIMODRIVE 611
Configuration Manual, Drive Converters
Caution
General rule: Before poweringup or down using the main switch or a
line contactor, terminal 63 (pulse enable) and/or terminal 48 (start
terminal, contactor control) must be deenergized or disconnected at
the supply infeed module (NE module!
Otherwise, there is a danger that the line supply infeed module
will be destroyed.
Upgrading the
firmware of the
optional
PROFIBUS module
4-124
4 Commissioning
4.2
4.2
General
Already commissioned
When in an errorfree condition, the drive runs up until the
following is displayed
_ _ _ run.
Readers note
Information regarding fault/error handling and diagnostics is provided
in Chapter 7.
Red
FAULT
LED
START
Powerup the SIMODRIVE 611 universal
Runup starts
No
Carryout
commissioning
(e.g. specify the power
module,
motor,
encoder, etc.
refer to
Chapter 4.3.1 or
Chapter 3.2.1)
Note:
Faults/errors which occur
when booting, are
displayed flashing, in the
display unit.
Fig. 4-1
Already
commissioned?
Yes
_ _ _ r u n is displayed
The red LED is dark
The system has been successfully booted.
The drive is now in cyclic operation
END
Display unit
4-125
4 Commissioning
4.3
4.3
Requirements
The following prerequisites must be fulfilled in order to be able to commission a drive using the SimoCom U parameterizing and startup
tool:
1. All of the prerequisites for commissioning, according to Chapter 4.1,
have been fulfilled, i.e. the system with SIMODRIVE 611 universal
can be commissioned.
2. The checklist for commissioning according to Chapter 4.1 has been
checked.
3. The SimoCom U tool is installed on the PC/PG, which is to be
used to commission the drive.
Installing SimoCom U,
Offline Commissioning The software version is not taken into account in offline commissioning.
In other words: SimoCom U cannot recognize which firmware version
matches which drive.
4-126
4 Commissioning
4.3
4.3.1
Procedure when
commissioning the
drive for the first
time
4-127
4 Commissioning
4.3
4.3.2
Procedure for
series
commissioning
Yes:
> Click on the Load parameter file into the drive... button
> After you have selected the required parameter file for drive
A and have pressed open, the file is downloaded into drive A.
No:
> Click on the menu File > Load into drive > Load and
save in the drive
> After you have selected the required parameter file for drive
A and have pressed open, the file is downloaded into drive A.
Note
If drive B is to be commissioned, then the points must be executed for
drive B from point 3 onwards.
4-128
4 Commissioning
4.3
4.3.3
General
information
Open files
Downloading files into a drive
The password must only be entered if the protected functions are to be
accessed in the file or in the drive.
SimoCom U allows the password function to be copied between several drives.
Note
The function Password protection only functions with a SimoCom U
parameterizing and startup tool version 8.1.
Procedure when
settingup the
password
4-129
4 Commissioning
4.3
Access protection
Expert List
Load to drive
Reconfigure drive
Establish the standard values of the current drive configuration
Upgrade firmware
User parameter list
Access with
SimoCom U
<Version 8.1
The drive inhibits write access operations via SimoCom U <Version 8.1
and outputs a warning.
The drive inhibits all access operations via the 7segment display. The
7segment display is then only used to display _ _ _run or warnings
and alarms that are present.
4-130
4 Commissioning
4.3
Password
forgotten?
Password
protection and
other programs
with SimoCom U
When using A&D Data Management (ADDM) and other programs, that
SimoCom U uses, then password protection may not be activated.
4-131
4 Commissioning
4.3
4.3.4
Runtime behavior
4.3.5
Firmware download
Firmware can be downloaded using the SimoCom U parameterizing
and commissioning tool.
Procedure:
Under the menu item: Options / Service / .... select required firmware
upgrade item...., then follow the user prompting.
For a connection via PROFIBUSDP, e.g. PC as Master Class 2 on the
bus, only an update or download is possible to any status of the drive
firmware (e.g. SW 7.2).
For a connection via the RS 232 interface, it is also possible to download the firmware of the Profibus module.
Notice
Under no circumstances interrupt or exit the update as otherwise it is
possible that the module will no longer be able to be identified and
addressed!
4-132
4 Commissioning
4.3
4.3.6
General
Condition
The registry files must be edited so that they match a specified drive
configuration.
It is necessary that SimoCom U was installed however, the application may not run while changing or running the registry file.
Proceed as follows
1. Edit the .reg file and carryout the settings (refer to Fig. 4-2).
If you wish to only change the file names, the path or the
PROFIBUS address, then the settings are also possible via
SimoCom U without using the .reg files.
> Using the dialog menu Service > Automated
firmware download > Define file or
Options > Settings > Communications
2. Run the .reg file if you have not carriedout the settings via
SimoCom U.
> The Windows registry editor prompts after the settings
have been transferred into the registry.
> Acknowledge with Enter.
> The Windows registry editor signals that the settings have been
successfully transferred into the registry
> Again acknowledge this message with Enter.
4-133
4 Commissioning
4.3
Text example for the .reg file when connected via PROFIBUS DP
4-134
4 Commissioning
4.4
4.4
START
not enabled)
No
4
Is a
A11061) or b11061)
displayed?
Yes
Is
_ _ _ r u n
displayed?
No
Yes
No
End
(cyclic
operation)
Request
new
commissioning?
Yes
Yes
Execute the hardware configuration
Oper. control
Display Description
A1106 Power module code No.2)
Key P
(+/)3)
Key P, +
Key P (+/)3)
Key P, +
Key P (+/)3)
Key P, +
Key P (+/)3)
Key P, +
A0659 Boot5)
Key P, +, P
Key P
Are both
drives
configured?4)
3
1. Axxxx, bxxxx: Parameters, drive A, B
2. Only set, if there is no automatic
power module identification available
(refer to Chapter 4.6)
No
No
Yes
1
Continue on the
next page
Fig. 4-3
4-135
4 Commissioning
4.4
_ _ _ run
is displayed
(cyclic operation)
Is an unlisted
motor being
used?
Unlisted motor:
(refer under the index entry
Unlisted motor what is
one)
Yes
No
Remove write protection (P0651 = 4)
Values
changed?
No
Yes
Save the parameters in the FEPROM
Start to write into the FEPROM (P0652 = 1) and then wait
until the write operation has been completed (P0652 = 0)
End
(cyclic operation)
Fig. 4-4
4-136
4 Commissioning
4.4
2
Synchronous motor
Unlisted
motor
type?
Induction motor
Yes
No
Enter the equivalent
diagram data
Fig. 4-5
Readers note
What is an unlisted motor?
A motor, which is not defined using a motor code number, and is
therefore also not in the Attachment (refer to Chapter A.3.1, A.3.4 and
A.3.5) is classified as an unlisted motor.
The motor can be supplied from Siemens or from another motor
manufacturer.
To commission an unlisted motor, the associated parameters are
required (refer under the index entry Unlisted motor parameters
for....
4-137
4 Commissioning
4.5
4.5
Functioninitiating
parameters
Table 4-2
Functioninitiating parameters
Parameter
No.
0649
Name
Min.
Standard
0
Max.
1
Unit
Effective
PO
... all of the parameters can be deleted in the memory module FEPROM (user data). After these
parameters have been deleted, the status of the control board when it was first supplied is re
established.
0
Standard value
1
All of the parameters should be deleted (establish the status when first supplied)
Procedure when deleting all parameters:
Switchout the pulse and controller enable (e.g. via terminal 663, 65.A and 65.B)
Remove write protection (P0651 = 10Hex, only for the display and operator unit)
Activate that all parameters are deleted in the FEPROM (P0649 = 1)
Write into the FEPROM (P0652 = 1)
Carryout a HW poweron reset
After booting, the board status when originally supplied is reestablished.
0651
10
Hex
immediately
This defines which parameters can be read (visible) or can be written into.
0
Parameters for standard commissioning (operating prompting) can be read and written into
10
All parameters (including motor data parameters) can be read and written into
Note:
Read and write protection is only of significance when parameterizing the display and operator
unit.
0652
immediately
This means that parameter values can be transferred from the RAM into the FEPROM.
0 > 1
The parameter values in the RAM are written into the FEPROM
The parameter is automatically set to 0 at the end of the data save operation.
1
Data is being saved other parameters cannot be selected
Note:
Writing to the FEPROM memory depends on the particular manufacturer and is physically limited
to between 105 and 106. In order that the maximum number of write operations is not exceeded
in the operational period, automatic, cyclic backup operations are only permissible at time intervals that are adequately long enough.
4-138
4 Commissioning
4.5
Table 4-2
No.
0659
Name
Boot
Min.
0
Standard
0
Max.
4
Unit
Effective
PO
1080
01
Boot
All of the parameters, which are not listed above, are appropriately preset (default)
standard values or are preset as a result of internal calculate controller data routine.
Standard state
The standard values are loaded. The motor code and power module code are write
protected. The boot state can be reestablished (with P0659 = 0).
2, 3, 4
Internal Siemens
immediately
Using this function, suitable settings for the control parameters are calculated from the motor
parameters and several other parameters.
0 >1
Note:
Recommendation: Execute this function with SimoCom U, as the calculated parameters are
then displayed, and are only transferred and overwritten after acknowledgment.
At the end of the calculation, the parameter is automatically reset to 0 or a fault code is written into it.
If there is an error condition, the parameters for current, flux and speed controller were not
able to be optimally preassigned. Standard values were entered.
The function can be restarted after the error cause has been removed.
Fault code:
15
16
17
18
19
21
22
23
24
4-139
4 Commissioning
4.5
Table 4-2
No.
1081
Name
Min.
Standard
0
Max.
1
Unit
Effective
immediately
1
Equivalent circuit diagram data is calculated, the function is active
0
Inactive or exited faultfree
Procedure for unlisted motors:
Select unlisted motor when commissioning the system for the first time (refer to Chap. A.3)
Enter all rating plate data
Calculate the equivalent circuit diagram data via P1081 = 1
Calculate the unlisted motor via P1082 = 1
Note:
At the end of the calculation, the parameter is automatically reset to 0 or a fault code is written into it.
Under fault conditions, the equivalent circuit diagram data are not changed (exception: Coding 56).
The function can be restarted after the cause of the fault has been removed.
Fault code:
51
Rated motor power (P1130) = 0
52
Rated motor voltage (P1132) = 0
53
Rated motor current (P1103) = 0
54
Cos (P1129 = 0 or > 0.996)
55
The ratio between the rated motor frequency (P1134) and the rated motor speed
(P1400) is not permissible (pole pair number)
56
Warning: Speed at the start of field weakening (P1142) < Rated motor speed (P1400)
57
The function is only only permissible for unlisted motors (P1102 = 99)
1082
immediately
... the Calculate unlisted motor function is started. Parameters P1105 (only SRM), P1147,
P1241, P1401 are preassigned, the Calculate controller data function executed and the appropriate unlisted motor code entered into P1102.
By entering the unlisted motor code in P1102, at the next POWER ON, motor data which were
possibly changed, are no longer overwritten by the catalog motor data (previous motor code).
0
Inactive
Procedure:
Are all equivalent circuit diagram data known?
if no:
if yes:
Note:
At the end of the calculation, the parameter is automatically set to 0, or an error code is written
into it (refer to the calculate controller data function, P1080).
1083
immediately
... specifies the function number for the motor data optimization.
4-140
4 Commissioning
4.5
Table 4-2
No.
1084
Name
Min.
Standard
0
Max.
1
Unit
Effective
immediately
... starts the motor data optimization function, which is set in P1083.
0
Inactive or exited faultfree
1
Start motor data optimization
Note:
At the end, 0 or a fault code is automatically written into the parameter.
Fault code:
2
3
4
5
6
7
8
9
11
12
13
14
15
16
Diagnostic
parameters
Diagnostic parameters
Parameter
No.
0599
Name
Active motor data set (from SW 2.4)
Min.
Standard
Max.
Unit
Hex
Effective
RO
... indicates whether the motor changeover has been enabled, or which motor data set is active.
0
Note:
Motor changeover is described in Chapter 6.11.
4-141
4 Commissioning
4.5
Table 4-3
No.
0600
Name
Operating display
Min.
Standard
Max.
Unit
Hex
Effective
RO
Synchr. motor,
standard
Induction mot.,
standard
Induction motor
no
encoder,
openloop contr.
Induction motor,
no
encoder,
closedloop contr.
Synchronous motor,
fieldweakening
operation
Synchronous
motor, linear
Parameterized
speed setpoint source
F: Fixed setpoint
A: Analog
O: Digital
nset
operating mode
pos
Permanent
Trav. block
coupling
running
Activate
traversing task (edge)
Intermediate stop
Equipment status
Rampfunction generator
enable missing
Operating state
Drive not
enabled
Speedcontrolled
operation
Openloop torque
controlled operation
V/f mode
Controller enable
(terminal 64 or 65.x) missing
Modulespecific, pulse
enable (terminal 633) missing
Central enable (terminal 63
or 48) missing
or a fault is present
Poweron inhibit present
Inverter enable missing
(STW1.3)
Positioning mode
Point lit
> PROFIBUS has
the master function
Enable/OFF 2 missing
(STW1.1)
Point flashes
>
clocksynchronous
operation active
Operating condition/OFF 3
missing (STW1.2) or no control
requested (STW1.10)
Drive is inactive or
the parking axis has been selected
Reject traversing
task
Referencing running
Reference point still
not approached
Followup mode
Jogging 1/2
Override is zero
Traversing to fixed stop
MDI active
Point lit
> wait for
an external block change
4-142
4 Commissioning
4.5
Additional
parameters for
diagnostics (refer
to Chapter A.1)
P0653
P0654
P0655
P0656
P0657
P0658
P0678
P0698
4-143
4 Commissioning
4.6
4.6
Hardware
parameters
The drive must identify the hardware used (motor, power module and
encoder) so that it can behave appropriately. The hardware can only be
identified when the drive is in the booted state.
The motor, power module and encoder are selected from a list using
the relevant Order numbers (MLFB). The appropriate code is then
automatically entered.
Caution
A power module could be destroyed for the following reasons:
Incorrect power module code or motor code
Incorrect motor data
Calculate equivalent
circuit diagram data,
calculate unlisted
motor
circuit diagram data. The equivalent circuit diagram data can also be
calculated using parameter P1081.
This means that the controller data is internally calculated and the
motor code number corresponding to the motor type is saved.
Automatic
power module
identification
4-144
4 Commissioning
4.6
6SN1120
from 6SN1121
No automatic identification
Automatic identification
Hardware parameters
Parameter
No.
Name
1102
Min.
0
Standard
0
Max.
FFFF
Unit
Effective
PO
The motor code of the existing motor is located in the following lists:
At the first commissioning and at each POWER ON, the motor data are preassigned
according to the entered motor code (Exception: unlisted motor).
For unlisted motors, the parameters must be manually assigned (refer to Chapter A.3).
1106
FFFF
PO
The power module code number defines the power module used.
Note:
The power module code can be determined from a list (refer to Chapter A.2).
It is not necessary to select power modules with automatic identification.
1006
65 535
PO
The encoder code number can be determined from a list (refer to Chapter A.4).
At the first commissioning and at each POWER ON the encoder data are preassigned
corresponding to the entered encoder code number (Exception: Unlisted encoder).
For unlisted encoders, the parameters must be manually assigned (refer to Chapter A.4).
4-145
4 Commissioning
4.6
Parameters
for the
operating mode
Table 4-5
No.
0700
Name
Operating mode
Min.
0
Standard
1
Max.
3
Unit
Effective
PO
=0
=1
Speed/torque setpoint
(refer to Chapter 6.1)
In this mode, the drive can be operated in the following operating states:
closedloop speed controlled mode (nset mode)
openloop torque controlled mode (Mset mode)
torque reduction (MRed)
=2
=3
Positioning
(from SW 2.1, refer to Chapter 6.2)
Traversing blocks can be selected and executed in this operating mode.
Every traversing block can be freely parameterized, and in addition to the block number, it also contains additional data, e.g. target position, acceleration, velocity, command and block enable circuit.
Note:
The drive can be operated in the speed/torque setpoint mode and positioning modes via
terminals or via PROFIBUSDP or mixed (refer to Chapter 5.4).
4-146
Operating mode
Speed/torque setpoint
4 Commissioning
4.6
Parameters
for
clock cycles
However, the speed controller dynamic performance can be further enhanced by reducing the clock cycle times (current controller and speed
controller clock cycles).
Note
In standard operation, use the standard clock cycle settings.
After the clock cycles have been changed, the calculate controller
data function (P1080 = 1) should be executed.
Table 4-6
No.
Name
Min.
Standard
Max.
Unit
Effective
1000
31.25 s
PO
1001
16
31.25 s
PO
1009
32
32
128
31.25 s
PO
1010
Interpolation cycle
64
128
640
31.25 s
PO
The clock cycles are derived from the basic hardware clock cycle (31.25 s).
When changing the clock cycles, the data in the following tables and the associated limitations
must be observed.
Current
ctr clk cycle
P1000
Speed
ctr clk cycle
P1001
Position
ctr clk cycle
P1009
InterClock cycles
polation clk cycle
P1010
Values
4 (125 s)
4 (125 s)
32 (1 ms)
128 (4 ms)
2 (62.5 s)
2 (62.5 s)
1 ms
4 ms
Possible values
4 (125 s)
4 (125 s)
to
to
(also refer to
8 (250 s)
4 ms
20 ms
12 (500 s)
Standard
Limitations)
Tip: 31.25 s 32 = 1 ms
Limitations:
The clock cycles for both active axes must be set the same on a control board.
Curr. ctr clk cycle:
for 2 active axes and positioning, 62.5 s is not permissible
From SW 8.3:
for SIMODRIVE universal HRS/HRS2 control board, 62.5 s
for 2 active axes and positioning, permissible
4-147
4 Commissioning
4.7
4.7
4.7.1
Description
IM operation
4
Applications
Closedloop
control
As the dynamic performance in IM operation is less than MSD operation with encoder, a speedtorquefrequency precontrol is implemented to improve the control dynamic performance.
This precontrol is only active in induction motor operation. It precontrols, with information about the drive torque, taking into account the
existing torque and current limits and the load (motor P1117 + load
P1123:8 (from SW 2.4)), the torque required for a particular speed
change, in the fastest possible time.
This means, that when correctly parameterized, overshoot is prevented
and the controlled dynamic performance is enhanced.
For the torque precontrol, a smoothing time can be parameterized via
P1459.
The speed controller is parameterized for induction motor operation
using P1451 and P1453 due to the low dynamic performance.
In the low speed range, for pure induction motor operation, the actual
speed, the orientation and the actual flux can no longer be calculated.
This is due to the accuracy of the measured values and the parameter
sensitivity of the technique. Thus, an openloop current/frequency control is selected.
The changeover threshold is parameterized using P1466 , whereby a
5 % hysteresis is implemented.
In order to be able to accept a high load torque, even in the openloop
controlled range, the motor current can be increased via P1458.
4-148
4 Commissioning
4.7
Note
The value in MD 1458 should be taken into account when
dimensioning the power section, particularly in those cases where the
controlled operational state lasts for a long time. The maximum current
specified with MD 1458 is also used with low speeds and torques; this
can lead to longterm damage or to a power section whose
dimensions are too small being destroyed.
Behavior after
pulse cancellation
When the pulses are canceled and in pure induction motor operation,
the drive converter has no information about the actual motor speed.
When the pulses are reenabled, the speed actual value must first be
searched for.
Parameter P1012.7 can be used to define whether the search should
start at the setpoint speed or at speed = 0.
P1012.7
=0
=1
When the motor is stationary and P1012.7 = 0, you should avoid applying a high setpoint before the pulses have been enabled.
MSD/IM operation
Warning
When deleting the gating pulses for the motor (terminal 663, terminal
63 or internally canceling the pulses when faults are present), there is
no motor speed data. The computed actual speed value is then set to
zero, Thus, all of the speed actual value signals, speed actual value
messages and output signals (| nact | < nmin, rampfunction generator
ended, | nact | < nx, nset = nact) are no longer reliable.
The MSD/AM function enables the control response to be switched during operation from MSD to AM control for high speeds, depending on
the speed. Parameter P1465 > 0, < nmax.
The switchover takes place automatically, depending on the setting of
the speed threshold in P1465.
A switchover via a digital input, for example, is not possible.
4-149
4 Commissioning
4.7
IM, openloop
controlled
P1465
Pure
IM operation:
IM, closedloop
controlled
P1466
nmax
P1465 = 0
Pure
MSD operation:
MSD
MSD
P1465
Mixed operation:
IM
Note
For pure IM operation, a rotor position encoder is not necessarily
required. A fixed temperature must be selected in P1608, as in this
case, generally temperature sensing is not connected.
When IM operation is selected, only drive converter frequencies
(P1100) of 4 or 8 kHz are permissible.
Reference:
/PJU/
SIMODRIVE 611,
Configuration Manual, Drive Converters
Chapter Power modules
Operating display
The actual operating status of the drive is displayed in P0600 (operating display) (refer to Chapter 4.5).
Series reactor
When highspeed special motors are used, or other low leakage induction motors, a series reactor may be required to ensure stable operation of the current controller.
This reactor is taken into account in the current model using P1119.
4-150
4 Commissioning
4.7
4.7.2
Danger
The EMERGENCY STOP functions must always be functioning when
commissioning the drive. The relevant safety regulations must be
observed to exclude danger for man and machine.
When optimizing the motor data, motor movements are initiated, which
can reach the maximum motor speed.
Motor data
optimization
Prerequisites for
commissioning
Note
As a result of the many motors available in the market, it cannot
always be guaranteed that the motor data optimization routine supplies
results for all motor types. This is especially true for motors with a low
power rating.
In this case, in addition to using the data on the motor rating plate, an
attempt can also be made to only execute those steps 1...4 for motor
data optimization (Chapter 4.7.3) that can be executed without any
problems being encountered. If step 2 results in problems, then only
the data on the motor rating plate should be used. So, after the motor
data optimization has been completed, an attempt can be made to
increase the flux gain (P1150). If this is also not successful, then
unfortunately, the motor cannot be used together with SIMODRIVE
611 universal!
4-151
4 Commissioning
4.7
Commissioning,
induction motors
without encoder
START
Is the E ...
displayed flashing
or
is the display inactive?
2
Already
commissioned?
No
Is either
A1106 or b1106
displayed?
Yes
Is
___run
displayed?
Request a new
commissioning?
End
(cyclic operation)
Yes
Yes
No
Yes
No
No
1
1) only
if not
automatically identified
Fig. 4-7
4-152
4 Commissioning
4.7
Yes
Enter the equivalent diagram data
Are the
equivalent
circuit diagram
data known?
No
No
Motor data
optimization
required?
Yes
3
Fig. 4-8
4-153
4 Commissioning
4.7
P1147
Speed limiting
P1123:8
P1417:8
P1418:8
P1426:8
P1427
P1428
P1429
P1230:8
P1235:8
P1458
P1459
P1465
P1466
P0660 0663
P0680 0683
End
Fig. 4-9
4-154
4 Commissioning
4.7
4.7.3
Readers note
What happens to the faults occurring during motor data optimization?
Faults, which occur during the commissioning steps, are written into
P1084 as fault code (refer to the parameter list in Chapter A.1).
Prerequisites for the commissioning steps 1 to 4:
Switch in the pulse, controller and rampfunction generator enable
signal
Remove write protection (P0651 = 8)
Note
The motor is immediately braked if a motor data optimization routine is
interrupted while it is running.
Optimizing using
SimoCom U
From SW 5.1, the SimoCom U startup tool supports motor data optimization.
After motor data optimization has been selected, a menu is displayed
in which, the following optimization steps can be selected one after
another from the Settings selection box. These optimizing steps can
be started using the Start button:
1. Step 1: Determining the resistances and reactances
2. Step 2: Finely defining the noload current, magnetizing field reactance
3. Step 3: Determining the speed at the start of field weakening
4. Step 4: Determining the moment of inertia
For the listed parameters, the results of the optimization steps are displayed, uptodate, in the menu screen.
Optimizing with
the parameter
settings
Commissioning
step 1
4-155
4 Commissioning
4.7
Carryingout
step 1
P1083 = 1
P1084 = 1
P1084 = 1
P1084 = 1/0
P1084 = x
Changed
parameters
Commissioning
step 2
The noload current is set, so that at rated speed, the noload voltage
is present at the motor terminals.
Danger
The motor is accelerated, with a positive rotating field, up to the rated
speed.
Note
If the speed actual value is not steady (resolver, toothedwheel
encoder), it cannot be guaranteed that this commissioning step is
correctly executed (the setting takes too long).
Remedy: Set the speed actual value smoothing (P1522) to min. 1 ms.
Carryingout
step 2
Changed
parameters
4-156
P1083 = 2
P1084 = 1
P1084 = 1
P1084 = 1/0
P1084 = x
P1136, P1141
4 Commissioning
4.7
Commissioning
step 3
Note
If the speed actual value is not steady (resolver, toothedwheel
encoder), it cannot be guaranteed that this commissioning step is
correctly executed (the setting takes too long).
Remedy: Set the speed actual value smoothing (P1522) to min. 1 ms.
Changed
parameters
P1083 = 3
P1084 = 1
P1084 = 1
P1084 = 1/0
P1084 = x
P1142
Note
If an asynchronous motor with a rated voltage 400 V is configured,
the message is displayed that the speed at the start of field weakening
lies under the rated speed. This configured rated voltage cannot be
provided by the DC link voltage UZK!
4-157
4 Commissioning
4.7
Commissioning
step 4
(not required when
carryingout self
commissioning in
the MSD mode)
4
!
Carryingout
step 4
Danger
The motor is accelerated with a positive field direction of rotation up to
the maximum speed along the torque limit.
P1083 = 4
P1084 = 1
P1084 = 1
P1084 = 1/0
P1084 = x
Changed
parameters
Parameter
overview
4-158
P1117
4 Commissioning
4.7
Table 4-7
No.
1451:8
1453:8
1458
1459
1465
Name
P gain, speed controller IM (ARM)
Min.
Standard
0.0
0.3
Max.
Unit
Effective
... the P gain of the speed controller in IM operation is set (operation without encoder).
Note:
The parameter is preset when executing the calculate controller data/calculate unlisted
motor function.
Integral action time, speed controller IM
0.0
140.0
6 000.0
ms
imme(ARM)
diately
... the integral action time of the speed controller is set in IM operation (operation without encoder).
Note:
The parameter is preset when executing the calculate controller data/calculate unlisted
motor function.
Current setpoint openloop controlled
0.0
90.0
150.0
%
immerange IM (ARM)
diately
For pure IM operation (P1465 = 0), the drive is openloop, currentfrequency controlled below
the changeover speed (P1466).
In order to be able to accept a higher load torque, the motor current in this range can be increased using P1458.
Note:
This is entered as a percentage of the rated motor current (P1103).
The current is limited to 90% of the current limit value (P1238).
Torque smoothing time constant AM (ARM) 0.0
4.0
100.0
ms
immediately
... the precontrol value for the torque is smoothed (initial roundingoff).
Note:
In IM operation, a speedtorquefrequency precontrol is implemented due to the low dynamic
performance.
Changeover speed MSD/IM (ARM)
0.0
100 000.0 100 000.0 RPM
immediately
Above this, the drive runs, in IM operation with the speed set in this parameter.
P1465 = 0
pure IM operation
P1466 < P1465 < nmax
Note:
When IM operation is selected, only pulse frequencies (P1100) of 4 and 8 kHz are permissible.
150.0 300.0
immediately
For pure IM operation (P1465 = 0), the drive is openloop, currentfrequency controlled below
the speed set using this parameter.
Note:
The parameter is preset when executing the calculate controller data/calculate unlisted
motor function.
4-159
4 Commissioning
4.7
4.7.4
Description
With the Speed monitoring using a BERO function, this function can
be emulated for IM operation the same as for the SIMODRIVE 611
analog drive that has already be implemented for all configured
induction motors.
An adapter for the BERO is required to use this function.
Commissioning
4-160
4 Commissioning
4.7
DTI connection
X401
2
3
RS-422_A
receiver
X403
4
5
6
7
8
9
5
P15
5 V int
10
1
X402
2
3
5 V tachometer
M tachometer
1
RS-422_A
driver
Current limiting
4
5
6
8
9
11
12
8
1
M tachometer
5 V tachometer
14
2
3
5
6
1/4/7/10/13
X405
15 V tachometer
X404
3
M24 ext.
P24 ext.
Shortcircuit proof
DC
DC input
output
X80
X81
X404
Fig. 4-10 Example: Digital Tacho Interface connection, Order No. [MLFB] 6SE7090-0XX84-3DB0
4-161
4 Commissioning
4.7
4
Activation
Parameter
overview
(refer to Chap. A.1)
The following parameters are used for the Speed monitoring using a BERO:
Fault case
4-162
4 Commissioning
4.8
4.8
4.8.1
Description
What is a
permanent
magnet
synchronous
motor with field
weakening?
Advantages
The rotors of 1FE1 motors are equipped with permanent magnets. The
high speeds for spindle operation are achieved by a current which opposes the field. This is similar to field weakening for induction motors.
Readers note
Detailed information on 1FE1 motors, configuring and mounting
builtin motors are provided in:
Reference:
4-163
4 Commissioning
4.8
Motor
spindle
components
Spindle box
Spindle with bearings
Cooling system
The spindle manufacturer is responsible for designing the bearings,
lubrication and cooling.
Builtin motor
4pole series (especially suitable for high speeds)
6pole series (especially suitable for high torque)
A VP module (VPM) is required, depending on the EMF (rotor
voltage) (VPM: Voltage Protection Module)
Maximum speed:
Maximum torque:
up to 16 000 RPM
up to 310 Nm
(depending on the frame size)
System
prerequisites
Control board
4-164
4 Commissioning
4.8
4.8.2
General
information on
commissioning
synchronous
motors
The following questions must be positively answered before commissioning synchronous motors:
Are the motor and encoder already mounted and ready to be powered up?
Commissioning
synchronous
motors with
SimoCom U
4-165
4 Commissioning
4.8
After continue, the motor data and the presetting for the current
controller adaptation must be entered:
P No.
Name
Value
Unit
1103
A(rms)
1104
A(rms)
1112
1113
Torque constant
Nm/A
1114
Voltage constant
V(rms)
1115
Armature resistance
Ohms
1116
Armature inductance
mH
1117
kgm2
1118
A(rms)
1122
A(rms)
1128
Degrees
1146
RPM
1149
mH
1180
1181
30
1182
30
1400
RPM
yes
yes
______
4-166
4 Commissioning
4.8
Name
Value
Unit
1136
A(rms)
1142
RPM
1015
Activate PEMSD
1: Activated
0: Deactivated
4
Note
From SW 12.01, P1172 must be = 0!
Execute the calculate controller data function
After this, the controller data is preassigned, PEspecific.
Save the parameters in the FEPROM
Carryout a POWERON RESET
Note
This completes the basic commissioning.
The motor can be operated with these settings.
After this first commissioning, for reasons of accuracy, the rotor
position identification run must be executed with zero mark and the
angular commutation offset determined.
Readers note
Additional commissioning instructions/information regarding motor
optimization are provided in the following.
4-167
4 Commissioning
4.8
Additional
commissioning
information/
instructions to
optimize the motor
Then
No error
Control sense OK
Fault
(e.g.
the drive
oscillates at
nset = 0)
Fault
(e.g.
fault 608)
4-168
4 Commissioning
4.8
4.8.3
Presetting of the
current controller
adaptation
P1181 = 30 %
Imax
Iq
Id
Fig. 4-11 Presetting of the current controller adaptation for 1FE1 motors
To check and set the current controller adaptation, different current setpoint steps are entered via the SimoCom U parameterizing and
startup tool using the measuring function. The appropriate step response is then evaluated (current actual value = torque actual value).
Goal when
setting the
P gain Kp
Kp is optimum
Kp is too high,
overshoots
Kp is too low,
dampened
transient response
> OK
> not OK
4-169
4 Commissioning
4.8
Procedure
when checking the
adaptation
characteristic
4-170
50 % 18 A
10 % 3.6 A, etc.
4 Commissioning
4.8
The following parameters are used for the current controller adaptation:
Parameter
overview
Table 4-8
No.
Name
Min.
Standard
Max.
Unit
Effective
1180
0.0
0.0
100.0
immediately
1181
0.0
100.0
100.0
immediately
1182
1.0
100.0
100.0
immediately
The P gain of the current control (KP, P1120) can be reduced, depending on the current, using
the controller adaptation.
The adaptation characteristic is defined using P1180, P1181 and P1182.
The following value pairs are obtained:
P1180/100 %
P1181/P1182
Proportional gain Kp
without adaptation
P1120
with adaptation
P1182
P1180
P1181
Imax
Iq
Id
4-171
4 Commissioning
4.8
4.8.4
Parameter
overview
Table 4-9
No.
1015
Name
Min.
Standard
0
Max.
1
Unit
Effective
PO
... the permanentmagnet spindle (PE spindle, 1FE1 motor) is activated/deactivated for this
drive.
4
1128
=1
=0
90.0
90.0
135.0
Degrees.
immediately
For synchronous motors that have rotors that are not symmetrical around the rotational axis,
the additional reluctance torque can be used to increase the torque.
The optimum load angle specifies at which load angle the torque reaches a maximum value at
150 % rated current.
Note:
Refer to P1149 (reluctance torque constant)
Synchronous motors without rotors that are symmetrical around their rotational axis: e.g. 1FE
motors
Operation with reluctance torque: P1128 and P1149 not equal to the standard value
Operation without reluctance torque: P1128 and P1149 equal to the standard value
1136
0.0
0.0
500.0
A(rms)
immediately
The parameter is set by selecting the motor from the motor list or according to the data sheet of
the motor manufacturer.
If the motor manufacturer has no data, then the motor lockedrotor current can be calculated
according to the following formula:
P1136 = (P1114 60 [sec]) / (3 P1112 P1116 2)
Note:
P1112
P1114
P1116
Note:
For PE spindles, the maximum motor shortcircuit current (noload current) influences the high
motor speeds. This means that if the power module rating is too low, the maximum speed will
not be reached. Otherwise, the functionality is not restricted.
4-172
4 Commissioning
4.8
Table 4-9
No.
1142
Name
Min.
0.0
Standard
0.0
Max.
100 000.0
Unit
Effective
RPM
immediately
The speed at the start of field weakening is assigned when selecting the motor from the motor
list, or according to the motor manufacturers data sheet.
If the motor manufacturer has no data, then the speed at the start of field weakening can be
calculated according to the following formula:
For SRM:
P1142 [RPM]= 425 V 1000 [RPM] / P1114 [V]
P1114
Id
P1136
Voltage constant
Fieldgenerating current
Id
P1136
Depending on the load, the field current can change between the speed Id characteristic
and the motor shortcircuit current.
For ARM:
P1400 [RPM] 400 [V]
P1142 [RPM] =
P1132 [V] +
P1142
Note:
When commissioning the system, parameter P1142 is calculated using the motor equivalent
circuit diagram.
1145
5.0
100.0
1000.0
immed.
1149
0.0
0.0
300.0
mH
immed.
For synchronous motors that have rotors that are not symmetrical around the rotational axis,
the additional reluctance torque can be used to increase the torque.
The reluctance torque constant multiplied by the torque and fieldgenerating current provides
the torque increased as a result of the reluctance torque.
Note:
Refer to P1128 (optimum load angle)
Synchronous motors that have rotors that are not symmetrical around the rotational axis: e.g.
1FE motors
Operation with reluctance torque: P1128 and P1149 not equal to the standard value
Operation without reluctance torque: P1128 and P1149 equal to the standard value
4-173
4 Commissioning
4.9
4.9
4.9.1
Description
What is a
permanent
magnet
synchronous
motor with field
weakening?
Builtin torque motors are liquidcooled, slowspeed (high pole number), permanentmagnet threephase synchronous motors with hollowshaft rotors. The motors are supplied as builtin components
which are kept together, when shipped, using an assembly unit. In
addition, a bearing and a rotary encoder are required for a complete
drive unit.
The stator and the rotor have flanges at both ends with centering surfaces and tapped holes which allow them to be integrated into a machine.
Advantages
4-174
4 Commissioning
4.9
Components
of builtin torque
motors
Stator
This comprises an iron core and a threephase winding. The winding is cast in polyurethane in order to better dissipate the power
losses. The motor can be forcecooled using a liquid heat exchanger (main heat exchanger) around its circumference.
Rotor
This is the reaction part of the motor. It comprises a cylindrical hollow steel shaft which has permanent magnets around its circumference.
Cooling
Encoder system
Control board
/PJU/
SIMODRIVE 611
Configuration Manual
Manufacturer Documentation
4-175
4 Commissioning
4.9
4.9.2
General
information on
commissioning
1FW6 motors
The following questions must be positively answered before commissioning 1FE1 motors:
Commissioning
1FW6 motors with
SimoCom U
4-176
4 Commissioning
4.9
Additional
commissioning
information/
instructions to
optimize the motor
4.9.3
4-177
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
4.10
4.10.1
General
information on
commissioning
linear motors
Are all of the prerequisites for commissioning checked and were the
points in the checklist for commissioning checked (refer to Chapter
4.1)?
Readers note
Detailed information on linear motors, encoders and power connection,
configuring and mounting are provided in:
Configuration Manual
Linear Motors of the Product Family 1FN1 or
Linear Motors 1FN Peak-Load Motors of the
Product Family 1FN3
Reference:
Checks in the
nocurrent
state
Which?
1FN _ _ _ _ _ _ _ _ _ _ _ _ _
No
4-178
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
2. Mechanical system
Is the axis easy to move over the complete traversing range?
Does the air gap between the primary and secondary section
and the mounting dimensions correspond to the motor manufacturers data (refer to Chapter 4.10.4)?
Suspended/hanging axis:
If weight equalization is being used for the axis, is this functional?
Brake:
If a brake is being used, is it correctly controlled?
Traversing range limiting:
Are the mechanical end stops available and tightly bolted to both
ends of the traversing path?
Are the moving feeder cables correctly routed in a cable drag
assembly?
3. Measuring system (refer to Chapter 4.10.6)
Which measuring system is being used? _ _ _ _ _ _ _ _ _ _ _ _
Absolute or incremental
abs
incr
Grid spacing
_ _ _ _ _ _ _ _ _ _ m
____________
yes
no
4. Wiring
Power module (connect UVW, phase sequence, clockwise rotating
field)
Protective conductor connected?
Screen connected?
Temperature monitoring circuits:
Are the cables connected to the terminal block of the screen
connecting plate?
> Temperature sensor (TempF):
The average absolute winding temperature can be
measured using the temperature sensor (TempF).
> Overtemperature switch (TempS)
The over temperature shutdown circuit (TempS) allows each
individual motor phase winding to be digitally monitored for an
overtemperature condition.
4-179
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
Danger
The circuits of TempF and TempS neither have protective
separation between each other nor to the power circuits in
accordance with VDE 0160/EN 50178 (EN 6180051).
Thus, they may not be used as SELV/PELV circuits, or connected with
these. Also refer to
Reference:
Configuration Manual
Linear Motors of the Product Family 1FN1 or
Peak-Load Motors of the Product Family 1FN3
Danger
Presently, the connection does not correspond to protective
separation according to VDE 0160/EN 50178 (EN 6180051).
Thus, they may not be used as SELV/PELV circuits, or connected with
these. Also refer to
Reference:
4-180
Configuration Manual
Linear Motors of the Product Family 1FN1 or
Peak-Load Motors of the Product Family 1FN3
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
4.10.2
Procedure when
commissioning
using SimoCom U
Linear motors with a primary section (single motor) should be commissioned as follows using the parameterizing and startup tool:
Warning
The pulse enable (terminal 663) must be switchedout (deenergized)
for safety reasons before the drive is poweredup.
1. Establish online operation
Operation: e.g. with Commissioning search for online drives
2. Configure the drive
General rule:
You can reach the next or the previous dialog box by pressing
next or back.
Drive name dialog box
Power module dialog box (only if it is not automatically identified)
Motor selection dialog box:
Is the linear motor included in the list of linear motors?
Motor field
> Standard motor
4-181
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
yes
4-182
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
3. Fixed temperature?
If the temperature monitoring is realized through a PLC and not
through the drive (refer to case c), then for the temperature sensor
evaluation, refer to Chapter 4.10.5), the monitoring function must be
disabled by specifying a fixed temperature > 0.
P1608 (fixed temperature) = e.g. 80
C
Monitoring off
Monitoring on
Danger
Linear drives can achieve significantly higher rates of acceleration and
velocities than conventional drives.
The traversing range must always be kept clear in order to avoid any
potential danger for man or machine.
5. Determine the angular commutation offset
The angular commutation offset is determined as follows:
a) Select the identification technique using P1075. Possibly
adapt other machine data for the rotor position identification routine.
b) Save the parameters and carryout a POWER ON RESET.
c) Depending on the measuring system used, proceed as follows:
4-183
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
START
Yes
No
1FN3
Secondary conditions
fulfilled?
No
Motor type
1FN1 or 1FN3?
1FN1
Yes
Zero marks?
No zero mark,
several zero marks
or distancecoded
reference marks
END
4-184
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
START
Motor type?
Limitations for
motionbased rotor
position identification fulfilled?
No, limitations
not fulfilled
The ang. comm. offset must be determined
by making the appropriate measurements
(refer to Chapter 4.10.8) and manually
entered into P1016
Set P1017 to 1
END
4-185
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
4-186
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
Position controller
4-187
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
4.10.3
General
information
If it is certain that the EMF of both motors have the same relative
phase position to one another, the connecting cables can be connected
in parallel and operated from one drive.
Linear motors, which are connected in parallel, are commissioned,
based on the commissioning of a single linear motor.
First, only one linear motor (motor 1) is connected to the drive, and is
commissioned as individual motor (1FNx ...). The angular commutation
offset is automatically determined and noted.
Instead of motor 1, motor 2 is connected and is commissioned as individual motor. Also here, the angular commutation offset is automatically
determined and noted.
>
>
4-188
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
4-189
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
OK
not OK
4-190
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
4.10.4
Mechanical system
The mounting dimensions can be checked before mounting the motor,
e.g. using the final dimensions and feeler gauges.
The mounting dimensions must lie within the specified tolerance bandwidth over the complete traversing distance.
Note
The valid mounting dimensions can be taken from the following
references:
Reference:
Configuration Manual
Linear Motors of the Product Family 1FN1 or
Linear Motors 1FN Peak-Load Motors of the
Product Family 1FN3
The data sheet of the appropriate motor
For mounting dimension and air gap, the following applies:
Only the mounting dimension is decisive and not the air gap which can
be measured, when it comes to maintaining the electrical and
systemrelated characteristics of the linear motor. The air gap must be
large enough so that the motor can freely move.
Checking the
mounting
dimensions
and air gap 1FN1
e2
e1
l
Thermal
insulation
strips
1FN1 ...
1FN1 07
1FN1 12
1FN1 18
1FN1 24
80.7 0.3
106.7 0.3
76.7 0.3
101.7 0.3
+0.3/
0.45
Measurable air gap l [mm] (without taking into account the mounting
dimension tolerance)
1.1
13 1
1.1 +0.3/0.45
13 1
4-191
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
Checking the
mounting
dimensions
1FN3
hM3
hM4
hM1
hM2
Main cooler
Secondary section
[mm]
[mm]
[mm]
hM1
[mm]
hM2
[mm]
hM3
[mm]
hM4
[mm]
0.3
0.9
1.3
63.4
60.4
48.5
51.5
0.3
0.9
1.3
65.4
62.4
50.5
53.5
0.3
0.9
1.3
79.0
76.0
64.1
67.1
0.3
0.9
1.3
81.0
78.0
66.1
69.1
0.3
0.9
1.3
86.0
76.0
64.1
67.1
0.3
0.9
1.3
88.0
78.0
66.1
69.1
Mounting
tolerance
4-192
Mounting dimension
with precision cooler
without secondary
section cooler
Mounting dimension
without precision and
secondary section
cooler
Mounting dimension
without precision cooler
with secondary section
cooler
Table 4-11
After mounting the motor components, the air gap between the primary
and secondary sections can be optionally checked. Generally, this is
not necessary. If the mounting dimensions are correct, the correct air
gap is automatically obtained. If, after mounting, the air gap does not
match the data in Table 4-11, either the motor has been incorrectly
mounted, or the specified motor dimensions were not maintained when
the motor was produced.
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
4.10.5
Description
Two independent monitoring circuits are available for the 1FN1, 1FN3
primary sections for thermal motor protection.
The absolute, average winding temperature can be measured using the
temperature sensor (TempF) comprising a temperature sensor (KTY 84).
The overtemperature shutdown circuit (TempS) allows each individual
motor phase winding to be digitally monitored for an overtemperature
condition.
The two independent temperature circuits TempF and TempS can be
used for motor protection, either individually or together. At least one
TempS must be used for the motor overtemperature protection.
The circuit and connection system for TempF and TempS are described in detail in:
Readers note
Reference:
Danger
The circuits of TempF and TempS neither have protective
separation between each other nor to the power circuits in
accordance with VDE 0160/EN 50178.
Thus, they may not be used as SELV/PELV circuits, or connected with
these. Also refer to the literature reference mentioned above!
Note
TempS must be connected for thermal motor protection; it is not
permissible not to connect TempS!
TempF can be optionally connected to a measuring device for
commissioning and testing.
For regular operation, the TempF connections should be
shortcircuited and connected to PE.
4-193
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
Temperature
sensor
TempF
1FN1:
Prewarning at 120 C
Trip at 155 C 5 C
(standard setting)
1FN3:
Prewarning at 100... 110C (depending
on the machine type)
Trip at120 C 5 C
Warning
R [k]
2
1
ID = 2 mA
100
200
U [C]
Note
The temperature sensor (TempF) only evaluates the winding
temperature of one phase in the primary section. However, the phases
in the synchronous motor are loaded to different degrees depending on
the particular load, so that in the worst case, the phases, not
measured, have the higher temperatures.
4-194
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
Note
For protective separation, it is not permissible to connect TempF
at the encoder connector X411/X412 of the SIMODRIVE power
module without using a suitable protective module.
When handling and connecting TempF, it must be assumed, that
when the drive is powered up, there are hazardous voltages at the
terminals on the motor side and at the TempF connecting cable this
means that the drive must always be disconnected so that it is ensured
that it really is in a novoltage condition.
Temperature
shutdown circuit
TempS for 1FN1
(bimetallic NC
contact triplet)
1FN1 18 ,
1FN1 24
Shutdown temperature
130 C
140 C
Switchon temperature
approx. 70 C
approx. 70 C
20 C
20 C
5 C
5 C
4-195
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
Type:
120 C 5 K
min. 60 (3
20 )
max. 750
at T = NAT 5 K:
at T = NAT +5 K:
at T = NAT +15 K:
Readers note
Reference:
4-196
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
4.10.6
Measuring system
Determining the
control sense
Determining the
drive direction
The direction of the drive is positive if the primary section moves relative to the secondary section in the opposite direction to the cable outlet direction.
Primary
section
Determining the
counting direction of
the measuring
system
Sensor head
Scale
Type plate
Fig. 4-19 Determining the counting direction for measuring systems from the
Heidenhain Company
4-197
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
Round
connector,
12pin
Connected to
+5 V
0V
BID
Black
Pin 9
Reference mark in
both directions
Reference mark in
one direction
DIR
Orange
Pin 7
Positive directions
Negative direction
+5 V
Brown
Pin 12
0V
White
Pin 10
Sensor head
Gold band
Measuring
system
Fig. 4-20 Determining the counting direction for measuring systems from
Renishaw
Note
If the sensor head is mechanically connected to the primary section,
the cable outlet direction must be different. Otherwise, invert the actual
value!
4-198
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
Temperature
sensor coupling
cable
The temperature sensor coupling cable is used to couple the temperature sensor circuit TempF into the encoder cable using connector
boxes. The transition from the power cable to encoder cable can be
realized at the machine as well as in the cabinet.
Readers note
Section General information on the connection system (CON) in:
Reference:
If an incremental measuring system is used, the drive is roughly synchronized using the rotor position identification.
Warning
When connectingup the temperature monitoring circuits, carefully
observe the specifications relating to protective separation
DIN EN 50178.
Information on protective separation can be taken from:
Reference:
4-199
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
4.10.7
Note
Only identical linear motors (the same forces, winding types,
secondary section types and air gap) may be connected in parallel.
(Order designation or Order No. [[MLFB] of the primary sections to be
connected in parallel must be identical up to the winding sense and/or
primary section length.)
If linear motors in an axis are connected in parallel, the position of the
primary sections with respect to one another and to the secondary
sections must exhibit a specific grid, in order to achieve a matching
electrical phase position.
Temperature
sensor and
electrical wiring
(refer to
Chapter 4.10.5)
PJLM/ SIMODRIVE
Configuration Manual, 1FN1, 1FN3
Linear Motors
Temperature sensor
Motor 1:
Motor 2:
Not connected
(shortcircuited and connected with PE)
Temperature switch
Motor 1 and 2: Evaluated by a PLC
Readers note
Section General information on the connection system (CON) in:
Reference:
Warning
When connectingup the temperature monitoring circuits, carefully
observe the specifications relating to protective separation
DIN EN 50178.
Information on protective separation can be taken from:
Reference:
4-200
4 Commissioning
4.10 Linear motors (1FN1, 1FN3 motors)
4.10.8
Why make
measurements?
If the linear motor was commissioned according to the relevant instructions, and unexplained fault/error messages still occur, then all of the
signals must be checked using an oscilloscope.
Checking the
phase sequence
UVW
Linear
motor
U
V
W
1 k
1 k
EMF_W
1 k
EMF_V
EMF_U
Primary
section
Fig. 4-22 The positive direction of the drive (clockwise rotating field)
4-201
4 Commissioning
4.11 Direct measuring system for position control (from SW 3.3)
4.11
! not 611ue !
Description
Advantage:
The actual position of the axis is sensed using a direct measuring
system. Any play between the motor and table is corrected.
X412
if P0250 (A) = 1
X411
Motor encoder drive A
Motor with
encoder
(indirect
measuring
system, IM)
Linear scale
(direct meas.
system, DM)
Sensor head
Gear
Table
Spindle
Coupling
4-202
4 Commissioning
! not 611ue !
Limitations and
rules for a direct
measuring system
4-203
4 Commissioning
4.11 Direct measuring system for position control (from SW 3.3)
! not 611ue !
Output signals
Signals of the motor meas. system
No signals
The direct measuring system signals can be output via the angular incremental encoder interface. The angular incremental encoder interface as output becomes automatically active if P0890 is
set to 1 for the motor measuring system AND the direct measuring system is activated (P0250 = 1). However, parameters
P0892 and P0893 are not effective for the angular incremental
encoder interface (B).
Interface
Ang. incr. enc. interf. (A)
Ang. incr. enc. interf. (B)
Output signals
Signals of the motor meas. system
Signals of the direct
4-204
4 Commissioning
! not 611ue !
Commissioning
the direct
measuring system
Parameter
overview
(refer to Chapter
A.1)
Table 4-14
Parameter
Parameter
No.
Name
No.
Name
1023 IM diagnostics
1033 DM diagnostics
4-205
4 Commissioning
4.12 Connecting induction motors with TTL encoder (from SW 8.1)
4.12
Description
Standard squarewave encoders (TTL) with differential signals according to RS422 and 5 V power supply voltage can be connected as pulse
encoder for induction motors to the control board SIMODRIVE 611
universal HR/HRS (Order No. 6SN1118NH010AA).
The maximum encoder limiting frequency is 420 kHz.
Connection
Encoder connection:
X411/X412
Encoder cable:
50 m
Note
If an induction motor with TTL encoder is connected to SIMODRIVE
611 universal HR/HRS, then it is not permissible that the angular
incremental encoder interface is used as output.
Parameter
overview
(refer to Chapter
A.1)
4-206
Warning
If individual or several signals of the encoder are shortcircuited or
interrupted under certain circumstances it is possible that the
encoder signal monitoring does not respond and the motor can move
in an uncontrolled fashion.
4 Commissioning
4.13 FD operation with field weakening (from SW 12.1)
4.13
Description
Closedloop
control parameters
If P1015 and P1172 were enabled and a motor selected using the list
diagram, then the following machine data are additionally preassigned
using the Calculate controller data function:
4-207
4 Commissioning
4.13 FD operation with field weakening (from SW 12.1)
Note
P1172 is only effective, if P1015 = 1 was set Activate PEMSD.
Calculate controller data must be initiated after changing the machine
data setting!
Parameter
overview
(refer to Chapter
A.1)
The following parameters are used for FD operation with field weakening:
P1015 Activate PEMSD (SRM)
P1114 Voltage constant (SRM SLM)
P1142 Threshold speed field weakening (ARM SRM)
P1172 FD operation with field weakening (SRM) (> 12.1)
4-208
5.1
5.2
5.3
5.4
5.5
5.6
5.6.1
5.6.2
5.6.3
5.6.4
5.6.5
5.6.6
5.6.7
5-226
5-226
5-230
5-243
5-253
5-265
5-280
5-283
5.7
5.7.1
5.7.2
5.7.3
5-291
5-291
5-295
5-299
5.8
5.8.1
5.8.2
5.8.3
5.8.4
5.8.5
5-303
5-305
5-307
5-310
5-312
5-314
5.9
5.10
5.10.1
5.10.2
5.10.3
5.10.4
5.10.5
5-324
5-324
5-327
5-328
5-330
5-333
5-209
5.1
General
Cyclic communication
> Setpoint, actual value transfer using process data
(PZD communications)
According to the DP standard functionality
For standard DP operation, a new cycle is started after the old
cycle has been completed.
> refer to Chapter 5.2
Clockcycle synchronous functionality
Noncyclic communication
> Access to the drive parameters
Parameterization using the SimoCom U tool
> refer to Chapter 3.3
Data transfer using the SIMATIC Operation Panel (SIMATIC OP)
> refer to Chapter 5.3
PKW area in the net data structure according to PPOs
> refer to Chapter 5.6.7
Data exchange with the master (e.g. SIMATIC S7) and other
control devices, utilizing the DPV1 utility (service) read data set/
write data set corresponding to the PROFIdrive Profile
> refer to Chapter 5.3
Configuration
> Configuring defines the data, which the master transfers
to the DP slaves at every bus runup via the parameterizing
telegram and the configuration telegram.
The system can be configured in the following ways (refer to Chapter 5.7):
using the GSD file (SIEM808F.GSD/SI02808F.GSD)
using the Slave object manager (Drive ES)
5-210
PROFIdrive
conformance
The profile defines, among other things, how setpoints and actual values are transferred and how drive parameters can be accessed.
It defines the basic drive functions and leaves sufficient freedom for
applicationspecific expanded functionality and ongoing developments.
Isochronous mode
Configuring a telegram
Encoder interface
Noncyclic parameter access using DPV1 utilities
Profile parameters
The following parameters should be set in order, for this functionality, to
achieve the precise compatibility to profile version 3.1:
5-211
Readers note
The SIMODRIVE 611 universal control board with the optional
PROFIBUSDP module is a slave on the fieldbus.
In the following text, this slave is designated the DP slave 611U .
Data transfer
technology,
baud rate
5-212
DP master
DP slave
611U
Other
slaves
Additional
PROFIBUS
nodes
Field bus
Fig. 5-1
Transferring words
and double words
All of the word and double word formats used are transferred in the Big
Endian format, i.e. the high byte or high word is transferred before the
low byte or low word.
Protocols
5-213
DPV1 parameter
channel (from
SW 6.1)
Parameters can be read and written into according to the protocol, defined in the PROFIdrive Profile via the DPV1 parameter channel.
DP master
Class 2
PG/PC
with
SimoCom U
DP master
DP Master Class 2
Class 1
(e.g. OP17)
(PLC e.g. SIMATIC S7)
DP master
Class 2
PG/PC
PG/PC
PG/PC
HMI
S7 protocol
+ DPV1
PROFIBUS DP
DPV1 parameter
channel
5
PNO Directive PROFIdrive Profile
VariableSpeed Drives
S7 protocol +
data transfer protocol
DP slave
611U
Fig. 5-2
5-214
SIMODRIVE 611
universal with
optional
PROFIBUSDP
module
The SIMODRIVE 611 universal control board together with the optional PROFIBUSDP module is used to connect drives to higherlevel
automation systems via PROFIBUSDP.
SIMODRIVE 611 universal identifies the installed optional PROFIBUSDP module at poweron.
If an optional module is used, the input/output functions can be selected via PROFIBUSDP, or also entered as setpoints.
The compatibility between the terminal and PROFIBUS signals is described in Chapter 5.4.
PROFIBUSDP
fieldbus
To other
nodes
To other
nodes
Optional
PROFIBUSDP
module
System
Retaining
connector
screws
9pin
Dsub
socket
Continuous
Red
Flashing
Green
Yellow/green
Alternating flashing light
Fig. 5-3
Readers note
Which modules are available?
5-215
5.2
The structure of the net data for cyclic operation, is designated as parameterprocess dataobject (PPO) in the PROFIBUS profile, variablespeed drives.
The net data structure for cyclic data transfer is subdivided into two
areas, which are transferred in each telegram.
With cyclic data transfer, setpoints and actual values are transferred
one after the other between the master and its associated slaves in a
cycle.
For standard DP operation, a new cycle is started after the old cycle
has been completed.
For clocksynchronous operation, a new cycle is started with the selected
TDP clock cycle.
The telegrams of the cyclic data transfer have, in both cases, the following basic structure:
Drive A
Protocol
frame
(header)
Process
data
(PZD)
Drive B
Net data (PPO)
Parameter
ID value
(PKW)1)
Process
data
(PZD)
Protocol
frame
(trailer)
Note:
Net data for drive B is only transferred, if the DP slave 611U operates as
doubleaxis module.
> refer to Chapter 5.9 under P0875
1) Transfer is optional and is defined by appropriately configuring the system.
Fig. 5-4
5-216
PPOs
Table 5-1
PD
IND
1st
word
2nd
word
PWE
3rd
word
4th
word
PZD
2
PZD
3
PZD
4
PZD
5
PZD
6
PZD
7
PZD
8
PZD
9
PZD
10
1st
word
2nd
word
3rd
word
4th
word
5th
word
6th
word
7th
word
8th
word
9th
word
10th
word
PPO1
PPO2
PPO3
PPO4
PPO5
Abbreviations:
PPO
PKW
Parameter ID value
PKE
Parameter ID
IND
Subindex,
subparameter number, array index
PWE
Parameter value
PZD
Process data
Notice
The five various PPOs are selected with different data length
depending on the task that the drive has to fulfill in the automation
environment.
Configuring
process data
(from SW 3.1)
The process data structure of the telegram can be defined and configured as follows from SW 3.1:
By selecting a standard telegram
By freely configuring a telegram
> Refer to Chapter 5.6.5
5-217
5.3
Noncyclic
parameter access
PKW (cyclic)
Master Class 1
Read
parameter
Write
parameter
Read
parameter
Write
parameter
S7 protocol
Master Class 2
Read
descriptive
elements
5
Drive parameters
Fig. 5-5
Note
Every parameter is allocated a parameter number. Profilespecific
parameters are defined for the ranges decimal 900 to 999 and are
reserved from decimal 60000 to 65535.
In order to remain compatible to previous parameter assignments,
when accessing via the DPV1 parameter channel (reading/writing) in
the drive firmware, the index is output starting with 1 and on the
PROFIBUS side reduced by 1 (n1).
PKW (cyclic)
5-218
Parameter access
via DPV1
Drive ES SIMATIC
6SW17005JC002AA0
Readers note
Reference:
5
Parameters,
reading/writing
DPV1 (from
SW 6.1)
Read the
parameter
description DPV1
(from SW 6.1)
5-219
Readers note
Reference:
/PPA/
S7 protocol DPV1
Communications
with SIMATIC OP
(from SW 4.1)
From SW 4.1, data can be transferred, using the SIMATIC Operator Panel
(SIMATIC OP) to SIMODRIVE 611 universal via the PROFIBUSDP.
DP master
Class 1 (PLC e.g. SIMATIC S7)
DP master Class 2
(e.g. TP170B)
SIMATIC OP
PROFIBUS DP
S7 protocol
+ DPV1
DP slave
611U
Fig. 5-6
5-220
Technical details
Communications are established directly between the SIMATIC OP
(e.g. TP170B) as Master Class 2 and the SIMODRIVE 611 universal
as slave using the S7 protocol and the noncyclic DPV1 utilities.
SIMATIC OP can read and write into drive parameters.
A Class 1 master is not required.
Configured in SIMATIC OP
The drive parameters are addressed using the data block and
data word.
> Axis A:
Data block number_OP = parameter number_611U
Data word_OP = subparameter_611U
> Axis B:
Data block number_OP = parameter number_611U + 10000
Data word_OP = subparameter_611U
Setpoint input
it is not possible to directly enter setpoints from the SIMATIC OP.
Setpoints can be indirectly entered using the SIMATIC OP by
changing parameters, e.g. P0641 (fixed setpoint)
> Enter the setpoint via HW terminals (P0875 = 0)
Danger
For applications where the setpoint is entered using the SIMATIC OP,
in addition, an enable or EMERGENCY STOP signal should be
connected to SIMATIC OP, as an interrupted connection between
SIMATIC OP and SIMODRIVE universal does not result in a drive
fault.
5-221
5.4
Standard case
If
at the
these parameters are preassigned as follows:
first commission- P0660 = 0 (function, input terminal I0.x)
ing in the booted
P0661 = 0 (function, input terminal I1.x)
state, an optional
PROFIBUSDP P0662 = 0 (function, input terminal I2.x)
module was
P0663 = 0 (function, input terminal I3.x)
identified,
P0607 = 0 (analog setpoint, terminal 56.x/14.x)
Note:
Mixed operation
Example
The analog speed setpoint via 56.x/14.x is used. The speed setpoint
transferred via PROFIBUSDP is ignored.
5-222
5.5
Central
enable signals
T. 663
T. 63
STW1.1: OC/OFF 2
&
&
STW1.3:
Enable inverter
Fault present
Parking axis
Standstill
T. 64
T. 65.x
STW1.0: ON/OFF 1
&
&
STW1.2: OC/OFF 3
Poweron inhibit
(refer to Fig. 5-9)
Fault present
(controller inhibit)
STW1.2: OC/OFF 3
STW1.4: RFG enable
w1
5
&
w1
&
&
&
&
Internal
pulse enable
w1
Braking control
&
&
Internal
speed
controller
enable
Rotor position
identification
active
Regenerative braking
Internal rampfunction
generator enable
Note:
e.g.: STW1.1: Control word 1, bit 1
Fig. 5-7
Central enable signals and their dependency on the hardware terminals and PROFIBUS signals
5-223
Fig. 5-8 shows which input terminal signals and PROFIBUS control signals have a significant effect on the most important status signals and
how they are formed.
SIMODRIVE
611 universal
T. 663
T. 63
STW1.1: OC/OFF 2
&
STW1.2: OC/OFF 3
Fault present
(pulse enable)
Poweron inhibit
(refer to Fig. 5-9)
&
&
ZSW1.0:
Ready to be
poweredup/not
ready to be
poweredup
T. 663
T. 63
T. 64
T. 65.x
STW1.0: ON/OFF 1
&
&
STW1.1: OC/OFF 2
STW1.2: OC/OFF 3
Fault present
(pulse enable)
Poweron inhibit
(refer to Fig. 5-9)
ZSW1.1:
P1012.2
= 1 > Ready
or
= 0 > No fault
&
T. 663
T. 63
STW1.1: OC/OFF 2
STW1.2: OC/OFF 3
Fig. 5-8
5-224
&
ZSW1.2:
Status, controller
enable
&
ZSW1.4:
No OFF 2 present
ZSW1.5:
No OFF 3 present
Poweron inhibit
T. 65.x
Drive
&
STW1.0: ON/OFF 1
T. 663
T. 63
&
STW1.1: OC/OFF 2
STW1.2: OC/OFF 3
Ready
or no fault
&
w1
&
ZSW1.6
Powerup
inhibit
w1
P1012.13
Fault present
(controller inhibit)
P1012.12
Fig. 5-9
Note
If, in addition to P1012.13 = 1 also P1012.14 = 1 is set to 1, if the
status of signals STW1.1 (OC/OFF 2), STW1.2 (OC/OFF 3 and
STW1.0 (ON/OFF 1) simultaneously change
from 0 > 1, this does not result in the poweron inhibit state.
Removing the poweron inhibit?
If there is no longer a setting condition for the poweron inhibit, then it
can be removed as follows:
5-225
5.6
5.6.1
Readers note
In the index, for each process data (control/status word), it is specified
on which page information can be found on this word.
refer to Process data in the nset mode control words ...
refer to Process data in the nset mode status words ...
refer to Process data in the pos mode control words ...
refer to the Process data in the pos mode status words ...
5-226
Overview of the
control words
(setpoints)
Table 5-3
Control word
Abbreviation
Description
Data
type4)
Signal
number1)
nset
pos
STW1
Control word 1
U16
50001
STW1
Control word 1
U16
50001
STW2
Control word 2
U16
50003
NSET_A
I16
50005
NSET_B
I32
50007
Remarks
from SW 3.1
Encoder 1, control
word2)
U16
50009
from SW 3.1
Encoder 2, control
word3)
U16
50013
from SW 3.3
G3_STW
Encoder 3, control
word2)
U16
50017
from SW 3.1
XERR
I32
50025
from SW 4.1
KPC
U32
50026
from SW 4.1
MomRed
Torque reduction
U16
50101
DAU1
I16
50103
DAU2
I16
50105
DIG_OUT
U16
50107
from SW 3.1
XSP
I32
50109
from SW 5.1
DezEing
Distributed inputs
U16
50111
from SW 4.1
MsollExt
I16
50113
from SW 4.1
QStw
U16
50117
from SW 4.1
SatzAnw
Block selection
U16
50201
(nset
from
SW 5.1)
PosStw
U16
50203
Over
Override
U16
50205
Xext
I32
50207
from SW 4.1
dXcorExt
I32
50209
from SW 4.1
G1_STW
G2_STW
5-227
Table 5-3
Abbreviation
Description
Operating
mode
Data
type4)
Signal
number1)
nset
pos
Remarks
MDIPos
MDI position
I32
50221
from SW 7.1
MDIVel
MDI velocity
U32
50223
from SW 7.1
MDIAcc
U16
50225
from SW 7.1.
MDIDec
U16
50227
from SW 7.1
MDIMode
MDI mode
U16
50229
from SW 7.1
5-228
Overview of the
status words
(actual values)
Table 5-4
From the perspective of the DP master, status words are actual values.
The DP slave 611U indicates an image of the sent process data (status words, actual values) in P1789:17 (sent process data, PROFIBUS).
Status word
Abbreviation
Description
Data
type4)
Signal
number1)
nset
pos
ZSW1
Status word 1
U16
50002
ZSW1
Status word 1
U16
50002
ZSW2
Status word 2
U16
50004
NIST_A
I16
50006
NIST_B
I32
50008
G1_ZSW
Remarks
from SW 3.1
U16
50010
G1_XIST1
12)
U32
50011
G1_XIST2
U32
50012
G2_ZSW
U16
50014
G2_XIST1
U32
50015
G2_XIST2
U32
50016
G3_ZSW
U16
50018
G3_XIST1
U32
50019
G3_XIST2
22)
U32
50020
MeldW
Message word
U16
50102
ADU1
I16
50104
ADU2
I16
50106
DIG_IN
U16
50108
Ausl
Utilization
U16
50110
Pwirk
Active power
U16
50112
Msoll
I16
50114
IqGl
Smoothed, torquegenerating
current Iq
I16
50116
from SW 3.1
QZsw
U16
50118
from SW 4.1
UZK1
DClink voltage
U16
50119
from SW 8.3
AktSatz
U16
50202
(nset
from SW 5.1)
PosZsw
U16
50204
XistP
I32
50206
from SW 3.1
from SW 3.3
from SW 3.1
from SW 3.1
from SW 3.1
5-229
Table 5-4
Abbreviation
Operating mode
Description
Data
type4)
Signal
number1)
nset
pos
Remarks
XsollP
I32
50208
from SW 4.1
dXcor
I32
50210
from SW 4.1
5.6.2
Control word
STW1 (nset
mode)
Table 5-5
Bit
15
14
13
12
11
10
The control signals, from the perspective of SIMODRIVE 611 universal, are input signals and are
described in Chapter 6.4.3.
5-230
The signals designated like this must have at least a 1signal in order to be able to operate
a motor with the speed setpoint NSET_A or NSET_B.
Control word
STW1
(pos mode)
Table 5-6
Bit
15
14
13
12
11
10
Note:
The control signals, from the perspective of SIMODRIVE 611 universal, are input signals and are
described in Chapter 6.4.3.
The signals which have been identified in this way, must have at least a 1 signal in order to
be able to start a traversing block using the control signal activate traversing task (edge).
1) QStw.1 is ORd.
5-231
Control word
STW2
Table 5-7
15
14
13
12
11
10
Bit 2
Bit 1
Bit 0
Note:
The control signals, from the perspective of SIMODRIVE 611 universal, are input signals and are described in Chapter 6.4.3.
Also refer in the index under Input signal, digital ...).
1) Only available in the nset mode
5-232
Control word
NSET_A
NSET_B
(nset mode)
Table 5-8
NSET_A (nseth)
Bit
312)
7
24 23
16 15
8 73)
:
4
F3)
nseth
+
nsetl
F3)
+32 767
+16 384
:
0
Remarks
03)
Highest value4)
:
Positive normalization
value (P0880)
nset = 0
nset = 1
16 384
32 768
:
C
:
0
:
8
:
0
:
Negative normalization
value (P0880)
:
Lowest value4)
Speed normalization
(P0880)
NSET_A
NSET_B
Example:
Assumptions: The speed setpoint is entered via nseth and P0880 =
16384
> resolution = 1, i.e. 1 digit 8 1 RPM
5-233
Control word
XERR
(nset mode)
(from SW 4.1)
The system deviation for the dynamic servo control (DSC) is transferred via this control word.
STW
1
NSET_B
XERR
Control word
KPC
(nset mode)
(from SW 4.1)
For dynamic servo control (DSC) the position controller gain factor is
transferred via this control word.
STW
1
NSET_B
KPC
0 to 4000.0
Special case:
For KPC = 0, the dynamic servo control is deactivated.
Control word
MomRed
The torque limit presently valid in the drive can be reduced using this
control word.
Mom
Red
Normalization of
MomRed (P0881)
P0881/100 %
16384
@ MomRed)
Example:
Assumption: Best possible resolution for the full limiting range
Input: P0881 = 25 %
5-234
It then means:
Full torque
MomRed = 0000
> k = 1 (i.e. 1 @ P1230 and 1 @ P1235 are effective)
No torque
MomRed = FFFF
> k = 1 65535 / 65536 = 0.0000153 or almost 0
with a total of 65536 intermediate steps.
When P0881 is parameterized > 25 %, then it is possible to reduce to
precisely 0.
Control word
DAU1
DAU2
The 2 analog outputs of a drive can be controlled using these control words.
DAU
1
DAU
2
X441
P0626 = 38
75 x
10 V
P0633 = 39
16 x
10 V
15
Analog outputs
Table 5-9
Control word
Terminal/
analog
output
Parameter/Signal No.
DAU1 (PROFIBUS)
X441
Terminal
75.x/15
P0626 = 38
(Signal DAU1 from PROFIBUSPPO)
DAU2 (PROFIBUS)
X441
Terminal
16.x/15
P0633 = 39
(Signal DAU2 from PROFIBUSPPO)
Note:
Transfer format:
4000Hex 8 5 V, if the shift factor = 0 and the offset = 0
4000Hex 8 10 V, if the shift factor = 1 and the offset = 0
5-235
Control word
DIG_OUT
(from SW 3.1)
The digital outputs at the drive can be controlled, using this control
word from the master side via PROFIBUS.
This terminal must be assigned function number 38 so that an output
terminal can be controlled.
DIG
_OUT
Bit 15
1 O0.x:
P0680 = 38
1 O1.x:
P0681 0 38
1 O2.x:
P0682 = 38
1 O3.x:
P0683 = 38
Output terminals
From int.
From int.
From int.
From int.
Control word
XSP
(nset mode)
(from SW 5.1)
For the Spindle positioning function, the target position is entered via
this control word.
XSP
5-236
1000 8 1 degree
Example:
Control word
DezEing
(from SW 4.1)
Table 5-10
Bit
15
14
13
12
11
10
5
Parameterize with P0888
Note:
The control signals, from the perspective of SIMODRIVE 611 universal, are input signals and are described in Chapter 6.4.3. Also refer in the index under Input signal, digital ...).
Control word
MsollExt
(from SW 4.1)
For two rigidly connected drives, the actual torque setpoint of the
master drive (ZSW Msoll) can be read into the slave drive using this
control word.
Msoll
Ext
Normalization of
MsollExt (P0882)
5-237
Note
The slave drive must be changed over into the openloop torque
controlled mode using STW1.14.
Control word
QStw
(pos mode)
(from SW 4.1)
Table 5-11
QStw
Reserved
Bit
15
14
13
12
11
10
Reserved
5-238
Control word
SatzAnw
Table 5-12
Bit
15
14
13
12
11
10
27 (from SW 10.1)
26 (from SW 10.1)
Block selection
(traversing blocks 0 to
63; from SW 10.1: 255
through 0)
25
24
23
22
21
5
20
Note:
The control signals, from the perspective of SIMODRIVE 611 universal, are input signals and are described in Chapter 6.4.3.
Also refer in the index under Input signal, digital ...).
5-239
Control word
PosStw
(pos mode)
Table 5-13
STW
1
Pos
Anw
Pos
Stw
Reserved
Bit
15
14
13
12
11
10
Control word
Over
(pos mode)
The percentage value for the velocity override is specified using this
control word.
STW
1
Normalization of the
override (P0883)
Pos
Anw
Pos
Stw
STW
2
Over
P0883
16384
@ Over
Notice
As the drive cannot rotate with Over = 0 %, then it is important for
PPO types 2, 4 and 5, that a practical value (greater than 0%) is in this
control word.
Negative values are interpreted as maximum value, as this control
word is viewed unsigned.
5-240
Control word
Xext
(pos mode)
(from SW 4.1)
Using this control word, a master drive can control a slave drive with a
position reference value.
Xext can be connected with the XsollP or XistP quantities from the
master drive.
When using a SIMODRIVE 611 universal in the nset mode as master
drive, a connection can be made with the actual value Gx_XIST1 from
the encoder interface.
Xext
Data transfer format: P0895 and P0896 define the input format
The following applies: Position in MSR = input value @
P0896
P0895
Note
An input evaluation of the setpoints received via the source is only
made for a coupling via the angular incremental encoder (P0891 = 0 or
1) and via PROFIBUSDP (P0891 = 4).
Control word
dXcorExt
(pos mode)
(from SW 4.1)
The correction value, by which the position reference value jumps, e.g.
when referencing in the master drive (publisher) can also be readin
and taken into account in the slave drive (subscriber) using this control
word.
dXcor
Ext
Data transfer format: P0895 and P0896 define the input format
The following applies: Position in MSR = input value @
Control word
MDIPos
(pos mode)
(from SW 7.1)
P0896
P0895
For MDI blocks, the position is transferred via this control word.
MDIPos
5-241
Control word
MDIVel
(pos mode)
(from SW 7.1)
For MDI blocks, the speed is transferred via this control word.
MDIVel
Control word
MDIAcc
(pos mode)
(from SW 7.1)
For MDI blocks, the acceleration override is transferred via this control
word.
MDIAcc
5
Control word
MDIDec
(pos mode)
(from SW 7.1)
For MDI blocks, the deceleration override is transferred via the control
word.
MDIDec
Control word
MDIMode
(pos mode)
(from SW 7.1)
For MDI blocks, the mode is transferred via this control word.
MDIMode
5-242
x0x = ABSOLUTE
x1x = RELATIVE
x2x = ABS_POS
x3x = ABS_NEG
0xx = END
3xx = CONTINUE EXTERNAL
5.6.3
Bit
15
14
13
12
11
10
5-243
Bit
15
14
13
12
11
10
5
Note:
From the perspective of SIMODRIVE 611 universal, status signals are output signals and are described
in Chapter 6.4.6.
Also refer in the index under Output signal, digital ...).
5-244
Slave signoflife
(from SW 3.1)
15
14
13
12
11
10
Bit 2
Bit 1
5
Bit 0
Note:
From the perspective of SIMODRIVE 611 universal, status signals are output signals and are described
in Chapter 6.4.6.
Also refer in the index under Output signal, digital ...).
1) Only available in the nset mode
Status word
NIST_A
NIST_B
ZSW
2
nistl
NIST_A (nisth)
NIST_B (nist(h+l))
Note
The speed actual value is signaled in the same format as the speed
setpoint is specified
(refer to control word NSET_A (nseth) and NSET_B (nset(h+l)).
The speed actual value to be transferred via PROFIBUSDP can be
smoothed using a PT1 filter (from SW 13.1). The smoothing time
constant of the PT1 filter is set using P0887 (P0887 = 0 smoothing is
not active).
5-245
Status word
MeldW
Table 5-17
Bit
15
14
13
12
11
10
5
Note:
From the perspective of SIMODRIVE 611 universal, status signals are output signals and are described
in Chapter 6.4.6.
Also refer in the index under Output signal, digital ...).
The actually converted values of the 2 analog inputs of a drive are displayed using these status words.
ADU
1
Status word
ADU1
ADU2
Analog input
X451
X451
ADU
2
terminal 56.x/14.x
terminal 24.x/20.x
Note
The parameters available to parameterize the analog inputs are still
valid (refer to Chapter 6.6).
Data transfer format:
4000hex 8 10 V
Update rate at which this signal is provided:
Isochronous PROFIBUSDP
> generally: DP clock cycle, sensed at instant in time Ti
nonclockcycle synchronous PROFIBUSDP
> nset mode:
Position controller clock cycle (P1009)
> pos mode:
Interpolation clock cycle (P1010)
5-246
Status word
DIG_IN
(from SW 3.1)
The digital inputs at the drive can be read via the PROFIBUS and evaluated on the master side using this status word.
DIG
_IN
Bit 15
I0.x
I1.x
x:
Space retainer for
drive A or B
I2.x
I3.x
Input terminals
Status word
Ausl
This status word is used to display the ratio between the actual torque
and torque limit or between the actual power and the power limit.
Ausl
Note
The utilization value is smoothed using P1251 (time constant
(smoothing) motor utilization).
Data transfer format:
Isochronous PROFIBUSDP
> nset mode:
5-247
The actual drive active power is displayed using this status word.
The active power is calculated from the speed actual value and the
actual torque setpoint. Contrary to the torque and power limits, in this
case, the current limiting is not taken into account.
Pacti
ve
100 8 1 kW
Normalization of
Msoll (P0882)
The normalization of Msoll is defined (from SW 4.1) using P0882 (evaluation, torque setpoint PROFIBUS).
Actual torque setpoint for
Synchronous motors:
Torque setpoint [Nm] = P1118 @ P1113 @
Asynchronous motors:
Torque setpoint [Nm] =
P0882
4000Hex
60 @ P1130 @ 1000
2 @P1400
@ Msoll
P0882
4000Hex
@ Msoll
Note
The reference torque is displayed in P1725 (normalization, torque
setpoint).
The torque value is smoothed via P1252 (transition frequency, torque
setpoint smoothing).
Transfer format: 4000Hex
= 16384 8 reference torque (in P1725)
Update rate at which this signal is provided:
Isochronous PROFIBUSDP
> generally:
DP clock cycle, sensed at instant in time Ti
nonclockcycle synchronous PROFIBUSDP
> nset mode:
Position controller clock cycle (P1009)
> pos mode:
Interpolation clock cycle (P1010)
5-248
The actual smoothed torquegenerating current Iq of the drive is displayed using this status word.
Status word
IqGl
(from SW 3.1)
IqGl
Isochronous PROFIBUSDP
> generally:
Bit
15
14
13
12
11
10
Reserved
5-249
Status word
AktSatz
Table 5-19
Akt
Satz
Pos
Zsw
ZSW
2
15
14
13
12
11
10
27 (from SW 10.1)
26 (from SW 10.1)
25
24
23
22
21
20
Note:
As long as the block is not active, a 1 is displayed. The actual block number is displayed with the input
signal activate traversing task.
From the perspective of SIMODRIVE 611 universal, status signals are output signals and are described
in Chapter 6.4.6.
Also refer in the index under Output signal, digital ...).
5-250
Status word
PosZsw
(pos mode)
Table 5-20
Bit
15
14
13
12
11
10
Pos
Zsw
Note:
From the perspective of SIMODRIVE 611 universal, status signals are output signals and are described
in Chapter 6.4.6.
Also refer in the index under Output signal, digital ...).
Status word
UZK1
(from SW 8.3)
The actual DC link voltage in the drive is displayed using this status
word.
UZK1
5-251
Table 5-21
P1792 = 2
Bit
311)
7
24 23
F
16 15
F
8 7
F
Highest value
XistP = 02)
XistP = 1
:
8
Remarks
0 Decimal values
1) Sign bit:
2) Resolution:
:
0
:
0
:
Lowest value
Transfer format: P0884 and P0896 define the position output format
P0884
The following applies: Output value = position in MSR @
P0896
Status word
XsollP
(pos mode)
(from SW 4.1)
Transfer format: P0884 and P0896 define the position output format
P0884
The following applies: Output value = position in MSR @
P0896
Status word
dXcor
(pos mode)
(from SW 4.1)
The correction value by which the position reference value jumps, e.g.
when referencing in the master drive (publisher) is displayed in the
drive using this status word.
dXcor
Transfer format: P0884 and P0896 define the position output format
P0884
The following applies: Output value = position in MSR @
P0896
5-252
5.6.4
Encoder interface
process data
G1_STW
G2_STW
DP master
G3_STW
Control
signals
Status signals
G1_ZSW
G1_XIST1
G1_XIST2
G2_ZSW
G2_XIST1
G2_XIST2
G3_ZSW
G3_XIST1
G3_XIST2
DP slave
611U
Note:
G1_ ... Enc. 1 > Motor encoder
Note
The process data of the encoder interface can be included in the
telegram when configuring the process data.
> Refer to Chapter 5.6.5
Encoder 1:
Standard telegram 3 or 102 (refer to P0922)
Encoder 2:
Standard telegram 4 or 103 (refer to P0922)
Enc. 1 and 3: Standard telegram 104 (refer to P0922)
The process data for encoder 2 must be activated via P0879.12.
The description of this process data can be taken from the following
literature:
Reference:
/PPA/, PROFIdrive Profile Drive Technology
5-253
Gx_STW
x:
Bit
Bit
Meaning
Function 1
Reference mark 1
Function 2
Reference mark 2
Function 3
Reference mark 3
Function 4
Reference mark 4
Bit
Meaning
Function 1
Function 2
Note:
Bit x = 1
Request function
Do not request function
Bit x = 0
Functions
Find reference mark
2
or
Measurement on
thefly
Measurement onthefly
3
4
5
Command
6
7
5-254
Mode
6, 5, 4
Meaning
000
001
Activate function x
010
Read value x
011
Abort function x
Measurement onthefly
Table 5-22
Bit
Description of the individual signals in the encoder control word (Gx_STW), continued
Name
8
...
Reserved
12
1
13
No request
14
Activate parking
encoder
15
Acknowledge
encoder error
No request
Request to reset encoder faults
Gx_ZSW.15
Encoder error
Gx_STW.15
Acknowledge
encoder error
Gx_ZSW.11
Encoder fault
acknowledge active
1)
0
1)
Clear error
No request
5-255
Example 1:
Find reference
mark
Mode
G1_STW.7 = 0
Function 1
G1_STW.0 = 1
0
1
G1_STW.1= 1
G1_STW.4 = 1
(activate function)
G1_STW.5 = 1
(read value)
Reference mark 1
Reference mark 1
Function 2
Command
Reference mark 2
Reference mark 2
0
Read
value 1
Read
value 2
0
1)
Function 1 active
G1_ZSW.0 = 1
Function 1 active
1
0
1)
Function 2 active
G1_ZSW.1 = 1
Function 2 active
1
0
Value 1
available
Value 2
available
0
Actual position value
at reference mark 2
Gx_XIST2
5-256
Example 2:
Flying
measurement
Mode
G1_STW.7 = 1
Function 1
G1_STW.0 = 1
0
1
0
Command
G1_STW.4 = 1
(activate function)
G1_STW.5 = 1
(read value)
Function active
G1_ZSW.0 = 1
Value available
G1_ZSW.4 = 1
1)
Measurement onthefly
Read value 1
1)
1
0
Function 1 active
1
0
Value 1 available
1
0
1
0
5-257
Gx_ZSW
x:
Bit
Status:
Function
14
active
Bit
Meaning
Function 1
Reference mark 1
Measuring probe, positive edge
Function 2
Reference mark 2
Measuring probe, negative edge
Function 3
Reference mark 3
Function 4
Reference mark 4
Note:
Bit x = 1
Function active
Function inactive
Bit x = 0
alent zero mark (BERO). The equivalent zero mark must be parameterized at input terminal I0.x.
or
Bit
Meaning
Measurement on
thefly
Status:
Value
14
available
Note:
Bit x = 1
Bit x = 0
Value available
Value not available
8
9
10
Reserved
1
11
Note:
Refer under STW.15 (acknowledge encoder error)
0
12
5-258
No acknowledgement active
Reserved
Table 5-23
Bit
Description of the individual signals in the encoder status word (Gx_ZSW), continued
Name
13
14
No acknowledgement
No acknowledgement
15
Encoder error
No fault present
5-259
Gx_XIST1
Resolution:
n:
Fine resolution
Number of bits for the internal multiplication
P1044
Bit 31
Fine information
11 10
0
Standard value
Encoder pulses
The following applies for encoders with sin/cos 1Vpp:
Encoder pulses = No. of sinusoidal signal periods
The following applies for resolvers with 12bit resolution:
Encoder pulses = 1024 No. of pole pairs of resolver
The following applies for resolvers with 14bit resolution:
Encoder pulses = 4096 No. of pole pairs of resolver
5-260
Gx_XIST2
Parking encoder?
Gx_ZSW.14 = 1?
Yes
Gx_XIST2 = 0
No
Gx_XIST2
Gx_ZSW.15 = 1?
Encoder fault?
Yes
Error code
(refer to Table 5-24)
No
Gx_ZSW.4 = 1
or
.5 = 1
or
.6 = 1
or
.7 = 1
Value x present?
Yes
Gx_XIST2
=
Requested value
No
Transmit absolute
value cyclically?
Gx_ZSW.13 = 1
Yes
Gx_XIST2
=
Absolute value
No
Fig. 5-17 Priorities for functions and Gx_XIST2
Resolution:
n:
Encoder pulses 2n
Fine resolution
Number of bits for the internal multiplication
P1045
P1042
P1044
5-261
Internal
multiplication
Encoder pulses
Fine information
11
Bit 31
9 8
Standard
value
Encoder pulses
The following applies for encoders with sin/cos 1Vpp:
Encoder pulses = No. of sinusoidal signal periods
The following applies for resolvers with 12bit resolution:
Encoder pulses = 1024 No. of pole pairs of resolver
The following applies for resolvers with 14bit resolution:
Encoder pulses = 4096 No. of pole pairs of resolver
5-262
Error code
Table 5-24
Gx_XIST2
Possible causes/description
1Hex
The fault description should be taken from the following faults (refer
to Chapter 7.3.2):
Fault 514
Motor measuring system (encoder 1)
Fault 609
Encoder limiting frequency exceeded
Fault 512
Direct measuring system (encoder 2)
Fault 615
DM encoder limiting frequency exceeded
2Hex
The fault description should be taken from the following faults (refer
to Chapter 7.3.2):
Fault 508
Motor measuring system (encoder 1)
Fault 514
Direct measuring system (encoder 2)
3Hex
4Hex
5Hex
Retrieve reference
value interrupted
6Hex
7Hex
Abort, retrieve
measured value
8Hex
5-263
Table 5-24
Gx_XIST2
AHex
F01Hex
(from
SW 8.2)
Command is not
supported
Limitations and
rules when
connectingup
encoder 2 (direct
measuring system)
Possible causes/description
IM diagnostics
DM diagnostics
G2_STW
Status words:
5-264
5.6.5
Description
The process data structure of the telegram can be defined and configured as follows:
1. By selecting a standard telegram (P0922 > 0)
Examples:
P0922 = 1
P0922 = 101
Before SW 4.1:
PZD1 to PZD4 are defined as standard
PZD5 to PZD16 can be freely configured
From SW 4.1:
PZD1 remains defined as standard
PZD2 to PZD16 can be freely configured
Setpoint direction
(refer to the parameter overview for P0915:17)
e.g.:
P0915:5 = xxxx (required signal ID)
P0915:6 = yyyy ...
or
Actual value direction
(refer to the parameter overview for P0916:17)
e.g.:
P0916:5 = uuuu (requested signal ID)
P0916:6 = vvvv ...
Note
Standard signals, defined in the PROFIdrive Profile as well as special
signals only defined for the DP slave 611U can be configured as
setpoints/actual values.
For doubleword signals (32 bits) the appropriate signal ID must be
configured twice on adjacent process data.
Example:
P0916:7 = 50011 > G1_XIST1 is assigned to PZD7
P0916:8 = 50011 > G1_XIST1 is assigned to PZD8
> as G1_XIST1 is a double word (32 bits), it must be assigned two
PZDs.
5-265
The following parameters are available for the process data configuring:
Parameter
overview
Table 5-25
No.
0915:17
Min.
Standard
0
Max.
65 535
Unit
Effective
immediately
... is used to assign the signals to the process data in the setpoint telegram.
Permissible signals for the setpoint direction (control words) are:
ID
Significance
Abbrev.
Length
Mode
No signal
NIL
16 bit
50001
Control word 1
STW1
16 bit
50003
Control word 2
STW2
16 bit
50005
NSET_A
16 bit
nset
50007
NSET_B
32 bit
nset
50009
G1_STW
16 bit
nset
50013
G2_STW
16 bit
nset
50017
G3_STW
16 bit
nset
50025
XERR
32 bit
nset
50026
KPC
32 bit
nset
5-266
50101
Torque reduction
MomRed
16 bit
50103
DAU1
16 bit
50105
DAU2
16 bit
50107
DIG_OUT
16 bit
50109
32 bit
50111
Distributed inputs
DezEing
16 bit
50113
MsollExt
16 bit
50117
16 bit
50201
Block selection
16 bit
50203
PosStw
16 bit
pos
50205
Override
Over
16 bit
pos
SatzAnw
nset
pos
50207
Xext
32 bit
pos
50209
XcorExt
32 bit
pos
50221
MDIPos
32 bit
pos
50223
MDIVel
32 bit
pos
50225
MDIAcc
16 bit
pos
50227
MDIDec
16 bit
pos
50229
MDIMode
16 bit
pos
Table 5-25
No.
Name
Min.
Standard
Max.
Unit
Effective
Note:
Before SW 4.1 > From P0915:5 (assignment for PZD5), process data can be freely configured. This means from P0915:5, the signal ID of the requested signal can be entered.
From SW 4.1 > From P0915:2 (assignment for PZD2), process data can be freely configured, i.e. from P0915:2, the signal ID of the required signal can be entered.
P0915:0
P0915:1
P0915:2
...
P0915:16
No significance
PZD1
Configuring not possible (standard setting)
PZD2
Free configuring possible (from SW 4.1, before SW 4.1
from PZD5), i.e. enter the required signal ID
...
PZD16
Free configuring possible,
i.e. enter the required signal ID
5-267
Table 5-25
No.
0916:17
Name
Min.
Standard
0
Max.
65 535
Unit
Effective
immediately
... is used to assign the signals to the process data in the actual value telegram.
Permissible signals for the actual value direction (status words) are:
ID
Significance
Abbrev.
Length
Mode
50000/0
No signal
NIL
16 bit
50002
Status word 1
ZSW1
16 bit
50004
Status word 2
ZSW2
16 bit
50006
NIST_A
16 bit
50008
NIST_B
32 bit
50010
G1_ZSW
16 bit
nset
50011
G1_XIST1
32 bit
nset
50012
G1_XIST2
32 bit
nset
50014
G2_ZSW
16 bit
nset
50015
G2_XIST1
32 bit
nset
50016
G2_XIST2
32 bit
nset
50018
G3_ZSW
16 bit
nset
50019
G3_XIST1
32 bit
nset
50020
G3_XIST2
32 bit
nset
5-268
Message word
MeldW
16 bit
50104
ADU1
16 bit
50106
ADU2
16 bit
50108
DIG_IN
16 bit
50110
Utilization
Ausl
16 bit
50112
Active power
Pwirk
16 bit
50114
Msoll
16 bit
50116
IqGl
16 bit
50118
16 bit
50119
UZK1
16 bit
pos
50202
AktSatz
16 bit
50204
PosZsw
16 bit
pos
50206
XistP
32 bit
pos
50208
XsollP
32 bit
pos
50210
Xcor
32 bit
pos
Table 5-25
No.
Name
Min.
Standard
Max.
Unit
Effective
Note:
P0916:17 is preassigned when the system boots corresponding to the selected standard
telegram in P0922. A change made to P0916:2 to P0916:16 is again overwritten corresponding to the selected standard telegram when the system reboots.
before SW 4.1 > From P0916:5 (assignment for PZD5), process data can be freely configured. This means from P0916:5, the signal ID of the requested signal can be entered.
From SW 4.1 > From P0916:2 (assignment for PZD2), process data can be freely configured, i.e. from P0916:2, the signal ID of the required signal can be entered.
P0916:0
No significance
P0916:1
PZD1
Configuring not possible (standard setting)
P0916:2
PZD2
Free configuring possible (from SW 4.1, before SW 4.1
from PZD5), i.e. enter the required signal ID
...
...
P0916:16
PZD16
Free configuring possible,
i.e. enter the required signal ID
5-269
Table 5-25
No.
0922
Name
Min.
Standard
101
Max.
Unit
104
Effective
PO
P0915
:1
50001
PZD2
PZD3
NSET_B
P0915
:2
50007
P0915
:3
50007
PZD4
PZD5
PZD6
PZD16
STW2
xxxx
xxxx
xxxx
P0915
:4
50003
P0915
:5
yyyy
before SW 4.1:
from here
can be freely
configured
before SW 4.1:
from here
can be freely
configured
PZD1
ZSW1
P0916
:1
50002
PZD2
PZD3
NIST_B
P0916
:2
50008
P0916
:3
50008
P0915
:6
yyyy
Setpoint
P0915
:16
yyyy
xxxx: Signal name
yyyy: Signal ID
PZD4
PZD5
PZD6
PZD16
ZSW2
xxxx
xxxx
xxxx
P0916
:4
50004
P0916
:5
yyyy
P0916
:6
yyyy
P0916
:16
yyyy
PZD4
PZD5
PZD6
PZD16
STW2
xxxx
xxxx
xxxx
Actual
value
Operating mode:
P0700 = 3 (positioning)
PZD1
STW1
P0915
:1
50001
PZD2
PZD3
SatzAnw PosStw
P0915
:2
50201
P0915
:3
50203
P0915
:4
50003
P0915
:5
yyyy
before SW 4.1:
from here can be
freely configured
before SW 4.1:
from here can be
freely configured
P0915
:16
yyyy
xxxx: Signal name
yyyy: Signal ID
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
PZD16
ZSW1
AktSatz
PosZsw
ZSW2
xxxx
xxxx
xxxx
P0916
:2
50202
P0916
:3
50204
P0916
:1
50002
5-270
P0915
:6
yyyy
P0916
:4
50004
P0916
:5
yyyy
P0916
:6
yyyy
Setpoint
P0916
:16
yyyy
Actual
value
Table 5-25
No.
Name
P0922 = 1
Min.
Standard
Max.
Unit
Effective
PZD2
STW1
NSET_A
P0915
:1
50001
P0915
:2
50005
PZD1
PZD2
ZSW1
NIST_A
P0916
:1
50002
P0922 = 2
P0916
:2
50006
Setpoint
Actual
value
PZD2
PZD3
NSET_B
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
PZD1
PZD2
PZD3
ZSW1
P0916
:1
50002
P0922 = 3
NIST_B
P0916
:2
50008
P0916
:3
50008
PZD4
STW2
Setpoint
P0915
:4
50003
PZD4
ZSW2
P0916
:4
50004
Actual
value
PZD2
PZD3
NSET_B
PZD4
PZD5
STW2
G1_STW
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
P0915
:4
50003
P0915
:5
50009
PZD1
PZD2
PZD3
PZD4
PZD5
ZSW2
G1_ZSW
ZSW1
P0916
:1
50002
NIST_B
P0916
:2
50008
P0916
:3
50008
P0916
:4
50004
P0916
:5
50010
Setpoint
PZD6
PZD7
G1_XIST1
P0916
:6
50011
P0916
:7
50011
PZD8
PZD9
G1_XIST2
P0916
:8
50012
P0916
:9
50012
Actual
value
This process data is associated with the encoder interface (refer to Chapter 5.6.4)
5-271
Table 5-25
No.
Name
P0922 = 4
from
SW 3.3
Min.
Standard
Max.
Unit
Effective
PZD2
PZD3
NSET_B
PZD5
PZD4
STW2
PZD6
G1_STW G2_STW
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
P0915
:4
50003
P0915
:5
50009
P0915
:6
50013
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
ZSW2
G1_ZSW
ZSW1
P0916
:1
50002
NIST_B
P0916
:2
50008
P0916
:3
50008
P0916
:4
50004
P0916
:5
50010
PZD 10
G2_ZSW
P0916
:10
50014
Setpoint
PZD7
G1_XIST1
P0916
:6
50011
PZD11
P0916
:7
50011
PZD12
G2_XIST1
P0916 P0916
:11
:12
50015 50015
PZD8
PZD9
G1_XIST2
P0916
:8
50012
PZD13
P0916
:9
50012
Actual
value
PZD14
G2_XIST2
P0916
:13
50016
P0916
:14
50016
This process data is associated with the encoder interface (refer to Chapter 5.6.4)
P0922 = 5
from
SW 4.1
PZD2
PZD3
NSET_B
PZD4
PZD5
STW2
G1_STW
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
P0915
:4
50003
P0915
:5
50009
PZD1
PZD2
PZD3
PZD4
PZD5
ZSW2
G1_ZSW
PZD6
PZD7
XERR
P0915 P0915
:6
:7
50025 50025
PZD8
PZD9
KPC
P0915
:8
50026
P0915
:9
50026
Actual value
ZSW1
P0916
:1
50002
NIST_B
P0916
:2
50008
P0916
:3
50008
P0916
:4
50004
P0916
:5
50010
PZD6
PZD7
G1_XIST1
P0916 P0916
:6
:7
50011 50011
PZD8
PZD9
G1_XIST2
P0916
:8
50012
P0916
:9
50012
This process data is associated with the encoder interface (refer to Chapter 5.6.4)
5-272
Table 5-25
No.
Name
P0922 = 6
from
SW 4.1
Min.
Standard
Max.
Unit
Effective
Standard telegram 6, nset interface with KPC (DSC) and encoder 1 and
encoder 2
Setpoint
PZD1
STW1
PZD2
PZD3
NSET_B
PZD4
STW2
PZD5
P091
5
:2
50007
P091
5
:3
50007
P091
5
:4
50003
P091
5
:5
50009
PZD1
PZD2
PZD3
PZD4
PZD5
ZSW2
G1_ZSW
P091
6
:1
50002
NIST_B
P091
6
:2
50008
P091
6
:3
50008
P091
6
:4
50004
PZD7
G1_STW G2_STW
P091
5
:1
50001
ZSW1
PZD6
P091
6
:5
50010
Actual
value
PZD9
XERR
P0915
:6
50013
P0915
:7
50025
PZD6
PZD7
G1_XIST1
P0916
:6
50011
P091
6
:7
50011
PZD11
PZD12
G2_XIST1
P0916
:11
50015
PZD8
P091
6
:12
50015
PZD 10
KPC
P091
5
:8
50025
PZD8
P091
P0915
5
:10
:9
50026
50026
Actual value
PZD9
G1_XIST2
P091
6
:8
50012
PZD13
P0916
:9
50012
PZD 10
G2_ZSW
P091
6
:10
50014
PZD14
G2_XIST2
P091
6
:13
50016
P0916
:14
50016
This process data is associated with the encoder interface (refer to Chapter 5.6.4)
5-273
Table 5-25
No.
Name
P0922 = 101
Min.
Standard
Max.
Unit
Effective
PZD1
STW1
PZD3
NSET_B
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
PZD1
PZD2
PZD3
ZSW1
P0916
:1
50002
PZD2
NIST_B
P0916
:2
50008
P0916
:3
50008
PZD4
PZD5
PZD6
PZD7
STW2
MomRed
DAC1
DAC2
P0915
:6
50103
P0915
:7
50105
P0915
:4
50003
P0915
:5
50101
Setpoint
Actual value
PZD4
PZD5
PZD6
PZD7
PZD8
PZD9
PZD 10
ZSW2
MeldW
ADC1
ADC2
Ausl
Pactive
Mset
P0916
:4
50004
P0916
:5
50102
P0916
:6
50104
P0916
:7
50106
P0916
:8
50110
P0916
:9
50112
P0916
:10
50114
PZD2
PZD3
SatzAnw PosStw
PZD4
PZD5
PZD6
PZD7
STW2
Over
DAC1
DAC2
Setpoint
P0915
:1
50001
P0915
:2
50201
P0915
:3
50203
P0915
:4
50003
P0915
:5
50205
P0915
:6
50103
P0915
:7
50105
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
PZD7
PZD8
PZD9
PZD 10
ZSW1
AktSatz
PosZsw
ZSW2
MeldW
ADC1
ADC2
Ausl
Pactive
Mset
P0916
:2
50202
P0916
:3
50204
P0916
:4
50004
P0916
:5
50102
P0916
:6
50104
P0916
:7
50106
P0916
:1
50002
P0922 = 102
Actual value
P0916
:8
50110
P0916
:9
50112
P0916
:10
50114
PZD1
STW1
PZD2
PZD3
NSET_B
PZD4
PZD5
STW2
PZD6
MomRed G1_STW
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
P0915
:4
50003
P0915
:5
50101
P0915
:6
50009
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
ZSW2
MeldW G1_ZSW
ZSW1
P0916
:1
50002
NIST_B
P0916
:2
50008
P0916
:3
50008
P0916
:4
50004
P0916
:5
50102
P0916
:6
50010
Setpoint
Actual value
PZD7
PZD8
G1_XIST1
P0916
:7
50011
P0916
:8
50011
PZD9
PZD 10
G1_XIST2
P0916
:9
50012
P0916
:10
50012
This process data is associated with the encoder interface (refer to Chapter 5.6.4)
5-274
Table 5-25
No.
Name
P0922 = 103
from
SW 3.3
Min.
Standard
Max.
Unit
Effective
PZD1
STW1
PZD2
PZD3
NSET_B
PZD4
STW2
PZD5
PZD6
P0915 P0915
:5
:6
50101 50009
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
P0915
:4
50003
PZD1
PZD2
PZD3
PZD4
PZD5
ZSW2
MeldW G1_ZSW
ZSW1
P0916
:1
50002
NIST_B
P0916
:2
50008
P0916
:3
50008
P0916
:4
50004
PZD7
PZD6
P0916 P0916
:6
:5
50102 50010
Actual value
PZD11
G2_ZSW
P0916
:11
50014
Setpoint
P0915
:7
50013
PZD7
Actual value
PZD8
PZD9
G1_XIST1
P0916 P0916
:7
:8
50011 50011
PZD12
G1_XIST2
P0916
:9
50012
P0916
:10
50012
PZD14
PZD15
PZD13
G2_XIST1
P0916 P0916
:12
:13
50015 50015
PZD 10
G2_XIST2
P0916
:14
50016
P0916
:15
50016
This process data is associated with the encoder interface (refer to Chapter 5.6.4)
P0922 = 104
PZD1
STW1
PZD2
PZD3
NSET_B
PZD4
STW2
PZD5
PZD6
P0915 P0915
:5
:6
50101 50009
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
P0915
:4
50003
PZD1
PZD2
PZD3
PZD4
PZD5
ZSW2
MeldW G1_ZSW
ZSW1
P0916
:1
50002
NIST_B
P0916
:2
50008
P0916
:3
50008
P0916
:4
50004
PZD7
PZD6
P0916 P0916
:6
:5
50102 50010
Actual value
PZD11
G3_ZSW
P0916
:11
50018
Setpoint
P0915
:7
50017
PZD7
Actual value
PZD8
G1_XIST1
P0916 P0916
:7
:8
50011 50011
PZD12
PZD13
G3_XIST1
P0916 P0916
:12
:13
50019 50019
PZD9
PZD 10
G1_XIST2
P0916
:9
50012
P0916
:10
50012
PZD14
PZD15
G3_XIST2
P0916
:14
50020
P0916
:15
50020
This process data is associated with the encoder interface (refer to Chapter 5.6.4)
5-275
Table 5-25
No.
Name
P0922 = 105
from
SW 4.1
Min.
Standard
Max.
Unit
Effective
Standard telegram 105, nset interface with KPC (DSC) and encoder 1
Setpoint
PZD1
STW1
PZD2
PZD3
NSET_B
PZD4
STW2
PZD5
PZD6
PZD7
PZD8
MomRed G1_STW
XERR
P0915 P0915
:5
:6
50101 50009
P0915 P0915
:7
:8
50025 50025
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
P0915
:4
50003
PZD1
PZD2
PZD3
PZD4
PZD5
ZSW2
MeldW G1_ZSW
PZD9
PZD 10
KPC
P0915
:9
50026
P0915
:10
50026
Actual value
ZSW1
P0916
:1
50002
NIST_B
P0916
:2
50008
P0916
:3
50008
P0916
:4
50004
PZD6
P0916 P0916
:5
:6
50102 50010
PZD7
PZD8
G1_XIST1
P0916 P0916
:7
:8
50011 50011
PZD9
PZD 10
G1_XIST2
P0916
:9
50012
P0916
:10
50012
This process data is associated with the encoder interface (refer to Chapter 5.6.4)
5-276
Table 5-25
No.
Name
P0922 = 106
from
SW 4.1
Min.
Standard
Max.
Unit
Effective
Standard telegram 106, nset interface with KPC (DSC) and encoder 1 and encoder 2
Setpoint
PZD1
STW1
P0915
:1
50001
PZD2
PZD3
NSET_B
P0915
:2
50007
P0915
:3
50007
PZD4
STW2
P0915
:4
50003
PZD5
PZD6
PZD7
PZD8
P0915 P0915
:5
:6
50101 50009
P0915
:7
50013
Setpoint
PZD9
XERR
P0915 P0915
:8
:9
50025 50025
PZD 10
PZD11
KPC
P0915
:10
50026
P0915
:11
50026
PZD8
PZD9
Actual value
PZD1
ZSW1
P0916
:1
50002
PZD2
PZD3
NIST_B
P0916
:2
50008
P0916
:3
50008
PZD4
PZD5
ZSW2
MeldW G1_ZSW
P0916
:4
50004
PZD6
P0916 P0916
:5
:6
50102 50010
Actual value
PZD11
G2_ZSW
P0916
:11
50014
PZD7
G1_XIST1
P0916 P0916
:7
:8
50011 50011
PZD12
PZD13
G2_XIST1
P0916 P0916
:12
:13
50015 50015
PZD 10
G1_XIST2
P0916
:9
50012
P0916
:10
50012
PZD14
PZD15
G2_XIST2
P0916
:14
50016
P0916
:15
50016
This process data is associated with the encoder interface (refer to Chapter 5.6.4)
5-277
Table 5-25
No.
Name
P0922 = 107
from
SW 4.1
Min.
Standard
Max.
Unit
Effective
Standard telegram 107, nset interface with KPC (DSC) and encoder 1 and encoder 3
Setpoint
PZD1
STW1
P0915
:1
50001
PZD2
PZD3
NSET_B
P0915
:2
50007
P0915
:3
50007
PZD5
PZD4
STW2
PZD6
PZD7
PZD8
P0915
:4
50003
P0915
:5
50101
P0915
:6
50009
P0915
:7
50017
PZD9
XERR
P0915
:8
50025
P0915
:9
50025
PZD 10
PZD11
KPC
P0915
:10
50026
P0915
:11
50026
PZD8
PZD9
Actual value
PZD1
ZSW1
P0916
:1
50002
PZD2
PZD3
NIST_B
P0916
:2
50008
P0916
:3
50008
PZD4
PZD5
ZSW2
MeldW G1_ZSW
P0916
:4
50004
P0916
:5
50102
Actual value
PZD6
PZD7
G1_XIST1
PZD 10
G1_XIST2
P0916
:6
50010
P0916
:7
50011
P0916
:8
50011
P0916 P0916
:9
:10
50012 50012
PZD11
PZD12
PZD13
PZD14
G3_ZSW
P0916
:11
50018
G3_XIST1
P0916
:12
50015
P0916
:13
50015
PZD15
G3_XIST2
P0916 P0916
:14
:15
50016 50016
This process data is associated with the encoder interface (refer to Chapter 5.6.4)
P0922 = 108
from
SW 4.1
PZD1
PZD2
PZD3
PZD4
PZD5
STW1
SatzAnw
PosStw
STW2
Over
Setpoint
P0915
:5
50205
P0915
:1
50001
P0915
:2
50201
P0915
:3
50203
P0915
:4
50003
PZD1
PZD2
PZD3
PZD4
PZD5
ZSW1
AktSatz
PosZsw
ZSW2
MeldW
XsollP
P0916
:4
50004
P0916
:5
50102
P0916 P0916
:6
:7
50208 50208
P0916
:1
50002
5-278
Standard telegram 108, positioning, master drive for the position reference
value coupling (publisher)
P0916
:2
50202
P0916
:3
50204
Actual value
PZD6
PZD7
PZD8
QZsw
PZD9
PZD 10
Xcor
P0916 P0916
:9
:8
50118 50210
P0916
:10
50210
Table 5-25
No.
Name
P0922 = 109
from
SW 4.1
Min.
Standard
Max.
Unit
Effective
Standard telegram 109, positioning, slave drive for the position reference
value coupling (subscriber)
Setpoint
PZD1
PZD2
PZD3
PZD4
PZD5
STW1
SatzAnw
PosStw
STW2
Over
PZD6
PZD7
P0915
:2
50201
P0915
:3
50203
P0915
:4
50003
P0915
:5
50205
P0915
:6
50207
P0915
:7
50207
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
PZD7
ZSW1
AktSatz
PosZsw
ZSW2
MeldW
XistP
P0916
:4
50004
P0916
:5
50102
P0916 P0916
:6
:7
50206 50206
P0922 = 110
P0916
:2
50202
P0916
:3
50204
PZD2
PZD3
PZD4
PZD5
STW1
SatzAnw
PosStw
STW2
Over
PZD 10
XcorExt
P0915 P0915
:8
:9
50117 50209
P0915
:10
50209
Actual value
P0915
:2
50201
P0915
:3
50203
P0915
:4
50003
P0915
:5
50205
PZD6
5
PZD7
MDIPos
P0915
:6
50221
P0915
:7
50221
P0915
:11
50227
ZSW1
AktSatz
PosZsw
ZSW2
MeldW
XistP
P0916
:4
50004
P0916
:5
50102
P0916 P0916
:6
:7
50206 50206
P0915
:9
50223
P0915
:10
50225
PZD5
P0916
:3
50204
P0915
:8
50223
PZD11
PZD4
Setpoint
MDIVel
MDIDec MDIMode
PZD3
P0916
:2
50202
PZD9
PZD 10
PZD2
PZD6
PZD8
MDIAcc
PZD1
P0916
:1
50002
PZD9
PZD1
P0915
:1
50001
PZD8
QStw
Xext
P0915
:1
50001
P0916
:1
50002
(from
SW 7.1)
PZD12
P0915
:12
50229
PZD7
Actual value
5-279
5.6.6
Process data
in the closedloop
speedcontrolled
mode
Table 5-26
Master
Slave
Control words
(setpoints)
PZD
1
PZD
2
PZD
3
PZD
4
PZD
5
PZD
6
PZD
7
PZD
8
PZD
9
PZD
10
1st
word
2nd
word
3rd
word
4th
word
5th
word
6th
word
7th
word
8th
word
9th
word
10th
word
STW
1
n
soll
h
n
soll
l
STW
2
Mom
Red
DAU
1
DAU
2
Ausl
Pactive
Mset
ZSW
1
nist
nist
ZSW
2
Meld
W
ADU
1
ADU
2
PPO1
PPO2
PPO3
PPO4
PPO5
Abbreviations:
PPO
ZSW1
PZD
Process data
nist
STW1
Control word 1
ZSW2
Status word 2
nsoll
Speed setpoint
MeldW
Message word
STW2
Control word 2
Status word 1
ADU1
ADU2
DAU1
Ausl
Utilization
DAU2
Pwirk
Active power
Msoll
Note
Operation is also possible with the PPO types which cannot transfer all
process data (e.g. PPO1 and PPO3).
PPO type 3 is sufficient for closedloop speed controlled operation
with a simple basic functionality (2 control and 2 status words).
5-280
Example:
Operating the
drive via
PROFIBUS
in the closedloop
speed controlled
mode
I address
272 279
280 283
O address
272 279 (not shown in the example)
280 283
MPI
Control signals
STW1
nsollh
Input signals
at the DP slave
ZSW1
nisth
DP slave 611U:
Control board with
SIMODRIVE 611 universal
with optional PROFIBUSDP
module
PAB, PAW
PEB, PEW
STW
Control word
ZSW
Status word
5-281
Process data in
the positioning
mode
Table 5-27
Dependent on the PPO type, in the positioning mode, the following process data is transferred when using standard telegram 101:
Master
Slave
Control words
(setpoints)
PZD
1
PZD
2
PZD
3
PZD
4
PZD
5
PZD
6
PZD
7
PZD
8
PZD
9
PZD
10
1st
word
2nd
word
3rd
word
4th
word
5th
word
6th
word
7th
word
8th
word
9th
word
10th
word
STW
1
Satz
Anw
Pos
Stw
STW
2
Over
DAU
1
DAU
2
Ausl
Pactive
Mset
Slave
Status words
(actual values)
ZSW
1
Akt
Satz
Pos
Zsw
ZSW
2
Meld
W
ADU
1
ADU
2
PPO1
PPO2
PPO3
PPO4
PPO5
Abbreviations:
PPO
ZSW1
Status word 1
PZD
Process data
AktSatz
STW1
Control word 1
PosZsw
ZSW2
Status word 2
PosStw
MeldW
Message word
STW2
Control word 2
ADU1
Over
Override
ADU2
DAU1
Ausl
Utilization
DAU2
Pwirk
Active power
Msoll
Note
Operation is also possible with the PPO types which cannot transfer all
process data (e.g. PPO1 and PPO3).
For the positioning mode with a basic functionality, PPO type 3 is
sufficient (2 control and 2 status words).
5-282
5.6.7
For PPO types 1, 2 and 5 for the net data (useful data), a parameter
range with 4 words is also transferred.
The following tasks are possible using the parameter range:
Tasks
Structure of the
PKW area
Table 5-28
Word
PKE
IND
PD
PIV
PWE
3
PZD
1
PZD
2
PZD
3
PZD
4
PZD
5
PZD
6
PZD
7
PZD
8
PZD
9
PZD
10
10
PPO1
PPO2
PPO5
Bit 15
Word 3
...
Bit 15
Word 4
...
...
Value = 0
High component
Bit 7
11
AK
Value range
0 ... 15
Reserved
...
0
PNU
Value range 1 ... 1 999
...
Subparameter number
From SW 11.2:
Bit 15 = 1: PNU of PKE + 2000
Bit 12 = 1: PNU of PKE + 4000
Reserved bits 8 to 11, 13, 14
Bits 15 to 12
Value
Low component
10
Note:
refer to P0879.11
Abbreviations:
PPO
PKW
Parameter ID value
PZD
Process data
PKE
Parameter ID
IND
PWE
Subindex,
subparameter number, array index
Parameter value
AK
PNU
Parameter number
5-283
The IDs for the task telegram (master > slave) should be taken from
the following table:
Task telegram,
IDs
Table 5-29
Request ID
Response ID (positive)
No task
4, 5
0
1, 2
10 (from SW 3.5)
Function
4, 5
Note:
All of the SIMODRIVE 611 universal parameters can be read and written into the using the task IDs
6, 8 and 10.
Data is first calculated into the control and then a response telegram is sent
Task 10
Data is calculated into the control and a response telegram is sent at the same time
For example, in order to be able to issue a start task immediately after a traversing block has been
completely transferred, the last write task should have the ID 8.
Response
telegram,
IDs
The IDs for the response telegram (slave > master) can be taken
from the following table:
Table 5-30
Response ID
0
No response
8, 9 and 10
5-284
Function
How is a task
executed?
The master transfers a task to a slave and repeats this task for at least
as long as the associated response is received from the slave.
The slave provides the response until the master has formulated a new
task.
For responses, which include parameter values, the slave always cyclically responds with an updated value. This involves all responses to the
tasks request parameter value and request parameter value (array).
Fault evaluation
Outputs a response ID = 7
Outputs an error number in word 4 of the parameter area
Table 5-31
Fault
ID
Data types
Error cause
Incorrect subindex
Incorrect data type (is not required for the type conversion)
6 to 19
not required
20 to 100
Reserved
The data type, assigned to the parameter must be written into the parameter value via the PKW mechanism (refer under data type in the
parameter list in Chapter A.1).
Table 5-32
Data types
Explanation
Integer16
INT
Integer32
DINT
Unsigned16
WORD
Unsigned32
DWORD
Floating point
Floatingpoint number
REAL
5-285
Transferring
traversing blocks
For SIMODRIVE 611 universal, the traversing blocks in the positioning operating mode are saved in parameters, and can therefore be
read and changed using the PKW mechanism.
Readers note
The parameters for the traversing blocks are described in Chapter
6.2.10.
When mapping the traversing blocks to the parameters, the parameter
number defines the block components (position, velocity, etc.) and the
subparameter number of the traversing block number.
Example:
P0081:17
This means that a complete set can only be read or changed one after
the other via the individual components.
From SW 7.1, during positioning, a new position or a new traversing
block can be accepted and executed (flying block change) using the
function MDI (refer to Chapter 6.2.12).
Rules for
processing
tasks/responses
5-286
Example:
Reading
parameters via
PROFIBUS
When there is at least one fault, the drive fault buffer (P0945:1 to
P0945:8) should be read out via PROFIBUS, and buffered on the
master side.
Assumptions for the slave:
I address
272 279
280 283
O address
272 279
280 283 (not shown in the example)
If the input signal from the peripheral (I/O) area E281.3 (ZSW1.3, fault
present/no fault present) = 1 signal, then the following must be executed on the master side (refer to Fig. 5-20):
1. Programming SFC14 and SFC15
The standard functions SFC14 Read slave data and SFC15 write
slave data are required in order to consistently transfer more than
4 bytes.
2. Request parameter value
Write into the PKW output signals (PAB 272 279)
with
AK = 6, PNU = 945, IND = 1, PWE = no significance
3. Read parameter value and save
Evaluate the PKW input signals (PEB 272 279)
If AK = 4 or 5,
PNU = 945, IND = 1 and PWE = xx then OK
Read and save P945:1 = xx
If AK = 7,
then evaluate the fault number in PEW 278 (refer to Table 5-31)
4. Repeat points 1 and 2 to read the other subparameters of the fault
condition
P945:2
to
P945:8
5-287
PROFIBUS DP
PKE
IND
PWE1
PWE2
AK = 6, PNU = 945
Index = 1
Value (high)
Value (low)
Input signals
at the DP slave
Output signals
at the DP slave
AK = 5, PNU = 945
Index = 1
Value (high)
Value (low)
PKE
Parameter ID
IND
PNU
Parameter number
Note
The FC 92 SIMATIC S7 block can be used for read parameters via
PROFIBUS.
This block is included in the toolbox of the CD for SIMODRIVE 611
universal in the file s7_Baust.arj and is documented using its block
comments.
There are additional application examples in the toolbox with the
read/write parameter function
(e.g. interface 611u <> S7 in the file 611u39.arj).
5-288
Example:
Reading
parameters
via PROFIBUS
I address
272 279
280 283
O address
272 279
280 283 (not shown in the example)
5-289
PROFIBUS DP
IND
PWE1
PWE2
AK = 8, PNU = 81
Index = 3
Value (high)
Value (low)
Input signals
at the DP slave
Output signals
at the DP slave
AK = 5, PNU = 81
Index = 3
Value (high)
Value (low)
PKE
Parameter ID
IND
PNU
Parameter number
Note
The FC 93 SIMATIC S7 block can be used to write parameters via
PROFIBUS.
This block is included in the toolbox of the CD for SIMODRIVE 611
universal in the file s7_Baust.arj and is documented using its block
comments.
There are additional application examples in the toolbox with the
read/write parameter function
(e.g. interface 611u <> S7 in the file 611u39.arj).
5-290
5.7
5.7.1
Performance
features of
the PROFIBUS
devices
The following master device files (GSDs) are available for the DP
slave 611U:
Before SW 4.1:
SIEM8055.GSD
SIEM808F.GSD
From SW 4.1:
SIEM808F.GSD
From SW 6.1:
SIEM808F.GSD
SI02808F.GSD
5-291
Configuration
Product
6SW17005JC002AA0
6SW17005JC002AA4 (upgrade)
P1783:64
P1784:64
5-292
Parameterizing
telegram
Configuration
telegram
PPO
1axis
Inconsistent
(consistent over 1 word)
2axis
1axis
2axis
F3F1
F3F1F3F1
7371
73717371
F3F5
F3F5F3F5
7375
73757375
F1
F1F1
71
7171
F5
F5F5
75
7575
F3F9
F3F9F3F9
7379
73797379
5-293
Table 5-34
Entry
Description
Consistent
Inconsistent
PIV
F3
No PKW
00 or 0 F3
1 or 2 ... last
n words I/O
7(n1)
1 or 2 ... last
n words I
D(n1)
5(n1)
1 or 2 ... last
n words O
E(n1)
6(n1)
Table 5-35
Example
1axis
With PKW with PZD =
10/10 words (I/O), 8
PPO 5)
F3F9
2axis
F3F9
01FE
F3F9
Inconsistent
(consistent over
1 word)
1axis
F379
2axis
F379
01FE
F379
5-294
D7EE
D7EE
01FE
D7EE
576E
576E
01FE
576E
5.7.2
Commissioning
Prerequisites for a
slave
In order to commission the DP slave 611U the slave must fulfill the
following prerequisites or these prerequisites must be clarified:
Caution
With the DP slave 611U poweredup, the enable terminals and
PROFIBUS enable signals are required in order to enable the drive
and to operate it.
If the DP slave 611U is switched out via P0875 = 0, then the drive is
already enabled using the local enable terminals (e.g. terminal 663,
65.x). Thus, the enable signals via the PROFIBUS control word are no
longer necessary.
5-295
Prerequisites and
information about
or to the master
When startingup the DP slave 611U the following must be taken into
consideration on the master side:
Is there a GSD file for the DPSlave 611U for the master?
If not, then the GSD file must be inserted into the configuring tool of
the master for the DPSlave 611U.
5-296
Parameterizing the
DPSlave611U
via PROFIBUS
1st possibility:
Commission the
system for the first
time using the
display and operator
panel and then set
the PROFIBUS
address
Procedure:
2nd possibility:
Only set the
PROFIBUS address
using the display
and operator unit
Fully commission the system using the display and operator panel
(refer to Chapter 4.4)
set A0652 to 1
Neither faults nor warnings are displayed (if required, press the
MINUS key, refer to Chapter 7.2.1).
Proceed as follows:
1. Set the PROFIBUS node address
Press the P key for longer than 3 seconds
>
5-297
do not set
...
do not set
(other parameters)
set
set
5-298
5.7.3
LED display
of the
option module
Significance
The module has still not be started from the control board or
Off
Red
Continuous
The module has been enabled (P0875) and started from the
control board,
there are no cyclic communications (MSCY_C1, Data
Exchange, net data transport) between the master and this
module as PROFIBUS slave or there was a communications
failure (watchdog)
Check! (if cyclic communications was previously active):
Red
Flashing
terminating resistor?
Green
Yellow/green
Alternating flashing light
Fault display
on the
control board
Faults and warnings are displayed on the display unit located on the
front panel of the control board.
5-299
Evaluating
faults via
PROFIBUSDP
Faults which occur are entered into a fault buffer. The fault code, fault
number, fault time and fault value for each fault are specified using the
appropriate parameters.
Fault buffer
The fault buffer comprises 8 fault cases, each of which can include 8
fault entries.
For fault case 1, the faults which have occurred are saved and they
remain there until the fault case has been removed, i.e. all of the faults
have been removed and also acknowledged.
In fault cases 2 to 8, the acknowledged fault cases since the last
POWER ON are saved. The number of fault cases since POWER ON
can be read from P0952.
P0945:65
Fault code
Index 0
P0947:65
P0948:65
Fault number Fault time
P0949:65
Fault value
No significance
101
t_101
w_101
114
10
t_114
w_114
90
t_90
w_90
10
to
16
to
0
57
58
64
to
0
Fault
case
2
to
to
to
Fault
case
1
Fault
case
8
5-300
Rules regarding
the fault buffer
If, in fault case 1, there is at least one fault, which must be acknowledged with POWER ON, then this is valid for the complete fault
case.
Readers note
A description of the faults, the way in which they can be acknowledged
as well as a list of all the faults, is provided in Chapter 7.
Evaluating
warnings via
PROFIBUSDP
5-301
Diagnostics of the
process data
Diagnostics of the
PKW data
(from SW 2.4)
Diagnostics of the
parameterizing
and configuration
data (from SW 3.1)
The sent and received process data of the DP slaves 611U are displayed using the following parameters:
P1788:17
P1789:17
The sent and received PKW data of the DP slave 611U are displayed
using the following parameters:
P1786:5
P1787:5
P1783:64
P1784:64
5-302
5.8
General
Which clock
synchronous
masters are there?
DP slave 611U
SINUMERIK 802D
SINUMERIK 840Di
(nset mode)
SIMATIC S7300
6ES73152AF03xxxx
(pos mode)
Activating
Parameterizing
equidistant
operation
The parameters for equidistant operation are included in the slavespecific master device file SIEM808F.GSD. Parameterization is also possible via Drive ES.
The master configuring ensures, that all of the DP slaves in the application use the same clock cycle times and processing instants.
When PROFIBUS boots, the information required by the DP slaves, is
transferred from the master to all of the slaves via the parameterizing
telegram.
5-303
DP cycle
Prerequisites and
features
12 Mbaud
3 or 6 Mbaud
1.5 Mbaud
1.0 s
0.9 s
0.8 s
Clocksynchronous operation with the DP slave 611U is only guaranteed when the maximum permissible jitter is maintained.
When configuring the bus system, it should be ensured, that especially when, e.g. repeaters or optical bus components are used, the
maximum permissible jitter is not exceeded.
5-304
5.8.1
Overview
>
> Encoder 3
TTL encoder, P0890 = 4, only SIMODRIVE 611 universal E
DP master with
the Motion
Control with
PROFIBUS
DP function
e.g.
SINUMERIK
802D
n
n set
nsetset
Clo
Clock
Clo
ck
cycle
ck
cycl
cycl
e
e
x
x act
xactact
Speed
Speed
Speed
control
control
control
Current
Current
Current
control
control
control
Motor
Motorencoder
Motor
encoder
atencoder
X411/X412
at
X411/X412
at X411/X412
M
MM
E
E
E
E
E
E
Measuring system for
(encoder 2 or 3)
PROFIBUS DP
DP slave 611U
Fig. 5-25 Overview for motion control with PROFIBUSDP: Example with DP master and 3 DP slaves
5-305
The position actual value xact is read in to the telegram image at time TI
before the start of each DP clock cycle, and is transferred to the DP
master at the next DP cycle.
Time sequence
Position
control cycle
TDP
TM
Master
(position
controller)
MSG
RES
GC Dx Dx Dx MSG
RES
TM
TDX
R1 R2 R3
GC Dx Dx Dx MSG
RES
R1 R2
GC Dx Dx Dx MSG
Speed
control cycle
Slaves
1 to 3
R R
R R
R R
R R
R R
R R
R R
R R
R R
R R
R R
R R
R R
R R
R R
R R
R R
R R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
TI
TI
TO
R R
R
R
R
R
TI
TMAPC
TDP
DP cycle time
TDX
Data Exchange Time: Sum of the data transfer times of all of the slaves
TM
TI
TO
GC
Dx
MSG
RES
Reserve: Active pause until the isochronous (equidistant) cycle has expired
5-306
Average value
generation for nset
5.8.2
Overview
v
Axis 1
v:
Velocity
t:
Time
t
v
Axis 2
t
Interpolation
cycle
(IPO clock cycle)
Fig. 5-27 Example: Simultaneously starting the traversing motion
Note
For the equidistant DP cycle sequence in the pos mode a setpoint
transfer instant (TO) of at least 750 s must be configured (refer to
Fig. 5-26). If the configured time is <750 s then it is possible that
either inconsistent or old actual values are transferred, e.g. XistP,
XsollP, dXcor.
5-307
Timing
The SYNC telegram from the DP master guarantees that the axes start
in the same DP clock cycle.
TMAPC = TDP
PLC user
program
Master
MSG
RES
TDX
GC Dx Dx Dx MSG
RES
GC Dx Dx Dx MSG
RES
GC Dx Dx Dx MSG
IPO
IPO
IPO
IPO
IPO
IPO
IPO
IPO
IPO
IPO
IPO
IPO
IPO
IPO
IPO
Interpolation
clock cycle (IPO
clock cycle)
Slaves 1 to 3
TI
TI
TO
TI
TMAPC
TDP
DP cycle time
TDX
Data Exchange Time: Sum of the data transfer times of all of the slaves
TI
TO
GC
Dx
MSG
RES
Reserve: Active pause until the isochronous (equidistant) cycle has expired
5-308
Conditions
General prerequisites:
The master application clock cycle TMAPC must be an integer multiple of the interpolation clock cycle.
SIMATIC S7), TMAPC must be = to TDP and the signoflife monitoring in operation must be disabled using P0879.8 = 1.
The SYNC mechanism may only be activated after the drive has set
the status bit ZSW1.9 control requested.
5-309
5.8.3
The DP slave 611U requires the following time information for equidistant operation, clock cycles and signal processing instants:
General
information
Table 5-37
Name
Value1)
TBASE_DP
5DChex
8 1500dec:
Limit value
Description
Time base for TDP
Calculation: TBASE_DP = 1500 TBit = 125 s
TBit = 1/12 s at 12 Mbaud
TDP
TDP w TDP_MIN
DP cycle time
TDP = integer multiple TBASE_DP
Calculation: TDP = 8 TBASE_DP = 1 ms
TDP_MIN = 8
TMAPC
n TDP
n = 1 14
TBASE_IO
5DChex
8 1500dec:
TI
TI_MIN = 1
Minimum TI
Calculation: TI_MIN = 1 TBASE_IO = 125 s
TO
TDX + TO_MIN
v TO v TDP
TO_MIN = 1
5-310
Table 5-37
Name
TDX
E10hex
8 3600dec
Limit value
TDX < TDP
Description
Data exchange time
This is the time which is required to transfer, within one
DP cycle, the process data to all of the slaves.
TDX = integer multiple of TBit
TBit = 1/12 s at 12 Mbaud
Calculation: TDX = 3600 TBIT = 300 s
TPLL_W
PLL window
(half the window width of the GC synchronizing window)
The following applies to the setting:
5-311
Setting criteria
The following criteria must be taken into account when setting the times:
DP cycle (TDP)
Time TDP must be set the same for all bus nodes.
The following must be valid: TDP > TDX and TDP y TO
Time TDP is therefore long enough to permit communications
with all of the bus nodes.
Specific reserves must be available
This means that additional masters can be connected and non
cyclic communications can be realized.
TI and TO
nset mode: Setting the times in TI and TO as short as possible
reduces the dead time in the position control loop.
The following must be valid: TO > TDX + TOmin
5.8.4
5-312
Net data
save
The net data save is realized in both data transfer directions (master
<> slave) using a signoflife that comprises a 4bit counter.
The signoflife counter is always incremented from 1 to 15, and then
starts again with the value 1.
Operation with/without
Master signoflife monitoring
Monitoring
The master signoflife is monitored in the DP slave. If the
master signoflife does not consecutively correspond to the
expected value or more often than is permitted in P0879 bit 2 to
bit 0, then the following occurs:
> fault 597 (PROFIBUS: synchronization error) is output
> zero is output as slave signoflife
> the status signal ZSW1.9 (control requested/control not
possible) is set to 0
> the system resynchronizes to the master signoflife
5-313
5.8.5
P1783:7
P1783:1
State1
> bit 6: Fail_safe
xx xx xx xx xx xx xx xx xx xx 1C xx 00 00
Byte 0
13
DP/V1
parameters
Standard DP
parameters
Isochron_Mode_Supported
not isochronous
> 00hex
> 01hex
isochronous
> E1hex
isochronous
Parameter
header
TBASE_DP
TDP
TMAPC
TBASE_IO
00 00 00 05 DC 00 08 01 00 00 05 DC
P1783:23
P1783:22
P1783:20
25
P1783:16
P1783:15
Byte 14
TI = 2 TBASE_IO = 250 s
Equidistant
parameters
TO
= 0 s
TPLL_W TPLL_D
00 02 00 04 00 00 0E 10 00 00 00 00
TDX
P1783:37
P1783:35
P1783:31
37
P1783:29
Byte 26
P1783:27
Note:
P1783:64 is used for diagnostics, parameterizing data.
P1783:0
P1783:1
e.g.
02
5-314
5.9
Parameter
overview
Table 5-38
No.
0872
Description
Optional module type
Min.
Standard
Max.
Unit
Effective
RO
... indicates which optional module was identified when the control board was poweredup.
0
0873
No option module
Hex
RO
PO
... indicates which option module was expected as a result of the parameterization.
The parameters are automatically set at the first startup corresponding to P0872 (option module type).
Examples:
P0875 = P0872
> the optional PROFIBUSDP2 module has been parameterized but was not detected
> a fault was signaled when the system ran up
Note:
Switchout the communications or the DP slaves 611U when the module is inserted:
1axis module
2axis module
> with P0875 = 0, the communications with drive B is switchedout from drive B
> with P0875 = 0 in both drives, the DP slave 611U is switchedout
This means, that e.g. disturbing slaves can be temporarily disabled when commissioning the
other nodes (refer under the index entry Startup PROFIBUSDP).
After disabling the communications or the module, P0875 must be again set to P0872.
5-315
Table 5-38
No.
0879
Description
Min.
Standard
1
Max.
FFFF
Unit
Hex
Effective
PO
0880
Bit 8
Bit 11
Bit 12
Activates the direct measuring system (encoder 2) for the encoder interface (from
SW 3.3)
Bit 13
Bit 14
Incremental, direct meas. system with/without equivalent zero mark (from SW 3.3)
RPM
0.0
16 384.0
100 000.0
m/min
immediately
... defines the normalization of the speed or velocity when using PROFIBUSDP.
%
0.0
16 384.0
16 384.0
immediately
... defines the normalization of the torque/power reduction or force/power reduction when using PROFIBUSDP.
Note:
4000 hex or 16384 dec in the control word MomRed corresponds to a reduction by the percentage specified in P0881.
0882
(from
SW 4.1)
%
16384.0
800.0
16 384.0
immediately
... defines the normalization of the torque or force setpoint when entered via PROFIBUSDP.
Note:
P0882 is a percentage value referred to the rated motor torque. The parameter acts on the
process data MsollExt (torque setpoint external in the input direction) and Msoll (torque setpoint in the output direction).
4000 hex or 16384 dec in the control word corresponds to the percentage entered into P0882.
0883
0.0
16 384.0
16 384.0
immediately
PO
... defines the normalization of the override when entered via PROFIBUS DP.
4000hex or 16384dec the override in P0883
0884
(from
SW 4.1)
2048
8388607
... defines the normalization of the override when entered via PROFIBUS.
4000hex or 16384dec the override in P0883
5-316
Table 5-38
No.
0888:16
(from
SW 4.1)
Description
Function, distributed input
(PROFIBUS)
Min.
0
Standard
0
Max.
82
Unit
Effective
immediately
... defines which function a signal has which was read in via the PROFIBUSPZD for distributed inputs (DezEing).
The function number from the list of input signals is entered. The following applies for the
individual indices of P0888:
:0 Function DezEing bit 0
:1 Function DezEing bit 1
:2 etc.
0891
(from
SW 3.3)
PO
... defines the source for the external position reference value.
1 No external position reference value
0
Angular incremental encoder interface
1
Motor encoder, drive A (only drive B in doubleaxis modules)
(only for compatibility, recommended value = 2)
2
Pos. act. value drive A (only drive B in doubleaxis modules, from SW 4.1)
3
Pos. ref. value, drive A (only drive B in doubleaxis modules, from SW 4.1)
4
PROFIBUSDP (from SW 4.1)
0895
(from
SW 3.3)
2048
8388607
PO
... defines, together with P0896 for couplings, the ratio between input increments and the dimension system grids.
Note:
> P0895 input pulses at the angular incremental encoder correspond to P0896 MSR
> Setpoint input from P0895 corresponds to P0896 MSR
refer to P0896
0896
(from
SW 3.3)
10000
8388607
MSC
PO
... defines, together with P0895, for couplings, the ratio between the input pulse periods (or
input bit) and the dimension system grids.
0915
65 535
immediately
immediately
... is used to assign the signals to the process data in the setpoint telegram.
> Refer to Chapter 5.6.5
0916
65 535
... is used to assign the signals to the process data in the actual value telegram.
> Refer to Chapter 5.6.5
5-317
Table 5-38
No.
0918
Description
Min.
Standard
0
Max.
126
Unit
Effective
PO
There is one node address for the control board, although it is designed for two drives.
When changing the parameter in one drive, the parameter in the other drive is automatically adapted.
101
104
PO
RO
Fault code
... the fault code, i.e. the number of the fault which occurred, is entered.
The faults which occurred, are entered as follows into the fault buffer:
to
Note:
Fault code (P0945:65), fault number (P0947:65), fault time (P0948:65) and fault value
(P0949:65)
A description of the faults, the way in which they can be acknowledged as well as a list of
all the faults, is provided in Chapter 7.
Fault number
RO
ms
RO
RO
Note:
This parameter is of no significance.
0948:65
Fault time
This parameter specifies at which relative system time, the fault occurred.
Note:
This parameter is set to zero at POWER ON, and the time is then started.
0949:65
F value
The supplementary information associated with a fault which occurred, is entered in this parameter.
Note:
A description of the faults, the way in which they can be acknowledged as well as a list of
all the faults, is provided in Chapter 7.
5-318
Table 5-38
No.
0952
Description
Number of faults
Min.
Standard
Max.
Unit
Effective
RO
The parameter specifies the faults which occurred after POWER ON an.
Note:
This parameter is reset at POWER ON.
0953
Hex
RO
0954
Hex
RO
0955
Hex
RO
0956
Hex
RO
0957
Hex
RO
0958
Hex
RO
0959
Hex
RO
0960
Hex
RO
Bit x = 0
Example:
P0955 = 0110 > bits 8 and 4 are set > warnings 840 and 836 are present
Parameter
P0953
P0954
P0955
P0956
P0957
P0958
P0959
P0960
0963
(from
SW 4.1)
15 14 13 12 11 10
0 Bit
815|814|813|812|811|810|809|808|807|806|805|804|803|802|801|800
831|830|829|828|827|826|825|824|823|822|821|820|819|818|817|816
847|846|845|844|843|842|841|840|839|838|837|836|835|834|833|832
863|862|861|860|859|858|857|856|855|854|853|852|851|850|849|848
879|878|877|876|875|874|873|872|871|870|869|868|867|866|865|864
895|894|893|892|891|890|889|888|887|886|885|884|883|882|881|880
911|910|909|908|907|906|905|904|903|902|901|900|899|898|897|896
927|926|925|924|923|922|921|920|919|918|917|916|915|914|913|912
RO
5-319
Table 5-38
No.
0967
Description
Min.
Standard
Max.
Unit
Hex
Effective
RO
Hex
RO
under the index entry Process data in the pos mode status words ZSW1 (from SW 2.1)
under the index entry Process data in the xset mode status words ZSW1 (from SW 3.3)
0969
ms
RO
... contains the relative system time since the last time that the drive was poweredup or since
the last counter overflow
1781:17
(from
SW 4.1)
Hex
RO
... indicates the source of the process data received via PROFIBUS
The high byte includes a reference to the source device (0xFF for the master, DP address for
a Publisher) and the lower byte includes the offset within the received telegram
(counted in bytes starting with 1).
The following applies:
P1781:0
Number of valid entries
P1781:1
Source of process data 1 (STW1)
P1781:2
Source of process data 2 (PZD2), etc.
1782:17
(from
SW 4.1)
Hex
RO
... indicates which offset process data, sent to the master or the subscribers via PROFIBUS,
have in the sent telegram
(counted in bytes starting with 1).
The following applies:
P1782:0
Number of valid entries
P1782:1
Target offset of process data 1 (ZSW1)
P1782:2
Target offset of process data 2 (PZD2), etc.
5-320
Table 5-38
No.
Description
Min.
Standard
Max.
Unit
Effective
1783:64
Hex
RO
1784:64
Hex
RO
P1783:64
P1784:64
Index
:0
No. of
valid
bytes
:1
:2
:3
:4
:5
etc.
1st byte 2nd byte 3rd byte 4th byte 5th byte
nth byte
Hex
RO
... contains diagnostics information to operate PROFIBUS. The following applies for the individual indices of P1785:
:0 Error master signoflife since POWER ON
:1 Clockcycle synchronous operation selected
:2 Interpolation clock cycle (Tipo) in us
:3 Position controller clock cycle (Tlr) in us
:4 Master application cycle type (Tmapc) in us
:5 DP cycle time (Tdp) in us
:6 Data exchange time (Tdx) in us
:7 Instant in time of the setpoint sensing (To) in us
:8 Instant in time of the actual value sensing (Ti) in us
:9 PLL window (Tpllw) in 1/12us
:10 PLL delay time (Tplld) in 1/12us
:11 External slavetoslave communication connections
:12 Internal slavetoslave communication connections
5-321
Table 5-38
No.
Description
Min.
Standard
Max.
Unit
Effective
1786:5
Hex
RO
1787:5
Hex
RO
P1786:5
P1787:5
Index :0
No. of
valid
words
:1
:2
:3
PKE
IND
:4
PWE
PKE
Parameter ID
IND
Subindex, subparameter
number, array index
PWE
Parameter value
PKW
Parameter ID value
5
Note:
Hex
RO
1789:17
Hex
RO
P1788:17
... is an image of the process data received from the DP slave (control words).
P1789:17
... is an image of the process data sent to the DP master (status words).
Index :0
No. of
valid
words
:1
:2
:3
...
PZD
1
PZD
2
PZD
3
...
:14
:15
:16
PZD
14
PZD
15
PZD
16
Note:
The number of valid words in P1788:0 and P1789:0 depends on the selected PPO type.
Invalid words (are contained in parameters with an index greater than the number) have
the value 0.
Example:
P1788:0 = 2
2 words are valid, i.e. it involves either a PPO1 or PPO3 P1788:1
contains the process data 1 (PZD1) P1788:2
contains the process data 2 (PZD2)
P1788:3 to P1788:10 have the value 0
An overview of the process data in the speedcontrolled mode and in the positioning mode
is included in Chapter 5.6.1.
5-322
Additional
parameters
relevant for
PROFIBUSDP
(refer to Chapter
A.1)
P0600
Operating display
P0607
P0612
P0653
P0654
P0656
P0657
P0658
P0660
P0661
P0662
P0663
P0680
P0681
P0682
P0683
P0972
P1012.2
Function switch
Bit 2 Ready or no fault
P1012.12
Function switch
Bit 12 poweron inhibit
P1795
5-323
5.10
5.10.1
General information
For PROFIBUSDP, the master addresses all of the slaves one after
the other in a DP cycle. In this case, the master transfers its output
data (setpoints) to the particular slave and receives as response the
input data (actual values).
Description
Slavetoslave communications
Data exchange broadcast (DXB.req)
Configuration
DP master Class 1
(e.g. SIMATIC S7)
HW Config
PG/PC
Drive ES Basic
Parameterizing master
Clock cycle generator
Output data1)
Input data1)
Answer
DP slave
611U
DP slave
611U
DP slave
611U
Publisher
Subscriber
Subscriber
Left
1) From the perspective of the Class 1 master
Fig. 5-30
Publisher
5-324
Subscriber
The subscribers evaluate the broadcast telegrams, sent from the publishers, and use the data which has been received as setpoints.
The setpoints are used, in addition to the setpoints received from the
master, corresponding to the configured telegram structure (P0915:17).
Requirements and
boundary
conditions
Applications
w SW 4.1
max. 8
Angular synchronism where the position reference value or position actual value is entered
Torque setpoint coupling (master/slave operation)
Master drive
<>
Closedloop speed controlled
Slave drive
Openloop torque controlled
5-325
Parameter
overview
(refer to Chapter
A.1)
The following parameters are available for the slavetoslave communications function:
P0032
P0400
P0401
P0402
P0410
P0412
P0413
P0420
P0425:16
Coupling positions
P0879
PROFIBUS configuration
P0882
P0884
P0888
P0891
P0895
P0896
P0897
P0898
P1781:17
P1782:17
P1785:13
Input/output
signals (refer to
Chapter 5.6)
The following signals are available for the slavetoslave communications function:
Input signals
Correction, external position reference value via dXcor (from
SW 4.1)
> via the PROFIBUS control signal QStw.0
Request passive referencing (from SW 5.1)
> via the PROFIBUS control signal QStw.1 or STW1.15
Output signals
Correction, external position reference value via dXcor (from
SW 4.1)
> via PROFIBUS control signal QZsw.0
Request passive referencing (from SW 5.1)
> via the PROFIBUS control signal QZsw.1 or ZSW1.15
5-326
5.10.2
Setpoints
Number of setpoint
When bus communications is being established, the master signals
the slave the number of setpoints (process data) to be transferred
e.g. using the STEP 7 HWConfig configuring tool.
Operation as subscriber
When operating a slave subscriber, some of the setpoints are entered from one or several publishers instead of from the master.
The slave is signaled the assignment when bus communications are
being established, using the parameterizing and configuring telegram.
Example, setpoint
assignment
NSET_B
NSET_B
STW2
MomRed
16
P0915, P0922
Fig. 5-31 Example, setpoint assignment
5-327
5.10.3
Activation in the
publisher
By configuring the links with Drive ES Basic, the master can identify
which slaves are to be addressed as publisher with a modified layer 2
function code (DDBDistributed Data Base).
The publisher then does not send its input data to the master, but to all
bus nodes as broadcast telegram.
Activation in the
subscriber
Then:
The precise structure of this block, together with the permissible setting
values is shown in Fig. 5-32.
Configuration telegram (ChkCfg)
Using the configuration telegram, a slave knows how may setpoints are
to be received from the master and how many actual values are to be
sent to the master.
For slavetoslave communications, a special empty ID is required for
each data access, which is then transferred with the ChkCfg.
Structure of the empty ID for Drive ES Basic (S7 ID format):
0x04 0x00 0x00 0xD3 0x40
5-328
Block header
Filter table
header
BlockLen1)
12 244
Command
0xE2
Slot
0x00
Specifier
0x00
Version ID
0xE2
Number of links
03
Offset Link1
...
Offset Link n
Link1
Publisher DP address
Publisher input length
Tap1
...
Publisher DP address
...
1) Data in bytes
2) Calculated from the version ID
Fig. 5-32 Filter block in the parameterizing telegram (SetPrm)
5-329
5.10.4
Message format
Configuring a
telegram
In order to be able to use the process data for slavetoslave communications, the appropriate signal IDs must be entered into P0915 and
P0916 for the telegram configuration.
Synchronous
operation
Setpoints in the
SIMODRIVE 611
universal (slave drive)
STW1
SatzAnw
PosStw
STW2
ZSW1
QStw
AktSatz
Xext_H
PosZsw
Xext_L
ZSW2
QZsw
XsollP_H
XsollP_L
Fig. 5-33 Example, assigning the process data for a synchronous application
5-330
Distributed input
signals
When distributed input signals are read in, a SIMODRIVE 611 universal can directly read in control signals from another slave (publisher)
without the signals first having to be routed via the master.
Either an input module, which is capable of slavetoslave communications (e.g. ET200) can be used as publisher, or another drive, whose status signals can be used as control signals.
The following process data is required for the telegram configuring to read
in these input signals:
Distributed inputs
Example, mixed
operation
For the example from Fig. 5-34, all setpoints, with the exception of the
hardware limit switch, are entered from the PROFIBUSDP master.
The hardware limit switches are read in via an ET200 module and entered
into the process data DezEing (bit 0 and bit1).
In this case, it is necessary that the appropriate telegram is configured
using P0915:17 and P0888:16 is assigned the function numbers for the
hardware limit switch.
5-331
Setpoints in the
SIMODRIVE 611
universal (subscriber)
Control signals in
SIMODRIVE 611
universal
STW1
ON/OFF 1
SatzAnw
PosStw
STW2
DezEing
P0915:5 = 50111
P0888:0 = 81
P0888:1 = 82
5-332
5.10.5
General
information
Assumptions for
the example
Parameterizing DP
master
5-333
Clock cycle synchronization > applicable for the master and slave drives
5-334
Note
When transferring data via the clockcycle synchronous
PROFIBUSDP, a setpoint transfer instant in time of (TO) of at least
750 s must be configured. If the configured time is <750 s then it is
possible that either inconsistent or old actual values are transferred,
e.g. XistP, XsollP, dXcor.
Parameterizing the
master drive
P0922 = 108
> Standard telegram 108: Master drive for the position reference
value coupling
231
P0884
@ P0896
5-335
Note
In order to ensure that the process data is correctly assigned between
the publisher and subscriber, the offsets of the sent and received data
must match.
For example, actual values (sent data) for PZD 18 (XsollP_H) in the
master drive (Fig. 5-38) must match the setpoint/reference value
(received data) for PZD 18 (Xext_H) in the slave drive (Fig. 5-39).
Parameterizing the
slave drive
P0922 = 109
> Standard telegram 109: Slave drive for the position reference
value coupling
P0891 = 4
231
P0895
@ P0896
5-336
Configuring the
coupling
Define the optional coupling factor for revolutions, master and slave drive
> P0401 and P0402 (e.g. 1)
The DP master must set control word PosStw.4 in order to activate the
coupling.
5-337
5-338
6.1
6.1.1
6.1.2
6.1.3
6.1.4
6.1.5
6.1.6
6.1.7
6.1.8
6.1.9
6-341
6-341
6-342
6-344
6-346
6-348
6-350
6-351
6-359
6.2
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.2.6
6-368
6-369
6-376
6-379
6-404
6-404
6.2.7
6.2.8
6.2.9
6.2.10
6.2.11
6.2.12
6.3
6.3.1
6.3.2
6.3.3
6.3.4
6-446
6-447
6-476
6-478
6-484
6-367
6-410
6-414
6-416
6-421
6-423
6-436
6-441
6.5
6.6
6.6.1
6-495
6-495
6-496
6-497
6-521
6-521
6-523
6-339
6-340
6.6.2
6.6.3
6.6.4
6.6.5
6-553
6-557
6-560
6-563
6.7
6.8
6.8.1
6.8.2
6.8.3
6.9
6.10
6.11
6.11.1
6.11.2
6.11.3
6.11.4
6.11.5
6.12
6.13
6.14
6.15
6.16
6.17
6.18
6.19
6.20
6.21
6.22
6.23
6-579
6-581
6-586
6-590
6-604
6-604
6-610
6-612
6-613
6-616
6.1
6.1.1
Application examples
nset
Higher
level
control
system
Fig. 6-1
SIMODRIVE
611
universal
Resolver/
encoder with sin/cos
1Vpp (incremental)
Variablespeed drive
nset
Higher
level
control
system
SIMODRIVE
611
universal
Resolver/
encoder with sin/cos
1Vpp (incremental)
6
Angular incremental encoder interface
Fig. 6-2
nset
Higher
level
control
system
Fig. 6-3
SIMODRIVE
611
universal
Resolver/encoder with
sin/cos 1Vpp
Direct
(incremental)
measuring
system
6-341
6.1.2
! 611ue diff !
General
Terminal 56.x/14.x
Terminal 24.x/20.x
Input signal
Speed
controller
Rampup time = 0
nset from
PROFIBUSDP
nset
analog
P0607
P0612
=0
=1
P1421
1.0
Rampup
generator
P1256:8
P1257:8
P1012.0
(refer to
Chapter
6.6.2)
Conversion,
Torque
torque to
quadrature setpoint
axis current limiting
Mset
analog
=0
=1
Iq
set
(refer to
Chapter
6.6.3) Input signal
openloop torque
controlled mode
MRed
< 1.0
Speed
setpoint filter
Speed
setpoint
limiting
Time constant,
integrator feedback
P1421
P1409
Integral action
time TN
P1407
Proportional
gain KP
Current
controller
4 current
setpoint
filters
nact
I
Current q
controller
Id
Vq
Vd
U
V
W
M
3
Inversion,
speed
actual value
(P1011.0)
Id
set
analog
(refer to Chapter 6.6.2 or 6.6.3)
ENC
Id
Iq
6-342
Id set = 0
Readers note
Described in the following:
Rampfunction Generator
Optimizing the closedloop current and speed controller
/FBA/
6-343
6.1.3
Rampfunction generator
General
information
Parameter
overview
Table 6-1
No.
0616:8
from SW
2.4
1256:8
0617:8
from SW
2.4
1257:8
1012.0
Name
Min.
Standard
2.0
0.0
Max.
600.0
Unit
s
Effective
immediately
The setpoint is increased from zero up to the maximum permissible actual speed within this
time.
Max. permissible actual speed for synchronous motors: Minimum from 1.1 P1400 and
P1147
(from SW 7.1 1.05 P1400 and P1147 with SIMODRIVE 611 universal HR/HRS/HRS2
resolver)
Max. permissible actual speed for induction motors: Minimum from P1146 and P1147
Max. permissible actual speed for linear motors: from P1147
Rampfunction generator, rampdown
2.0
time (ARM)
immedi0.0
0.0
600.0
s
ately
(SRM, SLM)
The setpoint is changed from the maximum permissible actual speed to zero within this
time.
Max. permissible actual speed for synchronous motors: Minimum from 1.2 P1400
and P1147
Max. permissible actual speed for induction motors: Minimum from P1146 and P1147
Ramp function generator tracking
immedi
Hex
ately
The rampfunction generator tracking can be activated/deactivated using P1012 bit 0.
=1
Rampfunction generator tracking active (standard)
=0
Not active
Speed
setpoint1)
n
Rampfunction
generator output2)
Speed
setpoint1)
Rampfunction
generator output
with tracking2)
t2
t
t1 t2
t
With RFG tracking
Without RFG tracking t1
The
rampfunction
generator
output
is
The drive continues to accelerate
prevented from leading the speed
between t1 and t2, although the speed
actual value so that t1 and t2 almost
setpoint (e.g. setpoint 0) is less than the
merge.
speed actual value.
Note:
1) For example, from the PROFIBUS control word NSOLL or P0641 (fixed speed setpoint).
2) Rampfunction generator output corresponds to the speed setpoint trace parameter.
6-344
Input/output
signals for the
rampfunction
generator
Input signal
Output signal
Rampup completed
Readers note
The signals can be entered or output as follows:
via terminals
> refer to Chapter 6.4.2 or 6.4.5
via PROFIBUSDP > refer to Chapter 5.6.1
All of the input/output signals are shown and described in Chapter
6.4.3 and 6.4.6 and can be found in the Index under Input signal... or
Output signal....
Rampfunction
generation
active
nset
RFG input
6
P1426
nset
nact
RFG output
Torque
Rampup
completed
Threshold P1428
nset = nact
| M | < Mx
P1427
1) For an active averagevalue filter for the speed setpoint (P1012.8=1), a setpoint step somewhat
greater than P1426 must be used in order to clearly identify the start of a new rampup operation.
Fig. 6-5
6-345
6.1.4
Optimizing the
current controller
At the first commissioning or later, the current controller is preset using the Calculate controller data function, and generally no longer has
to be optimized.
However, all parameters for the current control loop can be adapted via
the expert list of the SimoCom U tool.
Optimization
speed controller
Call:
Press the Execute automatic controller setting button under Controller and execute the steps offered.
Readers note
Recommendation when optimizing the controller:
Optimize the control loop with SimoCom U and the Execute
automatic controller setting function.
6-346
Table 6-2
No.
1407:8
Name
Min.
0.0
Standard
0.3
2 000.0
Max.
999 999.0
Unit
Effective
Nm*s/rad immediately
Ns/m
... specifies the magnitude of the proportional (gain Kp, proportional component) of the control
loop.
1409:8
0.0
10.0
500.0
ms
immediately
... specifies the integral action time (TN, integral component) of the control loop.
Readers note
When optimizing, e.g. linear drives, it may be necessary to set the
current and speed setpoint filters.
This procedure is described in:
Reference:
/FBA/
6-347
6.1.5
Description
The speed controller can be adapted, depending on the speed or velocity, using the speed/velocity controller adaptation.
For example, in order to better overcome static friction at lower speeds,
a higher proportional gain can be set than for higher speeds.
Enabling/disabling
adaptation
Proportional gain Kp
Integral action time TN
Kp
P1410
P1407:8
P1408:8
Fig. 6-6
without adaptation
P1409
Tr
with adaptation
P1411
P1412
P1401 x P1405:8
n
v
(n or v < P1411)
Adaptation range
(n or v > P1412)
Note
Only the position controller output is taken into account for limit
sensing (upper and lower adaptation speed).
6-348
The following parameters are available for the speed controller adaptation:
Parameter
overview
Table 6-3
No.
1413
Name
Min.
Standard
Max.
Unit
Effective
immediately
Note:
For induction motors (ARM), the speed controller adaptation is switchedin as standard.
1408:8
0.3
0.0
2 000.0
999 999.0
Nm*s/rad immediNs/m
ately
... defines the P gain in the constant, upper range (n or v > P1412).
Note:
When a value of 0 is entered, the associated integral component (P1410) is automatically de
activated.
1410:8
0.0
10.0
500.0
ms
immediately
... defines the integral action time in the constant, upper range (n or v > P1412).
Important:
With the adaptation activated, you should avoid deactivating the integral component for only
one range (P1409 = 0 and P1410 0 or vice versa).
Problem: Torque jumps when resetting the integral value at the transition from the adaptation
range to the constant range.
Note:
If a value of 0 is entered, this deactivates the integral component for the range greater than set
in P1412.
1411
RPM
m/min
0.0
0.0
100 000.0
immediately
RPM
0.0
0.0
100 000.0
m/min
immediately
6-349
6.1.6
! not 611ue !
Description
Input/output
signals
The following signals are used for the fixed speed setpoint function:
Input signals
Output signals
Parameter
overview
(refer to Chapter
A.1)
Commissioning
the function
The following parameters are available for the fixed speed setpoint
function:
P0641:16
6-350
6.1.7
Monitoring functions
Motor temperature
monitoring
6-351
Temperature sensor
No.
0603
Name
Motor temperature
Min.
Standard
Max.
Unit
Effective
RO
immediately
... displays the motor temperature measured using the temperature sensor.
Note:
This display is not valid, if a fixed temperature was entered in P1608.
1602
120
200
The parameter specifies the permissible thermal steadystate motor temperature, and is appropriately preassigned when the motor code is specified.
Note:
If the temperature warning threshold is exceeded, initially, only warning 814 is output, which is
withdrawn when the temperature threshold is fallen below.
If the overtemperature condition remains for a time longer than that set in P1603, then this results in fault 614.
Monitoring can be enabled/disabled via P1601.14.
6-352
Table 6-4
No.
1603
Name
Timer for motor temperature alarm
Min.
0
Standard
240
Max.
600
Unit
s
Effective
immediately
The parameter defines the time, which is started when the temperature warning threshold is
exceeded (P1602).
1607
155
200
immediately
The temperature defines the shutdown limit for the temperature monitoring without prewarning.
If the shutdown limit is exceeded, this results in fault 613.
1608
Fixed temperature
200
immediately
If a value > 0 is entered, the rotor resistance is adapted depending on the temperature using
this fixed temperature.
Note:
This can be necessary, e.g. if a motor does not have any temperature sensor.
This means, that, e.g. the temperature monitoring for linear motors is switchedout if the
monitoring is realized using an external PLC.
The temperature monitoring functions of the motor, set using P1602 and P1603 or P1607,
are then no longer effective.
1609
Hex
immediately
The temperature defines the sensor type for measuring the motor temperature.
Bit 0 = 0: KTY temperature sensor (standard)
Bit 0 = 1: PTC temperature sensor
Thermal motor
model (only for
rotating motors)
(from SW 11.1)
6-353
No.
1265
(from
SW
11.1)
Name
Min.
Standard
0
Max.
Unit
Effective
PO
immediately
5000
immediately
6-354
Table 6-5
No.
1269
(from
SW
11.1)
Name
Thermal motor load warning threshold
Min.
0
Standard
80
Max.
100
Unit
%
Effective
immediately
... Outputs a message to the PLC (NST Motor temperature prewarning , DB 31, to DBX
94.0),
if the thermal motor load (P1266) is greater than the response threshold in P1269
and the time monitoring in P1603 is started.
If the timer expires without the value of the thermal motor load dropping below the threshold,
the drive generates a configurable reset alarm
(P1601, Bit 14).
Note:
Also refer to P1603 and P1288.
1288
(from
SW
12.2)
180
220
immediately
... defines the shutdown threshold of the thermal motor model (up to SW 12.1, P1607 applies).
When commissioning, the value in P1288 is preassigned depending on the specific motor.
Note:
Also refer to P1265, P1266, P1268 and P1269.
Torque setpoint
monitoring (speed
controller output
limited, speed
controller at its
endstop)
Is the speed controller output (torque setpoint) at its limit for longer
than the time in P1605 (torque, power, stall or current limit)?
and
6-355
Table 6-6
No.
1605
Name
Timer stage, n controller at its limit
Min.
Standard
20.0
200.0
Max.
10 000.0
Unit
ms
Effective
immediately
... specifies how long the speed controller output may be at its limit, without a fault condition
being generated.
Important:
If P1605 < P1404, then regenerative braking can be canceled with fault 608, whereby the drive
then coasts down.
1606
90 000.0
30.0
500.0
0.0
100 000.0
RPM
RPM
m/min
Immed.
... specifies up to which speed the torque setpoint monitoring is active, i.e. up to this value, fault
608 (speed controller output limited) can be output.
Note:
For PE spindles (P1015 = 1), the standard assignment is the same as for ARM (30.0 RPM).
DC link
monitoring
No.
1604
Name
Min.
Standard
200
Max.
680
Unit
V(pk)
Effective
immediately
... specifies the DC link undervoltage warning threshold Vx to output the signal DC link monitoring VDC link > Vx.
Note:
The DC link voltage is sensed by the NE module or a monitoring module, and can also be output as analog signal (0 10 V) via an analog output.
6-356
6-357
Hardware
limit switch
(HW limit switch)
(from SW 8.1)
Warning 800
Warning 801
The hardware limit switch signal must always remain at a 0 signal outside the permitted traversing range. A brief change from 0 signal to 1
signal is not permitted.
As a result of the zero speed input when reaching the hardware limit
switch, alarms, e.g. following error too high or similar faults must be
detected in the higherlevel control.
How do you move
away from a
hardware limit
switch?
Withdraw the controller enable and move the drive away manually
After moving away from the hardware limit switch, warning 800 or 801
is automatically deleted.
6-358
Other
monitoring
functions
Readers note
For SIMODRIVE 611 universal, additional monitoring functions can
be parameterized, and processed via output signals (terminals,
PROFIBUS) (refer to Chapter 6.4.6 and 6.20).
6.1.8
Limits
Interdependencies
SRM, SLM:
P1405:8 P1401:8
ARM:
Minimum
(P1405:8 P1401:8, 1.02 P1147, 1.02 P1146)
Note
The maximum useful motor speed, set via P1401:8, is taken into
account when calculating the speed setpoint, i.e. P1401:8 acts as
speed limiting.
This is valid, independent of whether the setpoint is entered
via a terminal or PROFIBUSDP.
Speed
limiting
If the speed actual value exceeds the selected limit value by more than
2%, then the torque, when motoring, is set to 0.
Thus, further acceleration is not possible.
If the speed actual value drops below the limit value, the torque limiting
is withdrawn again.
How is the speed limiting calculated?
Motor type
Interdependencies
SRM:
6-359
Table 6-8
No.
1146
Description
Min.
Standard
Max.
Unit
0.0
RPM
RPM
0.0
m/min
Effective
PO
... specifies the maximum motor speed or maximum motor velocity defined by the motor
manufacturer.
Note:
This is only included in the speed limiting for rotary induction motors (ARM).
1147
7 000.0
0.0
8 000.0
RPM
100 000.0
120.0
RPM
m/min
immediately
1.05 P1400 (from SW 7.1 with SIMODRIVE 611 universal HR/HRS resolver)
P1146
The torque limit when motoring is internally set to zero, the drive is prevented from accelerating any further.
With the appropriate setting, the speed controller at its limit monitoring can respond.
1401:8
RPM
100 000.0 0.0
100 000.0
m/min
immediately
SRM
ARM, SLM, PE spindle
P1400
P1146
Note:
P1401:8 is used for normalization for speed setpoints entered via analog inputs (refer to Chapter 6.6).
1405:8
100.0
110.0
110.0
immediately
6-360
The following limits all effect the torque setpoint at the speed controller
output. The lowest (minimum) is used if different limits are available.
Torque limiting
The value specifies the maximum permissible torque, whereby different limits can be parameterized for motoring and generating operation.
Power limiting
The value specifies the maximum permissible power, whereby different limits can be parameterized for motoring and generating operation.
The stall limiting is internally calculated in the drive from the motor
data. The internally calculated limit can be changed using the torque
reduction factor.
Warning
If the stall limit has been set too high, this can cause the motor to
stall.
As the current limiting additionally limits the maximum torque which the
motor can provide, if the torque limit is increased, more torque will only
be available if a higher current can also flow. It may be necessary to
also adapt the current limit.
Resulting torque
limit value
Power
limiting
Stall limitation
P1145
X1/n
Torque limiting
nStall
P1230
X1/n2
P1235
When regenerating,
additional limiting using P1237
Constant
torque
range
Fig. 6-7
nStall
P1148
Speed nact
6-361
The torque/power can be reduced continuously by reducing the currently effective torque limit using MomRed control word (refer to
Chapter 5.6.6). The result of the conversion is a percentage factor k
which is applied to P1230 (torque limit) and P1235 (power limit). For
the specified k factor, P1230 is replaced by k*P1230 and P1235, by
k*P1235 in Fig. 6-7.
Table 6-9
No.
1145
Description
Min.
5.0
Standard
100.0
Max.
Unit
1 000.0
900.0
Effective
immediately
... the start of stall torque limiting can be changed (refer to Fig. 6-7).
For a setting greater than 100%, the intervention point is increased.
For a setting of less than 100%, the intervention point is decreased.
1230:8
5.0
100.0
immediately
... specifies the maximum torque referred to the pullout torque (SRM), rated motor torque
(ARM) or stall force (SLM) of the motor.
SRM/SLM:
Stall torque/stall force = P1118 P1113
P1118: Motor standstill (stall) current
P1113: Torque constant
ARM:
Rated motor torque
P1130: Rated motor power
P1400: Rated motor speed
The minimum of the torque, power and stall torque limits are always effective as limit (refer to
Fig.6-7). The standard preassignment for ARM is 100%.
For SRM/SLM, this is realized with the following operator action Calculate controller data,
whereby the value is obtained from the following formula:
SRM/SLM:
6-362
Table 6-9
No.
1235:8
Description
1. power limit value
Min.
5.0
Standard
100.0
Max.
900.0
Unit
%
Effective
immediately
... specifies the maximum permissible power referred to the motor power (SRM) or the rated
motor power (ARM P1130: Rated motor power).
Motor power for SRM [kW] = 1/9549.3 (P1118 P1113) P1400
P1118: Motor standstill (stall) current
P1113: Torque constant
P1400: Rated motor speed
As shown in Fig. 6-7, using the power limiting (constant power), the torque is limited
(P = 2 M n; with P = constant > M 1/n).
The minimum of the torque, power and stall torque limits are always effective as limit (refer to
Fig.6-7).
SRM/SLM:
P1235:8 = (P1104/P1118) 100 %
For SRM/SLM, this parameter is automatically preassigned using the operator action calculate controller data, whereby the value is obtained from the formula above :
ARM:
Regenerative limiting
5.0
100.0
100.0
immediately
100.0
500.0
kW
immediately
0.1
... allows the regenerative power to be limited for the input/regenerative feedback module.
An appropriately lower value should be entered here, especially when using an uncontrolled NE
module.
Note
Torque/power reduction
It is possible to continuously reduce the torque/power by reducing the
effective torque limit.
for terminals:
via analog input 2 (terminal 24.x/20, refer to Chapter 6.6.4).
for PROFIBUSDP:
using the MomRed control word (refer to Chapter 5.6.6).
6-363
Torque reduction
at nset = 0 (from
SW 9.1)
Drives, for which a stop was initiated as a result of one of the following
measures, are braked with the maximum possible motor current
(P1104) taking into account the reduction in P1105:
If the motor brakes with a low torque, then fault 608 can be initiated.
If it is not desirable that this fault is initiated, then the fault can be
suppressed using bit 1 = 1.
6-364
Current limiting
Table 6-10
No.
1238
Description
Min.
0.0
Standard
150.0
Max.
400.0
Unit
%
Effective
immediately
... specifies the maximum permissible motor current referred to the rated motor current (P1103).
In order to shorten the rampup (accelerating) times, it may make sense to set the current limit
to values > 100%, and additionally increase the power and torque limit.
If the motor current is at its limit due to high torque/power limits, the monitoring function intervenes with P1605 and P1606 (speed controller at its limit).
1105
100
100
immediately
... specifies the maximum permissible motor current referred to the maximum motor current
(P1104).
The parameter is preset at the first startup and for Calculate unlisted motor:
SRM:
Stationary
minimum speed
(from SW 11.1)
200 RPM
Fig. 6-8
6-365
Speed range
exclusion (from
SW 11.1)
Specified setpoint
Fig. 6-9
Note
If spindle positioning is selected with the Spindle positioning on signal
(PROFIBUS STW1.15 or input terminal with Fct. No. 28), the
Minimum speed and Speed range exclusion functions remain
deactivated until the Spindle positioning on signal is canceled again.
6-366
6.1.9
General
Proceed as follows
The procedure is the same as when referencing with normal incremental measuring systems.
The following conditions are to be observed:
6-367
6.2
! not 611ue !
General
information on
positioning for
SIMODRIVE
611 universal
Referencing or adjusting
Referencing for incremental positioning measuring systems
Adjusting absolute position measuring systems
Setting the home position
The max. 64 (256, from SW 10.1) traversing blocks per drive can be
freely programmed and are saved in the parameters.
How many blocks can be individually selected via terminals?
Drive A + optional TERMINAL module: all 64/256 blocks
Drive B:
Block 0 or 1 can be selected (1 input terminal)
How many blocks can be individually selected via PROFIBUSDP?
Drives A and B:
all 64/256 blocks
A block contains the following information:
Block number
Position
Velocity
Acceleration override
Deceleration override
Command
Command parameters
Mode: Block change enable positioning mode IDs
When programming a traversing block, the block enable condition is
specified. This means that when starting a block, precisely one block
can be executed (for a block enable condition END) or automatic, even
for several blocks (if the block enable condition CONTINUE FLYING,
CONTINUE WITH STOP, CONTINUE EXTERNAL).
The blocks are executed according to the consecutive block number
up to the block with the block enable condition END.
Jogging
This operating mode allows speedcontrolled traversing in the positioning mode. From SW 4.1, the drive can be jogged in the closed
loop position controlled mode (incremental) (refer to Chapter 6.2.9).
Monitoring functions
6-368
6.2.1
6.2
Encoder adaptation
Normalization of
the encoder
signals
The SIMODRIVE 611 universal drive calculates the ratio between the
travel and the encoder increments from this data, which means that
motion on the load side can be determined.
P1027.4
P1005
P0236
P0237:8
Encoder revolutions
P0238:8
Load revolutions
SIMODRIVE
611 universal
Encoder with
sin/cos 1Vpp:
or
resolver:
nEncoder
P0237:8
P1005
Pole pair No.
P0236
Table
Spindle
nLoad
P0238:8
Encoder revolutions
Load revolutions
P0237:8
P0238:8
Fig. 6-10 Linear axis with rotary motor encoder (ball screw)
SIMODRIVE
611 universal
Encoder with
sin/cos 1Vpp:
or
resolver:
=
P1005
nEncoder
P0237:8
Encoder revolutions
Load revolutions
Rack
(travel/tooth)
Gear
P0236
nLoad
Pinion (no. of teeth)
P0238:8
6-369
! not 611ue !
P1027.4
P1024
SIMODRIVE
611 universal
Linear
measuring
system
Slide
Primary section
Secondary section
Sensor head
Rotary axis
with rotary
motor encoder
P1027.4
P1005
P0237:8
Encoder revolutions
P0238:8
Load revolutions
SIMODRIVE
611 universal
Encoder
nEncoder
nLoad
with sin/cos 1Vpp: P1005
P0237:8
P0238:8
or
resolver:
Pole pair No.
Encoder revolutions
=
Load revolutions
Rotary table
or
chuck
P0237:8
P0238:8
Rotary axis
without/with
modulo correction
(from SW 2.4)
6-370
P0241
P0242
Secondary
conditions for
axis/encoder
Table 6-11
6.2
Axis/encoder
Linear
axis
Restrictions
Rotary
incremental
encoder
Linear
absolute value
encoder
None
(e.g. LC 181)
Rotary absolute
value encoder
(e.g.
EQN 1325,
P1021 = 4096)
Overflow after the number of revolutions entered in P1021 (multiturn resolution, motor absolute value encoder).
For linear axis with encoder connected to the motor, the following is valid:
> The maximum traversing travel is: P1021 effective spindle pitch
Example:
Rotary
axis
endlessly rotating
Incremental
encoder
Absolute encoder
Note:
The same restrictions apply as for linear axes and rotary absolute value
encoders.
The encoder must be mounted onto the motor.
Caution: Before SW 8.1:
The gear ratio cannot be freely selected.
The ratio between the encoder and load must be selected so that the full
range of encoder is an integer multiple of the modulo range.
The following condition must be fulfilled:
P0238:8
360000
P1021
= integer multiple
P0237:8
P0242
P1021
Multiturn resolution, absolute value encoder motor
P0238:8
Load revolutions
P0237:8
Encoder revolutions
P0242
Modulo range, rotary axis in MSR
Example:
P1021 = 4096
P0237:0 = 64, P0238:0 = 72
P0242 = 360 000
are permitted, because 4096 72/64 360/360 = 4608 is an integer number.
Note:
When a fault develops, fault 139 is signaled (modulo range and ratio do
not match).
6-371
Table 6-11
Axis/encoder
Rotary
axis
endlessly
rotating
(modulo
rotary
axis)
! not 611ue !
Absolute encoder
Restrictions
From SW 8.1:
Any gearbox ratio can be selected. (Fault 139 is no longer output.)
The following condition applies:
Modulo range, Endat enc. (traversing range) modulo range, load
P0238:8
360000
P1021
1
P0237:8
P0242 [MSR]
Practical modulo range values include: n 360 degr. with n = 1, 2, ...
For uneven gearbox factors, n must be 1, 2, ...
From SW 10.2, this will be monitored and if a fault develops, fault 149
is signaled (Incorrect data for modulo axis with absolute encoder).
If the selected gear ratio results in an uneven gear factor, when the
control module is shut down, the actual position is automatically saved.
This is triggered when the DC link voltage decreases. When engineering
the system it must be ensured that the time is sufficient to save the value.
Configuring:
DC link has been connected
P1161 = 0 (DC link fixed voltage deactived)
P1162 > 0 , e.g. 500 V for a controlled infeed
Line supply infeed, terminal 112: Settingup operation not permitted
DC link voltage VDC link (P1701 > (P1162 + P1164))
In order to supply the control board from the DC link, at the
infeed/regenerative feedback module, the DC link must be connected to
terminals M500 and P500 of terminal strip X181 (refer to Reference /PJU/
Configuration Manual, Drive Converters). This means that when the DC
link voltage is either removed or decreases, the energy saved in the DC
link can be used to maintain the closedloop control for a specific time.
When poweringdown or when the DC link voltage decreases, the supply
for the closedloop control must still be maintained until the data save
operation has been completed.
The thresholds to save the absolute value encoder data as a function of
the DC link voltage are shown in the following diagram. For reasons of
simplicity, the DC link charging and the decrease in the DC link voltage
are shown as linear characteristics.
The DC link voltage starts to increase after poweringup. It is only
possible to save the value when poweringdown after the value P1162 +
P1164 is exceeded.
The value is saved if the DC link voltage drops below the value P1162.
However, if the system is not to be shut down and the DC link voltage
starts to increase again and operation continues, then the voltage
threshold P1162 + P1164 must be again exceeded in order to activate
that the value is saved.
Note: The voltage thresholds should be configured so that in operation,
no unnecessary data save operations are triggered if the DC link
fluctuates.
VDC
link
P1162
P1164
Monitoring active
6-372
Save
Table 6-11
6.2
Axis/encoder
Restrictions
Saving the encoder values for a doubleaxis module (drive A/B).
VDC
link
P1162 (B)
P1162 (A)
t
Rotary
axis
endlessly
rotating
(modulo
rotary
axis)
Absolute encoder
The gear ratio has to be the same in all the parameter sets since the position can otherwise not be determined when parameter sets are changed. In
order to determine the clear position of the load, then it must be guaranteed
that after being powereddown, the motor can only move within half of the
absolute encoder range that can be represented (coast down or manual
motion). This is the reason that it is not permissible to use singleturn absolute value encoders. Exceptions are possible if the user can ensure that the
drive does not move by more than half of an encoder revolution.
Caution:
If half of the absolute encoder range that can be represented is exceeded
after poweringdown, then the assumed actual position is incorrect and after
poweringup again no fault or warning is generated!
Note:
When the DC link voltage starts to rampup, the DC link coupling must
be maintained in order to supply the electronics.
If a fault condition develops, fault 149 is signaled (incorrect data for modulo drive with absolute value encoder and any gearbox factor). In this
case, P1162 and P1164 should be checked, as the position value is only
saved if the corresponding thresholds have been exceeded or fallen below.
The axis must be readjusted after fault 149 occurs.
Fault 149 is signaled, if the R button (RESET) on the control board is
pressed. The axis must be readjusted after fault 149 occurs. The DC
link must be charged and the enable signals issued.
If, during the commissioning, position reference value (setpoint) inversion is selected, then the next step is to carryout a power on. Only then
can the reference point be set.
Caution:
If the drive goes into regenerative operation after powerdown, then this can
also cause problems when saving data if the control board is reactivated
by the energy fed back.
From SW 8.2:
As long as the signals were still not available at terminals 48 and 63 of the
NE module, the electronics power supply of the control board can be shut
down again after the system boots. If Alarm 149 is signaled in cyclic operation
while traversing, the cause can be a data transmission error of the absolute encoder. In this case, the encoder including the cable and connectors should be
checked.
6-373
Table 6-11
! not 611ue !
Axis/encoder
Restrictions
For incremental encoders, the above condition is not checked.
If the mechanical machine design does not fulfill the condition above,
then the rotary axis must be rereferenced after each endless operation
and when being powered up.
Rotary
axis
endlessly rotating
Incremental encoder
(modulo
rotary
axis)
The evaluated zero mark must always be located at the same load
side position of the modulo range (the ratio is taken into account).
For several zero marks, one must be defined for evaluation (e.g. set
via cams).
mark, then the equivalent zero mark must be used (e.g. BERO at the
input with the equivalent zero mark function).
Parameter
overview
Table 6-12
No.
1027.4
IM configuration, encoder
Min.
Standard
Max.
Unit
Effective
Hex
PO
65 535
PO
1005
Bit 4
=1
=0
2048
For encoders with voltage signals sin/cos 1 Vpp (rotary motor encoder)
The encoder pulses per revolution are specified using this parameter.
for resolvers
The parameter has no significance.
The fictitious encoder pulses are internally calculated from the pole pair number (P1018)
of the resolver.
0236
Leadscrew pitch
10 000
8 388 607
MSR/
rev
PO
The spindle pitch is specified in this parameter (e.g. ballscrew spindle with 10 mm/revolution
and metric dimension system > P0236 = 10 000 MSR/rev).
0237:8
6-374
Encoder revolutions
8 388 607
PO
Table 6-12
6.2
No.
0238:8
Name
Min.
Load revolutions
Standard
1
Max.
8 388 607
Unit
Effective
PO
The gearbox ratio between the motor encoder and load is specified using these parameters.
=
Encoder revolutions
Load revolutions
P0237:8
: Ratio
P0238:8
Note:
The parameters are dependent on the parameter set. The effective parameter set can be selected via the parameter set changeover input signals.
0241
PO
(from SW 2.4)
... activates/deactivates the modulo conversion for a rotary axis.
0242
360 000
MSC
PO
V(pk)
immediately
(from SW 2.4)
... defines the modulo range of the rotary axis.
Practical modulo range values include: n 360 degrees with n = 1, 2, ...
1162
800
... defines the permissible lower limit for the DC link voltage.
If the DC link voltage falls below the parameterized value, then the stop response, parameterized in P1613, bit 16 is initiated and the encoder data is saved in the FEPROM.
1164
50
600
V(pk)
immediately
6-375
6.2.2
! not 611ue !
Dimension system
grid (MSR)
When setting the dimension system (mm, inch or degrees) for a drive
configuration in the Position mode, then the dimension system grid
(MSR) is also defined:
Table 6-13
Dimension system
P0100 = 1
mm
P0100 = 2
inch
P0100 = 3
Degrees
Readers note
The units of the physical quantities are displayed differently or must be
interpreted differently.
In the parameter list (refer to Chapter A.1) and when reading and
writing into parameters via PROFIBUSDP, there is the dimension
system grid (MSR) or a multiple (constant) of the MSR.
For the display unit on the front panel of the control board and for
SimoCom U (for the dialog boxes and the expert list), there are
converted units.
Examples in the mm dimension system:
Travel (distance) has the units [mm]
Velocity has the units [mm/min]
Acceleration has the units [mm/s2]
The units for the various dimension systems (mm, inch or degrees)
can be listed in the following tables using specific examples.
6-376
Units in the
metric
dimension system
Table 6-14
6.2
In the metric dimension system (P0100 = 1), the following units are
used for distance, velocity and acceleration:
Parameter
list (A.1)
123.456 mm
Display
unit (3.2)
SimoCom U
(3.3)
mm
123456 [MSR]
123.456 mm
Distance
Example:
PROFIBUS
DP (5.6.7)
>123.456 mm
m/min
mm/min
4766176 [c * MSR/min]1)
4766.176 mm/min
Velocity
4766.176 mm/min
Example:
Example:
mm/s2
mm/s2
4378 mm/s2
> 4378
mm/s2
6
Units in the
inch dimension
system
Table 6-15
In the inch dimension system (P0100 = 2) the following units are used
for distance, velocity and acceleration:
Distance
Example:
123.4567 inch
Parameter
list (A.1)
PROFIBUS
DP (5.6.7)
Display
unit (3.2)
SimoCom U
(3.3)
104 inch
inch
1234567 [MSR]
123.4567 inch
476.1765 inch/min
104 inch/min
inch/min
4761765 [c * MSR/min]1)
476.1765 inch/min
243.7 inch/s2
101 inch/s2
inch/s2
243.7 inch/s2
> 2437*0.1
inch/s2
6-377
Units in the
degree dimension
system
Table 6-16
! not 611ue !
Distance
Example:
123.456 degrees
Parameter
list (A.1)
PROFIBUS
DP (5.6.7)
Display
unit (3.2)
SimoCom U
(3.3)
mdegrees
Degrees
123456 [MSR]
123.456 degrees
4766.17 degr./min
10 mdegrees/min
degrees/min
476617 [c * MSR/min]1)
4766.17 degr./min
24 degrees/s2
degrees/s2
degrees/s2
24 [1000 MSR/s2]
24 degrees/s2
> 24
degrees/s2
1) The units are specified as follows in the parameter list (refer to Chapter A.1): [c * MSR/min], c = 10
6-378
6.2.3
6.2
General
Fine
inter
polator
(FIPO)
Speed
precontrol
Pos.
ref.
value
filter
P0315
P0316
Bal
ancing
filter
P0205:8
P0206:8 P0201
P0080
to
P0087
Block number
(for traversing blocks)
Mode
P0100
Dimension system
P0102
Maximum velocity
Monitoring
P0103
Maximum acceleration
Following error
P0104
Maximum deceleration
Positioning
P0107
Standstill
Backlash compensation
P0203
P0232 P0200:8
Backlash
compensation
Position +
controller
Direction
adaptation
+
Speed
setpoint
P0231
P0232
Position
actual
value
P0318:8
P0320, P0321
P0325, P0326
P0310
P0311
P0315
P0316
P0321
Positioning window
P0231
P0325
P0232
P0326
Standstill window
6-379
! not 611ue !
Dimension system
setting
P0100
The units of an axis are defined using the dimension system setting.
Dimension system
changeover
mm <> inch
Recommendation:
Carryout the first startup using the correct dimension system, so
that it isnt necessary to later changeover (refer to the following warning
information).
Note
In the following text, the dimension system grid (MSR) term is used
as unit of the selected dimension system.
The following is valid depending on P0100:
1 MSR = 103 mm or 104 inch or 103 degrees
Example:
Assumption P0100 = 1 > 103 MSR = 1 mm
The dimension system is selected depending on the axis type
(linear axis, rotary axis), i.e. for a rotary axis, the dimension system
103 degrees must be parameterized.
The dimension system setting must be specified when
SIMODRIVE 611 universal is commissioned for the first time.
6-380
6.2
Warning
Table 6-17
No.
0100
Name
Min.
Dimension system
Standard
1
Max.
3
Unit
Effective
PO
... specifies the dimension system grid (MSR) which is being used.
=1
=2
=3
> 1 MSR =
103
degrees
Example:
P0100 = 1
0101
RO
6-381
! not 611ue !
Maximum
velocity
P0102
The drive is limited to this velocity if a higher velocity is specified or programmed via the override for the reference point approach or is programmed in the traversing block.
The maximum velocity limit is effective for reference point approach,
when executing a traversing block and in the jogging mode.
The maximum acceleration when approaching and the maximum deceleration when braking an axis can be specified, independently of one
another, using these two parameters.
Maximum
acceleration
P0103
Maximum
deceleration
P0104
Table 6-18
No.
0102
Maximum velocity
Min.
Standard
Max.
1 000
30 000 000
Unit
Effective
c*MSR/min
immediately
... defines the maximum velocity of the axis in the Positioning mode.
0103
Maximum acceleration
100
999 999
1 000 MSR/s2
Vset_0
0104
Maximum delay
100
999 999
1 000 MSR/s2
Vset_0
Velocity
: Acceleration
t:
Time
6-382
6.2
Jerk limiting
P0107
(from SW 3.1 )
Applications
Jerk limiting can be used, e.g. for positioning tasks using liquids or generally to reduce the mechanical stressing on an axis.
Table 6-19
No.
0107
Min.
Jerk limitation
Standard
0
Max.
100 000 000
Unit
1 000
MSR/s3
Effective
Vset_0
The duration of the acceleration ramp (jerk time TR) is calculated from the higher value of the
maximum acceleration (P0103), the maximum deceleration (P0104) and the selected jerk limiting (P0107).
v:
TR [s] =
Velocity
Jerk
TR :
>0
P0103
Maximum
acceleration
P0104
Maximum
deceleration
P0107
r
TR
TR
TR
TR
t
P0107
6-383
Table 6-19
! not 611ue !
No.
Name
Min.
Standard
Max.
Unit
Effective
Note:
The following is valid for this diagram: Acceleration and deceleration have been set the
same.
If, when setting the jerk limiting, the warning 870 Jerk: Jerk time is limited is displayed, then
the actual motion is harder than that set in P0107.
For traversing motion with a direct transition between acceleration and deceleration (i.e. jerk
time TR is greater than the constant velocity phase), jerk r can increase up to twice the parameterized jerk.
1726
ms
RO
P01031)
(Maximum
acceleration)
[1000 MSR/s2]
P01041)
(Maximum
deceleration)
[1000 MSR/s2]
P01071)
(Jerk
limiting)
[1000 MSR/s3]
= 2 000
= 2 000
= 100 000
> 2 m/s2
> 2 m/s2
= 8 000
= 2 000
= 100 000
> 8
m/s2
> 2
m/s2
> 100
m/s3
= 2 000
> 2
m/s2
= 8 000
> 8
m/s2
= 100 000
> 100
m/s3
amax = 8 m/s2
> Jerk time = 80 ms
The jerk time of 80 ms is effective for acceleration and deceleration.
= 30 000
= 25 000
= 100 000
> 30 m/s2
> 25 m/s2
amax = 30 m/s2
> Jerk time = 300 ms
A warning is output, and the jerk is limited
corresponding to the jerk time of 200 ms for
acceleration and deceleration.
= 8 000
> 8
m/s2
= 2 000
> 2
m/s2
= 200 000
> 200
m/s3
amax = 8 m/s2
> Jerk time = 40 ms
The jerk time of 40 ms is effective for acceleration and deceleration.
1) Prerequisites:
There is a metric linear axis (dimension system P0100 = 1 > 1000 MSR = 1 mm)
6-384
6.2
Velocity override
P0111
P0112
PROFIBUSDP
SimoCom U
Table 6-21
No.
Min.
Standard
Max.
Unit
Effective
0111
5.0
10.0
12.5
V(pk)
immediately
0112
Normalization, override
100
255
immediately
P0111: ... defines at which input voltage the override, specified in P0112 is valid.
P0112: ... defines which override is valid when applying the voltage specified in P0111.
Override [%]
255
P0112
Max.
P0111
12.5 V
U [V]
Standard values:
P0111 = 10.0 V
P0112 = 100%
>
10 V at term. 56.x/14.x 100% override
0 V at term. 56.x/14.x 0% override
Note:
For analog input, terminal 56.x/14.x, in addition the following parameters are effective (refer to
Chapter 6.6):
P0608
P0609
P0610
6-385
Limit switch
monitoring
functions
! not 611ue !
Minus
hardware
limit switch
(NC contact)
Mechanical
end of
traversing
range
Minus
software
limit switch
P0314
P0315
Output
signal
minus
software
limit switch
actuated
Plus
software
limit switch
P0316
Output
signal
plus
software
limit switch
actuated
Plus
hardware
limit switch
(NC contact)
Mechanical
end of
traversing
range
Hardware
limit switch
(HW limit switch)
There is a hardware limit switch for every axis and every approach
direction.
The HW limit switches must be connected to an input terminal with the
following function numbers:
The axis is braked with the deceleration level set in P0104 (maxi-
Fault 141
6-386
6.2
The minus software limit switch (P0315) and the plus software limit
switch (P0316) must be appropriately set to limit the working range or
to protect the machine.
Notice
The software limit switches only become active if the following
conditions exist:
The function is activated via P0314
The axis is referenced (reference point set output signal)
Only then is it certain that the axis will be immediately stopped if it
attempts to move out of the permissible range.
Note
The SW limit switch monitoring is dependent on the axis type as
follows:
For a linear axis or rotary axis with modulo correction, the following
is valid:
The software limit switches can be activated via P0314 and set via
P0315 and P0316.
For rotary axis with modulo correction (from SW 2.4), the following
is valid:
Output signals
6-387
Traverse to a
software limit
switch?
! not 611ue !
Behavior in the positioning mode (traversing blocks) and for incremental jogging operation (from SW 4.1)
6-388
6.2
No.
0118
Min.
0
Standard
0
Max.
1
Unit
Effective
immediately
The configuration for software limit switch reached is defined using these parameters.
0314
Bit 0 = 1
Bit 0 = 0
PrgE
=0
Software limit switch inactive (e.g. this is necessary for a rotary axis)
0315
MSC
PrgE
0316
MSC
PrgE
The minus and plus positions for the software limit switches are set using these parameters.
Note:
The following applies: P0315 (minus software limit switch) < P0316 (plus software limit switch)
6-389
Positionrelated
switching signals
(cams)
P0310
P0311
! not 611ue !
Table 6-23
No.
Name
Min.
Standard
Max.
Unit
Effective
0310
MSC
immediately
0311
MSC
immediately
The cam switching positions 1 and 2 are set using these parameters.
The following assignment applies:
P0310 (cam switching position 1) > cam switching signal 1
P0311 (cam switching position 2) > cam switching signal 2
Note:
Also refer under the index entry Output signal, cam switching signals 1 and 2
6-390
6.2
Backlash
compensation
P0201
Table
Backlash
M
E
Table
M: Motor
E: Encoder
Backlash
Rack
6-391
Table 6-24
No.
0201
! not 611ue !
Backlash compensation
Min.
20 000
Standard
0
Max.
20 000
Unit
MSC
Effective
immediately
... switches the backlash compensation in/out, and defines the absolute backlash amount for a
positive or negative backlash.
=0
The backlash (play) compensation is disabled
>0
Positive play (standard situation)
For a direction of rotation reversal, the encoder actual value leads the actual value
(table). The table does not travel far enough.
<0
Negative play
The actual value (table) leads the encoder actual value at direction reversal. The
table travels too far.
Note:
Search for reference: When is the compensation value switchedin?
When the zero mark is detected, backlash compensation is activated, only for P0173 = 1 (no
reference cams).
If the axis continues to move
in the same direction after the reference point approach > then a compensation value
is not entered
in the opposite direction > the compensation value is entered when the velocity setpoint reverses
Reference point setting: When is the compensation value switchedin?
The behavior when first traversing after the Set reference point in the positive or negative
direction depends on the setting Reference point approach plus/minus (P0166).
P0166
0
Traversing in the pos. direction > a comp. value is not entered
Traversing in the neg. direction > comp. value is immediately entered
1
Traversing in the pos. direction > comp. value is immediately entered
Traversing in the neg. direction > a comp. value is not entered
= 1 > Negative direction
= 0 > Positive direction
If the reference point is simply set again (new command, with and without withdrawing the bit
axis is referenced), then for backlash compensation, the system acts as if the reference
point was not set again.
The behavior mentioned above is only seen after poweron or POWERON RESET!
The behavior when first traversing after poweron, depends on the setting for reference
cams with/without (P0173) and Direction reference point approach positive/negative
(P0166).
The following applies:
P0173
P0166
0
0
Traversing in the pos. direction > comp. value is immediately entered
Traversing in the neg. direction > a comp. value is not entered
0
1
Traversing in the pos. direction > comp. value is not entered
Traversing in the neg. direction > a comp. value is immediately entered
1
0
Traversing in the pos. direction > comp. value is not entered
Traversing in the neg. direction > a comp. value is immediately entered
1
1
Traversing in the pos. direction > comp. value is immediately entered
Traversing in the neg. direction > a comp. value is not entered
6-392
6.2
The position loop gain (Kv factor) defines which following error is obtained at which axis traversing velocity.
The mathematical (proportional) equation is as follows:
Position
loop gain
(Kv factor)
P0200:8
P0031
1m
Kv factor =
Speed v
Following error ns
min
[1000/min]
mm
1000
min
Table 6-25
No.
0200:8
Min.
0.0
Standard
1.0
Max.
300.0
Unit
Effective
1 000/min immediately
The Kv factor defines at which traversing velocity of the axis which following error is obtained.
Low Kv factor:
High Kv factor:
Examples:Kv factor
= 0.5
= 1 is obtained
= 2 is obtained
Significance
at v = 1 m/min an ns of 2 mm
at v = 1 m/min an ns of 1 mm
at v = 1 m/min an ns of 0.5 mm is obtained
Note:
The following parameters are available for position loop gain diagnostics:
P0029
P0030
P0031
Following error
System deviation, position controller input
Actual Kv factor (position loop gain)
6-393
! not 611ue !
For speed precontrol, in addition a speed/velocity setpoint can be directly entered at the speed controller input. This additional setpoint can
be weighed with a factor.
Speed
precontrol
P0203
P0204:8
P0205:8
P0206:8
The speed precontrol improves the control characteristics of the position control loop in so much that for a constant velocity, the following
error is almost completely reduced, i.e. to almost zero.
nset
precontrol
Precontrol
P0210:8
P0204:8
(activated/deactivated
with P0203)
Inter
polator
xset
P0205:8 P0206:8
Position
controller
P1012.8
xact
1st
speed
set
point
filter
2nd
speed
set
point
filter
Speed
control
ler
6-394
6.2
Table 6-26
No.
Name
0203
Min.
0
Standard
0
Max.
Unit
Effective
immediately
100.0
immediately
0204:8
1.0
100.0
0.0
0.0
10.0
ms
immediately
... allows the performance of the speed control loop to be simulated with a dead time.
Note:
The entered value is limited to two position controller clock cycles (P1009)
(1 position controller clock cycle is, as standard = 2 ms, refer to Chapter 4.6).
0206:8
0.0
0.0
100.0
ms
immediately
... allows, in addition to P0205:8 the performance of the speed control loop to be simulated using a PT1 filter (lowpass filter).
... allows a possibly active speed setpoint smoothing to be better emulated (PT1).
0210:8
0.0
1 000.0
ms
immediately
... is the time constant of the PT1 position reference value filter.
The effective Kv factor is reduced using the filter (position loop gain).
Applications:
Jerk limiting
This makes it possible to achieve smoother control characteristics with improved response
to disturbances.
1012.8
Hex
immediately
... selects whether the speed setpoint steps from the position controller output (position controller clock cycle) are interpolated in the speed controller clock cycle (adapted).
=1
=0
6-395
! not 611ue !
The position actual value and the position reference value can be
adapted using these parameters.
Direction
adaptation
P0231
P0232
Table 6-27
No.
0231
Min.
Standard
0
Max.
1
Unit
Effective
PO
=0
Note:
If the control sense of the position controller is not correct, then the position actual value must
be inverted. The direction of motion is set using P0232.
0232
PO
=0
Note:
The position controller control sense is not influenced, i.e. it is internally taken into consideration.
6-396
6.2
Dynamic following
error monitoring
Mode of operation
P0318:8
Following error
x
P0318:8
vmax
vmax
Velocity
v
Fault
Table 6-28
No.
0318:8
Min.
0
Standard
1 000
Max.
200 000 000
Unit
MSC
Effective
immediately
The parameter defines the maximum deviation between the measured and the calculated position actual value before an error is signaled.
The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly responding caused by slight speed fluctuations resulting from operational control sequences (e.g. load surges).
0
1
6-397
! not 611ue !
Standstill
monitoring
Mode of operation
Position
value
x
Target
position
Position
reference
value
Standstill window
P0326
Position
actual
value
P0320
Fault
Switchingoff
6-398
Table 6-29
6.2
No.
0325
Min.
0
Standard
400
Max.
100 000
Unit
ms
Effective
immediately
This parameter defines the time after which, when approaching the position, the following error
must be within the standstill window (P0326).
Note:
The standstill monitoring time is roundedoff in the drive to an integer multiple of the position controller clock cycle (P1009).
If a larger value is entered in P0325 than in P0320, this is limited internally in the drive to
P0320.
0326
Standstill window
200
20 000
MSC
immediately
This parameter defines the standstill window, within which the position actual value must be
located after the standstill monitoring time has expired (P0325).
0
1
Standstill and
positioning
monitoring
There are the following differences between the standstill and positioning monitoring:
Standstill monitoring
After the standstill monitoring time has expired, the system cyclically checks whether the axis remains within the standstill window
around the target position.
Objective: Continually checks that the position is maintained
Position monitoring
For this monitoring function, after the position monitoring time has
expired, it is checked once whether the actual position lies within
the positioning window around the target position.
Objective: Single check as to whether the position has been
reached with sufficient accuracy
Note
The following is valid when setting the standstill and position
monitoring:
Standstill monitoring time position monitoring time
(P0325 P0320)
6-399
! not 611ue !
Position
monitoring
The position monitoring can be used to identify when the target position
is precisely approached.
Mode of operation
Position
value
x
Target
position
Position
reference
value
a
Position
actual
value
b
c
Fault
Position monitoring time
P0320
t1
Setpoint static
t2
t3
1 signal
0 signal
1 signal
Reference position reached
0 signal
Fig. 6-20 Position monitoring
Table 6-30
Curve
Output signals
Description
From time t2 the position actual value is within the positioning window. Positioning is considered as having been completed.
After the positioning monitoring time has expired in t3, the position
actual value lies outside the positioning window. This results in an
error.
6-400
Fault
When the monitoring function responds, the drive is shutdown and fault
134 is issued (positioning monitoring). A changeover is made into the
followup mode.
Table 6-31
No.
0320
6.2
Min.
0
Standard
1 000
Max.
100 000
Unit
ms
Effective
immediately
This parameter defines the time when approaching the position, after which the following error
must be within positioning window (P0321).
Note:
The following applies when setting the positioning and standstill monitoring:
Positioning monitoring time (P0320) Standstill monitoring time (P0325)
0321
Positioning window
40
20 000
MSC
immediately
This parameter defines the positioning window within which the position actual value must be
located after the positioning monitoring time has expired (P0320).
0
1
Note:
The following applies when setting the positioning and standstill monitoring:
Positioning window (P0321) Standstill window (P0326)
After the time in P0320 has expired, fault 134 is issued (positioning monitoring)
The size of the positioning window influences the block change time.
The lower that this tolerance is selected, then the longer positioning takes. It also takes that
much longer until the next traversing block can be executed.
6-401
Followup mode
! not 611ue !
If an axis is in the followup mode, then the control is disabled and its
position reference value tracks the actual position actual value.
The actual position of the axis is still being sensed this means that it
is not necessary to rehome (rereference) the axis when the followup mode (correcting mode) is cancelled.
Selection, signals
In the followup mode, there are various selection possibilities and signals:
In all cases, the checkback signal is realized using the output signal
followup mode active.
Effect
6-402
6.2
Input terminal
controller enable,
terminal 65.x
Followup mode
input signal
Followup mode
active
output signal
The rampfunction
generator
(RFG, refer to Chapter
6.1.3) is activated
0
1
0
Note
If the followup mode is active and the input signal followup mode is
set, then the dynamic following error monitoring, the position
monitoring and the standstill monitoring are not effective.
6
Diagnostics:
Motion
status of the axis
P0020
P0021
P0022
Distance to go
P0023
Velocity setpoint
P0024
P0025
Effective override
P0026
P0029
Following error
P0030
P0031
Readers note
The parameters are displayed and described in the parameter list is
Chapter A.1.
6-403
6.2.4
! not 611ue !
Definitions
6.2.5
General
For axes with incremental measuring systems, each time the system is
poweredup, the position reference to the machine zero point must be
established.
Synchronization is realized for a reference point approach by accepting
a specific position value at a known point of the axis.
Note
Before SW 4.1:
The encoder must be rereferenced if, for a referenced incremental
measuring system, a parameter set was changed over.
From SW 4.1:
Using P0239, the behavior for a parameter set changeover can be
set for a motor measuring system.
P0239 = 0: Behavior as before SW 4.1 (standard)
P0239 = 1: For a parameter set changeover, it is only necessary
to rereference the encoder, if the ratio P0237/P0238
has changed.
6-404
Starting the
reference point
approach
6.2
Axis with
reference cams
(P0173 = 0)
Axes, which have several zero marks over their complete traversing
range (e.g. incremental, rotary measuring system), require a reference
cam to select the correct zero mark when referencing.
The reference point approach for these axes is executed in 3 phases:
Phase 1:
Traverse to the
reference cams
When starting the reference point approach, the following statuses are
available:
After the reference point approach is started, the axis moves with
the reference point approach velocity (P0163) in the direction specified by P0166.
The drive detects the reference cam using the input signal reference cam and for a 1 signal brakes down to standstill.
It continues with the synchronization with the zero pulse.
Note
The maximum permissible distance from the starting position up to the
reference cams can be monitored using P0170 (maximum distance to
the reference cams).
The override influences the reference point approach velocity.
6-405
Phase 2:
Synchronization
using the
zero pulse
! not 611ue !
The axis traverses with the reference point shutdown velocity (P0164)
in the opposite direction to that specified in P0166.
After the reference cam has been left (input signal, reference cam =
0 signal), the axis synchronizes with the first zero pulse. The axis
brakes down to standstill.
The system continues with traverse to reference point.
Note
The maximum permissible travel from the reference cams to the zero
pulse can be monitored using P0171 (max. distance between the
reference cam/zero pulse).
The override is not effective.
Phase 3:
Traversing to the
reference point
The axis traverses with the reference point approach velocity (P0165),
the reference point offset (P0162) in a positive or negative direction
referred to the zero pulse.
The following is achieved when the axis reaches the reference point:
nated after the zero mark has been detected, refer to Table 6-34
(P0160 = 1).
Note
If the reference point offset is less than the braking travel of the axis
from the reference point shutdown velocity to standstill, then the
reference point is approached from the other direction.
The override is not effective.
Mounting a
reference cam
6-406
Normally
open contact
a 0/1 edge
or 1/0 edge
>
Normally
closed contact
a 0/1 edge
or 1/0 edge
>
P0167
6.2
Reference cams
Motion
M
E
Motor and
encoder
I2.x
e.g.:
P0662 = 78
input I2.x
with function No. 78
(reference cams,
refer to Chap. 6.4.2)
Adjusting the
reference cam
The following factors influence how the drive identifies the reference
cam from a time perspective:
Warning
If the reference cam is not adjusted, so that at each reference point
approach, the same zero pulse is recognized for synchronization, then
an incorrect machine zero point is obtained.
Recommendation:
Experience has shown that it is best to adjust the reference cam edge,
required for synchronization, at the center between two zero pulses.
Example when adjusting the reference cam
After the reference point approach, the distance between the reference
cams and the zero pulse can be read in P0172.
This means that when the distance between 2 zero pulses is known,
the reference cam offset travel can be calculated.
P0172
Reference cams
Adjustment goal:
Zero
pulse
6-407
What is the
minimum length of a
reference cam?
! not 611ue !
The reference cam must be long enough, so that when the cam is
approached with the reference point approach velocity, the braking
travel ends right at the cam (the axis comes to a standstill at the cam),
and the cam is exited with the reference point shutdown velocity.
The minimum length of the reference cam is calculated as follows:
(reference point approach velocity)2
Min. length =
2 deceleration
P01632
2 P0104
Note:
This only applies if the jerk limiting is not active (P0107 = 0), otherwise longer.
Table 6-33
If...,
the cam extends up to the
end of the traversing range,
Recommendation
the reference
cam does not
extend up to the
end of the traversing range,
Axis without
reference cams
(P0173 = 1)
then ...
the reference point approach can be started from every
point of the axis.
Reason:
There are 2 conditions in this case (in front of and actually
at the cam).
The axis behaves appropriately at the start of the reference
point approach, and traverses correctly for the reference
point approach.
The axis must be traversed into the range, determined at
startup, before the reference point approach is started.
Reason:
In this case, there are 3 initial conditions (in front of, at or
behind the cam). The drive cannot differentiate between in
front of and behind the cam, and for the reference point
approach, for a specific initial condition it does not reach
the reference cam.
Axes, which only have one zero mark over their complete traversing
range (e.g. rotary axes), do not require any reference cams when referencing.
A reference point approach for these axes is executed as follows:
1. Synchronization with the zero pulse (phase 2,
refer to axis with reference cams (P0173 = 0)
2. Travel to the reference point (phase 3,
refer to axis with reference cam (P0173 = 0)
6-408
Motion sequence
when
referencing
6.2
With/without
Motion sequence
Reference cams
R
V
Vappr.
Axis is in
front of
the reference
cam
Vshutd.
Ventry
Start
Axis
with
reference
cams
(P0173 = 0)
RK
Reference cams
Zero mark
RV
Vshutd.
Axis is at
the reference
cam
Ventry
Start
Reference cams
RK
Zero mark
RV
Axis
with
reference
cams
(P0173 = 1)
Axis traverses up to
the reference
point (P0161
= 0)1)
Vshutd.
Ventry
Start
RK
Zero mark
Axis traverses up to
after the zero
mark
(P0161 = 1)1)
(from
SW 8.3)
RV
Vshutd.
HM
Start
RK
Zero mark
Abbreviations:
Vappr.
Vshutd.
Ventry
RV
RK
HM
6-409
6.2.6
! not 611ue !
General
6
Starting the
reference point
approach
6-410
Phase 1:
Synchronizing using
two zero pulses
6.2
The axis traverses with the reference point shutdown velocity (P0164)
in the direction specified in P0166.
The system is synchronized when passing two zero pulses (position of
two zero marks). The axis brakes down to standstill after the second
zero pulse.
The system continues with traverse to reference point.
Note
The maximum permissible distance from the start up to the second
zero pulse is monitored using P0171 (max. distance between the
reference cams or start/zero pulse). For distancecoded measuring
systems, it is practical to set the basic distance.
The override is not effective.
Phase 2:
Traversing to the
reference point
(home position)
The axis traverses with the reference point approach velocity (P0165),
the reference point offset (P0162) in a positive or negative direction
referred to the zero pulse of the encoder.
The following is achieved when the axis reaches the reference point:
Parameter change
for a new
commissioning
For a machine with distancecoded reference marks, there is no requirement to reference using cams.
Standard setting when referencing with distancecoded measuring systems:
> P0173 = 1: Referencing without cams
6-411
Motion sequence
when
referencing
! not 611ue !
With/without
Motion sequence
Reference cams
RV
Axis
with
reference
cams (P0173
= 1)
Axis traverses up to
the reference
point (P0161
= 0)1)
Vshutd.
Ventry
Start
RK
Zero mark
Axis traverses up to
after the zero
mark (P0161
= 1)1)
(from SW
8.3)
Encoder
zero
RV
Vshutd.
HM
Start
RK
Zero mark
Encoder
zero
Abbreviations:
Vshutd.
Ventry
RV
RK
HM
1) When referencing (homing), the act. abs. pos. is not displayed in SimoCom U.
Input/output
signals
(refer to Chapter
6.4)
The following signals are used for the function referencing with distancecoded measuring system:
Input signals
(refer under the index entry, Input signal, digital ...)
Input signal Start referencing/cancel referencing
> using an input terminal with function number 65
Output signal
6-412
Parameter
overview
(refer to 6.2.8 and
A.1)
Supplementary
condition
6.2
6-413
6.2.7
! not 611ue !
General
information
Adjusting the
absolute value
encoder
An absolute value encoder should be adjusted once when commissioning the axis or after opening the mechanical coupling between the measuring system and mechanical system, for example, after:
Note
SIMODRIVE 611 universal can only identify if the mechanical
coupling between the measuring system and mechanical system is
released, if it is powered up.
Before SW 4.1:
If a parameter set changeover was carried out with an adjusted
absolute encoder for a particular motor measuring system, then the
encoder must be readjusted.
From SW 4.1:
Using P0239, the behavior for a parameter set changeover can be
set for a motor measuring system.
P0239 = 0: Behavior as before SW 4.1 (standard)
P0239 = 1: For a parameter set changeover, it is only necessary
to adjust the encoder if the mechanical ratio of
P0237/P0238 has been changed.
6-414
Procedure
to adjust an
absolute value
encoder
using the display
and operator
control unit
6.2
Procedure when
adjusting an
absolute value
encoder
using SimoCom U
6-415
6.2.8
! not 611ue !
Table 6-36
No.
Name
0160
Reference point
coordinate
Min.
Standard
Max.
Unit
MSC
Effective
immediately
The parameter defines the position value which is set, as actual axis position, after referencing
or adjusting.
Absolute encoder
When adjusting the encoder, the position value in this parameter is set as the actual axis
position.
0161
Stopping at marks
(from SW 8.3)
immediately
6
0162
Reference point approach (homing) remains stationary, if the first zero mark, or for distance
coded measuring systems, the second zero mark was found.
Reference point
offset
2 000
MSC
PrgE
Reference point
approach velocity
1 000
5 000 000
c*MSR/min
PrgE
The axis moves with this velocity towards the reference cam after the reference point approach
has been started.
The velocity must be set, so that after the reference cam has been reached, and braking, the
following conditions must be fulfilled:
Reference point
shutdown velocity
1 000
300 000
c*MSR/min
PrgE
The axis moves with this velocity between identifying the reference cam and synchronizing with
the first zero pulse (reference zero pulse).
0165
Reference point
entry velocity
1 000
300 000
c*MSR/min
PrgE
The axis traverses with this velocity between synchronizing with the first zero pulse (reference
zero pulse) and reaching the reference point.
6-416
Table 6-36
6.2
No.
0166
Name
Min.
Reference cam
approach direction
Standard
Max.
Unit
Effective
PrgE
This parameter defines the approach direction/search direction of the reference cam.
At poweron, the axis can be located in front of or at the reference cam.
Search direction
Reference
point
P0166 = 0
Reference
cam
Reference
cam
Search direction
Reference
point
P0166 = 1
Note:
For an axis without reference cam (P0173 = 1), referencing is started with phase 2 (synchronizing with the zero reference pulse).
The approach direction when searching for the zero pulse is defined using P0166.
0167
Inverting
reference cams
immediately
... the switching behavior of the reference cam signal (input terminal with function number 78) is
adapted.
0170
Inversion
No inversion
MSC
PrgE
... specifies the maximum distance the axis can traverse from starting the reference point approach in order to find the reference cams.
Note:
When a fault condition occurs, the axis remains stationary and fault 160 is signaled (reference
cam not reached).
6-417
Table 6-36
! not 611ue !
No.
0171
Name
Min.
Standard
20 000
Max.
Unit
MSC
Effective
PrgE
... specifies the maximum distance the axis can move when leaving the reference cam or from
the start in order to find the zero pulse.
Note:
If a fault condition occurs, the axis remains stationary and fault 162 is signaled (no reference
zero pulse available).
If P0171 is entered and it is insignificantly higher than P0172, a fault can occur due to a degree of uncertainty when determining the actual value travel.
0172
MSC
RO
The travel between leaving the reference cam or from the start up to reaching the zero pulse is
entered in this parameter.
Note:
zero pulse. This is caused by the switching behavior (timing) of the reference cam switch and
the sampling of the reference cam switching signals in the interpolation clock cycle.
The measured distance in P0172 can therefore be different at each reference point approach.
6
0173
Reference point
0
0
1
PrgE
approach without
reference cams
... identifies the type of axes, which do not require reference cams for referencing. These are the
following axes:
Axes that have only one zero mark over the complete traversing range
Rotary axes that only have one zero mark per revolution
0174
6-418
Referencing mode
1
1
position measuring
system
The parameter defines the referencing mode.
immediately
Table 6-36
6.2
No.
0175
Name
Min.
Adjustment status
0
absolute position measuring system
Standard
Max.
Unit
Effective
immediately
... indicates the status when adjusting the absolute value encoder
1
Absolute value encoder has not been adjusted. Presetting when commissioning the
system for the first time.
Absolute value encoder has still not been adjusted. Adjustment has been initiated.
The parameter is set to 2 for an errorfree adjustment.
If an error occurs when making the adjustment, the parameter is set to 1.
Note:
This can be realized by manually changing the parameter as well as from SIMODRIVE 611
universal itself (e.g. for a parameter set changeover, as this signifies that the mechanical
coupling between the measuring system and mechanical system has been opened gearbox changeover.
If a series startup is executed (copying the parameters from drive x to drive y), then the adjustment value is also reset due to the serial number motor measuring system
(P1025/P1026) (P0175 = 0).
0239
1050
Rereferencing or re
adjustment only when
required (SRM ARM)
(from SW 4.1)
immediately
IM reference mark
distance for distance
coded measuring scales
(from SW 4.1)
20 000
4294967295
PO
...specifies the basic distance between two fixed reference marks. If the control detects that the
distance between each two reference marks is different and therefore incorrect, then the axis
remains stationary. Fault 508 (zero mark monitoring, motor measuring system) is signaled.
Note:
This monitoring is only activated if P1050/P1024*1000 can either be divided by 16 or by 10.
6-419
Table 6-36
! not 611ue !
No.
1051
Name
IM reference mark
distance for distance
coded rotary encoders
(from SW 4.1)
Min.
Standard
20 000
Max.
4294967295
Unit
mdegrees
Effective
PO
...specifies the basic distance between two fixed reference marks. If the control detects that the
distance between each two reference marks is different and therefore incorrect, then the axis
remains stationary. Fault 508 (zero mark monitoring, motor measuring system) is signaled.
Note:
This monitoring is only activated if P1051/1000*P1005/360 can either be divided by 16 or by 10.
1052
DM reference mark
distance for distance
coded measuring scales
(from SW 4.1)
20 000
4294967295
PO
...specifies the basic distance between two fixed reference marks. If the control detects that the
distance between each two reference marks is different and therefore incorrect, then the axis
remains stationary. Fault 514 (zero mark monitoring, direct measuring system) is signaled.
Note:
DM reference mark
distance for distance
coded rotary encoders
(from SW 4.1)
20 000
4294967295
mdegrees
PO
...specifies the basic distance between two fixed reference marks. If the control detects that the
distance between each two reference marks is different and therefore incorrect, then the axis
remains stationary. Fault 514 (zero mark monitoring, direct measuring system) is signaled.
Note:
This monitoring is only activated if P1053/1000*P1007/360 can either be divided by 16 or by 10.
1054
20
450 000
mdegrees
20
500 000
PO
...specifies the differential distance between two reference marks for distancecoded encoders,
indirect measuring system (motor measuring system).
1055
20
450 000
mdegrees
20
500 000
PO
...specifies the differential distance between two zero marks for distancecoded encoders, direct
measuring system.
6-420
6.2.9
6.2
Jogging operation
Description
Changing over
into the jogging
mode
The jogging mode can be selected using the input signal jogging incremental (refer to Fig. 6-24):
Input signal
Via velocity
P0108
24 V
Jog 1
P0108
P0122
increments
Input signal
Jogging 2 ON/Jogging 2 OFF
Via velocity
P0109
24 V
Jog 2
P0109
P0123
increments
1 signal
Input signal jogging 1 ON/jogging 1 OFF
0 signal
1 signal
Input signal jogging 2 ON/jogging 2 OFF
0 signal
Speed n
1)
1)
t
1)
1)
6-421
! not 611ue !
Note
The following is valid when jogging:
6
Parameter
overview
(refer to Chapter
A.1)
The following parameters are available for the jogging mode function:
P0108
P0109
P0122
P0123
The following signals are available for the jogging mode function:
Input signals
6-422
6.2.10
6.2
Overview
Table 6-37
Block
memory...
Description
Block number
A traversing block must be assigned a block number between 0 and 63,
so that it becomes valid and can be started.
Position
Specifies the target position in the block to be approached.
Memory
...
80:63
/2555
...
81:63
/255
Velocity
Specifies the velocity with which the target position is approached.
...
82:63
/255
...
Acceleration override
This allows the acceleration to be influenced, referred to P0103.
...
83:63
/255
...
Deceleration override
This allows the deceleration to be influenced, referred to P0104.
...
84:63
/255
...
85:63
/255
...
86:63
/255
80:0
80:1
...
81:0
81:1
...
82:0
82:1
...
83:0
83:1
84:0
84:1
85:0
85:1
...
Command
Each traversing block must contain a command (refer to Table 6-38).
1
POSITIONING (Standard)
+: Block number, position, velocity,
Acceleration override, deceleration override, mode
2/3
ENDLESS TRAVERSING_POS/ENDLESS TRAVERSING_NEG
+: Block number, velocity,
Acceleration override, deceleration override, mode
4
WAIT
+: Block number, delay time in the command parameter, mode
5
GOTO
+: Block no., target block no. in the command parameter, mode
6/7
SET_O/RESET_O
+: Block number, output No. in the command parameter, mode
8
FIXED ENDSTOP (from SW 3.3)
+: Block number, position, velocity,
Acceleration override, deceleration override,
Value range and units for clamping torque/clamping force in
the Command parameter, mode
9/10 COUPLING_IN/COUPLING_OUT (from SW 3.3)
+: Block number, mode
86:0
86:1
...
Command parameters
Additionally required information to execute the command is specified
here.
6-423
Table 6-37
! not 611ue !
Block
memory...
Description
Description
Memory
Mode
87:0
87:1
...
Positioning
mode
IDs
Xxxx
Target position
via
0: Traversing
block running
1: PROFIBUS
xXxx
0: END (standard)
1: CONTINUE WITH
STOP
2: CONTINUE FLYING
3: CONTINUE EXTERNAL
xxXx
0: ABSOLUTE
(standard)
1: RELATIVE
2: ABS_POS
3: ABS_NEG
xxxX
1:
SKIP_
BLOCK
...
87:63
/255
6-424
6.2
Command
dependent block
information
Table 6-38
Block information
Block number
P0080:64/256
Position
P0081:64/256
Velocity
P0082:64/256
Acceleration override
P0083:64/256
Deceleration override
P0084:64/256
Command
P0085:64/256
POSITIONING
ENDLESS TRAVERSING_POS
ENDLESS TRAVERSING_NEG
WAITING
GOTO
SET_O
RESET_O
P0086:64/256
Mode
P0087:64/256
IDs
SKIP BLOCK
Positioning
mode1)
ABSOLUTE
RELATIVE
ABS_POS (from SW
2.4)2)
END
CONTINUE FLYING
Note:
1)
2)
x:
+:
:
6-425
! not 611ue !
Note
Input errors when entering block information are displayed using the
appropriate error messages, for all traversing blocks after a traversing
block has started.
All of the parameters, which are used to program traversing blocks, are
shown in the following.
Parameter
overview
Table 6-39
No.
0079
Min.
Reformatting
the memory
Standard
Max.
Unit
Effective
immediately
... the memory for the traversing blocks can be reformatted, i.e. reassigned.
0
0 > 1
Note:
When the blocks are displayed via SimoCom U or via the display unit on the front panel,
the blocks are located at the beginning of the memory and are sorted according to increasing block numbers; there are no gaps.
:0
:1
:2
:3
P0080
20
15
P0081
xxx
xxx
xxx
to
P0088
:63
:0
:1
:2
:3
...
15
20
...
xxx
...
xxx
xxx
xxx
xxx
xxx
...
xxx
...
...
...
...
...
...
...
...
...
...
...
...
yyy
yyy
yyy
yyy
...
yyy
yyy
yyy
yyy
yyy
...
yyy
before
reformatting
6-426
:63
after
reformatting
Table 6-39
6.2
No.
0080:64
/256
Name
Block number
Min.
1
Standard
1
Max.
63 (256,
from SW 10.1)
Unit
Effective
PrgE
A traversing block must be assigned a valid block number so that it can be started.
1
0 to 63/256
Note:
The block change enable is saved in the traversing block in P0087:64 (mode block
change enable).
There are the following possibilities for the block change enable:
END
(standard)
CONTINUE FLYING
Several blocks are processed in an increasing sequence of the block numbers (e.g. for
blocks with the block change enable condition CONTINUE FLYING).
The block number must be unique over all traversing blocks otherwise fault 109 (block
number available twice) is output when a traversing block is started.
A valid block is disabled by entering the block number 1, i.e. the block information remains saved, unchanged and when this block is reassigned a valid block number, then
the block information becomes visible again.
Recommendation:
Disable the block with skip block (refer to P0087:64/256).
0081:64
/256
Position
MSC
PrgE
6-427
Table 6-39
No.
0082:64
/256
! not 611ue !
Name
Min.
Velocity
Standard
prior to SW
10.1:
1 000
starting with
SW 10.1:
6
600 000
Max.
Unit
Effective
c*MSR/min
PrgE
... defines the velocity with which the target position is approached.
Programmed
velocity
P0082:x
t
Maximum
acceleration
Maximum
deceleration
a
P0103
t
a
P0104
For short traversing distances, it is possible that the programmed velocity will not be
reached.
0083:64
/256
Acceleration
override
100
100
PrgE
aact = P0103
0084:64
/256
Deceleration
override
100 %
1
100
100
PrgE
6-428
P0084:x
100 %
Table 6-39
No.
0085:64
/256
6.2
Name
Command
Min.
1
Standard
1
Max.
10
Unit
Effective
PrgE
Every traversing block must include precisely one command for execution.
1
POSITIONING
Using this command, the axis can be linearly traversed (point to point, PTP).
Note: Other block parameters are still effective (refer to Table 6-38).
ENDLESS TRAVERSING_POS
ENDLESS TRAVERSING_NEG
With this command, the axis can be traversed with the velocity specified in the
block, up to
a limit switch is reached
the motion is interrupted by the input signal OC/intermediate stop
the motion is interrupted by the input signal OC/reject traversing task
Note: Other block parameters are still effective (refer to Table 6-38).
Limitation for rotary axis (modulo):
If a higher speed is entered in a traversing block (e.g. >1000 RPM) and if a low deceleration is set (e.g. standard setting
100 degrees/s2), then a fault is output.
Remedy:
The resulting braking travel must be <1000000 degrees.
The braking travel depends on the deceleration and the velocity.
Braking travel =
v2 [degrees/s]2
2
a [degrees/s2]
WAITING
A delay time, which should expire before the following traversing block is processed, can be defined using this command.
The delay time is specified in the command parameter (P0086:x).
Note:
The command parameter is entered in ms, and is internally and automatically
roundedoff to a multiple of the interpolation clock cycle (P1010).
GOTO
Jumps can be executed within a sequence of traversing blocks using this command.
The jump destination and the block number are specified in the command parameter (P0086:x).
Note:
If the specified block number does not exist, then an appropriate fault is signaled
when a traversing block is started.
6-429
Table 6-39
! not 611ue !
No.
Name
Min.
Standard
Max.
Unit
SET_O
RESET_O
An output signal can be set or reset using these commands.
Effective
0086:64
/256
10
Command parameters
65 535
PrgE
... specifies the additional information required for the following commands.
Command
Additional information
WAITING
Waiting time in ms
GOTO
block number
SET_O
1, 2, 3: Set direct output 1, 2 or 3 (both signals)
RESET_O
1, 2, 3: Reset, direct output 1, 2 or 3 (both signals)
FIXED STOP (from SW 3.3)
Clamping torque or clamping force
Rotary drive: 1 65 535 [0.01 Nm]
Linear drive: 1 65 535 [N]
Note:
The commanddependent required block information is listed in the Table 6-38.
6-430
Table 6-39
6.2
No.
0087:64
/256
Name
Min.
Mode
Standard
0
Max.
Unit
1331
Hex
Effective
PrgE
Positioning
mode
IDs
0: END (Standard)
1: SKIP_BLOCK
1: CONTINUE WITH STOP
2: CONTINUE FLYING
3: CONTINUE EXTERNAL (from SW 3.1)
0: Target position via P0081
1: Target position via PROFIBUSDP
0087:64
/256
SKIP_BLOCK ID
A block with the ID SKIP_BLOCK is not processed, and is skipped.
xxxX
0087:64
/256
xxXx
ABSOLUTE or RELATIVE for linear axis or rotary axis without modulo correction
ABSOLUTE:
The axis moves to the specified position and references itself to the axis zero. The software limit switch monitoring is effective.
RELATIVE:
The axis moves around the specified position in the negative or positive direction and
references itself to the last position it approached.
The software limit switch monitoring is effective.
P2
P1
10
P1
P3
Position [MSR]
20
30
10
P3
P2
10
10
Position [MSR]
Incremental dimension
data input
Absolute dimension
data input
Position = +30
Travel to 30
Position = 10
Position = 10
Travel to 10
Position = +10
6-431
Table 6-39
! not 611ue !
No.
Name
Min.
Standard
Max.
Unit
Effective
ABSOLUTE or RELATIVE for rotary axis with modulo correction (from SW 2.4)
0087:64
/256
xxXx
ABSOLUTE:
The axis approaches the program position within the modulo range, and it automatically selects the shortest distance. For the same distance in both directions, the axis
moves in the positive direction.
For values with a negative sign or a value outside the modulo range, an appropriate
fault is output when a traversing block starts.
RELATIVE:
The axis traverses through the programmed position in a negative or positive direction
and refers itself to the position which was last approached.
The traversing distance can also be greater than the modulo range.
Positioning mode ABS_POS or ABS_NEG (only rotary axis with modulo correction)
With this information, for a rotary axis with modulo correction (P0241 = 1), the direction of
travel is specified along with the reference position.
Note:
An appropriate fault is signaled when starting a traversing block for values with negative sign
or for a value outside the modulo range.
Reference position 0
315
Actual position
45
Reference position
315
Actual position
45
270
90
ABS_POS
225
270
90
ABS_NEG
+
135
225
180
0087:64
/256
xXxx
135
180
Example:
Example:
Position = 315
Position = 315
For pure single block operation, i.e. each block must be individually selected and started
At the last block of a block sequence, i.e. the block identifies the end of the block sequence.
6-432
Table 6-39
xXxx
No.
0087:64
/256
6.2
Name
Min.
Standard
Max.
Unit
Effective
Pos.
10
30
10
Vel.
100
150
50
Command
POSITIONING
POSITIONING
POSITIONING
Pos. mode
ABSOLUTE
RELATIVE
RELATIVE
v
150
100
Example:
Programming
3 traversing blocks
t
Note:
For an existing axis coupling (position coupling), the positioning window is not effective for
CONTINUE WITH STOP. If this represents a problem in an application when the master drive
is stationary, then the PLC would first have to release the coupling and then position the slave
drive normally.
0087:64
/256
xXxx
Pos.
10
30
10
Vel.
100
150
50
Command
POSITIONING
POSITIONING
POSITIONING
Pos. mode
ABSOLUTE
ABSOLUTE
ABSOLUTE
v
150
100
Example:
Programming
3 traversing blocks
t
50
There is a direction of reversal between block 1 and block 2. This is the reason that at the
braking instant, the drive brakes from block 1 down to standstill and waits until the position
actual value reaches the positioning window. After this, block 2 is executed.
Note:
For traversing blocks whose distance is able to be travelled through within an IPO clock cycle,
then the drive brakes briefly.
6-433
Table 6-39
No.
0087:64
/256
xXxx
6-434
! not 611ue !
Min.
Standard
Max.
Unit
Effective
Table 6-39
6.2
No.
Name
Min.
Standard
Max.
Unit
Effective
The position actual value when detecting a signal edge at input signal external block
change is written into P0026 (position actual value, external block change).
Blk Pos.
Vel.
Command
Pos. mode
100
100
POSITIONING
ABSOLUTE
CONTINUE FLYING
200
50
POSITIONING
ABSOLUTE
CONTINUE EXTERNAL
300
100
POSITIONING
ABSOLUTE
END
v
Example:
Programming
3 traversing blocks
Block 1 with
CONTINUE
EXTERNAL
Block 1
Block 2
Input signal
1 signal
external block change
0 signal
P0110 = 1
P0110 = 0
t
Note:
Refer under the index entry Input signal external block change.
0087:64
/256
Xxxx
6-435
6.2.11
Overview
! not 611ue !
Output signals
Setpoint
acknowledge
Setpoint static
Drive stationary/
Intermediate stop
drive moves
Traversing
blocks
Block selection
(from SW 10.1)
(from SW 10.1)
1st input/20
2nd input/21
3rd input/22
4th input/23
5th input/24
6th input/25
7th input/26
8th input/27
1st output/20
2nd output/21
3rd output/22
4th output/23
5th output/24
6th output/25
(from SW 10.1) 7th output/26
(from SW 10.1) 8th output/27
Note
Prerequisite for activate traversing task:
All of the enable signals are set and the controlled drive is in the
controller enable status (refer to Chapter 5.5, Fig. 5-8).
Previous jog operation must have been fully completed this
means that the output signal Followup mode active must be 0
(Fct. No. 70 or PosZsw.0).
When starting blocks, there must be at least 3 IPO clock cycles
between the signal activate traversing task and the motion being
interrupted via OC/reject traversing task or OC/intermediate
stop. This applies both for operation using PROFIBUSDP as well
as when using terminals.
Readers note
Generally, input/output signals are used in the following.
The following is true when viewed from SIMODRIVE 611 universal:
for input signals:
when entered via terminals > input terminal signals
when entered via PROFIBUSDP > control signals
for output signals:
if output via terminals > output terminal signals
if output via PROFIBUSDP > status signals
6-436
Example:
Sequential start of
individual blocks
6.2
In this case, a new traversing block is only started if the previous block
had been completed, i.e. the drive has reached the reference position.
1
Control
signal
OC/reject
traversing task
Control
signal
OC/
intermediate
stop
Control
signals
Block
selection
2
1
0
Status signals
Block selection
(checkback
signal)
2
1
0
Control signal
Activate
traversing task
(positive edge!)
Status signal
Setpoint
acknowledge
Status signal
Reference
position reached
Status signal
Drive at standstill
Note
The selection and the status of the block selection are not
binarycoded, but represented, simplified as value.
6-437
! not 611ue !
A traversing block can be interrupted using the operating condition/intermediate stop control signal.
Intermediate stop
Features:
Control signal
OC/reject
traversing task
Control signal
OC/intermediate
stop
Control signal
6
Status signal
Status signal
Status signal
Activate
traversing
task
Setpoint
acknowledge
Reference
position
reached
Drive at
standstill
End of positioning
6-438
Reject traversing
task
6.2
Control signal
OC/reject
traversing task
Control signal
OC/
intermediate stop
Control signal
Activate
traversing
task
Status signal
Setpoint
acknowledge
Status signal
Reference
position
reached
Status signal
Drive at
standstill
IPO clock
cycles
End of positioning
6-439
Diagnostics:
Image of the
actual
traversing block
(refer to Chapter
A.1)
! not 611ue !
P0001
P0002
P0003
P0004
P0005
P0006
P0007
P0008
6-440
6.2.12
Description
Using the MDI operation function and when in the positioning mode
it is possible to change the parameters of the MDI block (e.g. reference
position, velocity, etc.) via process data and PROFIBUSDP and/or via
parameters (P0091 to P0094, P0097) while this is executed. If, for this
particular block, the block change enable CONTINUE EXTERNAL is
parameterized, then the changes which were made can be immediately
activated with the signal to change the block. This means that the
changes are accepted in the interpolator. For the block change enable
END, the changes only become effective when this traversing block is
restarted in the interpolator.
In this MDI block, only RELATIVE, ABSOLUTE positioning operations
can be executed and for rotary axes with modulo correction, in addition,
ABS_POS and ABS_NEG.
In this case, only END or CONTINUE EXTERNAL with P0110 = 2 or 3
are permissible as block change enable condition.
MDI canceled
External block change
Activate MDI
MDI active
External block change
(input signal, Fct. No. 67 or STW1.13)
External block change
(output signal Fct. No. 67 or AktSatz.14)
MDI A
Interpolator data
TA
MDI B
TB
MDI C
TC2)
1) For the earliest possible instant in time to enter new block parameters (PZD and/or default block),
refer to Table 6-50 output signal function No. 67.
2) A new positioning operation is started without the MDI end position having been reached.
Fig. 6-30 Control and status signals for MDI
6-441
The data available in the block parameters (PZD and/or default block)
at instant in time TA is transferred into the interpolator and processed.
This data (MDI A) remains valid up to instant in time TB when new data
is transferred into the interpolator. In turn, these (MDI B) remain valid
until new data is transferred (TC/MDI C).
Note
The following applies for the MDI mode:
running, then fault 144 is initiated. This means that MDI operation
can only be disabled after the target position has been reached.
The signals operating condition/reject traversing task and
operating condition/intermediate stop are effective just the same
as in the normal positioning operating mode.
The monitoring functions, e.g. software and hardware switches are
also active.
6-442
MDI positioning
block
The MDI block is a positioning block which can contain the following
data:
Position
Velocity
Acceleration override
Deceleration override
Mode
input MSR
input c MSR/min
percentage of P0103
percentage of P0104
ID
x0x = ABSOLUTE
x1x = RELATIVE
x2x = ABS_POS
x3x = ABS_NEG
0xx = END
3xx = CONTINUE EXTERNAL
The block parameters entered using PZDs via PROFIBUSDP, are cyclically transferred. The block parameters which do not exist here, are
supplemented by the data from the default block (P0091 to P0094,
P0097). The parameters, valid up to when the traversing task is activated or the external block change, are then transferred into the interpolator and executed. This means, for example, that it may be sufficient to just enter the position reference value using PZD and to use
the remaining data (velocity, acceleration override, etc.) from the default block.
P0110 = 2
The system only waits for the signal at the end of the block; when
the signal is detected, a block change is executed.
P0110 = 3
If the signal is not present up to the end of the block, then the axis
waits for the signal and when this is detected, a block change is
made. (from SW 5.1).
For the MDI function, only the configuration P0110 = 2 or 3 is permitted.
Note
If the deceleration was changed during the braking ramp with absolute
positioning, then this is not accepted. Positioning is realized with the
previously set braking ramp (P0084:256 or P0094).
MDI block
influence
The input signal reject traversing task deletes the programmed MDI
block.
The input signal intermediate stop holds the MDI block.
6-443
Boundary
conditions
P0094) is reduced too much, then fault 131 is output. However, for
absolute positioning, this only applies if the braking ramp has still
not started.
If, for an MDI block, a block change is initiated, and the new target
position does not differ from the previous target position, then the
reference position reached output signal is not reset.
Parameter
overview
(refer to Chapter
A.1)
6-444
The MDI traversing block, transferred using the MDI telegram can be
read, as before, using parameters P0001 to P0008.
Input/output
signals
(refer to Chapter
6.4)
Output signals
6-445
6.3
General
Coupling via
PROFIBUS DP
PROFIBUS DP master
The position setpoint is provided from a higherlevel control, e.g.
SIMATIC S7300.
Synchronous coupling
Communications is realized using PROFIBUSDP slavetoslave
communications. One or several slaves (drives) are operated as
publishers, i.e. they not only provide their actual values to the DP
master, but also to other slaves (subscribers) per broadcast.
Configuring defines which subscribers accept which data as setpoints from which publisher.
From the perspective of the coupling, the master drive is a publisher
and a slave drive is a subscriber.
Coupling via
terminals
6-446
6.3.1
SIMODRIVE 611
universal as
master drive
The master drive must output process data via PROFIBUSDP which
the slave drive can use as position reference value. The following process data is available:
The angular incremental encoder interface (X461/X462) is set as output with P0890 = 1. This means that the incremental position actual
value of the motor encoder or a direct measuring system is output (refer to Chapter 6.8.1).
SIMODRIVE 611
universal as slave
drive
6-447
6-448
Table 6-40
Property
Can be switchedin/out
Activated via input signal activate coupling and activate coupling via
Superimposed motion
Autonomous motion
P0890 = 1
Output pos. actual values
Parameterize the angular
incremental encoder interface as input
P0890 = 2
Receive position reference values
Parameterize PROFIBUS
interface as input
P0891
Source, external position reference value
P0894
Angular incremental encoder input signal waveform
P0895
External position reference value No. of increments
P0896
Ext. position reference value No. of dimension system
grids
P0897
Inversion, external position reference value
P0401
Coupling factor, revolutions master drive
P0402
Coupling factor, revolutions slave drive
> Refer to Chapter 6.8.2
P0891
P0895
P0896
grids
P0897
P0898
P0401
P0402
Positioning (P0700 = 3)
6-449
Application
possibilities
Angular incremental encoder interface, switched as input, as position reference value source.
Master drive
e.g. SIMODRIVE
611 universal
with angular
incremental
encoder interface
switched as output
P0700 = 1/3
P0890 = 1
P0891 = 0
AIE
Slave drive 1
M
3
P0700 = 3
P0700 = 3
P0890 = 2
P0890 = 2
P0891 = 0
P0891 = 0
AIE
P0700
Operating mode
P0890
P0891
AIE
IN
IN
M
3
Slave drive 2
M
3
Fig. 6-31 Angular incremental encoder interface as position reference value source
P0700 = 1/3
P0700 = 3
P0890 = 0
P0890 = 0
P0891 = 0
P0891 = 1
AIE
E
M
3
P0700
Operating mode
P0890
P0891
Drive B
AIE
E
M
3
6-450
IM 360
CP3425
SIMATIC
S7300
STOP
RUN
SIMATIC
S7300
SIMATIC
ET 200M
IM 153
IM 361
MOBY
24V
ASM470
ANW
Command
Error
SLG1
RxD
Slave drive 2
Slave drive 1
P0700 = 3
P0700 = 3
P0891 = 4
P0891 = 4
Error
SLG2
RxD
PROFIBUS
interface
PROFIBUS
interface
P0700
Operating mode
P0891
M
3
Fig. 6-33 DP master, e.g. SIMATIC S7300, as source for external position reference value
Master drive
e.g. SIMODRIVE
POSMO CD
P0700 = 3
PROFIBUS
interface
Slave drive 2
Slave drive 1
P0700 = 3
P0700 = 3
P0891 = 4
P0891 = 4
PROFIBUS
interface
PROFIBUS
interface
PROFIBUS DP
M
3
M
3
P0700
Operating mode
P0891
M
3
6-451
Parameterizing the
setpoint source
PROFIBUSDP
process data and
standard
telegrams
6-452
Note
It is not necessary to transfer dXcor or dXcorExt if, with the
coupling switchedin, no external jumps/steps can occur in the
external position reference value.
It is not necessary to transfer QZsw or QStw if, when the coupling
is switchedin, no external jumps/steps can occur in the position
reference value and the passive referencing function is not
required.
In the example in Chapter 5.10.5 for coupling 2 drives (master,
slave drive) a description is provided how the hardware
configuration can be parameterized for the necessary
slavetoslave data transfer and with SimoCom U, the telegrams.
6-453
Input/output
evaluation
Setpoints, entered via the source, are evaluated at the input for the following couplings:
> via the angular incremental encoder (P0891 = 0 or 1)
> via PROFIBUSDP (P0891 = 4)
Input format (slave drive):
Xext (external position reference value, number 50207)
dXcorExt (correction, external position reference value, number
50209)
P0896
The following applies: Position in MSR = input value
P0895
P0896
The output value must be able to be represented using 32 bits. This
means that the maximum traversing distance that can be represented is:
231
P0896
P0895 (P0884)
(2311)
P0896
P0895 (P0884)
6-454
Coupling factor
A coupling factor for all setpoint sources can be defined using P0401 and
P0402. Revolutions of the master drive (P0401) correspond to revolutions
of the slave drive (P0402).
Setpoint steps
If steps (jumps) occur in the external position reference value, e.g. after
referencing the master drive, this must be signaled to the slave drive so
that this does not execute this step
Coupling via PROFIBUS DP
> QZsw.0 = 1 (publisher) or QStw.0 = 1 (subscriber)
The amplitude of the step is transferred in dXcor and is received in
the dXcorExt.
Coupling via the angular incremental encoder
> not necessary, as it involves an incremental setpoint input
Exception:
For P0891 = 7 or 8, it may be necessary to use
the signal setpoint, master drive on the slave drive side.
Note
A SIMODRIVE 611 universal as slave drive also operates with
PROFIBUS master drives together which do not support the
concept of multiple correction value transfer. The only thing that is
necessary, is that, for a setpoint step, the control bit and the
correction value are correctly set. In this case, there is a danger,
that after the telegram has been lost, a setpoint step occurs.
The slave drive corrects the setpoint when the 0/1 edge of the
control bit is detected.
If it can be ensured that at the instant that the setpoint step occurs,
there is no coupling, then it is not necessary to transfer the step
location Xcor.
Coupling
configuration
(P0410)
6-455
Couplingin/out
via the
input signal
(P0410 = 1, 2
or 7)
P0410 = 1
P0410 = 2
P0410 = 7
Note
If a traversing block is parameterized with COUPLING_IN and/or
COUPLING_OUT and if the coupling is to be controlled using a digital
signal, then when any traversing block is started, fault 166 is always
output (not that traversing block with COUPLING_IN or with
COUPLING_OUT).
6-456
Couplingin/out
via traversing
block (P0410 = 3, 4
or 8)
P0410 = 4
P0410 = 8
6-457
Speed
synchronism
(P0410 = 1 or 3)
For a speedsynchronous coupling, the drive accelerates after the coupling has been switchedin, with the acceleration in P0103, up to the
speed of the master drive.
The following error, that is automatically obtained when the slave drive
accelerates due to the different output velocities, is no longer reduced
to zero.
The position difference of the two drives is constant in the synchronous
phase.
v
vLA
Rampup
phase
Synchronous phase
Braking
phase
Following error
vFA
vFA
t
Activate coupling
Output signal
in synchronism
1
0
1
0
vLA
vFA
Readers note
The phases are described in Table 6-41.
6-458
For the positionsynchronous coupling, the slave drive takes into account the distance moved by the master drive and the position offset,
entered in P0412
Position
synchronism
(P0410 = 2 or 4)
After speed synchronism has been reached, the following error which
has occurred and the position offset in P0412 is moved through with
the supplementary speed in P0413.
Rampup
phase
Offset
phase
vFA
P0413
Syn
chron
ous
phase
Braking
phase
vLA
Following error + P0412
vFA
Following error
vFA
t
Activate coupling
Output signal
in synchronism
1
0
1
0
vLA
in synchronism
vFA
P0412
P0413
6-459
Coupling to an
absolute position
(P0410 = 7 or 8)
(from SW 4.1)
For P0891 = 0 or 1, the slave drive absolute position is not automatically made available to the slave drive.
6-460
Rampup
phase
Offset
phase
vFA
P0413
Syn
chron
ous
phase
Braking
phase
vLA
In the synchronous phase:
xFA = xLA + P0412
vFA
vFA
t
Activate coupling
Output signal
in synchronism
1
0
1
0
vLA
vFA
in synchronism
xLA
xXFA
P0412
P0413
Readers note
The phases are described in Table 6-41.
6-461
Table 6-41
Phases
Rampup
phase
Positionsynchronous
(P0410 = 2 or 4)
Absolute position
(P0410 = 2 or 4)
(from SW 4.1)
After the coupling has been switchedin, the speed setpoint for the slave drive is
ramped up to the master drive speed.
The ramp gradient corresponds to the acceleration in P0103.
This phase is completed after the slave drive has reached the speed of the master
drive.
Offset phase
Synchronous
phase
For couplingin/out using the input signal, the following applies (P0410 = 1, 2 or 7):
> A traversing program can be started.
For couplingin/out using the traversing block, the following applies (P0410 = 3, 4 or
8):
> The traversing program is continued.
Note:
The setpoint input via the angular incremental encoder interface, switched as input,
and the setpoint input via the traversing blocks are superimposed on one another.
After the coupling has been switchedout, the drive goes into the braking phase and
brakes down to standstill with the deceleration set in P0104.
For couplingin/out using the input signal, the following applies (P0410 = 1, 2 or 7):
> A traversing program can be started.
For couplingin/out using the traversing block, the following applies (P0410 = 3, 4 or
8):
> The traversing program is continued.
Note:
For couplingin/out via input signal, the braking phase may only be initiated, if a traversing program is no longer running for the slave drive.
6-462
Application
example, queue
functionality
(refer to Fig. 6-38)
The master drive drives a conveyor belt. The position of the workpieces
is detected using a measuring probe and saved in the slave drive in
P0425:16. If a workpiece approaches its waiting position, the slave
drive must accelerate in plenty of time so that it can move in
synchronism with the workpiece in the machinery range.
Requirements:
If a workpiece is detected, the distance, measured to the actual slave
drive position is continuously entered into P0425:16. The first workpiece is entered under P0425:0 and the last under P0425:15.
A maximum of 16 positions can be saved > otherwise, fault 168 is
output (overflow, buffer memory).
For slave drives, a traversing program cyclically runs with coupling and
machining commands.
Sequence:
1. The COUPLING IN command is executed, i.e. the slave drive waits
to be synchronized to the master drive.
2. When will synchronization start, i.e. when will the coupling be
switchedin?
Synchronization is started when the next workpiece has reached the
slave drive, i.e. if the distance between the workpiece and the slave
drive in the next interpolation clock cycle k is
v2LA
less than
.
2aFA
vLA
aFA
6-463
Master
drive
vLA
Synchronization
distance xsync
BERO
Machining distance
(LA)
LA
Master drive
FA
Slave drive
Overlaid motion
I0.x
Slave
drive
FA
(FA)
P0420
s
Waiting
position
Fig. 6-38 Application example: Coupling via an input terminal with queue functionality
6-464
In order to implement an axis coupling for modulo rotary axes, the following settings must be made:
Note
The modulo range of the master axis can be the same or not equal to
the modulo range of the slave axis.
i.e.:
Modulo correction
Position reference value steps as a result of modulo correction are detected by the slave drive itself, i.e. it is not permissible that control bit
QStw.0 or the correction value dXcorExt are set.
The following is required:
the maximum of half the modulo range (so that the direction of motion is clear)
Telegram loss
Boundary
conditions
The following secondary conditions must be observed for position reference value and actual value coupling:
6-465
The position of the master drive, at which the coupling was re-
quested, is in P0425:0.
6-466
The following secondary conditions have to be taken into consideration when parameterizing P0891:
6-467
sources within a drive group. For instance, drive A can receive its
setpoint via the angular incremental encoder and transfer this to
other drives via PROFIBUSDP. The following secondary conditions
must be observed:
The synchronous operation of the drive group is poor as a result
of the different data propagation times.
There are differences in the position resolution between the individual sources.
Warning
When superimposing the speed of the master and slave drives, a
resulting slave drive speed can be obtained which is greater than the
maximum speed P0102. For slave axes, the speed monitoring in
P1147, P1401:8 and P1405:8 applies.
Note
For coupled operation via PROFIBUSDP, we recommend that internal
couplings are not used. Instead, the second drive should be
parameterized as subscriber (refer to Chapter 5.10).
Coupling via angular incremental encoder interface with coarse encoder resolution:
Prior to SW 10.1:
For axis couplings, the angular incremental encoder interface can
be configured as documented previously.
Starting with SW 10.1:
For an axis coupling with the Source, external position reference
value function, Angular incremental encoder interface X461/X642
(coarse) must be selected. This results in P0891 = 5.
6-468
Passive
referencing for a
slave drive
(from SW 5.1)
Velocity profile
Master drive
(encoder: incremental)
Reference point
(P0160)
Zero mark
P0162
Output signal
request passive referencing
possible offset due to soft coupling
Velocity profile
Slave drive
(encoder:
incremental)
(permanent coupling)
Zero mark
P0162
Reference
point (P0160)
Synchronization
function
Input signal
reference cams
Input signal
request passive referencing
Output signal
in synchronism
P0160
P0162
Fig. 6-39 Sequence when passively referencing (master and slave drive with incremental encoder)
6-469
Master drive with absolute value encoder and slave drive with incremental encoder.
Phase 1
Velocity profile
Master drive
(encoder: absolute)
Reference point
(P0160)
Zero mark
(permanent coupling)
P0162
Reference
point (P0160)
Synchronization
function
Input signal
reference cams
Output signal
in synchronism
P0160
P0162
Fig. 6-40 Sequence when passively referencing (master drive with absolute value encoder, slave drive
with incremental encoder)
If the slave drive with incremental encoder does not have any reference cams, then it must be referenced using the set reference
point input signal.
6-470
Master drive with incremental encoder and slave drive with absolute
value encoder.
Phase 1
Velocity profile
Master drive
(encoder: incremental)
Reference point
(P0160)
Zero mark
P0162
Output signal
request passive referencing
Velocity profile
Slave drive
(encoder: absolute)
(permanent coupling)
Input signal
request passive referencing
Output signal
in synchronism
P0160
P0162
Fig. 6-41 Sequence when passively referencing (master drive with incremental encoder and slave drive
with absolute value encoder)
Note
For a rigid mechanical coupling between the master and slave axes, it
is not permissible that P0179 is set to 2 if the slave drive is equipped
with an absolute value encoder. Otherwise, the slave drive would
position (in absolute terms) to the position specified in P0160.
6-471
Timing when
passively
referencing
(from SW 5.1)
The following timing for passive referencing applies when using incremental encoders for the master and slave drives. When referencing the
master drive, after its zero mark is reached, passive referencing for the
slave drive is requested. The master drive then traverses through the
reference point offset up to the reference point.
During this travel, the slave drive must detect a 1/0 edge at the reference cam input signal and then its own zero mark.
After the master drive has reached its reference point, the slave drive is
moved to its reference point.
Phase 1
Phase 2
Phase 3
Phase 4
6-472
Commissioning
help to passively
reference the slave
drive
(from SW 5.1)
Secondary
conditions and
limitations when
passively
referencing
(from SW 5.1)
The slave drive must find its own zero mark during phases 2 and 3.
Passive referencing between the master and slave drive is controlled using the following signals:
6-473
Parameter
overview
(refer to Chapter
A.1)
6-474
The following parameters are used for the axis coupling function:
P0179
P0400
P0401
P0402
P0410
P0412
P0413
P0420
P0425:16
Coupling positions
P0884
P0891
P0895
P0896
P0897
P0898
Input/output
signals (refer to
Chapter 6.4, 5.6.2,
5.6.3)
The following signals are used for the function axis coupling:
Input signals
Output signals
Input signals
Output signals
6-475
6.3.2
Overview
Fault
situations
Faults with
stop response
STOP I
STOP II
STOP III
Faults with
stop response
STOP IV
STOP V
STOP VI
Warnings with
stop response
STOP VII
Controller
enable withdrawn
Fault present
=1
Warning present
=0
Output signals
Fault present
=1
Warning present
=0
Fault present
=0
Warning present
=1
Output signals
Fault present
=0
Warning present
=0
Note:
The required stop response can be initiated for a group of axes by appropriately externally evaluating the output signals of the slave drive.
6-476
Example:
In Fig. 6-42 it is shown how a differentiation can be made between
these three stop classes as well as the withdrawal of the controller
enable from the three output signals status, controller enable, fault
present and warning present. Furthermore, it is indicated how the
master drive and therefore the other slave drives could respond to
these signals.
Note
The logical operations can be further optimized for the displayed
behavior. However, at this position, it is important that a differentiation
can be made between the various fault classes.
Slave drive
Output signals
&
Master
drive
STOP I III
&
&
Controller enable
&
STOP IV VI
STOP VII
T. 65.x
Axisspecific
controller enable
Operating condition/
reject traversing task
Operating condition/
intermediate stop
Faults in the
master drive
Faults in the master drive can be just as flexibly handled as the faults in
the slave drive which were discussed above.
In this case, the master drive output signals are used, and are correspondingly connected to the input signals of the slave drive.
For an actual value coupling, it is not absolutely necessary to handle
master drive faults, as the slave drive follows the actual value of the
master drive anyway, and brakes when a fault situation develops.
On the other hand, for a setpoint coupling, it should be ensured that
when the setpoints fail, the group of axes is correctly stopped.
6-477
6.3.3
Description
The master drive is changedover into the closedloop speed controlled mode.
The torque setpoint of the master drive should be read into the
slave drive using process data MsollExt (number 50113).
Normalization
Smoothing and
clock cycle
The Msoll process data is smoothed using the transition frequency set
in P1252. The presetting P1252 = 100 Hz can result in problems for mechanical couplings. If required, the smoothing (dead time) should be disabled using P1252 = 0.
Note
For torque setpoint couplings via PROFIBUSDP, when compared to
coupling via analog signals (refer to Chapter 6.6), there is a longer
dead time ( 1 ms instead of the speed controller clock cycle).
6-478
Application
example
master/slave
An example of a coupling between two drives with analog input/outputs is described in Chapter 6.6.5.
The following example shows a coupling with PROFIBUSDP.
Master drive
Torque actual
value: Mset
PROFIBUS DP
Slave drive
Torque
setpoint:
MsetExt
PROFIBUS DP
Speed
setpoint
PROFIBUS DP
1 signal
Mset operation
0 signal
nset operation
(STW1.14)
PROFIBUS DP
Dependent on
the mechanical
coupling
M
3
M
3
Rigid or quasirigid
connection, which can
also be released in
operation.
Warning
If, for a master/slave configuration, the rigid mechanical coupling is
released (the coupling is opened) then at the same time the slave drive
must be changed over to nset operation as otherwise the slave drive
would accelerate in an uncontrolled fashion to the maximum speed.
6-479
Parameterizing
DP master
The diagrams 6-45 and 6-44 indicate the steps when configuring S7 for
an example with the standard telegram 102 as template.
In the example, it is assumed that the encoder interface is not required.
The appropriate process data is therefore canceled.
The following data should be parameterized in the DP master (e.g.
SIMATIC S7):
6-480
Parameterizing the
master drive
P0922 = 0
PZD2
PZD3
NSOLL_B
PZD4
PZD5
STW2
MomRed
Setpoint
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
P0915
:4
50003
P0915
:5
50101
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
ZSW2
MeldW
Mset
P0916
:4
50004
P0916
:5
50102
P0916
:6
50114
ZSW1
P0916
:1
50002
NIST_B
P0916
:2
50008
P0916
:3
50008
Actual
value
6-481
Parameterizing
the slave drive
PZD2
PZD3
NSOLL_B
PZD4
STW2
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
P0915
:4
50003
P0915
:5
50101
PZD1
PZD2
PZD3
PZD4
PZD5
ZSW2
MeldW
P0916
:4
50004
P0916
:5
50102
ZSW1
P0916
:1
50002
NIST_B
P0916
:2
50008
P0916
:3
50008
PZD6
PZD5
MomRed MsetExt
Setpoint
P0915
:6
50113
Actual
value
Parameter
overview
(refer to Chapter
A.1)
6-482
The following parameters are available for the torque setpoint coupling function:
P0607
P0612
P0618
P0619
P0620
P0882
P0881
P0916
P0922
P1240:8
P1241:8
P1242:8
P1243:8
P1252
P1725
Input/output
signals (refer to
Chapter 6.4)
The following signals are used for the function torque setpoint coupling:
Input signals
Output signals
6-483
6.3.4
General information
Description
Control structure
The mechanically coupled axes are in the master/slave mode. The actual
equalization controller is computed in the slave axis. The slave and master
axes are set using parameters.
If a pretensioning torque is required (gearbox, play), a parameterizable
supplementary torque is entered at the torque comparison location, which,
when the equalization controller is activated, gradually increases along a
smoothing characteristic which can be parameterized.
If different motors are used or if these are installed so that they oppose
each other, then torque weighting can be parameterized.
P1490 = 1: Analog terminal 24/20 is the source for the master slave torque setpoint comparison
> (Master: P0626, P0625, P0631; slave: P0612, P0619)
P1490 = 2: The adjacent drive (doubleaxis module, drive A or B) is the source for the comparison,
torque setpoint masterslave
P1490 = 3: PROFIBUSDP (from SW 13.1) is the source for the masterslave torque setpoint
comparison
P1491
Equalization controller
P1492
Time constant,
ncorr
nset
pretensioning torque P1494
Mv
P1493
+
Torque weighting,
equalization controller
slave P1496
n controller
i controller
Mset
iqset
nact
Torque
setpoint
Slave axis
n controller
Master axis
k kT
Mset
Torque setpoint
nact
k kT
magn. flux
kT = k torque constant
iqact
I controller
Iqset
Iqact
6-484
As can be seen from Fig. 6-48, for the equalization control, Mset must
be transferred from the master axis to the slave axis. This can be done
in the following ways:
nset
56/14
56/14
P0607
P0608
P0607
T. 65.x
75/15
T. O0.x
status
controller
enable
24/20
P0612
P0619, refers
to P1241
75/15
6
24/20
P0626
P0625
P0631
Fig. 6-49 Axis coupling with 2 singleaxis modules through analog I/O
terminals
Warning
If the master axis is not in the closedloop control mode or if the
mechanical coupling is released, the slave axis, for a set tensioning
torque, can accelerate up to the maximum speed if the torque is
sufficient. This also occurs if the equalization controller has, after a
longer period of time, a high system deviation due to the integrator.
This then enters a high supplementary setpoint.
Note
When the equalization controller is activated, induction motors cannot
be changedover!
6-485
Parameter
overview
(refer to Chapter
A.1)
P0607
P0607 = 1
Slave axis:
P0607 = 1
P0608 = 1, if the direction of rotation is to be inverted
P0626
Master axis:
P0612
Slave axis:
Note
If P1490 = 1 and P0612
3, then fault 738 is output.
P1490
Master axis:
P1490 = 0
Slave axis:
P1490 = 0
> No source or no equalization controller
P1490 = 1
> Equalization controller is active,
Source is terminal 24/20
Parameterization of P0626, P0625, P0612,
P0619
P1490 = 2
> Equalization controller is active
The source is the adjacent drive (drive A or B)
P1490 = 3 (from SW 13.1)
> Equalization controller is active
Source is PROFIBUS-DP (P0922, P0915)
6-486
P1491
Recommended setting:
Vp equalization controller (P1491) = 0.5 / Vp speed controller (P1407)
The sign of the torque weighting must be taken into consideration
when inverting the speed!
P1492
Recommended setting:
TN equalization controller (P1492) = 10 TN speed controller (P1409)
P1493
If a pretensioning torque is required (e.g. gearbox, play), a supplementary torque can be added at the torque comparison point using
P1493. When the equalization controller is activated, this supplementary torque gradually increases. This delay is achieved using a
PT1 element which can be set using P1494.
P1494
P1494 is used to enter the time constant for the PT1 element which
ensures that the pretensioning torque gradually increases (pre
tensioning force) when the equalization controller is activated.
P1495
If different motors are involved in the closedloop equalization control, then a torque weighting of the torque setpoint (or force weighting of the force setpoint (SLM)) of the master axis can be set using
P1495.
P1496
If various motors are involved in the closedloop equalization control, then a torque weighting of the torque setpoint or force weighting
of the force setpoint (SLM) of the slave axis can be set.
The equalization controller is computed in the 1 ms clock cycle time
and the speed controller is computed in the speed controller clock
cycle. In order to achieve a softer transition between these times slices,
the setpoint steps (jumps) can be smoothed using a speed setpoint
filter as PT1 system (1 ms time constant).
6-487
How is the
equalization
controller
commissioned?
6-488
The torque setpoint of the master axis is transferred via the analog
inputs. The output normalization and the input normalization must
match.
6-489
6-490
Fig. 6-57 Block diagram, equalization controller for coupling via PROFIBUS-DP
The torque setpoint at the speed controller output of the master drive is
available via the process data Mset (number 50114).
Parameterization
of the DP master
The following diagrams show the steps of the S7 configuring for an example with standard telegram 102 as template.
In the slave drive, the torque setpoint of the master drive is readin
with the new process data Msetequal (number 50123) that will be
newly introduced.
To achieve this, for both the master as well as the slave drive, a suitable standard telegram should first be selected (e.g. standard telegram
3 or 102) and then the telegram for the master drive should be extended by the process data Mset (number 50114) and for the slave
drive extended by the process data Msetequal (number 50123).
P0882 defines the scaling of the process data Mset and Msetequal.
The percentage value of the rated motor torque entered in P0882 corresponds to the value 16384 in the PROFIBUS interface.
The torque corresponding to 16384 is displayed in P1725 in Nm
(P0882 rated motor torque).
The process data Mset is smoothed via the corner frequency set in
P1252. The default setting P1252 = 100 Hz can cause problems for a
mechanical coupling. If required, the smoothing (dead time) should be
disabled using P1252 = 0.
6-491
6-492
6
Fig. 6-59 Configuration example of a slave drive for S7 configuration
6-493
Parameterization,
master drive
PZD3
NSOLL_B
PZD4
PZD5
STW2
MomRed
Setpoint
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
P0915
:4
50003
P0915
:5
50101
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
ZSW2
MeldW
Mset
P0916
:4
50004
P0916
:5
50102
P0916
:6
50114
ZSW1
P0916
:1
50002
PZD2
NIST_B
P0916
:2
50008
P0916
:3
50008
Actual
value
Parameterization,
slave drive
PZD2
PZD3
NSOLL_B
PZD4
STW2
PZD5
MomRed Msetequal
P0915
:1
50001
P0915
:2
50007
P0915
:3
50007
P0915
:4
50003
P0915
:5
50101
PZD1
PZD2
PZD3
PZD4
PZD5
ZSW2
MeldW
P0916
:4
50004
P0916
:5
50102
ZSW1
P0916
:1
50002
NIST_B
P0916
:2
50008
P0916
:3
50008
PZD6
Setpoint
P0915
:6
50123
Actual
value
Note
The scaling at the master and slave drives can be influenced using
P0882.
6-494
6.4
6.4.1
Table 6-43
Terminal
Function
Description
Drive A Drive B
663
Pulse enable,
modulespecific
X431.4
65.A
65.B
X451.5
X452.5
Axisspecific
controller
enable
Note:
x:
Space retainer for drive A or B
If the enable signals are missing, which are required to operate the drive, these can be determined
using P0600 (operating display) (refer to Chapter 4.5).
6-495
6.4.2
! 611ue diff !
Description
A terminal is parameterized by entering the appropriate required function number into the assigned parameter.
Which function numbers are available? > Refer to Chapter 6.4.3
Note
Rules when assigning input terminals a multiple number of times
The terminals are evaluated in the following sequence:
I0.x I1.x I2.x I3.x I4 I5 ... I11
If a function is assigned a multiple number of times to an input
terminal, influence is only possible using the last terminal
assigned this particular function.
6
Notice
The terminals may only be parameterized when the drive pulses are
canceled.
If terminal functions are activated, however, are not connectedup,
then the 0 signal is effective.
Overview of the
terminals and
parameters
Table 6-44
Terminal
Drive A
I0.A
I1.A
6-496
X451.7
X451.8
Drive B
I0.B
I1.B
X452.7
X452.8
No.
0660
0661
Name
Min.
Function, input
terminal I0.x
Function, input
terminal I1.x
Standard
Max. Unit
0 (SRM, SLM) 82
immediately
immediately
35 (ARM)
0 (SRM, SLM) 82
7 (ARM)
Effective
Table 6-44
6.4
Drive A
I2.A
X451.9
I3.A
Parameter
Drive B
I2.B
No.
Name
Min.
Standard
Max. Unit
Effective
X452.9
0662
Function, input
terminal I2.x
82
immediately
X451.10 I3.B
X452.10
0663
Function, input
terminal I3.x
82
immediately
6.4.3
6
Readers note
The drive receives the input signals, listed in the Tables 6-45 and 6-46
either from an input terminal or as control bit from PROFIBUSDP.
All of the input signals can be found under the index entry Input
signal....
The following must be specified for each signal:
Fct. No.:
The function number is required to parameterize the input terminal
via the display and operator control unit.
Operating mode (P0700):
This specifies in which operating mode the signal is available
(x: Available, : Not available).
nset:
Speed/torque setpoint mode
pos:
Positioning mode
PROFIBUS bit:
The bit name is required to control the signal via PROFIBUSDP
(refer to Chapter 5.6.1).
Example: STW1.4
> that means control word 1, bit 4
6-497
Table 6-45
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
Inactive
STW1.11
STW1.7
STW1.14
5
6
x
x
STW2.9
STW2.10
STW2.4
STW2.6
9
10
11
x
x
x
x
x
x
STW2.0
STW2.1
STW2.2
15
16
17
18
x
x
x
x
25
STW2.3
26
STW2.8
28
STW1.15
31 (from
SW 8.3)
STW1.0
Operating condition/OFF 2
32 (from
SW 4.1)
STW1.1
Operating condition/OFF 3
33 (from
SW 5.1)
STW1.2
34 (from
SW 4.1)
STW1.3
35
STW1.4
40
STW2.7
41 (from
SW 9.1)
STW1.8
41
PosStw.15
42
STW1.12
6-498
Table 6-45
6.4
Fct. No.
nset
pos
PROFIBUS bit
1st input/20
2nd input/21
3rd input/22
4th input/23
5th input/24
6th input/25
(from SW 10.1)
7th input/26
(being prep., from SW 10.1) 8th input/27
50
51
52
53
54
55
56
57
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
SatzAnw.0
SatzAnw.1
SatzAnw.2
SatzAnw.3
SatzAnw.4
SatzAnw.5
SatzAnw.6
SatzAnw.7
58
STW1.4
59
STW1.5
60
STW1.6
61
PosStw.5
62
STW1.8
63
STW1.9
64
PosStw.6
STW1.10
65
STW1.11
67
STW1.13
68
PosStw.3
69
STW1.15
Followup mode
70
PosStw.0
71
PosStw.1
72
PosStw.4
73
74
QStw.0
75
PosStw.7
Reference cams
78
PosStw.2
79
80
81
82
83
SatzAnw.15
84
SatzAnw.13
85
SatzAnw.11
86
SatzAnw.12
Block selection
6-499
Table 6-45
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
STW1.5
STW1.6
STW1.13
STW2.11
STW2.12
STW2.13
STW2.14
STW2.15
Table 6-46
Fct. No.
nset
pos
PROFIBUS bit
STW1.11
Through this input signal the function generator can be activated immediately in the Speed/Torque setpoint operating mode and thus the Oscillate function be implemented analog, as at the SIMODRIVE
611 drive.
1 signal
0 signal
Note:
6-500
Table 6-46
6.4
Fct. No.
nset
pos
PROFIBUS bit
STW1.7
Faults that are present that are acknowledged with RESET FAULT MEMORY, are reset via this input signal.
Before acknowledging faults/errors, their cause must first be removed.
Requirements: The controller enable signal at terminal 65.x has been withdrawn.
1 signal
No effect
0/1 signal
The fault memory is reset and the fault(s) acknowledged using a 0/1 edge.
0 signal
No effect
Note:
Faults, which can be acknowledged with POWER ON, cannot be reset in this fashion.
The drive remains in the fault condition until all of the faults/errors have been removed.
In the PROFIBUS mode the system then goes into the poweron inhibit status.
From SW 6.1 and for P1012.12 = 1, the fault can also be acknowledged without the prerequisite that
the control signal STW1.0 = 0. The drive however, remains in the poweron inhibit condition.
STW1.14
It is possible to toggle between closedloop speed controlled and openloop torque controlled operation
via this input signal.
1 signal
0 signal
5
6
x
x
STW2.9
STW2.10
It is possible to toggle between a total of 4 motors/motor data sets using these 2 input signals.
1
1st input/weighting 20
2nd input/weighting 21
Note:
The motor changeover version and therefore the behavior of the terminal, is selected using P1013
(motor changeover).
Output terminal signals with function numbers 11, 12, 13 and 14 (motors 1, 2, 3 or 4 selected) are
used to control the contactors to change over the motor.
In order to ensure that the function changes over in a controlled fashion (identified as being simultaneous) the switching operation of the inputs must be completed with one interpolation clock cycle
(P1010).
STW2.4
The rampfunction generator (RFG) can be switchedin and out via this input signal.
1 signal
0 signal
Rampfunction generator on
6-501
Table 6-46
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
STW2.6
The integral component of the speed controller can be inhibited or enabled using this input signal.
1 signal
0 signal
Note:
For a 1 signal, the integral component of the speed controller is deleted (cleared) and the integrator is
inhibited.
Parameter set changeover
1st input/20
2nd input/21
3rd input/22
9
10
11
x
x
x
x
x
x
STW2.0
STW2.1
STW2.2
It is possible to toggle between a total of 8 parameter sets using these 3 input signals.
Parameter set
21
3rd input/weighting 22
1st input/weighting 20
2nd input/weighting
Standard
setting
Note:
The bits, which are not assigned to an input terminal, are treated just like a 0 signal.
To change over, e.g. from parameter set 0 to 1, only the signal of the 1st input is necessary.
In order to ensure that the function changes over in a controlled fashion (identified as being simultaneous) the switching operation of the inputs must be completed with one interpolation clock cycle
(P1010).
6-502
Table 6-46
6.4
Fct. No.
nset
pos
PROFIBUS bit
15
16
17
18
x
x
x
x
Using these input signals, the fixed speed setpoint function can be selected with the required fixed setpoints 1 to 15, or the function can be canceled.
Fixed speed setpoint
...
15
1st input/weighting 20
...
2nd input/weighting 21
...
3rd input/weighting 22
...
4th input/weighting 23
...
P0641:1
P0641:2
P0641:3
Canceling the
function
to
P0641:15
Note:
In order to ensure that the function changes over in a controlled fashion (identified as being simultaneous) the switching operation of the inputs must be completed with one interpolation clock cycle
(P1010).
Refer to the status, fixed speed setpoint 1st to 4th input output signal in Chapter 6.4.6.
First speed setpoint filter off
25
STW2.3
The first speed setpoint filter is switchedin/switchedout using this input signal.
Important:
This function is only effective if the filter was parameterized using P1501:8 as lowpass filter (e.g. PT1).
Thus, the lowpass filter of the 1st speed setpoint filter can be disabled/enabled using this input signal,
which allows the speed setpoint to be smoothed.
1 signal
>
0 signal
>
Note:
The status of the 1st speed setpoint filter is displayed using the first speed setpoint filter inactive output
signal.
6-503
Table 6-46
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
26
STW2.8
Fault 608 (speed controller output limited) can be suppressed/displayed using this input signal.
1 signal
0 signal
Note:
The status of the suppressed function is signaled via the PROFIBUS status signal ZSW2.8 Suppressing fault 608 active (from SW 3.1).
Refer under the index entry Output signal suppress fault 608 active (from SW 3.1)
It is also possible to suppress the fault using P1601.8 (faults which can be suppressed 2, Fault 608).
Spindle positioning on (from SW 5.1)
28
STW1.15
STW1.0
0 signal
Note:
nset mode
> P0700 = 1
31 (from
SW 8.3)
0/1 signal
ON
state drive ready
The prerequisite is that STW1.1 and STW1.2 of the input signals operating condition/
OFF2 (Fct. No. 32) and the operating condition/OFF3 (Fct. No. 33) are also set.
The pulses remain canceled until the prerequisites for pulse enable have been fulfilled.
0 signal
OFF 1
Stop
The drive brakes along the rampfunction generator ramp.
The gating pulses of the power transistors are cancelled (pulse inhibit) if one of the following conditions is fulfilled:
|nact| < n (P1403)
or
the pulse cancellation timer stage (P1404) has expired
Operating condition/OFF 2
32 (from
SW 4.1)
1 signal
Operating condition
Prerequisite for the drive ready status.
0 signal
OFF 2
The motor is switched into a nocurrent condition and coasts down.
STW1.1
Note:
The characteristics at poweron again can be defined via P1012.12.
P1012.12 = 1
=0
6-504
Table 6-46
6.4
Operating condition/OFF 3
Fct. No.
nset
pos
PROFIBUS bit
33 (from
SW 5.1)
STW1.2
1 signal
Operating condition
Prerequisite for the drive ready status and ready to powerup.
0 signal
OFF 3
Fast stop
The drive brakes along the torque limit/current limit without rampfunction generator. In
the openloop torque controlled mode, this limit only corresponds to the specified torque
setpoint and not the maximum possible torque.
The gating pulses of the power transistors are cancelled (pulse inhibit) if one of the following conditions is fulfilled:
|nact| < n (P1403)
or
the pulse cancellation timer stage (P1404) has expired
Note:
The characteristics at poweron again can be defined via P1012.12.
P1012.12 = 1
=0
34 (from
SW 4.1)
STW1.3
1 signal
Enable inverter
Pulse enable, rampup with the setpoint entered
0 signal
Pulse inhibit
The motor coasts down. In closedloop speed controlled operation, the drive ready state
remains set.
35
STW1.4
This input signal has the following characteristics, dependent on the signal level:
1 signal
1/0 signal
0 signal
Application:
The drive can be braked as quickly as possible using this signal, i.e. not along the rampfunction generator ramp, but at the torque limit.
6-505
Table 6-46
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
40
STW2.7
The drive can be declared a parking axis, using this input signal.
1 signal
0 signal
Application:
It is possible to change over from one motor encoder unit to another unit using the parking axis function,
without having to power down the drive.
Note:
After the parking axis function has been canceled, the following is valid:
Incremental measuring system: The axis must be rereferenced (refer to Chapter 6.2.5).
Absolute measuring system (EnDat): The axis must be readjusted (refer to Chapter 6.2.7).
The adjustment status cannot be withdrawn by just selecting or canceling the parking axis function.
This status is only permanently withdrawn when an another absolute value encoder has also been automatically detected.
Activate function generator (edge) (from SW 8.1)
41
(from
SW 9.1)
STW1.8
(from SW 8.1)
41
PosStw.15
When the function generator or the measuring function is appropriately parameterized, a synchronous
start of the function generator or the measuring function is activated e.g. for mechanically coupled axes
(gantry axis group).
0/1 signal
1/0 signal
Note:
The function generator is described in Chapter 7.4.1.
Opening the holding brake for test purposes (from
SW 4.1)
42
STW1.12
A holding brake can be opened for test purposes during the commissioning phase using this input signal.
1 signal
0 signal
Note:
This input signal is only evaluated if the brake control is activated using P0850 = 1. In the operating
mode, the brake is controlled using P0850 (operating sequence control) and not via this input signal.
6-506
Table 6-46
6.4
Block selection
1st input/20
2nd input/21
3rd input/22
4th input/23
5th input/24
6th input/25
7th input/26 (from SW 10.1)
8th input/27 (from SW 10.1)
Fct. No.
nset
pos
PROFIBUS bit
50
51
52
53
54
55
56
57
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
SatzAnw.0
SatzAnw.1
SatzAnw.2
SatzAnw.3
SatzAnw.4
SatzAnw.5
SatzAnw.6
SatzAnw.7
Traversing blocks 0 to 63/255 can be selected using these 6 (8 from SW 10.1) input signals.
Block number
20
1st input/weighting
2nd input/weighting 21
3rd input/weighting 22
4th input/weighting 23
5th input/weighting 24
6th input/weighting 25
7th input/weighting 26
8th input/weighting 27
...
31
...
63
255
0
0
0
0
0
0
0
0
1
0
0
0
0
0
0
0
0
1
0
0
0
0
0
0
1
1
0
0
0
0
0
0
0
0
1
0
0
0
0
0
1
0
1
0
0
0
0
0
...
...
...
...
...
...
...
...
1
1
1
1
1
0
0
0
...
...
...
...
...
...
...
...
1
1
1
1
1
1
0
0
1
1
1
1
1
1
1
1
Note:
The bits, which are not assigned to an input terminal, are treated just like a 0 signal.
When a block is selecting using PROFIBUSDP (control word SatzAnw), the sign is not evaluated.
The PROFIBUS bits SatzAnw.8...15 are ignored, e.g. an input of 257 is interpreted as 1.
58
STW1.4
6-507
Table 6-46
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
59
STW1.5
Using this input signal, traversing block processing can be interrupted and then continued.
1 signal
Operating condition for positioning
The 1 signal must be continuously present in order to process a traversing block.
0/1 signal
A traversing block, interrupted by intermediate stop, is continued.
0 signal
Intermediate stop
When the block is being actively processed, the drive brakes with the specified deceleration (P0104) taking into account the deceleration override (P0084:256) to n = 0 with the
following effects:
The drive remains in closedloop position control and the standstill monitoring function
is activated
The actual traversing task is not rejected and is continued for a 0/1 edge
1
Control signal
OC/reject
traversing task
Control signal
OC/intermediate
stop
Control signal
Activate
traversing task
Status signal
Setpoint
acknowledge
Status signal
Setpoint static
Status signal
Reference
position reached
Status signal
Drive at standstill
End of positioning
1
2
Note:
An axis in intermediate stop can be traversed in the jog mode or referencing can be started.
The interrupted traversing block is exited.
Execute traversing blocks:
Before SW 3.3 the following applies:
This signal must be supplied to execute traversing blocks.
From SW 3.3, the following applies:
In order to execute traversing blocks, it is no longer necessary to supply this signal.
> However, only if the signals are not connected to an input.
6-508
Table 6-46
6.4
Fct. No.
nset
pos
PROFIBUS bit
60
STW1.6
A 0/1 edge of this input signal starts the traversing block selected using block selection.
An edge change is only permissible, if
The drive has confirmed the previous traversing block via the acknowledge setpoint output signal
The axis is referenced
(reference point set/no reference point set output signal = 1)
The input signals operating condition/intermediate stop and operating condition/reject traversing
task must be set to 1 in order to be able to start a block.
If a traversing task is activated and the secondary conditions are not fulfilled, then an appropriate warning
is signaled. The setpoint acknowledgment output signal is only set if the block was started so that a
traversing task can be activated with the next signal edge.
1
Control signal
OC/reject
traversing task
Control signal
OC/
intermediate
stop
Control
signals
Block
selection
2
1
0
Status signals
Block selection
(checkback
signal)
2
1
0
Control signal
Activate traversing
task (edge)
Status signal
Setpoint
acknowledge
Status signal
Setpoint static
Status signal
Reference
position reached
Status signal
Drive at standstill
1
2
3
6-509
Table 6-46
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
61
PosStw.5
This input signal is used to define whether jogging is executed via velocity or via velocity and increments.
1 signal
0 signal
Note:
This input signal is effective for jogging 1 and jogging 2.
The jogging mode function is described in Chapter 6.2.9.
Jogging 1 ON/jogging 1 OFF
62
STW1.8
63
STW1.9
Using these input signals closedloop speed controlled traversing is possible in the positioning mode,
without changing the mode.
1 signal
1/0 signal
The drive brakes down to standstill with the deceleration set in P0104 (maximum deceleration). The closedloop position control is reactivated after the braking operation has
been completed.
0 signal
0/1 signal
The drive accelerates to the speed/velocity, parameterized in P0108/P0109 with the acceleration set in P0103 (maximum acceleration)
Note:
For jogging, the software limit switch and the override are effective.
6-510
Table 6-46
6.4
Fct. No.
nset
pos
PROFIBUS bit
64
PosStw.6
When activated, the actual position reference value is entered as position reference value for the selected traversing block.
1 signal
No effect
1/0 signal
0 signal
No effect
1/0 edge
Activates teachin and transfer the instantaneous axis position into the teachin block
Accept the axis
position
1 signal
0 signal
1 signal
0 signal
Note:
Positioning mode
> P0700 = 3
Axis is referenced
STW1.10
This input signal must be set so that process data, transferred from the PROFIBUS
master, is accepted by the slave and becomes effective.
Recommendation:
The input signal should only be set to 1, after the PROFIBUS slave has signaled back a
realistic status using the status bit control requested/no control possible = 1.
0 signal
Data transferred from the PROFIBUS master is rejected by the slave, i.e. it is accepted as
zero.
65
STW1.11
1/0 signal
6-511
Table 6-46
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
67
STW1.13
For a traversing block with the block change enable CONTINUE EXTERNAL, a flying block change can
be initiated using this input signal (refer to Chapter 6.2.10).
0/1 edge or
1/0 edge
Note:
If the braking distance of the new block is too high due to a lower velocity override, then the block change
enable is changed from CONTINUE FLYING to CONTINUE WITH STOP.
The external block change function can be initiated as follows:
Using input terminal I0.x or, for a direct measuring system, via I0.B (P0672)
If the external block change function was parameterized at input terminal I0.x, then other terminals with this function, or the external block change PROFIBUS control signal, no longer have
any effect.
The value in P0026 corresponds to the existing position when the block change is detected.
Recommended, if P0110 2
The value in P0026 does not precisely correspond to the block change position due to internal
signal propagation times.
The value in P0026 does not precisely correspond to the block change position due to internal
signal propagation times.
Refer under the index entry Block change enable CONTINUE EXTERNAL.
Note:
If P0110 2, then input terminal I0.x or I0.B may not be used as input, as, for these, the block change
can be initiated from different signal edges.
6-512
Table 6-46
6.4
Fct. No.
nset
pos
PROFIBUS bit
68
PosStw.3
Using this input signal, the drive recognizes the fixed stop reached status via an external sensor.
1 signal
0 signal
Requirements:
The signal is only effective, if P0114 (fixed stop, configuration 2) = 1.
Note:
The travel to fixed stop function is described in Chapter 6.12.
Request passive referencing
(from SW 5.1)
69
STW1.15
Using this input signal, passive referencing for the slave drive is controlled.
1/0 signal
0/1 signal
Note:
The passive referencing function is described in Chapter 6.3.
Followup mode
70
PosStw.0
The followup mode for the axis is selected via this input signal.
1 signal
0 signal
Note:
The followup mode status is displayed via the followup mode active output signal.
The followup mode can also be selected as internal control response to an error.
Refer under the index entry Followup mode
6-513
Table 6-46
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
71
PosStw.1
An axis can be assigned a required actual value (P0160) (actual value setting) at any position using the
0/1 edge of the input signal. This is only possible if a traversing block is not being executed
0/1 signal
The home position is set, i.e. the value P0160 is assigned as actual position.
After this, the axis is considered to have been referenced (output signal home position
set = 1).
Note:
If the home position is set again (new command), then for the backlash compensation, the system behaves as if the home position was not set again.
Activate coupling (from SW 3.3)
72
PosStw.4
The coupling, set via P0410, is activated using this input signal.
1 signal
No function
0/1 signal
Activate coupling
The coupling is activated corresponding to P0410.
P0410
= 1 or 2
> Coupling is switchedin
= 3 or 4
> The signal has no significance
= 5 or 6
> The coupled position is transferred into the queue (being prepared)
= 7
> Coupling is switchedin at the absolute position of the master drive
(from SW 4.1)
= 8
> Coupling via the traversing program to the absolute position of the
master drive (from SW 4.1)
0 signal
6
Note:
6-514
Table 6-46
6.4
Fct. No.
nset
pos
PROFIBUS bit
73
The coupling, set via P0410 is activated via the fast input I0.x using this input signal.
The activate coupling input signal (function number 72) prepares the switchingin process via terminal
I0.x.
The edge of the input signal activate coupling via I0.x (function number 73) switchesin the coupling.
The coupling is switchedout via the activate coupling input signal (function number 72).
1 signal
No significance
1/0 signal
This edge switchesin the coupling for a positive traversing direction of the master axis
0/1 signal
This edge switchesin the coupling for a negative traversing direction of the master axis
Prerequisites:
Input signal, activate coupling (function number 72) = 1
0 signal
No significance
Coupling out
Note:
74
QStw.0
The absolute position of the master drive is set in the slave drive to the reference point coordinates using
this input signal.
1 signal
No significance
0/1 signal
The absolute position of the master drive is signaled to the slave drive once
0 signal
No significance
Note:
The input signal set setpoint, master drive is only required for P0891 = 0 or 1. Only after this, may a
coupling be switchedin to the absolute position of the master drive (P0410 = 7 or 8)
> otherwise, Fault 177 is output.
The reference point coordinates of the master drive are signaled to the slave drive using P0400.
The axis coupling function is described in Chapter 6.3.
6-515
Table 6-46
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
75
PosStw.7
The incremental position reference value, received via the angular incremental encoder interface, can be
inverted using this input signal. When inverting, the incremental position reference value becomes effective in the opposite direction.
1 signal
Inverting the incremental position reference value via the angular incremental encoder
interface
0 signal
No inversion
Note:
78
PosStw.2
This input signal is used to signal, when referencing, whether the axis remains stationary at the reference
cam.
1 signal
0 signal
79
If the encoder zero pulse cannot be evaluated when referencing, then a signal supplied from a mounted
sensor can be fed via this input as zero mark equivalent.
1 signal
No significance
1/0 signal
When passing the zero mark cam in a positive direction, this edge is detected as the
equivalent zero mark
0/1 signal
When passing the zero mark cam in a negative direction, this edge is detected as the
equivalent zero mark
0 signal
No significance
BERO
Assumption:
The BERO is high active
6-516
Output cam
I0.x
1 signal
0 signal
2
1
3
4
Table 6-46
6.4
Fct. No.
nset
pos
PROFIBUS bit
Note:
This function must be executed via input terminal I0.x (fast input).
Activate the equivalent zero mark function for an incremental measuring system:
refer to P0174
refer to P0879.13 or P0879.14
The equivalent zero mark is identified as a function of the direction.
The actual value can be inverted using P1011.0, P0231 and P0232.
There is no inversion, if none or 2 of these parameters are set to invert
> increasing (decreasing) position actual value corresponds to a positive (negative) direction
The value is inverted, if 1 or all 3 parameters are set to invert.
> increasing (decreasing) position actual value corresponds to a negative (positive) direction
Flying measurement/length measurement
(from SW 3.1)
80
The encoder actual value can be retrieved via an input with this function.
0/1 signal or
1/0 signal
The actual encoder value is retrieved
Note:
This function must be executed via the fast I0.x input.
The function is only available for Motion Control with PROFIBUSDP.
> refer under the index entry Encoder interface (from SW 3.1)
The function is only available for the control board SIMODRIVE 611 universal from Order No.
6SN1118xxxxx0AA2 and control board SIMODRIVE 611 universal HR/HRS.
This function cannot be executed for spindle positioning active (P0125 = 1).
The measuring probe signal is defined depending on the parameterized edge in control word
Gx_STW.0/1 (refer to Chapter 5.6.4).
The edge clearance must be at least 150 ms. Measuring probe edges that are received faster (low
clearance between signals) cannot be evaluated.
If the measuring probe signal is to be transferred via PROFIBUS in Gx_ZSW.8 then it must be present at input I0.x 4 ms.
Plus hardware limit switch (NC contact)
Minus hardware limit switch (NC contact)
81
x1)
82
x1)
A hardware limit switch can be connected at an input with this function in order to limit the traversing
range in either the positive or negative direction.
1/0 signal
The plus or minus hardware limit switch has been actuated
The axis is braked. The drive remains in closedloop control.
In the pos mode:
The axis can be moved away from the limit switch in the jog mode.
In the nset mode (from SW 8.1):
The axis can be moved away from the limit switch using a setpoint that is opposite to the
approach direction.
1 signal
No significance
Note:
1) from SW 8.1
> refer under the index entry hardware limit switch
6-517
Table 6-46
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
83
SatzAnw.15
1 signal
The MDI function is activated.
0 signal
The MDI function is not activated.
Note:
If MDI is switchedin with the traversing program active, or is switchedout while the traversing block is
running, alarm 144 is initiated which interrupts the traversing program/traversing block.
Activate angular incremental encoder, handwheel
(from SW 8.1)
84
1 signal
0 signal
SatzAnw.13
Note:
If the input signal jogging 1 ON/jogging 1 OFF or jogging 2 ON/jogging 2 OFF and activate angular incremental encoder, handwheel are switchedin, Alarm 121 is output.
The angular incremental encoder, handwheel function is described in Chapter 6.8.
85
SatzAnw.11
86
SatzAnw.12
The factors entered using the following parameters are calculatedin using these 2 input signals.
Before SW 9.1: P0900:4
From SW 9.1: P0889:4
1
10
100
Bit 0
Bit 1
Note:
> refer under the index entry Angular incremental encoder interface
Rampfunction generator start/rampfunction generator stop
1 signal
0 signal
6-518
STW1.5
STW1.6
Enable setpoint
The setpoint at the rampfunction generator input is enabled.
Inhibit setpoint
The setpoint at the rampfunction generator input is set to zero.
Table 6-46
6.4
Fct. No.
nset
pos
PROFIBUS bit
STW2.11
Initial status
Pulse enable is withdrawn
Initial status, selecting a motor corresponding to the motor data set
Enable the pulses
Pulse enable
(SIMODRIVE 611 universal
internal)
1
0
6
Motor data set x
off
Output signals
Actual motor 1st signal (ZSW2.9)
Actual motor 2nd signal (ZSW2.10)
1
Output signal
status, controller enable
(ZSW1.2)
1
Output signals from the SIMATIC S7
(Contactor control)
Motor x off
0
4
1
Motor y on
2 Signal to SIMODRIVE 611 universal: The pulse enable is internally withdrawn after STW2.11 = 0
3 The motors are only changed over when the pulses have been canceled (switchedin a nocurrent
condition)
4 Selects the motor corresponding to the motor data set
5 Signal to SIMODRIVE 611 universal: enable the pulses (STW2.11 edge 0 1)
Note:
The motor changeover function is described in Chapter 6.11.
6-519
Table 6-46
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
STW1.13
The rampfunction generator (RFG) can be enabled/disabled as a function of the controller enable via
this input signal.
1 signal
Operating case:
>
>
>
Error situation:
>
>
Controller enabled
the drive rampfunction generator is off
the zero rampup time is controlled
a higherlevel control can assume the ramp-fct generator function
Controller not enabled
drive rampfunction generator is on
the drive brakes via P1257:8 (rampfct. generator rampdown time)
0 signal
Rampfunction generator on
Application:
The following is valid when the signal is set:
If the controller is enabled, a higherlevel control can assume the rampfunction generator function. If the
controller is not enabled, the drive rampfunction generator is again effective.
Note:
Refer to the zero rampup time input signal
Master signoflife
(from SW 3.1)
STW2.12
STW2.13
STW2.14
STW2.15
For the Motion Control with PROFIBUSDP function, these control signals are used as signoflife
(4bit counter).
The signoflife counter is incremented from 1 to 15 and then starts again with the value 1.
Note:
The Motion Control with PROFIBUSDP function is described in Chapter 5.8.
6-520
6.4.4
6.4
Table 6-47
Terminal
Function
Description
Drive A Drive B
X421
Checkback signal,
start inhibit
AS1
AS2
Note
Mode of operation, application purpose and additional information on
the safe start inhibit is included in:
Reference:
6.4.5
/PJU/
SIMODRIVE 611,
Configuration Manual, Drive Converters
Chapter Start inhibit in the drive modules
Description
Warning
Digital outputs can assume nondefinable states while the module
boots, the module is being initialized, for a computation time overflow
or processor crash. This can result in a safety risk at the machine
which must be completely eliminated using the appropriate external
resources!
6-521
Overview of the
terminals and
parameters
Table 6-48
! 611ue diff !
Drive A
Parameter
Drive B
No.
Name
Min.
Standard
Max.
Unit
Effective
O0.A
X461.7
O0.B
X462.7
0680
Signaling function,
output terminal O0.x
33
82
immediately
O1.A
X461.8
O1.B
X462.8
0681
Signaling function,
output terminal O1.x
82
immediately
O2.A
X462.9
O2.B
X462.B
0682
Signaling function,
output terminal O2.x
82
immediately
O3.A
X461.10 O3.B
X462.10 0683
Signaling function,
output terminal O3.x
82
immediately
The function number from the list of output signals is entered (refer to Chapter 6.4.6).
Note:
0699
Inversion
Output terminal
signals
FFF
Hex
immediately
Res.
O8
O4
O0.x:
21 = 2
Res.
O9
O5
O1.x:
22 = 4
Res.
O10
O6
O2.x:
23 = 8
Res.
O11
O7
O3.x:
P0699 =
0
5
>
O8
Example:
O10
are output inverted
6
O1.x
O2.x
hex
Note:
O4 O11 are available on the optional TERMINAL module
(refer to Chapter 6.5).
6-522
6.4.6
6.4
Readers note
The drive signals the output signals, listed in the Tables 6-49 and
6-50 either through an output terminal or as status bit to
PROFIBUSDP.
All of the output signals can be found in the Index under Output
signal... .
For output signals, which are assigned to terminals, an inversion can
be parameterized. In this list, these output signals are represented as
not inverted.
If an output signal inversion has been parameterized, then this must be
appropriately taken into account when representing the signal.
The following must be specified for each signal:
Fct. No.:
The function number is required to parameterize the output terminal
via the display and operator control unit.
Operating mode (P0700):
This specifies in which operating mode the signal is available
(x: Available, : Not available).
nset:
Speed/torque setpoint mode
pos:
Positioning mode
PROFIBUS bit:
The bit name is required to read the signal via PROFIBUSDP
(refer to Chapter 5.6.1).
Example: ZSW2.10 > that means, status 2 bit 10
6-523
Table 6-49
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
Inactive
MeldW.2
Rampup completed
x1)2)
MeldW.0
| M | < Mx
x1)
MeldW.1
| nact| < nx
MeldW.3
MeldW.6
MeldW.7
MeldW.5
ZSW1.14
ZSW2.6
Parameter set
1st input/20
2nd input/21
3rd input/22
x
x
x
x
x
x
ZSW2.0
ZSW2.1
ZSW2.2
11
12
13
14
x
x
x
x
15
16
17
18
x
x
x
x
nset = nact
20
ZSW1.8
x1)
MeldW.8
24 (from
SW 11.1)
ZSW1.13
(from SW 6.1)
28
ZSW1.15
29
ZSW1.7
30
MeldW.4
31
ZSW1.3
32
ZSW1.2
Ready or no fault
33
ZSW1.1
34
ZSW2.7
35
ZSW2.5
36
MeldW.13
37
MeldW.10
6-524
Table 6-49
6.4
Fct. No.
nset
pos
PROFIBUS bit
38
PZD
DIG_OUT
50
51
52
53
54
55
56
57
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
AktSatz.0
AktSatz.1
AktSatz.2
AktSatz.3
AktSatz.4
AktSatz.5
AktSatz.6
AktSatz.7
ZSW1.0
ZSW1.4
ZSW1.5
ZSW1.6
58
ZSW1.8
59
MeldW.15
ZSW1.9
ZSW1.10
60
ZSW1.10
Meldw.14
(from SW 10.1)
(from SW 10.1)
1st output/20
2nd output/21
3rd output/22
4th output/23
5th output/24
6th output/25
7th output/26
8th output/27
61
ZSW1.11
Setpoint acknowledge
62
ZSW1.12
64
PosZsw.15
ZSW1.13
ZSW2.3
ZSW2.4
x
x
ZSW2.9
ZSW2.10
ZSW2.11
ZSW2.12
ZSW2.13
ZSW2.14
ZSW2.15
ZSW2.8
66
PosZsw.14
67
AktSatz.14
Actual motor
(from SW 2.4)
1st signal
2nd signal
6-525
Table 6-49
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
68
PosZsw.12
69
ZSW1.15
70
PosZsw.0
71
PosZsw.3
Setpoint static
72
PosZsw.2
73
PosZsw.13
74
PosZsw.4
75
PosZsw.5
76
PosZsw.6
77
PosZsw.7
78
PosZsw.8
79
PosZsw.9
80
PosZsw.10
81
PosZsw.11
82
PosZsw.1
83
AktSatz.15
84
AktSatz.13
85
AktSatz.11
86
AktSatz.12
87
AktSatz.10
88
MeldW.0
6-526
Table 6-50
6.4
Fct. No.
nset
pos
PROFIBUS bit
Inactive
An output with this function is disabled, i.e. a signal is not output (continuously 0 V).
The output terminal can still be connectedup, but it is not evaluated.
Application:
To startup a drive (commission a drive) the disturbing outputs are first switchedout, and then are subsequently activated to be commissioned.
| nact | < nmin
MeldW.2
This output signal is used to display whether the absolute actual speed (| nact |) is less than or greater
than the selected threshold speed (nmin, P1418:8).
| nact |
nmin
nmin (P1418:8)
t
1 signal
0 signal
Application:
The gearbox stage is only mechanically changedover if the speed is less than that set in P1418:8, in
order to reduce the stressing on the mechanical system.
Rampup completed
x1)
MeldW.0
The end of a rampup operation is displayed after the speed setpoint has been changed, using this output signal.
1 signal
1/0 signal
Rampup starts
The startup is identified, if
the speed setpoint changes
and
the defined tolerance bandwidth (P1426) is exited.
0 signal
Rampup runs
0/1 signal
Note:
Detailed information on the rampfunction generator is provided in Chapter 6.1.3.
1) In the pos mode, the signal can only be conditionally used because the speed setpoint is controlled
and there is no rampfunction generator.
6-527
Table 6-50
! 611ue diff !
| M | < Mx
Fct. No.
nset
pos
PROFIBUS bit
MeldW.1
This output signal indicates whether the absolute torque | M | is less than or greater than the selected
torque (Mx, P1428). The value refers to the actual torque limiting when motoring including all limits (refer
to Chapter 6.1.8, Fig. 6-7).
The evaluation | M | < Mx is only realized in the nset mode, if
The rampup completed status is signaled
and
The delay time in P1429 has expired.
| nset |
t
|M|
Mx
Mx (P1428)
t
1 signal
Rampup completed
0 signal
| M | < Mx
P1429
1 signal
0 signal
| M | < Mx
| M | > Mx
| M | < Mx
Application:
Using this signal, a motor overload condition can be detected in order to be able to introduce an appropriate response (stop the motor or reduce the load).
Note:
In the pos mode, the rampup completed state is always signaled, i.e. the delay time in P1429 has
already expired. The signal | M | < Mx immediately changes the signal state. Only when the delay
time in P1429 changes, is the signal | M | < Mx output delayed by this time.
Parameter P1428 is referred to the threshold torque M_X (ARM. SRM) or the threshold force F_X
(SLM).
In the pos mode, the signal can only be conditionally used because the speed setpoint is controlled
and there is no rampfunction generator.
6-528
Table 6-50
6.4
Fct. No.
nset
pos
PROFIBUS bit
MeldW.3
| nact| < nx
This output signal is used to display as to whether the absolute actual speed (| nact |) is less than or
greater than the selected threshold speed (nx, P1417:8).
| nact |
nx
| nact | < nx
nx (P1417:8)
t
1 signal
0 signal
| nact| > nx
| nact| < nx
| nact| > nx
Application:
Speed monitoring
Motor overtemperature prewarning
MeldW.6
This output signal is used to display whether the motor temperature (Mot) is less than or greater than the
selected motor temperature x, P1602) warning threshold.
Note:
If the motor temperature warning threshold is exceeded, initially, only an appropriate signal is output.
When the warning threshold is fallen below, the signal is automatically withdrawn.
If the overtemperature remains for a time longer than that set in P1603, then an appropriate fault is
output.
Mot
x (P1602)
x
1 signal
Motor overtemperature prewarning
0 signal
Mot < x
Mot > x
Mot < x
Application:
The user can respond to this message by reducing the load, thereby preventing the motor from shutting
down with the Motor temperature exceeded fault after the set time has elapsed.
Heatsink temperature prewarning
MeldW.7
This output signal is used to display whether the temperature of the heatsink in the power module has
been exceeded.
The hardware temperature switchin the power module cannot be parameterized.
1 signal
0 signal
6-529
Table 6-50
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
MeldW.5
This output signal indicates whether any selected internal quantity has been fallen below or exceeded a
selectable threshold value.
A hysteresis (P1624) can be specified for the threshold value and a time for the pullin or dropout delay
(P1625, P1626) can be specified for the signal output.
The quantity to be monitored can either be selected by entering a signal number (P1621) or by entering
an address (P1620.1 and P1622).
P1620.0 1: Active
0: Not active
P1620.1 1: address range Y
0: address range X
P1620.2 1: comparison with the sign
0: comparison without the sign
P1621
P1622
P1623
P1624
Note:
The threshold and hysteresis are obtained from the signals specified in the normalization
P1621. The normalization is described in Chapter 6.7 under Table 6-57 and can be partially
readout of parameters.
P1625
P1626
P1624
Threshold, P1623
P1625
1 signal
Variable signaling function
0 signal
6-530
Fallen below
P1626
Exceeded
Fallen below
Table 6-50
6.4
Fct. No.
nset
pos
PROFIBUS bit
ZSW1.14
This output signal is used to signal whether closedloop speed controlled or openloop torque controlled
operation has been selected (STW1.14).
1 signal
0 signal
Note:
For the travel to fixed stop function (positioning mode), after the fixed stop was reached, the position
controller goes into the state openloop torque controlled mode. The signal ZSW1.14 is
then also set to 1 in the pos mode.
Integrator inhibit, speed controller
ZSW2.6
This output signal is used to signal whether the integral component of the speed controller is inhibited or
enabled.
1 signal
0 signal
Parameter set
1st input/20
2nd input/21
3rd input/22
x
x
x
x
x
x
ZSW2.0
ZSW2.1
ZSW2.2
These 3 output signals are used to output the selected parameter set.
Parameter set
20
2nd input/weighting 21
22
1st input/weighting
3rd input/weighting
Note:
11
12
13
14
x
x
x
x
The motor changeover contactors are controlled via these output terminal signals.
1 signal
Motor 1, 2, 3 or 4 is selected
0 signal
Note:
The motor changeover version and therefore the behavior of the terminal, is selected using P1013
(motor changeover).
To select the motors or motor data sets, input terminal signals are available with function numbers 5
and 6 (motor data set changeover 1st input/2nd input).
6-531
Table 6-50
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
15
16
17
18
x
x
x
x
These output signals are used to display which fixed setpoint is selected via the input signals, and which
parameters specify the speed setpoint.
Fixed speed setpoint
...
15
1st output/weighting 20
...
2nd output/weighting 21
...
3rd output/weighting 22
...
4th output/weighting 23
...
Effective
fixed speed setpoint
to
P0641:15
P0641:1
P0641:2
P0641:3
Note:
20
ZSW1.8
MeldW.8
This output signal is used to display whether the speed actual value (nact) has entered the tolerance
bandwidth (P1426), and has remained in this tolerance bandwidth for at least a time (P1427).
nset
nact
P1426
Tolerance band
1 signal
Rampup completed
0 signal
nset = nact
1 signal
P1427
0 signal
Note:
When spindle positioning is selected (P0125 = 1), ZSW1.8 behaves/responds just the same as
Fct. No. 58 (pos mode)
In the pos mode, the signal can only be conditionally set as the speed setpoint is controlled.
6-532
Table 6-50
6.4
Fct. No.
nset
pos
PROFIBUS bit
24 (from
SW 11.1)
ZSW1.13
(from SW 6.1)
The output signal provides information about the status of the function generator or the measuring function.
1 signal
0 signal
The function generator or the measuring function in the drive is not active.
28
ZSW1.15
This signal displays as to whether the spindle positioning function has been activated.
1 signal
0 signal
Note:
29 (from
SW 3.3)
ZSW1.7
The output signal indicates whether the drive is signaling at least one warning.
1 signal
Warning present
Which warning(s) is(are) present?
This can be identified by evaluating P0953 to P0960 (Warnings 800 to 927) (refer to
Chapter 5.9).
0 signal
30
MeldW.4
This output signal is used to display whether the DC link voltage (VDC link) is less than or greater than the
selected DC link undervoltage warning threshold (Vx, P1604).
UDC link
DClink voltage
Vx
1 signal
VDC link > Vx
0 signal
Vx (P1604)
t
31
ZSW1.3
The output signal indicates whether the drive is signaling at least one fault.
1 signal
Fault present
There is at least one fault present.
The cause of the fault or faults which is (are) present, must be removed and the fault then
acknowledged.
0 signal
No fault present
Note:
Refer to Chapter 7 for information on the faults as well as their acknowledgment.
6-533
Table 6-50
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
32
ZSW1.2
This output signal is used to display whether the speed controller is active and is ready to accept speed
setpoints.
1 signal
0 signal
Ready or no fault
33
ZSW1.1
Signal
Ready
No fault
1 signal
0 signal
Drive is ready
Not ready
Conditions
and
the boardspecific pulse enable
is present (T. 663 = 1)
and
the drivespecific controller enable
is available (T. 65.x = 1)
and
the groupspecific enable signals are available
(NE module, terminals 48, 63 and 64)
independent of the NE module
and
the following PROFIBUS control signals
are available:
independent of the control signals
STW1.0 = 1 (ON/OFF 1)
STW1.1 = 1 (Operating condition/OFF 2)
STW1.2 = 1 (Operating condition/OFF 3)
Note:
The no fault message is also transferred to the line supply infeed module (NE module, terminals 72,
73, 74).
From SW 6.1 and for P1012.12 = 1 a fault can also be acknowledged without STW1.0 = 0. However,
the drive then remains in the Poweron inhibit state (refer to Chapter 5.5 Forming the poweron
inhibit; Fig.5-9).
34
ZSW2.7
0 signal
6-534
Table 6-50
6.4
Fct. No.
nset
pos
PROFIBUS bit
35
ZSW2.5
A motor holding brake can be controlled using an external auxiliary contactor via an output with this function.
The brake sequence control is executed in the SIMODRIVE 611 universal.
1 signal
0 signal
Note:
Refer to Chapter 6.9 for information on the motor holding brake.
Pulses enabled (from SW 3.1)
36
MeldW.13
This output signal is used to display whether the motor control pulses for this drive are enabled or inhibited.
1 signal
0 signal
Application:
An armature shortcircuit contactor may only be energized when the pulses are inhibited.
This signal can be evaluated as one of several conditions to control an armature shortcircuit contactor.
Power module current not limited (from SW 3.1)
37
MeldW.10
This output signal is used to display whether the power module current is limited via the i2t power module
limiting.
1 signal
0 signal
Note:
Operation above
the load limit
Reduction
imax
The example is
valid for the
following motors:
1FT6, 1FK6, 1FNx
P1261 in
1 signal
Power module current not limited
0 signal
4s
Range
without current
limiting
8s
Range
of the limited
current
Range
without current
limiting
Note:
The i2t power module limiting function is described in Chapter A.2.
6-535
Table 6-50
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
38
PZD
DIG_OUT
The output terminal with this function can be controlled via PROFIBUS.
In this case, process data has to be configured, and then signal 50107 assigned to the PZD to be controlled in the setpoint telegram (digital outputs, terminals O0.x to O3.x, DIG_OUT).
The following definitions apply:
Parameterizing the
control using
Term. O0.x
> P0680 = 38
Term. O1.x
> P0681 = 38
Term. O2.x
> P0682 = 38
Term. O3.x
> P0683 = 38
Note:
P0699 (inverting output terminals) can be used to set the output signal inversion by the drive.
Refer to Chapter 5.6.5 for information on configuring process data.
1st output/20
2nd output/21
3rd output/22
4th output/23
5th output/24
6th output/25
7th output/26
8th output/27
6
(from SW 10.1)
(from SW 10.1)
50
51
52
53
54
55
56
57
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
AktSatz.0
AktSatz.1
AktSatz.2
AktSatz.3
AktSatz.4
AktSatz.5
AktSatz.6
AktSatz.7
These output signals are used to display which traversing block is being presently processed.
Block number
20
...
31
...
63
255
...
...
2nd output/weighting 21
...
...
22
...
...
4th output/weighting 23
...
...
24
...
...
6th output/weighting 25
...
...
26
...
...
8th output/weighting 27
...
...
1st output/weighting
3rd output/weighting
5th output/weighting
7th output/weighting
ZSW1.0
Ready to powerup
In order that the drive goes into this state, the following conditions must be fulfilled:
the two operating conditions are available via STW1 (xxxx xxxx xxxx x11x)
the following enable signals are available: Terminal 63 (NE module), terminal 663
No fault present
No poweron inhibit present
0 signal
6-536
Table 6-50
6.4
Fct. No.
nset
pos
PROFIBUS bit
ZSW1.4
ZSW1.5
ZSW1.6
No OFF 2 present
0 signal
OFF 2 present
No OFF 3 present
0 signal
OFF 3 present
Poweron inhibit
It is only possible to powerup the drive again using OFF 1 and then ON (STW1.0) (or
withdrawing terminal 65.x).
0 signal
No poweron inhibit
Note:
The poweron inhibit function can be disabled via P1012.12.
No following error/following error
58
ZSW1.8
When the axis is traversed, closedloop position controlled, using a model, the theoretically permissible
following error is calculated from the instantaneous traversing velocity and the selected Kv factor.
A following error window can be defined using P0318, which defines the permissible relative deviation
from this calculated value.
This output signal specifies whether the actual following error is within the following error window, defined
using P0318.
1 signal
No following error
The actual following error is within the defined following error window.
0 signal
Following error
The actual following error of the axis is outside the defined following error window.
Note:
Refer under the index entry Following error monitoring.
Spindle position reached (from SW 5.1)
59
MeldW.15
This signal displays as to whether the target position has been reached.
1 signal
The spindle has reached the target position within the tolerance window (P0134).
0 signal
The spindle has not reached the target position or alarms 131, 134 and 135 have occurred.
Note:
The spindle positioning function is described in Chapter 6.15 (from SW 5.1).
6-537
Table 6-50
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
ZSW1.9
The status of the DP slave is signaled to the DP master using this output signal.
1 signal
Control requested
The DP master is requested to accept control.
Recommendation:
As a result of this output signal, the DP master should accept control and control bit
STW1.10 Control requested/not control requested should be set to 1.
Note: (from SW 4.1)
For a twoaxis drive, this bit is only influenced at axes which also retrieve data from a
publisher via slavetoslave communications
(refer to Chapter 5.10).
0 signal
ZSW1.10
The output signal indicates whether the comparison value, set using P1418:8, has been fallen below.
1 signal
0 signal
Comparison value
1 signal
Comparison value reached
0 signal
Actual value
>
comparison
value
Actual value
<
comparison
value
Actual value
>
comparison
value
Note:
The output signal corresponds to the | nact | < nmin signal with inverted logic.
In nset operation, this signal occupies the PROFIBUS bit ZSW1.10 if spindle positioning has not
been selected (from SW 5.1) (P0125 = 0). For the spindle positioning function (from SW 5.1), the
reference position reached/outside reference position signal occupies ZSW1.10 (P0125 = 1), refer
to output signal Function No. 60.
6-538
Table 6-50
6.4
Fct. No.
nset
pos
PROFIBUS bit
60
ZSW1.10
Meldw.14
This output signal is used to display, in the positioning mode (ZSW1.10), whether the axis has reached
the end of the traversing block (position reference value = target position) and the position actual value
lies within the positioning window (P0321).
In the nset mode, MeldW.14 indicates that the reference position has been reached when positioning
the spindle
1 signal
0 signal
Note:
an ongoing traversing block is interrupted or canceled using intermediate stop or stop which
means that the target position has not been reached
a fault (alarm) occurs (e.g. one of the monitoring windows P0318, P0321 or P0326) has been exceeded
The signal remains set if a traversing block is restarted and there is no difference between the target
position and the previous position.
61
ZSW1.11
0 signal
Note:
The following functions are not effective for an axis which is not referenced:
6-539
Table 6-50
! 611ue diff !
Setpoint acknowledge
Fct. No.
nset
pos
PROFIBUS bit
62
ZSW1.12
Using this output signal, the drive indicates that a new traversing tasks was accepted with the input signal activate traversing task (edge) and when this traversing task was executed.
1 signal
0 signal
1 signal
Input signal Activate traversing task (edge)
0 signal
On
Block
processing
Off
1 signal
0 signal
Example:
Short traversing
blocks
Example:
Long traversing
blocks
Note:
Refer to the input signal Activate traversing task (edge) in Chapter 6.4.3.
Teachin executed (from SW 4.1)
64
PosZsw.15
This signal indicates whether the teachin function was successfully executed after activation.
1 signal
0 signal
Note:
Refer under the index entry Input signal activate teachin (edge)
The teachin function is described in Chapter 6.13.
Drive stationary/drive moving
ZSW1.13
The output signal provides information about the actual operating status of the axis.
1 signal
Drive stationary
The absolute actual speed is less than or equal to the threshold speed (nmin, P1418:8).
0 signal
Drive is traversing
The absolute actual speed is greater than the threshold speed (nmin, P1418:8).
Note:
The function of the output signal | nact | < nmin corresponds to this signal.
This output signal cannot be used to identify whether the drive is crawling.
6-540
Table 6-50
6.4
Fct. No.
nset
pos
PROFIBUS bit
ZSW2.3
The output signal specifies whether the first speed setpoint filter is active/inactive.
1 signal
>
0 signal
>
Note:
The first speed setp. filter can be enabled/disabled using the first speed setpoint filter off input signal.
Rampfunction gen. inactive
ZSW2.4
The output signal specifies whether the rampfunction generator is active. The rampfunction generator
can be switchedin/switchedout, e.g. using the input signal Rampup time zero.
1 signal
0 signal
Note:
If the input signal STW2.4 = 0 is selected, then ZSW2.4 remains at 1 as long as the motor is stationary.
ZSW2.4 only goes to zero when the motor is moving.
Actual motor
(from SW 2.4)
1st signal
2nd signal
x
x
ZSW2.9
ZSW2.10
These 2 status signals can be used to identify which motor/motor data set is selected.
1
1st signal/ZSW2.9
2nd signal/ZSW2.10
Note:
motor data set changeover 1st input or 2nd input and these output signals did not change, then
P1013 (motor changeover) was incorrectly parameterized.
ZSW2.11
The output signal indicates whether the motor is being changed over.
1 signal
0 signal
Otherwise
Note:
The motor changeover for induction motors (from SW 2.4) function is described in Chapter 6.11.
6-541
Table 6-50
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
ZSW2.12
ZSW2.13
ZSW2.14
ZSW2.15
For the Motion Control with PROFIBUSDP function, these status signals are used as signoflife
(4bit counter).
The signoflife counter is incremented from 1 to 15 and then starts again with the value 1.
It only starts to count, if:
Note:
The Motion Control with PROFIBUSDP function is described in Chapter 5.8.
The slavetoslave communications function is described in Chapter 5.10 (from SW 4.1).
Suppress fault 608 active (from SW 3.1)
ZSW2.8
This output signal is the checkback signal when suppressing fault 608 is activated via the input signal
suppress fault 608 (from SW 3.1).
1 signal
0 signal
Note:
Suppressing fault 608 (speed controller output limited) can be activated as follows:
Refer under the index entry Input signal suppressing fault 608 (from SW 3.1)
Travel to fixed stop active (from SW 3.3)
66
PosZsw.14
This output signal is used to display whether the travel to fixed stop function is active.
1 signal
0 signal
Note:
67
AktSatz.14
This output signal is used to display whether the External block change function is active.
1 signal
0 signal
Note:
This output signal is an image of the input signal External block change (Fct. No. 67 and STW1.13).
When the edge of this output signal changes, this indicates that a block change has taken place, i.e.
especially in the MDI mode, a new MDI block may now be entered via PZD and/or default block (refer
to Chapter 6.2.12).
6-542
Table 6-50
6.4
Fct. No.
nset
pos
PROFIBUS bit
68
PosZsw.12
This output signal is used to display whether the drive is in the fixed stop reached status.
1 signal
0 signal
Note:
The fixed stop reached status is assumed, dependent on the setting in P0114 (fixed stop, configuration 2).
69
ZSW1.15
The master drive requests passive referencing for the slave drive, using this output signal.
To realize this, this output signal must be logically interlocked with the input signal request passive referencing for the slave drive.
1 signal
0 signal
Note:
If, for a doubleaxis module P0891 (B) = 1, this means that the position actual value from drive A is
internally connected to the position reference value of drive B, then the following applies:
The output signal request passive referencing from drive A (master drive) is internally and automatically detected from drive B (slave drive). In this case, external wiring is not required.
The request passive referencing output signal is always output at the reference point approach
when the zero mark has been recognized.
70
PosZsw.0
This output signal is a checkback signal that the followup mode has been activated via the followup
mode input signal.
1 signal
0 signal
Note:
If the followup mode is active as internal response to an error/fault, then this is also displayed using this
input signal.
6-543
Table 6-50
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
71
PosZsw.3
This output signal is used to display whether the slave drive is in synchronism with the master drive.
1 signal
0 signal
Note:
If, for an active axis coupling, the following error is less than the following error tolerance set in
P0318:8.
> refer under the index entry Dynamic following error monitoring
For axis couplings in the positioning mode, the signal is not influenced by superimposed axis motion
as a result of traversing blocks.
72
PosZsw.2
This output signal indicates the processing status of a traversing block on the setpoint side.
1 signal
0 signal
Note:
Together with the status block selection output signal, it can be defined as to which traversing block
is being processed.
This output signal is also supplied for the Jogging, incremental function.
Refer under the index entry Positioning monitoring
Fixed stop clamping torque reached
(from SW 3.3)
73
PosZsw.13
This output signal displays whether the drive is in the fixed stop reached status and whether the programmed clamping torque has been reached.
1 signal
0 signal
Note:
The behavior, clamping torque not reached can be set using P0113.1.
The travel to fixed stop function is described in Chapter 6.12.
Axis moves forwards
74
PosZsw.4
75
PosZsw.5
The actual direction of motion of the axis for an active traversing block is displayed using these output
signals.
1 signal
0 signal
The axis does not move forwards or does not move backwards
Note:
If both signals = 0, then no axis movement is active.
6-544
Table 6-50
6.4
Fct. No.
nset
pos
PROFIBUS bit
76
PosZsw.6
77
PosZsw.7
The traversing range of the axis can be defined using the software limit switches plus (P0316) and minus
(P0315) (refer under the index entry Software limit switch).
The output signals indicate whether the appropriate software limit switch has been actuated.
1 signal
0 signal
Neither the plus nor minus software limit switch has been actuated
P0315
P0316
xact [mm]
1 signal
Plus SW limit switch
0 signal
1 signal
Minus SW limit switch
0 signal
Minus SW limit switch
actuated (xact P0315)
actuated
Note:
The software limit switches only become active after the axis has been referenced.
6-545
Table 6-50
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
78
PosZsw.8
79
PosZsw.9
For the positionrelated switching signals (cams) function, the simulated cam signal is output via these
output signals.
Cam switching signal 1
1 signal
0 signal
0 signal
P0311
P0310
1 signal
Cam switching signal 1
0 signal
xact P0310
xact P0310
1 signal
Cam switching signal 2
0 signal
xact P0311
Signal characteristics for a rotary axis
with modulo correction
P0311
P0310
(from SW 2.4)
360 0
1 signal
Cam switching signal 1
0 signal
xact P0310 xact P0310 xact P0310
xact P0311
xact [degrees]
xact P0310
1 signal
Cam switching signal 2
0 signal
xact P0311
xact P0311
Note:
Only after the axis has been referenced can it be guaranteed that the cam switching signals have a
6-546
Table 6-50
6.4
Fct. No.
nset
pos
PROFIBUS bit
80
PosZsw.10
81
PosZsw.11
For PROFIBUSDP:
The status signals can be set or reset from the traversing block using the SET_O or RESET_O command.
Note:
The following commands are used to set and reset output signals:
82
PosZsw.1
Velocity is limited
0 signal
v
Programmed velocity
P0102 (max. velocity)
1 signal
0 signal
Limiting
is not active
Velocity
limiting is active
Limiting
is not active
Note:
This signal is not output when jogging via velocity!
MDI active (from SW 7.1)
83
AktSatz.15
0 signal
6-547
Table 6-50
! 611ue diff !
Fct. No.
nset
pos
PROFIBUS bit
84
AktSatz.13
The output signal indicates whether the angular incremental encoder handwheel function is operational.
1 signal
0 signal
85
AktSatz.11
86
AktSatz.12
These 2 status signals can be used to define which angular incremental encoder handwheel evaluation
is selected via the following parameter.
Before SW 9.1: P0900:4
From SW 9.1: P0889:4
Ang. incr. enc. hwh. eval.
Bit 0
Bit 1
Note:
The angular incremental encoder handwheel evaluation function is described in Chapter 6.8.
Block processing inactive (from SW 8.1)
87
AktSatz.10
The output signal indicates whether a traversing block has been processed.
1 signal
0 signal
A traversing block is still being processed even if the override is zero and motion has
stopped.
88
Meldw.0
The output signal indicates whether a programmed velocity has been reached.
1 signal
The function is active in the pos mode under the following conditions:
0 signal
The function is not active if the conditions specified under 1 signal are not fulfilled.
Note:
Since the actual velocity does not equal 100% of the setpoint velocity due to physical influences, a tolerance window (P0117) has to be assigned to the actual speed. This avoids unnecessary switching on and
off of the output signal.
In jogging mode (Jogging 1, Jogging 2) or when faults occur (followup mode is active), the Programmed velocity reached output signal reacts like the rampup completed output signal (Fct. No. 2).
6-548
6.5
6.5
Description
Overview of the
terminals and
parameters
Table 6-51
Terminal
Drive A/B
No.
Name
Min.
Standard
Max.
Unit
Effective
Input terminals
I4
X422.1
0664
60
82
immediately
I5
X422.2
0665
59
82
immediately
I6
X422.3
0666
58
82
immediately
I7
X422.4
0667
50
82
immediately
I8
X422.5
0668
51
82
immediately
I9
X422.6
0669
52
82
immediately
I10
X422.7
0670
53
82
immediately
I11
X422.8
0671
54
82
immediately
Output terminals
O4
X432.1
0684
Signaling function
output terminal O4
72
82
immediately
O5
X432.2
0685
Signaling function
output terminal O5
60
82
immediately
O6
X432.3
0686
Signaling function
output terminal O6
62
82
immediately
O7
X432.4
0687
Signaling function
output terminal O7
50
82
immediately
O8
X432.5
0688
Signaling function
output terminal O8
51
82
immediately
6-549
Table 6-51
Terminal
Drive A/B
O9
Parameter
No.
Name
Min.
Standard
Max.
Unit
Effective
X432.6
0689
Signaling function
output terminal O9
52
82
immediately
O10 X432.7
0690
Signaling function
output terminal O10
53
82
immediately
O11
X432.8
0691
Signaling function
output terminal O11
54
82
immediately
0699
Invertion,
output terminal signals
FFF
Hex
immediately
20 = 1
Res.
O8
O4
O0.x:
21 = 2
Res.
O9
O5
O1.x:
22 = 4
Res.
O10
O6
O2.x:
23 = 8
Res.
O11
O7
O3.x:
P0699 =
0
>
Example:
! not 611ue !
5
0
O8
O10
are output inverted
6
O1.x
O2.x
hex
0676
immediately
0696
immediately
Input terminals:
The function number from the list of input signals is entered (refer to Chapter 6.4.3).
The status of the input terminals is displayed in P0678 for diagnostic purposes (refer to Chapter 4.5).
Output terminals:
The function number from the list of output signals is entered (refer to Chapter 6.4.6).
The status of the output terminals is displayed in P0698 for diagnostics (refer to Chapter 4.5).
The signals of the output terminals can be output inverted (P0699).
6-550
6.6
6.6
Analog inputs
Analog inputs
Description
For SIMODRIVE 611 universal, there are two analog inputs for each
drive.
In the speed/torque setpoint mode, the setpoint can be entered for
the following functions via these analog inputs:
Torque:
For the Mset mode the analog voltage at terminal 56.x/14.x and/or
terminal 24.x/20.x is used as torque setpoint.
Openloop torque control is used, if
the speed controller is implemented in a higherlevel control, or
the master/slave functionality is used
6-551
Analog inputs
6.6.1
! not 611ue !
Parameter
overview
Table 6-52
Analog
input
1
No.
0607
56 x
14 x
Description
Min.
Standard
Max.
Unit
6
24 x
20 x
immediately
The parameter defines whether and how the analog setpoint is used at this analog
input.
=0
> off
=1
> nset/Mset mode (refer to Note)
=2
Velocity override (refer under the index entry Override)
0612
Effective
immediately
The parameter defines whether and how the analog setpoint is used at this analog
input.
=0
> off
=1
> nset/Mset mode (refer to Note)
=2
> Mred mode
Note:
x:
Space retainer for drive A or B
nset/Mset mode:
It is always possible to toggle between nset and Mset mode using the openloop torque controlled
operation input signal (refer to Chapter 6.4.2).
0 signal:
nset mode
1 signal:
Mset mode
Input terminal I3.x is assigned, as standard, to the openloop torque controlled mode signal.
When toggling between nset and Mset mode, it should be noted, that a setpoint, which may be present
at the terminals, becomes immediately effective in the other operating mode.
6-552
6.6.2
6.6
Analog inputs
Requirements:
P0610
T. 56.x
10 V
T. 14.x
T. 24.x
10 V
T. 20.x
P0615
Offset
correction
P0608
=1
=1
=0
+
+
Inversion
P0613
Inversion
P1240:8
P0609
Smoothing
time
PT1 filter
P0614
Smoothing
time
PT1 filter
Offset
correction
P0618
P1401:8
Normalization
Speed
setpoint
Offset
Torque
setpoint
ncontroller
+
nset
nact
analog
(refer to Chapter 6.1.2)
Fig. 6-62 Closedloop speed control via terminal 56.x/14.x and/or terminal 24.x/20.x
6-553
Analog inputs
! not 611ue !
Requirements:
P0610
T. 56.x
10 V
T. 14.x
T. 24.x
10 V
T. 20.x
P0607 = 1
P0612= 2
Offset
correction
P0608
P0615
+
D
Inversion
P0613
Inversion
P1240:8
P0609
P0618
P1401:8
Smoothing
time
PT1 filter
Normalization
Speed
setpoint
P0614
Smoothing
time
PT1 filter
Offset
correction
Offset
Torque
setpoint
ncontroller
nset
nact
analog
(refer to Chapter 6.1.2) P1230:8
P1235:8
Normalization
torque/
X
power
Mred
reduction
analog
Character
P0620
istic
(refer to Chapter
P1243:8
P1244
6.1.2)
Fig. 6-63 Closedloop speed controlled mode via terminal 56.x/14.x and torque/power reduction via
terminal 24.x/20.x
Readers note
The torque/power reduction via terminal 24.x/20.x is described in
Chapter 6.6.4.
6-554
Parameter
overview
Table 6-53
6.6
Analog inputs
No.
Description
Min.
Standard
Max.
Unit
Effective
0606
V(pk)
RO
0611
V(pk)
RO
... indicates the analog voltage presently available at this input terminal.
0608
immediately
0613
immediately
An inversion internally inverts the sign of the analog setpoint at this terminal. The motor direction of rotation is reversed.
0
No inversion
1
Inversion
There is the following assignment between inversion, direction of rotation, and setpoint:
Without inversion, the motor rotates clockwise for a positive setpoint
With inversion, the motor rotates anticlockwise for a positive setpoint
Definition of the direction of rotation:
When viewing the output shaft, the shaft rotates counterclockwise ! The motor direction of
rotation is counterclockwise
When viewing the output shaft, the shaft rotates clockwise ! The motor direction of rotation
is clockwise
0609
0.0
0.0
(ARM)
0614
3.0
1 000.0
ms
immediately
1 000.0
ms
immediately
0.0
0.0
(ARM)
3.0
This allows the output of the A/D converter to be smoothed using a PT1 filter.
0610
9 999.9
0.0
9 999.9
mV(pk)
immediately
0615
9 999.9
0.0
9 999.9
mV(pk)
immediately
If the motor still continues to turn even with a speed setpoint of 0 V, and this is not desired, then
this parameter can be used to enter a voltage offset to adjust the analog input for zero output.
6-555
Analog inputs
Table 6-53
! not 611ue !
No.
Description
Min.
0618
Normalization voltage
speed setpoint
5.0
1401:8
9.0
Max.
12.5
Unit
V(pk)
Effective
immediately
RPM
Standard
100 000.0
0.0
100 000.0
m/min
immediately
This defines the input voltage at which the maximum useful motor speed is reached.
P1401:8: The parameter specifies the maximum motor useful speed, and represents the reference value for P0618.
The standard value is preassigned for the hardware configuration depending on the
motor used.
n [rev/min]
P1401:8
U [V]
P0618
Example:
P0618 = 9
P1401:8 = 2000
> at 9 V, the motor reaches a speed
of 2000 RPM
Note:
The maximum useful motor speed, set using P1401:8 is taken into account when calculating
the speed setpoint. This means that P1401:8 acts as a speed limit.
This is independent of whether the setpoint is entered via a terminal or PROFIBUS.
1240:8
Nm
50 000.0
0.0
50 000.0
immediately
This parameter value is added to the torque setpoint or force setpoint (SLM).
Note:
This allows a weight equalization to be set.
0620
1243
1244
6-556
For the torque/power reduction via terminal 24.x/20.x (refer to Chapter 6.6.4), this parameter
can be used to make adjustments.
6.6.3
6.6
Analog inputs
Mset
mode
via
terminal 56.x/14.x
and/or
term. 24.x/20.x
Requirements:
P0610
T. 56.x
10 V
T. 14.x
T. 24.x
10 V
T. 20.x
=1
=1
=0
Offset
correction
P0608
P0615
+
+
Inversion
P1242:8
Offset
torque
setpoint
P0609
Smoothing
time
PT1 filter
P0613
P0614
Inversion
Smoothing
time
PT1 filter
P0619
P1241:8
Normalization
torque
setpoint
Offset
correction
Mset
analog
(refer to
Chapter
6.1.2)
Fig. 6-64 Openloop torque control via terminal 56.x/14.x and/or terminal 24.x/20.x
Note
Before SW 4.2:
The setpoint for Mset operation can only be entered via analog inputs
(terminals). It is not possible to enter a setpoint via PROFIBUS.
From SW 4.2:
The setpoint for Mset operation can either be entered via analog inputs
(terminals) or PROFIBUSDP.
6-557
Analog inputs
! not 611ue !
Requirements:
P0612= 2
Offset
P1242:8 torque
setpoint
Offset
P0610
correction
T. 56.x
10 V
T. 14.x
T. 24.x
10 V
T. 20.x
P0608
A
P0615
+
D
Inversion
P0613
Inversion
P0609
Smoothing
time
PT1 filter
P0614
Smoothing
time
PT1 filter
Offset
correction
P0619
P1241:8
+
Normalization
torque
Mset
setpoint
analog
(refer to Chapter
6.1.2)
P1230:8
P1235:8
Normalization
torque/
X
power
reduction
Mred
Character
P0620
analog
istic
P1243:8
(refer to
P1244
Chapter 6.1.2)
Fig. 6-65 Openloop torque controlled operation via terminal 56.x/14.x and torque/power reduction via
terminal 24.x/20.x
Readers note
The torque/power reduction via terminal 24.x/20.x is described in
Chapter 6.6.4.
6-558
6.6
Parameter
overview
Table 6-54
Analog inputs
Parameter for Mset mode using terminal 56.x/14.x and/or terminal 24.x/20.x
Parameter
No.
Description
Min.
Standard
Max.
Unit
Effective
0606
V(pk)
RO
0611
V(pk)
RO
... indicates the analog voltage presently available at this input terminal.
0608
immediately
0613
immediately
An inversion internally inverts the sign of the analog setpoint at this terminal. This causes the
torque to be reversed.
1
Inversion
0
No inversion
0609
0.0
0.0
3.0
(ARM)
0614
1 000.0
ms
immediately
ms
immediately
0.0
0.0
3.0
(ARM)
1 000.0
This allows the output of the A/D converter to be smoothed using a PT1 filter.
0610
9 999.9
0.0
9 999.9
mV(pk) immediately
0615
9 999.9
0.0
9 999.9
mV(pk) immediately
If, for a setpoint input of 0 volt, the motor starts to rotate, and this is not desired, then a voltage
offset can be entered using this parameter to adjust the analog input for zero output
0619
1241:8
5.0
10.0
12.5
1.0
10.0
50 000.0
V(pk)
immediately
Nm
immediately
This defines at which input voltage the torque setpoint normalization is reached.
P1241:8: The parameter represents the reference value for P0619. The standard value for
Mrated is preassigned calculate controller data.
M [Nm]
P1241:8
P0619
U [V]
Standard values:
P0619 = 10
P1241:8 = Mrated
> at 10 V, Mrated is reached
6-559
Analog inputs
Table 6-54
! not 611ue !
Parameter for Mset mode using terminal 56.x/14.x and/or terminal 24.x/20.x, continued
Parameter
No.
1242:8
Description
Min.
Standard
Max.
Unit
Effective
Nm
50 000.0
0.0
50 000.0
immediately
This parameter value is added to the torque setpoint or force setpoint (SLM).
Note:
Thus, a pretensioning torque can be generated.
0620
1243:8
1244
6.6.4
For the torque/power reduction via terminal 24.x/20.x (refer to Chapter 6.6.4), this parameter
can be used to make adjustments.
Description
A continuous torque/power reduction (Mred mode) is possible via analog input 2 (terminal 24.x/20.x) by entering an analog voltage.
The reduction is:
Characteristics to
reduce the
torque/power
6-560
6.6
Parameter
overview
Table 6-55
Analog inputs
No.
Description
Min.
Standard
Max.
Unit
Effective
0611
V(pk)
RO
0613
immediately
For the torque/power reduction, internally only positive setpoints are effective. For a negative
analog setpoint at terminal 24.x/20.x, an inversion function must be switchedin.
0614
0.0
0.0
3.0
1 000.0
ms
9 999.9 0.0
9 999.9
mV(pk)
(ARM)
0615
immediately
immediately
Note:
These parameters are described in Chapter 6.6.3.
0620
1243:8
5.0
10.0
12.5
V(pk)
immediately
0.0
100.0
100.0
immediately
P1243:8 ... defines up to which maximum torque or power a reduction can be made.
The data is a percentage with the following reference:
Reference for torque: P1230 (1st torque limit)
Reference for power: P1235 (1st power limit)
Mmax/Pmax
Meffective/Peffective [%]
Example:
P1244 = 1
P1243:8
0V
10 V
P0620
VRed [V]
Meffective/Peffective [%]
Mmax/Pmax
P1243:8
P1244 = 2
0V
10 V VRed [V]
P0620
6-561
Analog inputs
Table 6-55
! not 611ue !
No.
1244
Description
Min.
Standard
Max.
Unit
Effective
immediately
... defines whether the reduction is realized with a negative or a positive characteristic.
=1
=2
1259
(from
SW 3.7)
Negative characteristic
Positive characteristic
immediately
... defines how the torque/power reduction or force/power reduction is effective depending on
the state motoring/regenerating.
=0
Reduction is effective, motoring and generating
=1
Reduction is only effective motoring
In an emergency situation, the axis can still be quickly braked for P1259 = 1.
6-562
6.6.5
6.6
Analog inputs
Application
example
master/slave
Torque
setpoint:
Signal No. 36
75.x/15
16.x/15
Master drive
Slave drive
56.x/14.x
24.x/20.x
Speed
setpoint
56.x/14.x
24.x/20.x
1 signal
Mset mode
0 signal
nset mode
I3.x
Dependent on
the mechanical
coupling
M
3
M
3
Rigid or quasirigid
connection, which can
also be released in
operation.
Fig. 6-66 Example: Coupling 2 drives with master/slave with analog I/O
Warning
If, for a master/slave configuration, the rigid mechanical coupling is
released (the coupling is opened) then at the same time the slave drive
must be changed over to nset operation as otherwise the slave drive
would accelerate in an uncontrolled fashion to the maximum speed.
6-563
Analog inputs
Example:
Settings for the
master drive
Example:
Settings for the
slave drive
Terminal 24.x/20.x
6-564
6.7
Analog outputs
Analog outputs
Description
There are two freely parameterizable analog outputs with the following
features for each drive:
8 bit
10 V to +10 V
Update:
6-565
Analog outputs
Parameter
overview
Table 6-56
Terminal
No.
Designation
No.
0626
Name
Signal number
analog output terminals 75.x/15
Min.
0
Standard
34
Max.
530
Unit
Effective
immediately
Shift factor
analog output terminals 75.x/15
47
immediately
... defines the shift factor, with which the output signal is manipulated (refer to
Fig. 6-69).
Only an 8 bit output window can be output from a 24/48 bit signal due to the
8bit resolution. The shift factor can be used to define which 8 of the 24/48 bits
are located in the output window and should be output.
A shift factor for each signal is recommended in the signal selection list for
analog outputs (refer to Table 6-57).
0628
6
75.A
X441.1
75.B
X441.3
#
15
128
127
immediately
X441.5
0631
Overcontrol protection
analog output, terminal 75.x/15
immediately
0632
=1
=0
Smoothing time
analog output terminal 75.x/15
0.0
0.0
1 000.0
ms
immediately
... smooths the output signal with a 1st order proportional element (PT1 element, lowpass filter).
The filter is deactivated with P0632 = 0.0.
The following generally applies: low smoothing time > low smoothing effect
high smoothing time > high smooth. effect
6-566
Table 6-56
Terminal
No.
Analog outputs
Designation
Parameter
No.
0633
Name
Min.
Signal number
analog output terminals 16.x/15
Standard
35
Max.
530
Unit
Effective
immediately
immediately
immediately
immediately
ms
immediately
16.A
X441.2
16.B
X441.4
#
15
47
#
X441.5
Shift factor
analog output terminals 16.x/15
Offset analog output terminal
16.x/15
128
127
Overcontrol protection,
analog output terminal 16.x/15
Smoothing time
analog output terminal 16.x/15
0.0
0.0
1 000.0
0623
Signal
No. 34
200.0
100.0 200.0
immediately
... defines, for the output of absolute motor speed, finely normalized (Signal
No. 34), which voltage is output at the maximum speed nmax.
The maximum speed nmax is given by:
for SRM:
for ARM/SLM:
U [V]
10 V
200 %
100 %
5V
50 %
0.5 nmax
nmax | nact |
6-567
Analog outputs
Table 6-56
Terminal
No.
Designation
Parameter
No.
0624
Signal
No. 35
Name
DAU normalization, motor utilization
Min.
200.0
Standard
Max.
100.0 200.0
Unit
Effective
immediately
... defines, for the output of utilization (Mset/Mset, limit, finely normalized (Signal
No. 35) which voltage is obtained when
0625
Signal
No. 36
200.0
100.0 200.0
immediately
... defines for the output of torque setpoint, finely normalized (Signal No. 36),
which voltage is output when 200% rated torque is reached.
Examples:
Note:
The output of signal No. 36 is signed.
6-568
Analog outputs
No.
Designation
Bit
width
Unit
Normalization
(corresponds
to LSB)
No signal
Physical address
24
24
Apk
P1710
24
Apk
P1710
24
Apk
P1710
P1708 (%)
P1718 (A)
24
Apk
P1710
Current setpoint Iq
(limited after the filter)
24
Apk
P1710
24
Apk
P1710
11
12
P0602
P0601
(only for
controller
enable)
10
RPM
24
m/min
P1711
RPM
6
24
m/min
P1711
RPM
x
24
m/min
P1711
Nm
x
P1716
24
N
P1713
Nm
x
24
N
P1713
13
Motor utilization
max (Mset/Mmax, pset/pmax)
P0604
16
8000H
100%
14
Active power
12
16
kW
0.01 kW
15
24
Vs
P1712
16
24
Vs
P1712
6-569
Analog outputs
Table 6-57
Signal
Operating
mode
No.
Designation
nset
pos
17
Quadrature voltage Vq
18
Directaxis voltage Vd
19
Current setpoint Id
20
Motor temperature
21
Bit
width
Unit
Normalization
(corresponds
to LSB)
11
24
P1709 VDC
link/2
11
24
P1709 VDC
link/2
24
Apk
P1710
P0603
13
24
0.1 C
P1701
13
24
1V
22
17
16
23
12
16
24
RPM
x
24
m/min
P1711
25
24
1/s
2000 x 2
800000H x 1s
26
17
24
27,
28
Reserved
29
11
24
P1709 VDC
link/2
30
11
24
P1709 VDC
link/2
31
24
Degrees
32
P1705
11
24
P1709
33
P1719
24
Apk
P1710
34
RPM
x
24
24
m/min
P1740
P1741
6-570
Table 6-57
No.
36
Analog outputs
Operating
mode
Designation
nset
Displayed Shift
in
factor
Bit
width
pos
Unit
Normalization
(corresponds
to LSB)
Nm
x
24
N
P1742
RPM
x
m/min
P1711
38
16
39
16
40
41
RPM
x
24
21
16
m/min
P1711
16
43
24
Nm
P1713
N
x
24
Reserved
70
P1711
m/min
RPM
RPM
m/min
P1711
6-571
Analog outputs
Table 6-57
No.
71
Signal
Operating
mode
Designation
nset
pos
24
Bit
width
Unit
Precontrol speed
(SRM, ARM)
(SLM)
RPM
m/min
P1711
72
System deviation,
position controller input
P0030
27
48
MSC
MSR 211
73
P0021
19
48
MSC
MSR 211
74
Position setpoint
P0020
19
48
MSC
MSR 211
75
x4)
P0023
30
48
MSR/s
P1743
76
Following error
P0029
27
48
MSC
MSR 211
77
27
48
MSC
MSR 211
78
P0032
19
48
MSC
MSR
P0403/P0404
211
(from SW 3.5)
Normalization
(corresponds
to LSB)
79
30
48
MSC
P1744
80
P0915
32
P1745
81
RPM
x
P0915
32
P0915
32
83
24
84
24
85
24
Nm
N
P1713
86
P1266
16
P1288
P1607 up to
SW 12.1
P1786:1
16
P1787:1
16
P1788:x1)
16
499
3)
500
3)
501
3)
6-572
P1711
RPM
Nm
N
RPM
P1711
P1713
P1711
Table 6-57
No.
502
3)
503
3)
504
3)
505
3)
506
3)
507
3)
508
3)
509
3)
510
3)
511
3)
512
3)
513
3)
514
3)
515
3)
516
3)
517
3)
518
3)
519
3)
Analog outputs
Signal
Operating
mode
Designation
nset
pos
P1789:x2)
Bit
width
Unit
Normalization
(corresponds
to LSB)
16
P1788:x1)
16
P1789:x2)
16
P1788:x1)
16
P1789:x2)
16
P1788:x1)
16
P1789:x2)
16
P1788:x1)
16
P1789:x2)
16
P1788:x1)
19
16
P1789:x2)
19
16
P1788:x1)
17
16
P1789:x2)
17
16
P1788:x1)
16
P1789:x2)
16
P1788:x1)
22
16
P1789:x2)
22
16
P1789:x1)
32
6-573
Analog outputs
Table 6-57
Signal
Operating
mode
No.
Designation
nset
pos
520
P1789:x1)
3)
522
3)
523
3)
524
3)
525
3)
Bit
width
Unit
Normalization
(corresponds
to LSB)
32
P1789:x1)
32
P1789:x1)
32
P1789:x1)
32
P1789:x1)
32
Note:
Abbreviations
rms:
rms value
pk:
Peak value
LSB:
MSR:
Signal marking?
Not marked:
Marked in gray:
For SimoCom U, the signal is only available when the expert mode is activated
6-574
Figs. 6-67 and 6-68 show, using the controller structures, where the
most important analog signals are taken from for the current and speed
controller or for the position controller.
Input signal
Speed
controller
Rampup time = 0
P1421
1.0
nset from
P0607
P0612
=0
PROFIBUS DP
Rampup
generator
=1
nset
P1256:8
P1257:8
P1012.0
analog
Conversion,
torque to
quadrature
axis current
=0
Mset
=1
analog
Analog outputs
Iq
set
Input signal
openloop torque
controlled mode
MRed
< 1.0
Speed
setpoint
limiting
P1409
Integral action
time TN
P1407
Proportional
gain KP
Current
controller
Torque
setpoint
limiting
Speed
setpoint filter
Time constant,
integrator feedback
P1421
nact
17
6
4 current
setpoint
filters
11
Iq
Current
controller
Id
Id
Vq
Vd
U
V
W
ENC
2
18
4
set
M
3
Id
Iq
5
analog
Induction motor/1FE1 motor flux sensing and closedloop flux control
Synchronous motor without 1FE1 motor
Id set = 0
Signal No.
Signal name
2
3
4
5
6
7
8
9
11
17
18
Fig. 6-67 Analog signals for the current and speed control loop
6-575
Analog outputs
Speed
precontrol
xIPO
FIPO
75
74
Pos.
ref.
value
filter
71
Balancing
filter
speed
precontrol
PT1
model
72
70
Position
controller
73
Speed
control
loop
Dynamic following
error monitoring
xset, ber
nact
xact
77
Model
76
Backlash
compensation
Signal No.
Signal name
70
71
72
73
74
75
76
77
6-576
Analog outputs
Shift factor
Bit 23 (MSB)
16 15
8 7
0 (LSB)
8 7
0 (LSB)
Bit 47 (MSB)
40 39
Voltage range
Output
voltage [V]
1st overflow
2nd overflow
3rd overflow
4th overflow
+10.0
10.0
000000H 200000H 400000H 600000H
Shift factor = 0
Shift factor = 2
Offset = 0 V
Fine normalization= 100 %
E00000H
FFFFFFH
Hexadecimal value
6-577
Analog outputs
Output
voltage [V]
1st overflow
2nd overflow
3rd overflow
4th overflow
+10.0
10.0
000000H 200000H 400000H 600000H
Shift factor = 0
Shift factor = 2
E00000H
Offset = 0 V
Fine normalization= 100 %
FFFFFFH
Hexadecimal value
6-578
6.8
6.8
Description
Incremental setpoints can be readin (input, from SW 3.3) and incremental actual values output via this interface.
An electronic handwheel can be connected to this interface (from SW 8.1).
Incremental position actual value is output via the angular incremental encoder interface
>
>
>
P0890 = 1
the interface is switched as output
refer to Chapter6.8.1
The incremental position actual value of the drive is output via the
interface. The actual value can be used by a highlevel control.
Notice
The control board only supplies correct angular incremental encoder
signals after it has been completely booted.
In order that a higherlevel control does not go into a fault condition,
the control board must first run up, before the angular incremental
encoder interface signals can be evaluated. The criterion for this is the
ready signal.
Switchon sequence (e.g.):
SIMODRIVE 611 universal
control board > higherlevel control
Enter the incremental position setpoint value via the angular incremental encoder interface (from SW 3.3)
>
>
>
P0890 = 2
the interface is switched as input
refer to Chapter 6.8.2
6-579
Parameterizing the
angular
incremental
encoder interface
(P0890 and P0891)
! not 611ue !
The angular incremental encoder interface is set for drive A and B using P0890. For drive B, the position actual value of drive A can be internally connected to the position reference value (position setpoint) of
drive B using P0891.
For a positionsynchronous coupling via the angular incremental encoder interface, synchronization of the position can be delayed. This is
especially noticeable for a coarse resolution of the position (just a few
increments per revolution) at the angular incremental encoder interface.
1
P0890 (A)
Pos.
act.
values
Drive B
Pos.
ref.
values
Pos.
act.
values
Pos.
ref.
values
0
Angular
incremental
encoder
interface
P0891 (B)
Drive A
0, 1, 2
3
P0890 (A)
P0890 (B)
2
Angular
incremental
encoder
interface
Drive A
Drive B
Term. A+.A
Term. A.A
Term. A+.B
Term. A.B
Term. B+.A
Term. B.A
Term. B+.B
Term. B.B
Term. R+.A
Term. R.A
Term. R+.B
Term. R.B
P0890
P0891
Switch as output
=2
=3
Angular incremental encoder, position actual value coupling internal doubleaxis module
=1
Actual value from A internally entered as setpoint for B, from SW 3.3, only drive B)
Fig. 6-73 Angular incremental encoder interface for drives A and B: Parameterized using P0890 and
P0891
6-580
6.8.1
6.8
Description
The angular incremental encoder interface (X461, X462) is set as output using P0890 = 1, i.e. the incremental position actual value of the
motor encoder is output via terminals A+.x/A.x, B+.x/B.x, R+.x/R.x.
The encoder signals are output, depending on the encoder type, and
can still be partially manipulated (e.g. scaling or shifting, refer to Table
6-58).
SIMODRIVE 611
universal
nset
analog
Actual value
Higherlevel
control system
Setpoint
Note
If, from SW 8.1, an induction motor with TTL encoder is connected to
SIMODRIVE 611 universal HR/HRS, then it is not permissible that
the angular incremental encoder interface is used as output.
6-581
Overview:
Encoder angular
incremental
encoder signals
manipulation
Table 6-58
! not 611ue !
The following table shows which signals are output for which encoder
types and with which parameters they can be manipulated.
Sensor type
A/B
Resolver
(pole pair no.)
2p = 1 (1speed) 1024 pulses/rev
4p = 2 (2speed) 2048 pulses/rev
Distance
between the
zero pulses
Can be evaluated
Can the
angular
increm.
encoder
zero
pulse be
shifted?
P0892
P0893
1024 pulses
4096 pulses
(from SW 6.1)
Yes
Yes
Encoder with
sin/cos 1Vpp,
incremental
(without EnDat),
rotating/linear
Encoder with
sin/cos 1Vpp
with EnDat, rotating
Encoder with
sin/cos 1Vpp
with EnDat, linear
Yes
Dependent on
(from
the encoder
SW 5.1)
No
2n
Encoder
pulses/rev
Cannot be
evaluated
(as it is a random signal)
Cannot be
evaluated
(as it is a random signal)
Yes
Yes
Yes
No
Note:
When using absolute value encoders (EnDat), an absolute value is not transferred via the angular
incremental encoder interface, but encoder signals conditioned from SIMODRIVE 611 universal.
In order that the zero offset is correctly taken into account, the drive must be stationary while the control board boots.
6-582
Encoder with
sin/cos 1Vpp
6.8
If the angular incremental encoder interface is to be operated as setpoint input, as pulse/direction signal or as forwards/reverse signal, then
the angular incremental encoder interface of another SIMODRIVE 611
universal module may not be used as setpoint source. The axis undesirably traverses as a result of the multiple edges inherent to the
system.
If the angular incremental encoder interface is used as setpoint input
(pulse/direction signal or up/down signal), then a suitable setpoint
source, e.g. stepping motor control must be used with exactly the same
pulse number as master.
In order to couple to SIMODRIVE 611 universal modules, the quadrature signal input signal waveform (P0894 = 0) should be used.
Parameter
overview
(refer to Chapter
A.1)
P0890
P0892
P0893
6-583
! not 611ue !
Angular
incremental
encoder signals
for resolvers
P = 1 > 1024 pulses/rev
1 pulse
A+.x
B+.x
R+.x
Angular
incremental
encoder signals
for incremental
encoders with
sin/cos 1Vpp
Signal A
90
1 pulse ( 360)
Encoder signals
Signal B
A+.x
Angular incremental
encoder signals
B+.x
R+.x
1 zero pulse/rev
Fig. 6-76 Angular incremental encoder signals for incremental encoders with sin/cos 1Vpp
6-584
6.8
Angular
incremental
encoder signals
for absolute value
encoders with
sin/cos 1Vpp and
EnDat interface
Signal A
90
Encoder signals
1 pulse ( 360)
Signal B
A+.x
B+.x
R+.x
1 zero pulse/rev
Fig. 6-77 Angular incremental encoder signals for absolute value encoders with sin/cos 1Vpp and EnDat
interface
Note
If the absolute value encoder has more than 2n=2048 increments (n =
11), then one zero mark is output for each 2048 increments.
This means, that encoder pulse number/2048 zero marks are output at
the angular incremental encoder interface per motor revolution;
whereby the factor angular incremental encoder pulse number/encoder
pulse number is selected as 1:1.
6-585
6.8.2
! not 611ue !
Description
Incremental
position reference
value via angular
incremental
encoder interface
The incremental position reference values, entered via the angular incremental encoder interface, are entered after the fine interpolator.
P0890 = 2
P0895
P0896
Positioning mode
and
coupling operation
switchedin
1
P0032
or
Operating mode
external position reference
value1)
Position reference
value, external1)
xIPO
Positioning mode
and
coupled operation
switchedout
P0897
P0401
Coupling
factor
75
d/dt
P0232
Fine
interpolator
P0023
P0402
+
Positioning
P0020
P0210:8
1
74
Closed
loop
position
control
xset
P0020
P0023
Velocity setpoint
P0032
P0210:8
P0401
P0402
P0890
P0895
P0896
P0897
74
Position setpoint
75
Velocity setpoint
6-586
Input signal
waveform
(P0894)
6.8
1 signal period
Track A
Track A*
Track B
Track B*
1 segment
Track B before A
Track A before B > positive setpoint input > negative setpoint input
Fig. 6-79 Position reference value input via quadrature signals (P0894 = 0)
Track A
Track A*
Track B
Track B*
thigh
1 signal period
tlow
ts
ta
1 segment
Fig. 6-80 Position reference value input via pulse/direction signal (P0894 = 1)
Track A
Track A*
Track B
Track B*
1 signal period
thigh
tlow
ta
1 segment
Negative setpoint input
Fig. 6-81 Position reference value entered via the forwards/backwards signal
(P0894 = 2)
6-587
! not 611ue !
Input format
(P0895
and
P0896)
These parameters are used to define how many signal periods correspond to the distance to be traveled.
Terminating
resistor
Example:
Assumption:
The dimension system is set to linear, metric
> 1 MSR = 0.001 mm
The axis should move through 10 mm with 2048 signal periods.
> P0895 = 2 048
> P0896 = 10 000 [MSR]
The position reference value, entered via the angular incremental encoder interface, is displayed using this parameter.
P0032
> Pos. ref. value via the angular incr. enc. interf.
P0020
It is not absolutely necessary that P0032 and P0020 are the same (e.g.
for an axis coupling).
Input limiting
frequencies and
signal limits
Table 6-59
It is only guaranteed that the input signals are correctly identified and
processed via the angular incremental encoder interface, switched as
input if the following input limiting frequencies and signal limits are
maintained:
Signal limits
2 ms
4 ms
2.5 MHz
2 MHz
1 MHz
5 MHz
5 MHz
4 MHz
5 MHz
5 MHz
4 MHz
Edge clearance
ta 100 ns
Pulse width
thigh, tlow 100 ns
Setup time
ts 35 ns2)
1) For clocksynchronous PROFIBUS operation, each time that clock synchronism is established, the
position controller clock is briefly and internally increased in the slave. This means, at this particular instant,
the signal frequency may not exceed half of the permissible input limiting frequency.
2) Modified setup time for the components:
6SN11180NJ010AA1
from version H
6SN11181NJ010AA1
from version H
6SN11180NK010AA1
from version H
6SN11181NK010AA1
from version H
6SN11180NH010AA1
from version G
6SN11181NH010AA1
from version G
6-588
6.8
Input in pos
operation
Encoder with
coarse resolution
Parameter
overview
(refer to Chapter
A.1)
Input signal
(refer to Chapter
6.4)
P0032
P0890
P0891
P0894
P0895
P0896
P0897
For angular incremental encoder interface as input, the following signal is available:
6-589
6.8.3
Description
Angular
incremental
encoder
handwheel
evaluation
Bit 0
0
1
0
1
Before SW 9.1:
Subparameters P0900[0] up to P0900[3] can be optionally assigned
factors of between 1 and 10000.
From SW 9.1:
Subparameters P0889[0] to P0889[3] can be optionally assigned factors of between 1 and 10000.
Readers note
If the drive is moved using the electronic handwheel, then the drive
behavior corresponds to that of jogging, refer to Chapter 6.2.9.
6-590
Example:
The electronic handwheel supplies 100 incr./rev. One handwheel revolution corresponds to a value of 1 mm.
200 handwheel revolutions in one minute correspond to a velocity of
200 mm/min. The handwheel evaluation is entered using the input signal angular incremental encoder handwheel evaluation, bit 0.
The following should be parameterized:
> P0900/P0889[1] = 10
6-591
Angular
incremental
encoder
directiondependent
Angular
incremental
encoder inversion
encoder input, i.e. when the axis is stationary, the incremental position reference value is immediately inverted with a 1 signal at the
input terminals.
Fault handling
The following actions are not possible and initiate the appropriate
faults:
6-592
Parameter
overview
(refer to Chapter
A.1)
The following parameters must be observed when connecting a handwheel to the angular incremental encoder interface:
P0890
P0899:8
P0900:4
P0889:4
Input/output
signals
(refer to Chapter
6.4)
P0102
P0103
P0104
P0655
P0657
6-593
6.9
Description
Activating
Warning
It is not permissible to use the motor holding brake as working brake,
as it is generally only designed for a limited number of emergency
braking operations.
Connecting the
motor holding
brake
The brake sequence control operates with the open holding brake
output signal. The signal can be output as follows:
6-594
Parameter
overview
(refer to Chapter
A.1)
Information for
enabling the
controller and
pulses
The following parameters are used for the motor holding brake function:
P0850
P0851
P0852
P0853
P0854
Note
For controller enable:
Issuing and withdrawing the controller enable is dependent on several
internal and external enable signals (refer to Chapter 6.4.1).
For pulse enable:
Issuing and withdrawing the pulse enable is dependent on several
internal and external enable signals (refer to Chapter 6.4.1).
6-595
Open brake
Objective when
setting the brake
opening time
The brake opening time should be selected, so that after the controller
enable is issued, the speed controller becomes active when the motor
holding brake opens.
For all other settings, the control acts against the brake.
The following applies:
Brake opening time (P0851) Time to open the holding brake
Controller enable
1
0
Speedcontrolled
operation
Speed setpoint
t
Output signal
0
P0851
Output signal
status, controller
enable
Holding brake
1
0
t
Brake opening time
Duration
6-596
Controller
enable
Rampfunction
generator
active (internal)
1
t
0
Note:
Speedcontrolled
operation
Speed setpoint
Actual speed
value
nholding brake
P0852
t
Internal signal
open holding brake
1
0
P0853
Internal
controller
enable
1
0
Output signal
status, controller
enable
Holding brake
1
0
t
P0854
Duration
Note
The signals designated as internal (e.g. open holding brake) differ
as a result of the additional internal run times and interlocks from the
appropriate digital input and output signals or PROFIBUS signals.
6-597
When the pulse enable is withdrawn, the drive coasts down, and the
open holding brake output signal is canceled.
After the time taken for the brake to close, the drive is braked by the
motor holding brake.
Pulse enable
1
0
Output signal
open holding brake
1
0
Internal
controller
enable
Output signal
Holding brake
1
0
Duration
Fig. 6-84 Closing the brake: Behavior when withdrawing pulse enable
6-598
Example:
Motor with motor
holding brake
Safety circuit
Fuse
24 V
1)
0V
Term. P24
Term. M24
M
3
Relays
to
control
the
motorholding
brake
Motor with
motorholding brake
Output
O3.A
Fig. 6-85 Example: Controlling the motor holding brake via output O3.A
6-599
6.10
Description
Dynamic adaptations
Gearbox stage changeover (high or low speed)
It is possible to toggle between a maximum of 8 parameter blocks (parameter blocks 0 to 7) via the appropriate input signals.
Parameters that
are independent
and dependent
on the parameter
set
P1407:0
...
P1407:7
Table 6-60
...
0115:0
0115:1
...
0116:0
0116:1
...
Operating
mode
nset
pos
Description
0115:7
0116:7
0200:0
0200:1
...
0200:7
x1)
0204:0
0204:1
...
0204:7
0205:0
0205:1
...
0205:7
x1)
0206:0
0206:1
...
0206:7
x1)
0210:0
0210:1
...
0210:7
x1)
0237:0
0237:1
...
0237:7
x1)
Encoder revolutions
6-600
Table 6-60
1
0238:1
...
...
Operating
mode
nset
pos
0238:7
x1)
Load revolutions
0318:0
0318:1
...
0318:7
x1)
1123:0
1123:1
...
1123:7
Description
1200:1
to
to
...
1200:7
1221:0
1221:1
...
1221:7
1230:0
1230:1
...
1230:7
to
1233:0
1233:1
...
1233:7
Regenerative limiting
1235:0
1235:1
...
1235:7
1240:0
1240:1
...
1240:7
1241:0
1241:1
...
1241:7
1242:0
1242:1
...
1242:7
1243:0
1243:1
...
1243:7
1256:0
1256:1
...
1256:7
1257:0
1257:1
...
1257:7
1401:0
1401:1
...
1401:7
1405:0
1405:1
...
1405:7
1407:0
1407:1
...
1407:7
1408:0
1408:1
...
1408:7
1409:0
1409:1
...
1409:7
1410:0
1410:1
...
1410:7
1414:0
1414:1
...
1414:7
1415:0
1415:1
...
1415:7
6-601
Table 6-60
...
1417:0
1417:1
...
1418:0
1418:1
1421:0
Operating
mode
nset
pos
Description
1417:7
...
1418:7
1421:1
...
1421:7
1426:0
1426:1
...
1426:7
1428:0
1428:1
...
1428:7
1451:0
1451:1
...
1451:7
1453:0
1453:1
...
1453:7
1500:0
1500:1
...
1500:7
to
to
1521:0
1521:1
to
...
1521:7
Note:
x:
x1)
Note
Only parameter set 0 is parameterized using this SimoCom U
parameterizing and startup tool via the interactive dialog operation.
Parameter sets 1 to 7 must be parameterized using the Expert list of
SimoCom U.
6-602
Note
The input signals to change over the parameter set can be entered via
input terminals or via PROFIBUSDP (refer to Chapter 6.4.3 or under
the index entry input signal, parameter set changeover).
For a parameter set changeover in the positioning mode (P0700 = 3),
for the same gear set ratios, the reference point is lost. This is not the
case if P0239 = 1.
Application
Example
Task description:
Drive A and therefore the coupled mechanical system is loaded to various degrees (e.g. with and without load).
In order to adapt the system to the masses to be moved, the parameter
setdependent parameters are defined in parameter sets 0 and 1 corresponding to the different loads.
Input terminal I0.A is to be used to toggle between parameter set 0 and 1:
Input terminal
Parameter
Description
I0.A
xx
xx
1st input
2nd input
3rd input
P0660 = 9
xx
xx
Changeover
Acts just like a 0 signal
Acts just like a 0 signal
I0.A
Drive A
M
3
6-603
! not 611ue !
6.11
6.11.1
Motor changeover
versions
Table 6-61
P1013
None
Property:
Max. 4 motors,
each with
1 motor data set
Characteristics:
14
Application:
Refer to
Chapter
6.11.2
Characteristics:
Fct. No.
Input
5
P4xxx
P3xxx
P2xxx
P1xxx
Reference
Fct. No.
Input Output
11
P4xxx
P3xxx
P2xxx
P1xxx
Description
Chapter
6.11.3
Characteristics:
Fct. No.
Input Output
11
6
13
P4xxx
P3xxx
P2xxx
P1xxx
Application:
Chapter
6.11.4
one motor
two motors
star/delta operation
6-604
For the SIMODRIVE 611 universal control board, there are data sets
for a maximum of 4 induction motors.
Note
The currently effective motor data set is displayed in P0599 (active
motor data set).
It is only possible to enable motor changeover in the speed/torque
setpoint mode (P0700 = 1).
Before motor changeover can be selected, the motor data must be
entered into the associated parameters 2xxx, 3xxx and/or 4xxx. For
motors with Code No., it is sufficient to make the entry in Px102. After
this, in both cases, it is necessary to carryout a calculate controller
data routine using Px080 = 1.
Table 6-62
1100
2100
3100
4100
1102
2102
3102
4102
Note:
1103
2103
3103
4103
1117
2117
3117
4117
1119
2119
3119
4119
1120
2120
3120
4120
1121
2121
3121
4121
1123:8
2123:8
3123:8
4123:8
1125
2125
3125
4125
6-605
Table 6-62
! not 611ue !
Description
1127
2127
3127
4127
1129
2129
3129
4129
1130
2130
3130
4130
1132
2132
3132
4132
1134
2134
3134
4134
1135
2135
3135
4135
1136
2136
3136
4136
1137
2137
3137
4137
1138
2138
3138
4138
1139
2139
3139
4139
1140
2140
3140
4140
1141
2141
3141
4141
Magnetizing reactance
1142
2142
3142
4142
1145
2145
3145
4145
1146
2146
3146
4146
1147
2147
3147
4147
Speed limitation
1148 1)
2148 1)
3148 1)
4148 1)
1150
2150
3150
4150
1151
2151
3151
4151
1160
2160
3160
4160
1167
2167
3167
4167
1168
2168
3168
4168
1180
2180
3180
4180
1181
2181
3181
4181
1182
2182
3182
4182
1230:8
2230:8
3230:8
4230:8
1233:8
2233:8
3233:8
4233:8
Regenerative limiting
1235:8
2235:8
3235:8
4235:8
1238
2238
3238
4238
1240:8
2240:8
3240:8
4240:8
1241:8
2241:8
3241:8
4241:8
1242:8
2242:8
3242:8
4242:8
1243:8
2243:8
3243:8
4243:8
1245
2245
3245
4245
6-606
Table 6-62
Description
1246
2246
3246
4246
1256:8
2256:8
3256:8
4256:8
1257:8
2257:8
3257:8
4257:8
1288
2288
3288
4288
1400
2400
3400
4400
1401:8
2401:8
3401:8
4401:8
1403
2403
3403
4403
1405:8
2405:8
3405:8
4405:8
1407:8
2407:8
3407:8
4407:8
1408:8
2408:8
3408:8
4408:8
1409:8
2409:8
3409:8
4409:8
1410:8
2410:8
3410:8
4410:8
1411
2411
3411
4411
1412
2412
3412
4412
1413
2413
3413
4413
1417:8
2417:8
3417:8
4417:8
1418:8
2418:8
3418:8
4418:8
1426:8
2426:8
3426:8
4426:8
1451:8
2451:8
3451:8
4451:8
1453:8
2453:8
3453:8
4453:8
1458
2458
3458
4458
1459
2459
3459
4459
1465
2465
3465
4465
1466
2466
3466
4466
1602
2602
3602
4602
1607
2607
3607
4607
1608
2608
3608
4608
Fixed temperature
1712 1)
2712 1)
3712 1)
4712 1)
1713 1)
2713 1)
3713 1)
4713 1)
1725 1)
2725 1)
3725 1)
4725 1)
6-607
Selecting the
motor data sets
and motors via
input/output
signals
! not 611ue !
The following input and output signals are used to select the motor data
set and the associated motor:
SIMODRIVE
611
universal
Input terminal with
Fct. No. 5
Motor data set
changeover, 1st input
Fct. No. 12
Motor 2 selected
Fct. No. 6
Motor data set
changeover, 2nd input
Fct. No. 13
Motor 3 selected
Fct. No. 14
Motor 4 selected
Note:
Output terminals with Fct. Nos. 11...14 are only controlled, if P1249 = 0!
6
Control signal
Motor data set
changeover, 1st input
STW2.9
SIMODRIVE
611
universal
Status signal
Actual motor, 1st signal
ZSW2.9
Actual motor, 2nd signal
ZSW2.10
Motor being changed
over
(from SW 3.3)
ZSW2.11
6-608
Readers note
Input signals: refer under the index entry Input signal...
Output signals: refer under the index entry Output signal ...
The wiring of the input/output terminals for the control board and for
the optional TERMINAL module is described in Chapter 2.2.
The following input/output terminals are available:
for the control board:
I0.x to I3.x or O0.x to O3.x
x: Space retainer for drive A or B
for the optional TERMINAL module:
I4 to I11 or O4 to O11
Pulse frequency
changeover
in Chapter 6.5
A dedicated power module pulse frequency (P1100) can be parameterized for each motor data set.
The speed requirement of the motor can be better adapted by changing
over the pulse frequency. With a higher pulse frequency, higher speeds
can be achieved.
The following applies for the pulse frequency, it must have at least
approx. 6 the frequency of the instantaneous motor frequency.
High pulse frequencies mean high switching losses and therefore poor
utilization.
At a pulse frequency of 8 kHz, only 4055% of the possible current that
is available at 3.2 kHz is available.
6-609
6.11.2
! not 611ue !
Description
Input/output
signals for
changeover
Input terminal
with
function No.
Effective
motor data set
Output terminal
with
function No.
14
13
12
11
P1xxx
P2xxx
P3xxx
P4xxx
Note
The number of contactors which can be controlled for motor
changeover is limited by the number of output terminals.
Output terminals 11, 12, 13 and 14 are not controlled, if P1249 = 1.
How does a
changeover work?
6-610
Application
example
O8 (X432.5)
O9 (X432.6)
O10 (X432.7)
O11 (X432.8)
K1
K2
K3
K4
Pulse enable
1st input
2nd input
Motor selection
SIMODRIVE
611
universal
T. 663
O81)
P24
Input terminals
I8
0 1
I9
1 1
Output terminals
O9
O10
O11
U2 W2 V2
K1H
K2H
2)
K2
K1
K1H
K2
K3
K4
M1
3~
Motor 1
K1
K3
K4
M2
3~
Motor 2
K4H
0V
K3
K2H
K3H
K4
K3H
K1
K2
K4
M3
3~
Motor 3
K4H
K1
K2
K3
M4
3~
Motor 4
1)
2)
Fig. 6-89 Recommended circuit: Changing over 4 motors, each with one motor data set
6-611
6.11.3
! not 611ue !
Description
Input/output
signals
The following input/output signals are used for this changeover version:
Table 6-64
Input terminal
with
function No.
Effective
motor data set
Output terminal
with
function No.
141)
131)
121)
111)
P1xxx
P2xxx
P3xxx
P4xxx
6-612
6.11.4
Description
Input/output
signals
The following input/output signals are used for this changeover version:
Table 6-65
Input terminal
with
function No.
61)
52)
Speed
threshold3)
Effective
motor data
set
Output terminal
with
function No.
144)
13
124)
11
n < P1247
P1xxx
n > P1247
P2xxx
n < P1248
P3xxx
n > P1248
P4xxx
1) If the input terminal is used to change over the motor, then the pulses are
canceled at the changeover.
2) The input terminal with function number 5 is inactive for this changeover
version.
3) The pulses are not canceled if changeover is realized using speed
thresholds.
4) Output terminals with function numbers 12 and 14 are not energized.
Note
Output terminals 11 and 13 are not energized, if P1249 = 1.
6-613
Application
example:
Star/delta
changeover
(version:
P1013 = 3)
! not 611ue !
O8 (X432.5)
O9 (X432.6)
P1247 = 700
i.e.
6-614
Kx1)
of
PLC
K1
K2
SIMODRIVE
611
universal
T. 663
Pulse
enable
Output terminals
O8 (Fct. No. 11)
P24
/
changeover
Input terminal
K2H
I8 (Fct. No. 6)
K1H
0V
U2 V2 W2 PE
Kx1)
P24
K1H
K2H
K2
K1
K1
K2
operation
K1
U1 V1 W1
U2 V2 W2
K2
U2 V2 W2
operation
1PH
0V
1)
Notice
Main contactors K1 and K2 must be switched in the nocurrent
condition.
If this is not observed, the drive converter and contactors could be
destroyed.
6-615
6.11.5
! not 611ue !
Parameter
overview
Table 6-66
No.
1013
Description
Min.
Standard
0
Max.
3
Unit
Effective
PO
... the motor changeover is enabled or the motor changeover type is selected
Value
Description
Note:
It is only possible to enable motor changeover in the speed/torque setpoint mode (P0700 =
1).
1247
Speed threshold
motor changeover 1/2 (ARM)
100.0
100 000.0
100 000.0
RPM
immediately
1248
Speed threshold
motor changeover 3/4 (ARM)
100.0
100 000.0
100 000.0
RPM
immediately
... the speed thresholds for the motor changeover are defined with speed threshold (P1013 =
3).
P1247:
Below P1247 minus 5% hysteresis, the first motor data set is selected (P1xxx).
Above P1247 plus 5% hysteresis, the second motor data set is selected (P2xxx).
P1248:
Below P1248 minus 5% hysteresis, the third motor data set is selected (P3xxx).
Above P1248 plus 5% hysteresis, the fourth motor data set is selected (P4xxx).
Motor data set
P1xxx
P1247
P2xxx
P3xxx
P1248
P4xxx
5% 5%
6-616
Table 6-66
No.
1249
Description
External contactor control
motor changeover (ARM)
Min.
0
Standard
0
Max.
1
Unit
Effective
immediately
... specifies whether the contactors for motor changeover are controlled from the drive or from
an external control.
1
Note:
The contactors used to changeover the motor must be switched in a nocurrent condition.
If an external control is used to changeover the motor, and it is incorrectly changed over (e.g.
the pulses are present), it is possible that the power/supply infeed module will be destroyed.
Recommendation:
Motor changeover should be realized using the drive output terminals (P1249 = 0).
6-617
6.12
! not 611ue !
Description
Rotating
Linear
1 65 535 [0.01 N]
Application
example
6-618
Flowchart
The following sequence applies for the travel to fixed stop function:
6-619
What happens if
the fixed stop is
reached?
! not 611ue !
The closedloop drive control increases the torque for the axis up to
the programmed clamping torque, and then keeps it constant.
Table 6-67
If
P0114 = 0
(standard)
The status is automatically reached, if the following error exceeds the theoretically calculated following error by the value
entered in P0115:8.
Note:
P0114 = 1
The following applies after the fixed stop reached status has been
recognized:
No
Table 6-68
If
6-620
If, for a traversing block, the axis moves to the brake initiation point
with the FIXED STOP command, without detecting the status fixed
stop reached, then the following behavior applies, dependent on
P0113.0:
Table 6-69
If
Canceling the
travel to fixed
stop function
The following applies for a traversing block with the FIXED STOP command:
Exit
6-621
! not 611ue !
Abort
Fixed endstop
monitoring
window
If the axis travels by more than the monitoring window, set in P0116:8
when it reaches the fixed stop reached status, then the travel to
fixed stop function is canceled as a result of fault 146 (fixed stop, axis
outside the monitoring window), and the axis is stopped.
The following applies for the fixed endstop monitoring window:
The value in P0116:8 is valid both in the positive as well as the negative travel directions.
Hanging axis
without
mechanical weight
equalization
For a hanging axis without mechanical weight equalization, when programming the clamping torque and when defining the fixed endstop
monitoring window, it must be taken into consideration as to whether
the electronic weight equalization is set via P1240:8.
The clamping torque, effective for travel to fixed stop is made up as follows:
Then
Take into account the weight equalization when programming the clamping torque.
A torque offset is
The weight equalization is not taken into account
entered (P1240:8 0) when programming the clamping torque
6-622
Diagnostics for
travel to fixed
stop
Signal
characteristics
The motor current, following error, input/output signals and positions for
the travel to fixed endstop function are illustrated in the following diagram.
P0086:64/256
Motor current
P0115:8
valid, if
Following error
P0114 = 0
or
valid, if
P0114 = 1
Monitoring window
Positions
Actual position
for fixed stop
reached
Starting position
P0116:8
Block change
Programmed
end position
Block with
command
FIXED STOP
WAITING
POSITIONING
P0114
P0115:8
P0116:8
Fig. 6-91 Signal timing for the travel to fixed stop function
6-623
! not 611ue !
Travel to fixed
endstop and
EMERGENCY OFF
Parameter
overview
(refer to Chapter
A.1)
Input/output
signals
Caution
It must be ensured, that after the travel to fixed endstop function is
withdrawn as a result of EMERGENCY OFF, the machine cannot go
into a potentially hazardous state (e.g. the clamped workpiece drops
out of the clamping mechanism after EMERGENCY OFF).
The following parameters are available for the travel to fixed stop
function:
P0113
P0114
P0115:8
P0116:8
P1240:8
The following signals are used for the function traverse to fixed stop:
Input signals
Output signals
6-624
6.13
Description
Table 6-71
Overview of teachin
Question?
In which traversing block is
the position
value be written?
Parameter
Description
Teachin block
P0120 = 1
(standard)
P0120 0
The position value (actual position reference value) is written into the
traversing block which is selected either via digital input signals (Fct.
No. 50 to 55) or the PROFIBUS control signal SatzAnw.0 .5.
The position value (actual position reference value) is written into the
traversing block which is specified using P0120.
When activating Teachin, only the position value is written into the
selected block (the actual position reference value).
All other data must be manually entered to make it a complete traversing block.
For teachin, the block, defined using P0121, is transferred into the
selected block and the position value (actual position reference value)
is overwritten.
P0087 is not completely transferred, but only the position mode and the
block enable condition. Information as to whether the block is suppressed or not is not transferred into the new block.
Teachin configuration
P0124.0 = 1
6-625
Parameter
overview
(refer to Chapter
A.1)
Input/output
signals (refer to
Chapter 6.4)
! not 611ue !
P0120
Teachin block
P0121
P0124
Teachin configuration
Input signals
Output signals
Note
The positions with teachin are only transferred into the RAM memory.
Data is manually saved using the SimoCom U parameterizing and
startup tool with Save in the drive (FEPROM).
6-626
6.14
Description
Condition
nset mode
Isochronous PROFIBUSDP
The position controller gain factor (KPC) and the system deviation
6-627
Data transfer
deadtime
n pre
Path inter
polation
xset
Xerr
Interpolator
n pre
Data transfer
T position Interpolator
deadtime
Speed
setpoint
filter 2
Speed
controller
T position
T position
KPC
Speed
setpoint
filter 1
Data transfer
deadtime
Data
transfer
dead
time
T speed
TDP
Xact
Offset
Master
Drive
Fig. 6-92 Principle of Dynamic Servo Control; the speed setpoint is used for speed precontrol
Activating
If the prerequisites for DSC have been fulfilled, the function is activated
by transferring a value for KPC > 0 in the PROFIBUS telegram.
When DSC is activated, the position controller gain in the master
should be set again.
If the PROFIBUS control words XERR (system deviation, DSC) and
KPC (position controller gain factor, DSC) are activated in the
PROFIBUS telegram the closedloop control structure is also activated. This means that the ramp function generator, for example, is no
longer active.
Deactivating
Speed setpoint
value filter
6-628
6.15
Description
Activating
The function is activated in the nset mode (P0700 = 1) via the input
signal spindle positioning on or via PROFIBUSDP (STW1.15), if
P0125 = 1 (spindle positioning active).
Note
If the spindle positioning function is carriedout using NC functionality
(e.g. SINUMERIK 802D), then P0125 must be set to 0 (spindle
positioning deactivated).
In addition, a traversing block number must be entered via a terminal or
PROFIBUSDP. If a bit is not selected for the traversing block number,
then data in traversing block 0 is used.
The following is mainly defined in the traversing block:
The target position (also via PROFIBUSDP control word XSP is
possible, being prepared)
The search velocity, and
How the axis approaches the target position
The target position can be approached as follows:
With the actual direction of rotation
With a defined direction of rotation (clockwise, counterclockwise)
Position actual
value sensing
Boundary
conditions
6-629
Positioning
operation
! not 611ue !
4
t
If the drive is at the 1st target position, then the additional target positions can be approached immediately by selecting another traversing
block.
6-630
P0129
P0130
P0131
P0133
P0174
P0200:8
P0231
P0232
P0237:8
P0238:8
P0242
P0250
The following diagnostic parameters are available for the spindle positioning function:
P0001
Actual traversing block block number
P0002
Actual traversing block position
P0003
Actual traversing block velocity
P0004
Actual traversing block acceleration override
P0005
Actual traversing block deceleration override
P0008
Actual traversing block mode
P0020
Position reference value
P0021
Position actual value
P0024
Velocity actual value
P0132
Spindle positioning, zero mark difference (BERO)
P0136
Spindle positioning, active/inactive
P0137
Spindle positioning, status
Setting values for the position actual value monitoring:
P0134
Spindle positioning, positioning window reached
P0318:8
Dynamic following error monitoring tolerance
P0320
Positioning monitoring time
P0321
Positioning window (reference position reached)
P0326
Standstill window
Warning
When the monitoring is disabled via parameters P0318:8, P0321 and
P0326, it should be noted that under fault conditions, the drive can
accelerate up to the max. speed.
6-631
Approaching the
target position
using the
traversing block
parameters
Table 6-72
! not 611ue !
P0080:N
Block number
0... 63
P0081:N
Position
P0082:N
Velocity
P0083:N
Acceleration
override
P0084:N
Deceleration
override
P0087:N
Mode
U0W0Hex
U = target position input
0: Input via traversing block (P0081:N)
1: Input via PROFIBUSDP; control word XSP (Signal No. 50109)
W = Positioning mode
The behavior when approaching the target position is defined in parameter P0087. The behavior depends on whether the spindle positioning
function is already active and the 1st position was approached or not.
6-632
Behavior if the
1st target position
has already been reached
W=0
ABSOLUTE
(Standard)
W = 1 RELATIVE
Not supported
W = 2 ABS_POS
The position is
approached in the
positive direction.
W = 3 ABS_NEG
The position is
approached in the
negative direction.
Structure of the
traversing block
No.
(P0080)
Command
Mode
(P0087
W
Positioning1)
ABSOLUTE
Positioning1)
ABS_POS
Position
(P0081)
Velocity
(P0082)
degrees/min
0
90
72000
3600
Acceleration
(referred to
P0103)
Deceleration
(referred to
P0104)
100 %
100 %
100 %
100 %
If no bit is selected when selecting the block with the spindle positioning on command, then traversing block 0 is automatically selected.
The axis then positions with the values from traversing block 0.
In the example, Fig. 6-94 (Standard setting) the drive moves to the
position value 0 degrees from the actual speed and direction of rotation, at a search velocity of 72000 degrees/min (200 RPM).
If bit 0 is set in this state, when selecting the traversing block (via
terminal or PROFIBUSDP), then the drive rotates according to the
ABS_POS mode in the clockwise sense with the max. velocity of
3600 degrees/min and remains stationary at the 90 degrees position.
After bit 0 is switchedout, the axis moves from 90 degrees to 0 degrees.
The spindle positioning on command must always be present. If the
command is switchedout, then the axis rotates at the speed of the
currently effective speed setpoint.
Search rate
The search velocity depends on the initial velocity at the instant that the
spindle positioning function is activated at nset (refer to Fig. 6-95).
In this case, the following parameters are effective:
P0082:256
Velocity
P0083:256
Acceleration override
P0084:256
Deceleration override
P0103
Max. acceleration
P0104
Max. deceleration
P0129
P0130
P0133
P1256:8
P1257:8
6-633
Spindle positioning on
v
[1/1000]
3
Velocity range
! not 611ue !
Minimum from
P0133 and P0082
1
P1256
Target
position
In this velocity range, the drive accelerates to the search velocity v1. The drive traverses to the
target position if the zero mark is recognized.
In this velocity range (search velocity), the drive traverses without changing its velocity until
the zero mark has been recognized. The drive then traverses to the target position.
In this velocity range, the drive brakes to the search velocity v2. The drive traverses to the target
position if the zero mark is recognized.
Condition: The maximum velocity P0102 must be greater than v2.
Fig. 6-95 Spindle positioning at nset, if the axis was previously referenced
Spindle
positioning, zero
mark offset
6-634
Encoder
configuration
effective
P0250
P0174
6-635
Input/output
signals
(refer to Chapter
6.4)
! not 611ue !
The following signals are used for the spindle positioning function:
Input signals
(refer under the index entry Input signal, digital ...)
Input signal, spindle positioning on
> using an input terminal with function number 28
> using the PROFIBUS control signal STW1.15
Input of traversing blocks
> via an input terminal, or
> via PROFIBUSDP
When the traversing block selection is changed (number), the
position is immediately changed to the position specified in the
traversing block.
Output signals
6-636
Short
commissioning
(example)
Hardware structure: Encoder signals and zero pulse from the motor encoder
Software prerequisites:
Software release SW 5.1
The spindle positioning program must be activated via
SimoCom U or P0125 =1.
Select the spindle positioning on function via terminal
(Fct. No. 28) or PROFIBUSDP (STW1.15). (e.g. spindle positioning on via terminal I2.A).
Start
Is a zero
offset
required?
No
Yes
1. Inhibit the controller
No
Yes
1. Rotate the spindle to the required position
2. Set the actual position as zero position
using the SimoCom U menu screen Spindle
positioning or set P0127 to 1
> Zero mark offset is displayed using
P0128
1
Fig. 6-96 Commissioning example, spindle positioning
6-637
! not 611ue !
Should positioning be
optimized?
No
Yes
1. Current controller
2. Speed controller
3. Rampup/rampdown time (P1256:8/P1257:8)
4. Search velocity via P0082 (traversing block), if necessary, increase P0133
5. Max. deceleration/acceleration (P0103, P0104) and input the override via traversing
blocks
6. Position controller (Kv factor adaptation via P0200:8)
Note:
Observe the parameter set changeover!
End
6-638
6.16
Description
Fine
synchronization
6-639
Equivalent of
the encoder
adjustment
Configuration,
actual value
sensing motor
encoder
In P1011, bit 12 (identify coarse position) is set in order that the rotor
Parameter
overview
(refer to Chapter
A.1)
The following parameters are used for the rotor position synchronization/rotor position identification:
P1011
IM configuration, actual value sensing
P1016
Angular commutation offset
P1017
Commissioning support
P1019
Current, rotor position identification
P1020
Maximum rotation, rotor position identification (SRM)
Maximum movement, rotor position identification (SLM)
P1075
Technique, rotor position identification
P1076
Load moment of inertia RLI (SRM)
Load mass RLI (SLM)
P1523
Time constant, speed actual value filter (PT1) RLI
(from SW 9.1)
The following diagnostics parameters are used rotor position synchronization/rotor position identification:
P1734
Diagnostics, rotor position identification
P1736
Test, rotor position identification
P1737
Difference, rotor position identification
Boundary
conditions
The techniques can only be started when the controller and pulses
The technique can only be started when the controller and pulses
are enabled as current must flow through the motor.
This technique can be used for both braked and nonbraked motors.
6-640
The technique may only be used for horizontal axes which can
freely move and which do not have a brake.
In the pos mode, until the identification has been completed, the
Warning
When the motors are not braked, the motor rotates or moves as a
6-641
Parameterization
for the
motionbased
technique
(P1075 = 3)
(from SW 6.1)
For the parameterization of the rotor position identification for the motionbased technique, initially, a rotor position identification run must be
made with a standard parameterization.
The noise which is generated should be heard as a sequence of soft
surges.
The following should be done if faults occur:
> Increase the parameterized load mass (P1076), check the maximum permissible motion (P1020) and if required, increase.
the axis cannot freely move (e.g. the motor rotor is locked)
external forces have disturbed the identification routine (refer
above)
the axis has an extremely high friction:
> the identification current (P1019) must be increased
If the rotor position identification routine was successful, the rotor position which was found should be checked. This test function can determine the difference between the determined rotor position angle and
the rotor position angle used by the closedloop control.
The following procedure should be applied several times:
1. Start the test function using P1736 = 1.
2. Evaluate the difference in P1737 a spread of the measured values
of less than 10 degrees is acceptable. If this is not the case, then a
higher current must be used for the identification routine (P1019).
6-642
Steps when
commissioning the
system
6-643
Supplement
from SW 9.1
Measuring systems with coarser encoder resolution are being increasingly used. This is the reason that when carryingout a rotor position
identification routine, method 3 (P1075 = 3), it is possible to enter a
time constant for the speed actual value filtering using P1523 during
the rotor position identification routine. P1522 is then not effective during the pole position identification.
Plausibility
monitoring,
encoder
(from SW 10.1)
Actual position
45
Note:
An offset by one of more pole pitches cannot
be detected!
Fig. 6-98 Limits of plausibility monitoring (rotary axis example)
6-644
P1011
Bit 10 = 1
Bit 10 = 0
Yes
No
Fault 510
Positive feedback detected
Remedy, refer to fault
510!
Possible to start closedloop
control
End
Fig. 6-99 Plausibility monitoring for absolute encoder
Note
P1019 must be adapted at the motor.
For P1075 = 3 (motionbased) the motor can move.
For P1075 = 1 (saturationbased) noise can be emitted.
The secondary conditions/constraints for both of these techniques
must be carefully observed!
6-645
6.17
Description
For a feed drive with synchronous motor (SRM, SLM), if the encoder
fails without the encoder information, then the drive is braked up to the
changeover speed/velocity parameterized in P1466.
Note
Electrical braking when the encoder fails has not been designed for
operation with coupled axes!
Activating
The function electrical braking when the encoder fails is activated with
P1049 = 1. The standard setting (default setting) is P1049 = 0.
Braking sequence
The drive brakes down to the changeover speed/velocity parameterized in P1466. The pulses are only inhibited then and the motor
costs down.
If the motor speed/velocity at the instant that the encoder fails lies
below the changeover speed/velocity defined in P1466, then the
pulse inhibit is directly initiated and the motor coasts down.
Boundary
conditions
The timer for pulse cancellation in P1404 should be greater than the
duration of the braking operation.
The function to monitor whether the speed controller is at its endstop is always disabled (P1096.1 = 1).
The following criteria always apply for the use, otherwise fault 722 is
output:
6-646
Note
This braking can withdraw a large proportion of the kinetic energy from
the system. This means that at the end the motor coasts down with a
low amount of energy and depending on the particular application and
the motors selected, the machinery construction OEM should provide
additional protective measure
Parameter
overview
(refer to Chapter
A.1)
The following parameters are used for electrical braking when the encoder
fails:
P1049 Activate EMF brake (SRM SLM)
P1097 Red. max. torque for regen. stop
P1403 Shutdown speed, pulse cancellation (SRM)
Shutdown speed, pulse cancellation (SLM)
P1404 Timer, pulse cancellation
P1466 Changeover speed, closedloop control/pulse cancellation (SRM)
Changeover velocity, closedloop control/pulse cancellation (SLM)
6-647
6.18
Description
Motor
Mechanical system
load, act
n mot, act
reF(j ) Dynamic
working and adaptation
Bit9
n set
P1560
1
0
P1560
Bit13
Filter 3
Filter 2
P1576...
P1580
P1560
1
0
Bit14
P1562
Filter 5
P1590...
P1594
Filter 1
P1571...
P1575
Filter 4
P1586...
P1589
Tv1
n load, act
Selection
feedback 1
Speed
controller
Speed setpoint
n set, load
n set, mot
a load, act
Bit10
1
P1560
0
Bit7
1
0 P1560
P1564
Tv2
P1567
Selection
feedback 2
6-648
Activating
Reserved
Bit 7
Bit 8
Bit 9
Bit 12 Reserved
Bit 13 APC, disable 1st cascade
Bit 14 APC, disable 2nd cascade
Bit 15 Reserved
Additionally:
6-649
Commissioning
the function
rotating load with load measuring system 8192 pulses/rev. 8192/25 pulses
per motor revolution on the load side; factor: 2048/8192
25 = 6.25
Example 3:
Rotating motor, 2048 pulses/rev, load directly coupled to the direct
Blocking frequency
Sampling time
Subsampling factor should
be 1/160.
This can easily be ensured using the subsampling factor. It is effective for filters 1, 2, 4, and 5. The 3rd filter is always processed in
the speed controller cycle and can serve to interpolate the filters,
which have been subsampled. All filters can only be deactivated by
being suitably parameterized (e.g., using default values); there is no
on/off switch.
5. Parameterize the filter characteristics (P1571:8...P1594:8)
6-650
Note
Filters 1 and 2 or 4 and 5 can be disabled by selecting PT1 and setting
the time constant to zero.
Filter 3 cannot be configured as PT1 and therefore cannot be disabled.
The SimoCom U startup tool is used to display the filter frequency
characteristics.
Parameter
overview
(refer to Chapter
A.1)
6-651
P1592:8
P1593:8
P1594:8
6-652
6.19
Description
Input/output
signals
Note
The Oscillate function of the SIMODRIVE 611 analog can be
simulated by using the Activate function generator immediately input
signal. The parameters of the Function generator function are to be
parameterized in a suitable manner (see Chapter 7.4.1).
The PRBS white noise function generator waveform is not suitable
for the oscillating function. This waveform does not have any
interlocking for oscillating!
Starting via PROFIBUS-DP is only possible if bit 6 is set to 1 in P0878.
If the oscillation function is canceled (controller enable is withdrawn)
then the drive brakes along the braking ramp P1813. At zero speed,
oscillation is ended and the drive is switched into the Positioning
operating mode.
6-653
6.20
Description
The ruggedness of the drive system with regard to encoder and pole
position faults can be increased with this function.
It offers a solution for the following faults:
Faulty absolute information from the encoder and thus false pole
position information
6-654
External torque
Oscillating system
Vertical axes
Axes coupled at HLA
Master slave with bias
Traversing to fixed stop
Extremely fast axis (reversing in 10 ms)
6.21
Description
In order to protect the power section, currents Imax, Irated and Is6 must
be reduced depending on the frequency, the ambient temperature and
the installation altitude when compared to the standard power section
values listed in the catalog (derating).
For SIMODRIVE 611 universal, the derating characteristic is determined as follows:
I
In
100%
Ambient temperatures up to 40 C
X1
f1 [kHz]
0%
f0
6-655
6-656
6.22
Description
Activation
Bit 1: Dynamic energy management function only effective for regenerative braking
Boundary
conditions
6-657
Precondition
The times must lie within the configured times of P1403 Shutdown
speed pulse cancellation and P1404 Timer pulse cancellation so that
only a controller inhibit is initiated and not a pulse inhibit.
To achieve this, the controller inhibit must be configured as a shutdown
response when Alarm 617 is output with P1613 Shutdown response,
fault 2, bit 17 DC link voltage.
Note
When the upper limit for the DC link voltage dynamic energy management is exceeded (P1701 > P1153), then Alarm 617 DC link overvoltage is output.
The configuration must ensure that the sum of all of the motion axes,
which regenerate into the line supply, cannot destroy the infeed/regenerative feedback unit. Alarm 617 can be influenced using P1613 bit 17.
Note
Speeding up the DC link sensing
The DC link voltage is measured using a multiplexer which is also used
to sense the motor temperature for motor 1 and motor 2 and an internal reference measurement.
6-658
Notice
At the same time, the machine concept must guarantee that the speed
limit is also exceeded from time to time; otherwise, the following
alarms or messages cannot be output or cannot be responded to:
Parameter
overview
(refer to
Chapter A.1)
6-659
6.23
Description
Activation
Boundary
conditions
If, during the ground fault test, the current exceeds the value configured in P1167 Response threshold of the ground fault test, then
Alarm 511 Ground fault detected is output.
The cause of the alarm is saved in P1169 = -6.
Current flows through the motor when the ground fault test is per-
formed; this is the reason that the function can only be started after
the controller and pulses have been enabled.
If, during the ground fault test, the pulse enable is withdrawn, then
the ground fault test waits for the next pulse enable and then
repeats the complete procedure.
6-660
Yes
Yes
No
Diagnostics parameter P1169:
1: Measurement completed,
no ground fault occurred
End
The ground fault test is not possible for a motor that is presently
6-661
When booting after power on, the automatic ground fault test
the prerequisite that the axis is mechanically locked using the holding brake.
Parameter
overview
(refer to
Chapter A.1)
The following parameters are used for the Motor diagnostics ground
fault test:
P1166 Activate ground fault test
P1167 Response threshold of the ground fault test
P1168 Maximum rotation, ground fault test (ARM SRM)
Maximum motion, ground fault test (SLM)
P1169 Motor diagnostics
6-662
Fault Handling/Diagnostics
7.1
7.2
7.2.1
7.2.2
7.3
7.3.1
7.3.2
7.4
7.4.1
7.4.2
7.4.3
7.4.4
Commissioning functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Function generator (FG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Trace function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Test sockets, DAC1, DAC2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Measurement function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-762
7-763
7-771
7-773
7-776
7.5
7.5.1
7.5.2
7.5.3
7-777
7-777
7-778
7-780
7.6
7-663
7 Fault Handling/Diagnostics
7.1
7.1
Table 7-1
Type
Range
Description
When faults occur
EA008
Eb714
Fault
have the
numbers
< 800
and
are displayed
with
Exxx
faults can be displayed using the PLUS key (refer to Fig. 7-2)
1
...
799
S Starting from the fault display, you can changeover into the parameterizing mode using the MINUS key
Alarms
Fault correction
Warning
have the
numbers
w 800
and
are displayed
with E
xxx
e.g.
E A805
E b810
Features
800
...
927
Removing warnings
i.e. they automatically reset themselves once the condition is no longer fulfilled
7-664
7 Fault Handling/Diagnostics
7.1
Alarm log
Acknowledgement
In the list of faults and warnings (refer to Chapter 7.3), for each fault
and warning, an explanation is given under Acknowledge, as to how
they can be acknowledged after the cause has been removed.
Acknowledging
faults with
POWER ON
Faults, which are to be acknowledged with POWER ON, can be alternatively acknowledged as follows:
1. POWER ON
> poweroff/poweron SIMODRIVE 611 universal
2. Press the POWERON RESET button on the front panel of the control board
3. POWERON RESET with the SimoCom U tool
The processor runs up again, all of the faults are acknowledged, and
the fault buffer is reinitialized.
Acknowledging
faults with
RESET FAULT
MEMORY
S Set the appropriate bus signal (e.g. for the CAN bus, from
SW 8.1)
1. Carryout POWER ON acknowledgment
In addition to the POWER ON faults, all of the faults, which can be
acknowledged with RESET FAULT MEMORY, are also acknowledged.
2. Set the input terminal with the reset fault memory function to 1
3. Press button P on the display and operator control unit
7-665
7 Fault Handling/Diagnostics
7.1
7-666
7 Fault Handling/Diagnostics
7.1
Stop responses
In the list of faults and warnings, for each fault and warning, the stop
response and its effects are specified under stop response.
> Refer to Chapter 7.3
Note
Handling faults in the master and slave drive for coupled axes, refer to
Chapter 6.3.2.
Table 7-2
Stop
response
STOP I
Effect
S Torquecontrolled operation
STOP II
Internal
control inhibit
nset = 0
Interpolator
(P0104)
S
S
7-667
7 Fault Handling/Diagnostics
7.1
Table 7-2
Stop
response
STOP V
STOP VI
End of block
STOP VII
none
Effect
S
S
S
S No effect.
S Acknowledgment is not required.
S That is a warning
STOP VIII STOP I (ARM) Digital outputs are switched to 0 V and cyclic
(from
STOP II (SRM, PROFIBUS communications are interrupted.
SW 9.2)
Caution:
SLM)
Depending on the extent of the processor overload that occurs, it cannot always be guaranteed
that all software modules, which initiate responses, are executed. This means that some
responses may not be initiated.
P1600
And
P1601
Refer to
ChapterA.1
Can be
parameterized
P1612
And
P1613
(from SW 3.3)
Refer to
ChapterA.1
7-668
7 Fault Handling/Diagnostics
7.2
7.2
7.2.1
Display and operator control via the display and operator unit
Displaying
faults and
warnings
Display example
(flashing display)
1. This is what it looks like if a fault has occurred (refer to Fig. 7-1).
S E:
it involves a fault
(Code: 1 hyphen)
S E:
S 3 hyphens:
S A:
S 131:
Note:
+
S E:
S 2 hyphens:
S A:
S 134:
S E:
it involves a warning
(code: no hyphen)
S A:
S 804:
7-669
7 Fault Handling/Diagnostics
7.2
When a fault occurs, it can be handled using the MINUS and P keys as
shown in the following diagram.
Operator control,
if a fault is present
Alarm mode
Display and
operator unit
Flashing
display
Automatically
after one
minute
Fig. 7-1
Key
Key
When faults occur, they can be handled as shown in the following diagram using the PLUS, MINUS and P keys.
Fig. 7-2
7-670
+
...
Automatically
after one
minute
P
Alarm mode
Flashing
display
Display and
operator unit
and
term. 65.x
deenergized
Parameterizing mode
Operator control,
if several faults
have occurred
Acknowledge
Acknowledge
and
term. 65.x
Parameterizing mode deenergized
Key
Key
Key
7 Fault Handling/Diagnostics
7.2
Operator action,
if one
warning is present
When warnings occur, they can be handled using the MINUS key as
shown in the following diagram.
Alarm mode
Display and
operator unit
Flashing
display
Automatically
after one
minute
Parameterizing mode
Key
Fig. 7-3
7-671
7 Fault Handling/Diagnostics
7.2
7.2.2
LED display
on the
control
board
R:
Fig. 7-4
What significance
does the
FAULT LED have?
If
The
FAULT LED
on the
front panel of
the
control board
lights up
7-672
S there is at least one fault (No.: < 800, the fault number
is displayed on the display unit)
7 Fault Handling/Diagnostics
7.3
7.3
7.3.1
Fault
Cause
Fault
Cause
Fault
Cause
Fault
Cause
Fault
Cause
Fault
Cause
7-673
7 Fault Handling/Diagnostics
7.3
7.3.2
S In some instances, the space retainers (e.g. \%u) are specified for
the texts of the individual faults and warnings. In online operation
with SimoCom U instead of a space retainer, an appropriate value
is displayed.
000
Cause
Remedy
001
Cause
Remedy
Acknowledgement
POWER ON
Stop response
7-674
7 Fault Handling/Diagnostics
7.3
002
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP VIII
003
Cause
The watchdog timer on the control module has expired. The cause is a
hardware fault in the time basis on the control module.
Supplementary information: only for siemens-internal error diagnostics
Remedy
Acknowledgement
POWER ON
Stop response
STOP VIII
004
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP VIII
005
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP VIII
7-675
7 Fault Handling/Diagnostics
7.3
006
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP VIII
007
Cause
An error occurred when loading the firmware from the memory module.
Cause: Data transfer error, FEPROM memory cell defective
Supplementary information: only for siemens-internal error diagnostics
Remedy
Acknowledgement
POWER ON
Stop response
STOP VIII
020
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP VIII
025
SSI interrupt
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP VIII
7-676
7 Fault Handling/Diagnostics
7.3
026
SCI interrupt
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP VIII
027
HOST interrupt
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP VIII
028
Cause
When the current actual value sensing runs up, or in cyclic operation at
pulse inhibit, a 0 current is expected. The drive system then identifies
that no currents are flowing (excessive deviation to the theoretical center frequency). It is possible that the hardware for the current actual
value sensing is defective.
Remedy
Acknowledgement
POWER ON
Stop response
029
Cause
The motor measuring system has a motor encoder with voltage output
which requires a measured circuit evaluation with voltage input, or a
resolver with appropriate evaluation. Another measuring circuit evaluation was identified.
Supplementary information: only for siemens-internal error diagnostics
Remedy
Acknowledgement
POWER ON
Stop response
7-677
7 Fault Handling/Diagnostics
7.3
030
Cause
Remedy
Acknowledgement
POWER ON
Stop response
031
Cause
Error in the internal data, e.g. errors in the element / block lists (incorrect formats, ...). The drive software is no longer consistant. The cause
is propably a hardware fault on the control module.
Supplementary information: only for siemens-internal error diagnostics
Remedy
Acknowledgement
POWER ON
Stop response
032
Cause
An illegal number of current setpoint filters was entered (> 4) (maximum number = 4).
Remedy
Acknowledgement
POWER ON
Stop response
033
Cause
Remedy
Acknowledgement
POWER ON
Stop response
034
Cause
The function for determining the number of axes that physically exist on
the power section has calculated an illegal value.
Remedy
Check that the control module is correctly inserted in the power section
or whether the power section is defective.
Acknowledgement
POWER ON
Stop response
7-678
7 Fault Handling/Diagnostics
7.3
035
Cause
An error occurred when saving the user data in the FEPROM on the
memory module.
Cause: Data transfer error, FEPROM memory cell defective
Note: The user data which was last saved, is still available as long as a
new data backup was unsuccessful.
Supplementary information: only for siemens-internal error diagnostics
Remedy
Acknowledgement
POWER ON
Stop response
036
Cause
Remedy
Acknowledgement
POWER ON
Stop response
7-679
7 Fault Handling/Diagnostics
7.3
037
Cause
An error occurred when loading the user data from the memory module.
Cause: Data transfer error, FEPROM memory cell defective
Supplementary information: only for siemens-internal error diagnostics
Remedy
Acknowledgement
POWER ON
Stop response
039
Cause
Supplementary information
0x100000:
More than 1 power section (unit) type was identified.
0x200000:
No power section type was identified, although it would have been possible.
0x30xxxx:
The identified power module differs from the entered PM (P1106). To
xxxx: the code of the identified PM is entered here.
0x400000:
Different power section codes (P1106) are entered for this 2-axis module.
Remedy
Acknowledgement
POWER ON
Stop response
040
Cause
Remedy
Compare the type of the expected option module (P0875) with the type
of the inserted option module (P0872) and check/replace the inserted
option module or cancel the option module with P0875 = 0.
Acknowledgement
POWER ON
Stop response
7-680
7 Fault Handling/Diagnostics
7.3
041
Cause
Supplementary info = 1:
An option module is inserted (P0872) or parameterized (P0875), which
is not supported by the firmware release of the control module.
Remedy
Supplementary info = 1:
Upgrade the firmware
Use a legal option module
Cancel the option module with P0875 = 0
Supplementary info = 2:
Use a permissible option module (DP3)
Cancel the option module with P0875 = 0
Supplementary info = 3:
Replace the option module hardware DP1 by option module DP2 or
DP3, without changing the drive parameters and the master
configuring. The parameter for the expected option module remains
at P0875 = 2.
Acknowledgement
POWER ON
Stop response
042
Cause
Remedy
Acknowledgement
POWER ON
Stop response
043
Cause
The option module does not contain the currently required firmware.
Remedy
Acknowledgement
POWER ON
Stop response
044
Cause
Remedy
Acknowledgement
POWER ON
Stop response
7-681
7 Fault Handling/Diagnostics
7.3
045
Cause
The option module type, expected from the parameterization, is different for the two axes of a 2-axis module.
Remedy
Set the expected option module type in P0875 the same for both axes,
or cancel for axis B by setting P0875 to 0.
Acknowledgement
POWER ON
Stop response
048
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP II
101
Cause
The target position specified in this block lies outside the range limited
by P0316 (plus software limit switch).
Remedy
Acknowledgement
Stop response
STOP VI
102
Cause
The target position specified in this block lies outside the range limited
by P0315 (minus software limit switch).
Remedy
Acknowledgement
Stop response
STOP VI
103
Cause
Remedy
Acknowledgement
Stop response
STOP V
7-682
7 Fault Handling/Diagnostics
7.3
104
Cause
Remedy
Acknowledgement
Stop response
STOP VI
105
Cause
Remedy
Acknowledgement
Stop response
STOP VI
106
Cause
Remedy
Acknowledgement
Stop response
STOP VI
107
Cause
Remedy
Acknowledgement
Stop response
STOP VI
7-683
7 Fault Handling/Diagnostics
7.3
108
Cause
There are several traversing blocks with the same block number in the
program memory. The block numbers must be unique over all traversing blocks.
Remedy
Acknowledgement
Stop response
STOP VI
109
Cause
Remedy
Remove the cause that the signal edge is missing at the input terminal
or for a PROFIBUS control signal STW1.13 or for the appropriate fieldbus signal.
Acknowledgement
Stop response
STOP V
110
Cause
Remedy
Acknowledgement
Stop response
STOP VI
111
Cause
The step command GOTO may not be programmed for this block number.
Remedy
Acknowledgement
Stop response
STOP VI
112
Cause
A positive signal edge was simultaneously detected for the input signals Activate traversing task and Start referencing and Activate
handwheel.
At power-on or POWER-ON RESET, if both input signals have a 1
signal, then for both signals a 0/1 edge (positive edge) is simultaneously identified.
Remedy
Reset both input signals, and re-start the required function after the
fault has been acknowledged.
Acknowledgement
Stop response
STOP IV
7-684
7 Fault Handling/Diagnostics
7.3
113
Cause
A positive signal edge was simultaneously detected for the input signals Activate traversing task and Jog 1, Jog 2 and Activate handwheel.
At power-on or POWER-ON RESET, if both input signals have a 1
signal, then for both signals a 0/1 edge (positive edge) is simultaneously identified.
Remedy
Reset both input signals, and re-start the required function after the
fault has been acknowledged.
Acknowledgement
Stop response
STOP IV
114
Cause
The traversing block with the highest block number does not have END
as block step enable.
Remedy
Acknowledgement
Stop response
STOP VI
115
Cause
The axis has moved to the traversing range limit in a block with the
command ENDLOS_NEG (200 000 000 MSR).
Remedy
Acknowledge fault
Move away in the positive direction (e.g. jog)
Acknowledgement
Stop response
STOP V
116
Cause
The axis has moved to the traversing range limit in a block with the
command ENDLOS_POS (200 000 000 MSR).
Remedy
Acknowledge fault
Move away in the negative direction (e.g. jog)
Acknowledgement
Stop response
STOP V
7-685
7 Fault Handling/Diagnostics
7.3
117
Cause
The target position specified in this block lies outside the absolute traversing range (200 000 000 MSR).
Remedy
Acknowledgement
Stop response
STOP VI
118
Cause
The target position specified in this block lies outside the absolute traversing range (200 000 000 MSR).
Remedy
Acknowledgement
Stop response
STOP VI
119
Cause
For a block with the ENDLOS_POS command, the axis has actuated
the plus software limit switch (P0316) for absolute or relative positioning.
The behavior for software limit switch reached, can be set using
P0118.0.
Remedy
Acknowledge fault
Move away in the negative direction, jog mode
Acknowledgement
Stop response
STOP V
120
Cause
For a block with the ENDLOS_NEG command, the axis has actuated
the minus software limit switch (P0315) for absolute or relative positioning.
The behavior for software limit switch reached, can be set using
P0118.0.
Remedy
Acknowledge fault
Move away in the positive direction, jog mode
Acknowledgement
Stop response
STOP V
121
Cause
The input signals jog 1, jog 2 or activate handwheel were simultaneously activated.
Remedy
Acknowledgement
Stop response
STOP II
7-686
7 Fault Handling/Diagnostics
7.3
122
Cause
The value range limit of the parameter was violated when the dimension system was changed over from inches to millimeters.
Remedy
Acknowledgement
POWER ON
Stop response
123
Cause
Remedy
Acknowledgement
POWER ON
Stop response
124
Cause
For the start referencing and Jog 1 and Jog 2 input signals, a positive edge was simultaneously identified.
Remedy
Reset both input signals, and re-start the required function after the
fault has been acknowledged.
Acknowledgement
Stop response
STOP V
125
Cause
When moving away from the reference cams, the traversing range limit
was reached, as the 1/0 edge of the reference cam was not identified.
Remedy
Check the reference cam input signal and repeat the reference point
approach.
Acknowledgement
Stop response
126
Cause
The ABS_POS positioning mode is only permitted for a rotary axis with
activated module conversion (P0241 = 1).
Remedy
Acknowledgement
Stop response
STOP VI
7-687
7 Fault Handling/Diagnostics
7.3
127
Cause
The ABS_NEG positioning mode is only permitted for a rotary axis with
activated modulo conversion (P0241 = 1).
Remedy
Acknowledgement
Stop response
STOP VI
128
Cause
Remedy
Acknowledgement
Stop response
STOP VI
129
Maximum velocity for a rotary axis with modulo conversion too high
Cause
Remedy
Acknowledgement
Stop response
STOP V
130
Cause
Remedy
Set the enable signals or check the cause of the first fault which
occurred and remove
Remove the power-on inhibit with the edge (0 > 1) at control word
STW1.0 or terminal 65.
Withdraw the power-on inhibit from the fieldbus signal.
Acknowledgement
Stop response
STOP II
7-688
7 Fault Handling/Diagnostics
7.3
131
Cause
Remedy
Acknowledgement
Stop response
STOP II
132
Cause
The axis was moved to the minus software limit switch (P0315), jog
mode.
The fault can also occur if the software limit switches are inactive if the
position actual value falls below the limit value of 200 000 000 MSR,
that corresponds to 555 revolutions for a rotary axis.
Remedy
Return the drive into the traversing range using jog button 1 or 2. Then
acknowledge the fault.
Acknowledgement
Stop response
STOP III
133
Cause
The axis was moved to the plus software limit switch (P0316), jog
mode.
The fault can also occur if the software limit switches are inactive if the
position actual value exceeds the limit value of 200 000 000 MSR, that
corresponds to 555 revolutions for a rotary axis.
Remedy
Return the drive into the traversing range using jog button 1 or 2. Then
acknowledge the fault.
Acknowledgement
Stop response
STOP III
134
Cause
The drive has not yet reached the positioning window (P0321) after the
positioning monitoring time (P0320) has expired.
Possible causes:
Positioning monitoring time (P0320) parameters too low
Positioning window (P0321) parameters too low
Position loop gain (P0200) too low
Position loop gain (P0200) too high (instability/tendency to oscillate)
Mechanical block
Remedy
Acknowledgement
Stop response
STOP II
7-689
7 Fault Handling/Diagnostics
7.3
135
Cause
The drive has left the standstill window (P0326) after the standstill monitoring time (P0325) has expired.
Possible causes are:
Position actual value inversion (P0231) incorrectly set
Standstill monitoring time (P0325) parameters too low
Standstill window (P0326) parameters too low
Position loop gain (P0200) too low
Position loop gain (P0200) too high (instability/tendency to oscillate)
Mechanical overload
Check connecting cable motor/converter (phase missing, exchanged)
Remedy
Acknowledgement
Stop response
STOP II
136
Cause
Remedy
Acknowledgement
Stop response
STOP II
137
Cause
Remedy
Acknowledgement
Stop response
STOP II
138
Cause
The conversion factor between the motor and load is greater than 2 to
the power of 24 or less than 2 to the power of 24.
Remedy
Acknowledgement
Stop response
7-690
7 Fault Handling/Diagnostics
7.3
139
Cause
Remedy
Acknowledgement
POWER ON
Stop response
140
Cause
A 1/0 edge was identified at the Minus hardware limit switch input signal.
Remedy
Return the drive into the traversing range using jog button 1 or 2. Then
acknowledge the fault.
Acknowledgement
Stop response
STOP III
141
Cause
A 1/0 edge was identified at the Plus hardware limit switch input signal.
Remedy
Return the drive into the traversing range using jog button 1 or 2. Then
acknowledge the fault.
Acknowledgement
Stop response
STOP III
142
Cause
Remedy
Acknowledgement
Stop response
STOP IV
7-691
7 Fault Handling/Diagnostics
7.3
143
Cause
The block change enable CONTINUE_EXTERNAL for the ENDLESS_POS or ENDLESS_NEG command is only permitted with
P0110 = 0 or 1.
Remedy
Acknowledgement
Stop response
STOP VI
144
Cause
In the active traversing program, MDI was switched-in or, in the active
MDI block, MDI was switched-out.
Remedy
Acknowledge fault
Change P0110
Acknowledgement
Stop response
STOP II
145
Cause
Remedy
Check programming
Increase kP0326 if the drive was forced out of the position.
Acknowledgement
Stop response
STOP V
146
Cause
In the Fixed endstop reached status, the axis has moved outside the
defined monitoring window.
Remedy
Acknowledgement
Stop response
STOP II
147
Cause
Remedy
Set the enable signals and check the cause of the first fault and remove.
Acknowledgement
Stop response
STOP II
7-692
7 Fault Handling/Diagnostics
7.3
148
Cause
The velocity specified in this block lies outside the range (6 to 2 000
000 000 c*MSR/min).
Remedy
Acknowledgement
Stop response
STOP VI
149
Cause
Data error for modulo drive with absolute encoder and any gear factor.
Data was not able to be saved after power-on.
Absolute position was not able to be read-out of the encoder.
P1021 * P0238:8 / P0237:8 * 360 / P0242 must be greater than or
equal to 1.
Modulo range must be n * 360 Degrees with n = 1, 2, ....
Drive booting was interrupted.
When parameter set > 0 is selected the ratios P0238:8 / P0237:8 are
not equal.
Supplementary information: only for siemens-internal error diagnostics
Remedy
Acknowledgement
POWER ON
Stop response
STOP V
7-693
7 Fault Handling/Diagnostics
7.3
150
Cause
The external position reference value has exceeded the upper traversing range limit.
Supplementary info = 0:
Limit exceeded after the coupling factors P0401/P0402 identified, i.e.
P0032 > 200 000 000 MSR.
Supplementary info = 1:
Limit exceeded after the coupling factors P0401/P0402 identified, i.e.
P0032 * P0402 / P0401 > 200 000 000 MSR.
Remedy
Return the external position reference value to the value range. Then
acknowledge the fault.
Acknowledgement
Stop response
STOP II
151
Cause
The external position reference value has fallen below the lower traversing range limit.
Supplementary info = 0:
Limit fallen below after the coupling factors P0401/P0402 identified, i.e.
P0032 < 200 000 000 MSR.
Supplementary info = 1:
Limit fallen below after the coupling factors P0401/P0402 identified, i.e.
P0032 * P0402 / P0401 < 200 000 000 MSR.
Remedy
Return the external position reference value to the value range. Then
acknowledge the fault.
Acknowledgement
Stop response
STOP II
7-694
7 Fault Handling/Diagnostics
7.3
152
Cause
Remedy
Acknowledgement
Stop response
STOP III
160
Cause
After starting the reference point approach, the axis moves through the
distance in P0170 (max. distance to the reference cam) without finding
the reference cam.
Remedy
Acknowledgement
Stop response
STOP V
161
Cause
When the axis moves to the reference cam, and does not come to a
standstill at the cam, then this error is signaled, i.e. the reference cam
is too short.
Remedy
Acknowledgement
Stop response
STOP V
7-695
7 Fault Handling/Diagnostics
7.3
162
Cause
After the reference cam has been left, the axis has moved through
the distance in P0171 (max. distance between the reference cam/
zero pulse), without finding a zero pulse.
For distance-coded measuring system (from SW 8.3 onwards):
The maximum permissible distance (clearance) between two
reference marks was exceeded.
Remedy
Acknowledgement
Stop response
STOP V
163
Cause
Encoderless operation was parameterized (P1006) and the Positioning mode selected.
Remedy
Acknowledgement
POWER ON
Stop response
STOP V
164
Cause
Remedy
First exist the traversing task and then disconnect the coupling.
Acknowledgement
Stop response
STOP III
165
Cause
Traversing blocks with absolute position data are not permitted while
the axis coupling is activated.
Remedy
Acknowledgement
Stop response
STOP IV
166
Cause
Remedy
Acknowledgement
Stop response
STOP VI
7-696
7 Fault Handling/Diagnostics
7.3
167
Cause
Remedy
Acknowledgement
Stop response
STOP II
168
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP IV
169
Cause
Remedy
Ensure that the slave drive was stationary for at least 1 IPO clock cycle
(P1010), before the coupling for the next element in the position
memory must be switched-in.
Acknowledgement
Stop response
STOP IV
170
Cause
While the drive was executing a traversing program, the Activate coupling input signal was reset.
Remedy
Only switch-out the coupling if the traversing program has been completed.
Acknowledgement
Stop response
STOP IV
171
Cause
While the drive was executing a traversing program, the Active coupling input signal was set.
Remedy
Only switch-in the coupling if the traversing program has been completed.
Acknowledgement
Stop response
STOP V
7-697
7 Fault Handling/Diagnostics
7.3
172
Cause
Remedy
Acknowledgement
Stop response
STOP IV
173
Cause
Remedy
Acknowledgement
Stop response
STOP V
174
Cause
Remedy
Acknowledgement
Stop response
STOP IV
175
Cause
While the master drive corrects the zero mark offset, the slave drive
must pass over a zero mark.
Supplementary information
0 = reference cam not found
1 = Reference cam not left
2 = Zero reference pulse not found
Remedy
Ensure that the cam of the slave drive is located between the cam and
the reference point of the master drive. Appropriately shift the cam
and/or increase the reference point offset (P0162) at the master drive.
If the zero pulse is not found, the reference point offset (P0162) must
also be increased at the master drive.
Acknowledgement
Stop response
STOP IV
176
Cause
Remedy
Acknowledgement
Stop response
STOP IV
7-698
7 Fault Handling/Diagnostics
7.3
177
Cause
Remedy
Acknowledgement
Stop response
STOP II
180
Cause
Remedy
Acknowledgement
Stop response
STOP IV
181
Cause
Remedy
Acknowledgement
Stop response
STOP IV
182
Cause
Remedy
Acknowledgement
Stop response
STOP IV
183
Cause
Remedy
Acknowledgement
Stop response
STOP IV
7-699
7 Fault Handling/Diagnostics
7.3
184
Cause
Remedy
Generate the required standard block for the specified block number
Enter the correct block number.
Acknowledgement
Stop response
STOP IV
185
Cause
Remedy
Acknowledgement
Stop response
STOP II
186
Cause
Remedy
Acknowledgement
Stop response
STOP II
7-700
7 Fault Handling/Diagnostics
7.3
187
Cause
Remedy
Acknowledgement
Stop response
STOP II
188
Cause
Remedy
Acknowledgement
Stop response
STOP II
7-701
7 Fault Handling/Diagnostics
7.3
189
Cause
Remedy
Acknowledgement
Stop response
STOP VI
190
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP II
191
Cause
Remedy
Acknowledgement
Stop response
STOP II
192
Cause
The maximum search velocity for spindle positioning is greater than the
maximum motor speed.
Remedy
Acknowledgement
Stop response
STOP II
7-702
7 Fault Handling/Diagnostics
7.3
193
Cause
The zero mark (encoder or equivalent zero mark, e.g. BERO) was not
found. Gearbox ratio (mechanical system) was not correctly parameterized using parameter P0237/P0238.
Remedy
Acknowledgement
Stop response
STOP II
194
Cause
Remedy
Acknowledgement
Stop response
STOP II
195
Cause
Remedy
Acknowledgement
Stop response
STOP II
196
Cause
Remedy
Acknowledgement
Stop response
STOP II
7-703
7 Fault Handling/Diagnostics
7.3
501
Cause
Remedy
Acknowledgement
POWER ON
Stop response
parameterizable
504
Cause
The encoder signal level is too low, faulted (incorrect shielding), or the
cable breakage monitoring function has responded.
After separately shutting down the supply voltage at the drive, for
SIMODRIVE 611 universal HRS with 1Vpp encoder or SIMODRIVE
universalE HRS with 1Vpp encoder, this fault message can be output
during the shutdown procedure without any significance for the control.
Remedy
Acknowledgement
POWER ON
Stop response
parameterizable
7-704
7 Fault Handling/Diagnostics
7.3
505
Cause
Remedy
Acknowledgement
POWER ON
Stop response
parameterizable
507
Cause
The difference between the actual rotor position and the new rotor position, which was determined by fine synchronization is greater than 45
degrees electrical.
When commissioning a linear motor with rotor position identification
(e.g. linear motor, 1FE1 motor), the fine synchronization was not adjusted.
Remedy
Acknowledgement
POWER ON
Stop response
parameterizable
7-705
7 Fault Handling/Diagnostics
7.3
508
Cause
Remedy
Acknowledgement
POWER ON
Stop response
parameterizable
509
Cause
The drive converter has exceeded the maximum permissible drive converter frequency.
Remedy
Encoder pulse number is too low, enter the actual encoder pulse
number in P1005
Stop the belt slipping in open-loop torque controlled mode
(the belt slips)
Check P1400 (rated motor speed)
Check P1146 (maximum motor speed)
Check P1147 (speed limiting)
Check P1112 (motor pole pair number)
Check P1134 (rated motor frequency)
Acknowledgement
Stop response
parameterizable
7-706
7 Fault Handling/Diagnostics
7.3
510
Cause
Ramp-up:
The actual rotor position and the position information read-out of the
encoder were compared with one another while booting and a deviation
of more than 45 Degrees was identified, P1011[10].
Operational:
The acceleration/velocity direction is different than the torque/force direction.
This monitoring function can be set using P1645 and P1646.
Remedy
This alarm can also occur when axes are mechanically blocked.
Check the fault cause analog to Alarm 605 Speed controller output
limited.
Operation may only be resumed after the fault has been removed
otherwise there is a danger of uncontrollable motion.
Ramp-up:
The deviation is due to dirt on the encoder or incorrect
mounting/installation of the encoder or encoder cable.
Operational:
If the load oscillates strongly increase the delay for the monitoring
(P1645).
Caution : The value in P1645 influences the duration of the axis
motion, triggered by positive feedback until the fault responds.
Check the encoder: Mounting, dirt, absolute track fault, lost pulses,
encoder cable
Acknowledgement
POWER ON
Stop response
parameterizable
511
Cause
Remedy
Acknowledgement
POWER ON
Stop response
parameterizable
7-707
7 Fault Handling/Diagnostics
7.3
512
Cause
The encoder signal level is too low, faulted (incorrect shielding), or the
cable breakage monitoring function has responded.
Remedy
Acknowledgement
POWER ON
Stop response
parameterizable
513
Cause
For absolute encoders with EnDat interface, this fault indicates an initialization error.
Note:
Additional information on the reason for the fault is included in P1033
(DM diagnostics).
Remedy
Acknowledgement
POWER ON
Stop response
parameterizable
7-708
7 Fault Handling/Diagnostics
7.3
514
Cause
Remedy
Acknowledgement
POWER ON
Stop response
parameterizable
515
Cause
Remedy
Acknowledgement
POWER ON
Stop response
parameterizable
7-709
7 Fault Handling/Diagnostics
7.3
591
Cause
For a 2-axis module, one axis is in the n-set mode and one axis in the
positioning mode. For the axis in the n-set mode, a position controller
clock cycle (of the master) is entered via the clock-cycle synchronous
PROFIBUS or the bus interface. This position controller clock cycle
differs from the parameterized position controller clock cycle (P1009) of
the axis in the positioning mode. The position controller clock cycle of
the master is obtained, in the n-set mode, from the DP clock cycle
(Tdp) or the clock cycle of the bus interface multiplied by the time grid
Tmapc.
Remedy
Acknowledgement
POWER ON
Stop response
STOP II
592
Cause
The function spindle positioning requires, for a clock-cycle synchronous PROFIBUS or the bus interface, that the position controller clock
cycle of the master matches the parameterized position controller clock
cycle (P1009). The position controller clock cycle of the master is obtained from the DP clock cycle (Tdp) multiplied by the time grid Tmapc.
Remedy
Acknowledgement
POWER ON
Stop response
STOP II
7-710
7 Fault Handling/Diagnostics
7.3
593
Cause
Supplementary information
0x01:
The master sign-of-life has more consecutive failures than permitted.
The permissible sign-of-life errors are specified using P0879 bits 20
(configuration).
0x02:
The Global Control telegram to synchronize the clock cycles has failed
in operation for several consecutive DP clock cycles or in several DP
clock cycles has violated the time grid specified using the parameterizing telegram (refer to times Tdp and Tpllw). If the complete DP communications permanently fails, at the latest after the response monitoring
times specified when configuring the bus, fault 595 is also output.
Remedy
Acknowledgement
Stop response
STOP II
595
Cause
The cyclic data transfer between the master and slave was interrupted
due to the fact that cyclic frames were missing, or due to the reception
of a parameterizing or configuring frame.
Examples:
bus connection interrupted
Master runs up again
Master has changed into the Clear state
For a passive axis, fault cannot be acknowledged using RESET
FAULT MEMORY.
Remedy
Check the master and bus connection to the master. As soon as cyclic
data transfer runs again, the fault can be acknowledged.
Set P0875 to 0 in the passive axis.
Acknowledgement
Stop response
STOP II
7-711
7 Fault Handling/Diagnostics
7.3
596
Cause
Cyclic data transfer between this slave and a slave-to-slave communications publisher was interrupted as cyclic telegrams were missing.
Examples:
bus connection interrupted
Publisher failure
Master runs up again
The response monitoring (Watchdog) for this slave was de-activated
via the parameterizing telegram (SetPrm) (Diagnostics:
P1783:1 bit 3 = 0).
Supplementary info: PROFIBUS address of the publisher
Remedy
Acknowledgement
Stop response
STOP II
597
Cause
Supplementary information
0x01:
The master sign-of-life (STW2, bits 1215) has more consecutive failures than permitted. The permissible sign-of-life error is specified using
P0879 bit 20 (PROFIBUS configuration).
0x02:
The Global Control telegram to synchronize the clock cycles has failed
in operation for several DP cycles in a row or has violated the time grid
(refer to times Tdp and Tpllw) specified using the parameterizing telegram for several DP clock cycles in a row. If the complete DP communications fails permanently, then Fault 599 is also output at the
latest after the response monitoring time specified when the bus was
configured, expires.
Remedy
Acknowledgement
Stop response
STOP II
7-712
7 Fault Handling/Diagnostics
7.3
598
Cause
Supplementary information
0x01:
The expected 1st global control clock cycle display did not occur within
the waiting time.
0x02:
PLL synchronization unsuccessful
0x03:
When synchronizing to the clock cycle, the global control clock cycle
had more consecutive failures than are permitted.
0x06:
The data frames w. the process data (setpoint direction) were only received after the time (To125 s) in the slave has expired.
Remedy
Acknowledgement
Stop response
STOP II
599
Cause
The cyclic data transfer between the master and slave was interrupted
due to the fact that cyclic frames were missing, or due to the reception
of a parameterizing or configuring frame.
Examples:
bus connection interrupted
Master runs up again
Master has changed into the Clear state
For a passive axis, fault cannot be acknowledged using RESET
FAULT MEMORY.
Remedy
Check the master and bus connection to the master. As soon as cyclic
data transfer runs again, the fault can be acknowledged.
Set P0875 to 0 in the passive axis.
Acknowledgement
Stop response
STOP II
7-713
7 Fault Handling/Diagnostics
7.3
600
Cause
Remedy
First measure the pole position and enter ( P1016 ), then complete
commissioning ( P1017 = 1 ).
If P1016 should be precisely 0, enter 0.001.
Acknowledgement
Stop response
parameterizable
601
Cause
A timing error was identified when reading-out the A/D converter for
terminal 56.x/14.x or 24.x/20.x. The read values are probably incorrect
/ faulty.
Remedy
Acknowledgement
Stop response
parameterizable
602
Cause
Remedy
Deselect the torque-controlled operation or leave the IM mode (changeover speed P1465).
Acknowledgement
Stop response
parameterizable
603
Cause
An attempt was made to change over to a motor data set which was
not parameterized.
Remedy
Acknowledgement
Stop response
parameterizable
7-714
7 Fault Handling/Diagnostics
7.3
604
Cause
For an EnDat motor measuring system, it was identified that the serial
number does not match that saved, i.e. the encoder has still not run
with this drive.
Remedy
Acknowledgement
Stop response
parameterizable
605
Cause
The speed setpoint requested from the position controller lies above
the max. motor speed.
Possible causes:
Programmed velocity (P0082:256) too high
Max. acceleration (P0103) or deceleration (P0104) too high
Axis is overloaded or blocked
Remedy
Acknowledgement
Stop response
parameterizable
606
Cause
The specified flux setpoint cannot be realized, although maximum current is input.
Motor data are incorrect
Motor data and motor connection type (star/delta) do not match
Motor has stalled because motor data are extremely inaccurate
Current limit is too low for the motor (0.9 * P1238 * P1103 < P1136)
Power section is too small
Remedy
Acknowledgement
Stop response
parameterizable
7-715
7 Fault Handling/Diagnostics
7.3
607
Cause
Remedy
Acknowledgement
Stop response
parameterizable
608
Cause
The speed controller is at its limit for an inadmissibly long time (torque
and current limit). The permissible duration is defined in P1605, the
speed upper limit up to when the monitoring responds is defined in
P1606.
Synchronous motor:
In normal operation, the correct, optimized axis drive should never
reach its current limit not even for extremely large speed changes
(changeover sequences from rapid traverse in the positive direction to
rapid traverse in the negative direction).
P1605 = 200 ms
P1606 = 8000 rev/min
Induction motor:
Acceleration and braking with the maximum torque/current are usual in
operation, only a stalled drive (0 speed) is monitored.
P1605 = 200 ms
P1606 = 30 rev/min
1. At the first commissioning, after the software has been replaced or
the software has been upgraded, after the parameters have been
entered the calculate motor data or calculate controller data
function was not executed. The drive then keeps the default values
(for the values to be calculated this is zero) which can, under certain
circumstances, result in this fault (P1605 and P1606 should be
adapted to the mechanical and dynamic capabilities of the axis).
2. An undesirable input of a high torque reduction via the analog inputs
or via PROFIBUS and the bus interface. For PROFIBUS and the
bus interface, this effect especially occurs when changing from the
positioning mode to the speed setpoint input mode (check as to
whether a torque reduction is entered.
Diagnostics using P1717, 0%: No torque, 100%: Full torque).
Remedy
7-716
7 Fault Handling/Diagnostics
7.3
Stop response
parameterizable
609
Cause
Remedy
Acknowledgement
Stop response
parameterizable
7-717
7 Fault Handling/Diagnostics
7.3
610
Cause
Remedy
if P1075 = 1
Increase current via P1019
Check armature inductance (P1116) and if required, increase
Check the connecting cable, motor/drive converter (phase missing)
Check the motor contactor
DC link voltage present?
Check the DC link busbar (check that the screws are tight)
Uce monitoring function in the power section has responded
(RESET by powering off/powering on)
Replace the power section or control module
if P1075 = 3
To 1.
The motor is not correctly connected
The motor power connection must be checked
To 2.
Remove disturbing external forces (e.g. axis couplings which are not
released)
Identification technique must remain stable (P1076 must be reduced)
Use an encoder with higher resolution
Improve the encoder mounting (it is not stiff enough)
To 3.
Remove disturbing external forces (e.g. axis couplings which are not
released)
The axis must be able to freely move (e.g. the motor rotor may not be
locked)
Reduce the high axis friction (increase P1019)
Acknowledgement
Stop response
parameterizable
7-718
7 Fault Handling/Diagnostics
7.3
611
Cause
Remedy
if P1075 = 1
If the interchange was caused by the identification itself and if the
error occurs again, then reduce P1019 or increase P1020.
Lock the motor rotor during the identification routine.
if P1075 = 3
Increase the parameterized load mass (P1076)
Check the maximum permissible motion (P1020) and if required,
increase
Reduce the current, rotor position identification (P1019)
If the current and speed controller clock cycle have low values
(62.5 microseconds), then it maybe necessary to increase P1019.
Acknowledgement
Stop response
parameterizable
612
Cause
1. Current was >= 1.2 * 1.05 * P1107 while rotor position identification
was active
2. Current was >= P1104 while rotor position identification was active
Remedy
With the rotor position identification (P1011.12 and P1011.13) activated, if required, check and reduce P1019 (current, rotor position identification)
Acknowledgement
Stop response
parameterizable
613
Cause
Remedy
7-719
7 Fault Handling/Diagnostics
7.3
Acknowledgement
Stop response
parameterizable
614
Cause
7-720
7 Fault Handling/Diagnostics
7.3
7-721
7 Fault Handling/Diagnostics
7.3
Acknowledgement
Stop response
parameterizable
615
Cause
The speed actual value of the direct measuring system exceeds the
permissible encoder limiting frequency.
Incorrect encoder
P1007 does not coincide with the encoder pulse number
Encoder defective
Defective encoder cable or not correctly retained
Encoder cable shield is not connected
Defective control module
Remedy
Acknowledgement
Stop response
parameterizable
616
DC link undervoltage
Cause
The infeed has gone into a fault condition and the DC link voltage has
fallen below the permissible lower limit P1162.
Remedy
Acknowledgement
Stop response
parameterizable
7-722
7 Fault Handling/Diagnostics
7.3
617
DC link overvoltage
Cause
The DC link voltage has exceeded the permissible upper limit P1163.
Dynamic energy management has been activated using P1155, bit 0
and the DC link voltage has exceeded the Maximum DC link voltage
dyn. energy management P1153 (from SW 13.1).
Remedy
Acknowledgement
Stop response
parameterizable
680
Cause
Remedy
Commission the system again and enter the correct motor code
number (P1102).
The SimoCom U parameterizing and start-up tool includes motors
that are still not known in this particular drive version. Either upgrade
the drive version or enter the motor as non-listed motor.
Acknowledgement
POWER ON
Stop response
681
Cause
A power section code was entered in P1106, for which no data is available.
Remedy
Acknowledgement
POWER ON
Stop response
682
Cause
Remedy
Enter the correct encoder code or the code for third-party encoders
(99) in P1006 or P1036.
De-activate direct measuring system (P0250/P0879.12).
Acknowledgement
POWER ON
Stop response
7-723
7 Fault Handling/Diagnostics
7.3
683
Cause
Remedy
Read-out the detailed cause of the error from P1080 and remove the
cause.
Then initiate calculate controller data again with P1080 = 1. Repeat
this operation, until no error is displayed in P1080. Then save in the
FEPROM and execute a POWER ON-RESET.
Error coding in the supplementary info and P1080:
15 magnetizing reactance (P1141) = 0
16 leakage reactance (P1139 / P1140) = 0
17 rated motor frequency (P1134) = 0
18 rotor resistance (P1138) = 0
19 motor moment of inertia (P1117) = 0
21 threshold speed for field weakening (P1142) = 0
22 motor standstill current (P1118) = 0
23 The ratio between the maximum motor current (P1104) and the
motor stall current (P1118) is greater than the maximum value for
the torque limit (P1230) and the power limit (P1235).
24 The ratio between the rated motor frequency (P1134) and the rated
motor speed (P1400) is inadmissible (pole pair number).
Acknowledgement
POWER ON
Stop response
703
Cause
Remedy
Acknowledgement
POWER ON
Stop response
704
Cause
Remedy
Acknowledgement
POWER ON
Stop response
7-724
7 Fault Handling/Diagnostics
7.3
705
Cause
Remedy
Acknowledgement
POWER ON
Stop response
706
Cause
Remedy
Acknowledgement
POWER ON
Stop response
708
Cause
Remedy
Check P1000 and set the input values the same for both drives.
Acknowledgement
POWER ON
Stop response
709
Cause
Remedy
Check P1001 and set the input values the same for both drives.
Acknowledgement
POWER ON
Stop response
7-725
7 Fault Handling/Diagnostics
7.3
710
Cause
For a 2-axis module, the position controller clock cycle (P1009) or the
interpolation clock cycle (P1010) is different for the two axes.
Remedy
Check P1009 / P1010 and set the input values for both drives the
same.
Acknowledgement
POWER ON
Stop response
716
Cause
The ratio between the rated torque and rated current (torque constant
[Nm/A]) in P1113 is incorrect (less than/equal to zero) or the ratio
P1113 / P1112 is greater than 70.
Remedy
Enter the valid torque/current ratio for the motor used in P1113 or enter
a permissible ratio of P1113 / P1112.
Third-party motor:
The torque constant should be determined from the motor data sheet.
Siemens motor:
The torque constant is defined by the motor code (P1102).
Acknowledgement
POWER ON
Stop response
718
Cause
BERO speed actual value is greater than the shutdown threshold specified in P1468 (the motor is prevented from accelerating in an uncontrolled fashion) or for a calculated speed > 1200 rpm, BERO pulses are
no longer received (e.g. the cable is interrupted)
Remedy
Acknowledgement
POWER ON
Stop response
719
Cause
Remedy
Check and enter the parameters for delta operation (motor 2).
Acknowledgement
POWER ON
Stop response
7-726
7 Fault Handling/Diagnostics
7.3
720
Cause
Due to the high maximum motor speed in P1401 and the speed controller cycle in P1001, high partial speeds can occur which can result in
a format overflow.
Remedy
Acknowledgement
Stop response
721
Cause
As a result of the high spindle speed and the interpolation clock cycle
(P1010), the modulo value can no longer be correctly taken into account. The alarm is initiated, if jerky equalization motion occurs e.g.
due to incorrect parameter values.
Remedy
Acknowledgement
Stop response
722
Cause
For the selected setting of P1466, the induced voltage is too low in the
lower speed range in order to be able to reliably guarantee sensorless
operation. The induced voltage must be at least 40 Volt (phase-tophase, RMS) at the particular speed.
Remedy
Acknowledgement
POWER ON
Stop response
7-727
7 Fault Handling/Diagnostics
7.3
723
Cause
Remedy
Check P1003 and set the bits for the two module axes the same (do
not change the standard setting, this represents the optimum configuration).
Acknowledgement
POWER ON
Stop response
724
Cause
Synchronous motors:
The pole pair number in P1112 is zero or negative.
Encoder with CD track (P1027.6 = 0): The pole pair number in P1112
is greater than 6.
Encoder without CD track or with Hall sensors (P1027.6 = 1): The
motor pole pair number is dependent on the encoder pulse number
(max. 4096 for P1005 >= 32768).
Induction motors:
An invalid pole pair number was determined from P1134 and P1400.
Motor with resolver:
The maximum motor pole pair number for the modules
6SN1118*NK010AA* or 6SN1118*NJ010AA* is 64, otherwise
4 or 6.
Remedy
Synchronous motors:
Check P1112, P1027.6 and P1014.
Induction motors:
Determine and correctly enter rated speed and/or rated frequency.
Acknowledgement
POWER ON
Stop response
725
Cause
Remedy
Acknowledgement
POWER ON
Stop response
7-728
7 Fault Handling/Diagnostics
7.3
726
Cause
Remedy
Determine the voltage constant of the motor used, and enter in P1114.
The voltage constant is measured as induced voltage (EMF) under noload conditions at n = 1 000 RPM as RMS valued at the motor terminals (phase to phase).
Third-party motor:
The voltage constant should be determined from a motor data sheet.
Siemens motor:
The voltage constant is determined from the motor code (P1102).
Acknowledgement
POWER ON
Stop response
727
Cause
The power module has not been released for synchronous motors.
Remedy
Check configuring
Use a valid power section
Acknowledgement
POWER ON
Stop response
728
Cause
The adaptation factor between the setpoint torque and the torque generating current (Iq) in the speed controller is too high.
Remedy
Check P1103, P1107 and P1113 and if required, enter correct values.
Third-party motor:
The values should be determined from a motor data sheet.
Siemens motor:
The values are determined from the motor code (P1102).
Acknowledgement
POWER ON
Stop response
729
Cause
Remedy
Determine the stall current of the motor used and enter in P1118.
Third-party motor:
The stall current should be determined from a motor data sheet.
Siemens motor:
The stall current is determined from the motor code (P1102).
Acknowledgement
POWER ON
Stop response
7-729
7 Fault Handling/Diagnostics
7.3
731
Cause
The rated motor output (P1130) of the motor is less than or equal to
zero.
Remedy
Determine the rated motor output of the motor used and enter in
P1130.
Third-party motor:
The rated motor output should be determined from a motor data sheet.
Siemens motor:
The rated motor output is determined from the motor code (P1102).
Acknowledgement
POWER ON
Stop response
732
Cause
The rated motor speed (P1400) of the motor is less than or equal to
zero.
Remedy
Determine the rated speed of the motor being used and enter into
P1400.
Third-party motor:
The rated motor speed should be determined from a motor data sheet.
Siemens motor:
The rated motor speed is determined from the motor code (P1102).
Acknowledgement
POWER ON
Stop response
738
Cause
Remedy
P0612 = 3 or
P1490 not equal to 1
Acknowledgement
POWER ON
Stop response
739
Cause
Remedy
Acknowledgement
POWER ON
Stop response
7-730
7 Fault Handling/Diagnostics
7.3
742
Cause
Remedy
Acknowledgement
POWER ON
Stop response
743
Cause
Remedy
Acknowledgement
POWER ON
Stop response
744
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP I
745
Cause
For a direct measuring system with EnDat it was identified that the serial number does not correspond with that saved i.e. the serial number of the encoder has still not been saved.
Remedy
Acknowledgement
POWER ON
Stop response
parameterizable
7-731
7 Fault Handling/Diagnostics
7.3
749
Cause
The maximum speed which can be achieved with speed feedback cannot be measured using the module.
Remedy
Acknowledgement
POWER ON
Stop response
750
Cause
Remedy
Acknowledgement
POWER ON
Stop response
751
Cause
P gain, speed controller for the lower speed range (P1407) and the upper speed range (P1408) were selected to be too high.
In AM (induction motor) operation:
The P gain of the speed controller (P1451) is too high.
Remedy
Acknowledgement
Stop response
7-732
7 Fault Handling/Diagnostics
7.3
753
Cause
A current was parameterized in P1019 (current, rotor position identification) which is less than the minimum value permissible for the motor.
Remedy
Enter a current in P1019, which is not less than the permissible minimum value for the motor (40% for third-party synchronous linear
motor). It may be necessary to use a larger power module.
If permissible for the motor used, suppress the fault by setting P1012,
bit 5.
Caution:
For motors with weak saturation effects (e.g. 1FN3 linear motors), as a
result of the low identification current, orientation may be erroneous,
thus resulting in uncontrolled motion.
Acknowledgement
Stop response
756
Cause
The hysteresis of the speed for the current setpoint smoothing (P1246)
may not be greater than the threshold speed of the hysteresis (P1245),
as otherwise a negative lower speed would be obtained.
Remedy
Acknowledgement
Stop response
757
Cause
The frame number set in P0922 is illegal or impermissible for the operating mode currently selected via P0700.
Remedy
Acknowledgement
POWER ON
Stop response
STOP II
758
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP II
7-733
7 Fault Handling/Diagnostics
7.3
759
Cause
Remedy
Acknowledgement
POWER ON
Stop response
760
Cause
For linear motors, the equivalent (internal) pole pair number and (internal) encoder pulse number are calculated from the pole pair width and
grid division. In this case, the encoder pulse number must be an integer
multiple of one or x pole pair widths. This error message is output if the
pole pair width/grid division * x (up to x=4096) is not an integer multiple
or if an internal encoder pulse number which was calculated is too high.
A result with a tolerance of +/ 0.001 absolute is interpreted to be an
integer.
Remedy
Acknowledgement
POWER ON
Stop response
7-734
7 Fault Handling/Diagnostics
7.3
761
Cause
Remedy
Set P0892 (factor, angular encoder pulse number/encoder pulse number) to a valid value.
Acknowledgement
POWER ON
Stop response
762
Cause
Remedy
Acknowledgement
POWER ON
Stop response
764
Cause
Remedy
Acknowledgement
POWER ON
Stop response
765
Cause
Remedy
Acknowledgement
POWER ON
Stop response
7-735
7 Fault Handling/Diagnostics
7.3
766
Cause
Remedy
The bandstop frequency for P1514, filter 1 or P1517 for filter 2 must be
less than the inverse value of two speed controller clock cycles 1/ (2 *
P1001 * 31.25 microseconds).
Acknowledgement
Stop response
767
Cause
Remedy
The natural frequency of a speed setpoint filter must be lower than the
reciprocal of two speed controller cycles.
Speed setpoint filter 1:
P1520 * 0.01 * P1514 < 1 / (2 * P1001 * 31.25 microseconds)
Speed setpoint filter 2:
P1521 * 0.01 * P1517 < 1 / (2 * P1001 * 31.25 microseconds)
Acknowledgement
Stop response
768
Cause
Remedy
The numerator bandwidth must be less than twice the bandstop frequency.
Current setpoint filter 1: P1212 <= 2 * P1210
Current setpoint filter 2: P1215 <= 2 * P1213
Current setpoint filter 3: P1218 <= 2 * P1216
Current setpoint filter 4: P1221 <= 2 * P1219
Speed setpoint filter 1: P1516 <= 2 * P1514
Speed setpoint filter 2: P1519 <= 2 * P1517
Acknowledgement
Stop response
7-736
7 Fault Handling/Diagnostics
7.3
769
Cause
Remedy
Acknowledgement
Stop response
770
Format error
Cause
Remedy
Acknowledgement
Stop response
771
Cause
In induction motor operation (selected by P1465 < P1146), drive converter frequencies of 4 or 8 kHz are permissible.
Remedy
Change P1100
Cancel induction motor operation (P1465 > P1146)
Acknowledgement
Stop response
772
Cause
Remedy
For the speed controller, enter a lower value for the P gain (P1451).
Acknowledgement
Stop response
7-737
7 Fault Handling/Diagnostics
7.3
773
Cause
Remedy
Acknowledgement
POWER ON
Stop response
774
Cause
For mixed operation (with / without encoder) P1465 > 0, only closedloop controlled induction motor operation is permissible (P1466 <=
P1465).
Remedy
Acknowledgement
Stop response
775
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP I
776
Cause
For an old basic module, which does not support TTL encoders, a TTL
encoder was selected as motor measuring system.
Remedy
Acknowledgement
POWER ON
Stop response
STOP I
7-738
7 Fault Handling/Diagnostics
7.3
777
Cause
A current was parameterized in P1019, which is greater than the current which is permissible for the motor and the power section used.
Remedy
Acknowledgement
POWER ON
Stop response
778
Cause
Remedy
Change the drive converter frequency or cancel the rotor position identification.
Acknowledgement
POWER ON
Stop response
779
Cause
Remedy
Enter the valid motor moment of inertia for the motor used, in P1117.
Third-party motor:
The motor moment of inertia should be determined from a motor data
sheet.
Siemens motor:
The characteristic motor data should be determined from the motor
code (P1102).
Acknowledgement
Stop response
780
Cause
Remedy
Enter the valid currents for the motor used in P1136 and P1103.
Third-party motor:
The required currents should be determined using a motor data sheet.
Siemens motor:
The currents are determined using the motor code (P1102).
Acknowledgement
Stop response
7-739
7 Fault Handling/Diagnostics
7.3
781
Cause
The motor no-load current (P1136) has been set to higher values than
the rated power section current.
before SW 2.4 the following is valid:
Rated power section current = P1111
from SW 2.4 the following is valid:
Rated power section current = P1111 * P1099
Remedy
Acknowledgement
Stop response
782
Cause
Remedy
Determine the stator, rotor leakage reactance and magnetizing reactance of the motor being used and enter into P1139, P1140 and P1141.
Third-party motor:
The values should be determined from a motor data sheet.
Siemens motor:
The values are determined from the motor code (P1102).
Acknowledgement
Stop response
783
Cause
The rotor resistance (P1138, cold) of the motor is zero or there was a
format overflow for an internal conversion.
Remedy
Acknowledgement
Stop response
7-740
7 Fault Handling/Diagnostics
7.3
784
Cause
Remedy
Determine the no-load voltage of the motor being used and enter into
P1135.
Third-party motor:
The following parameters may have incorrect values:
P1119 (inductance of the series reactor)
P1132 (rated motor voltage)
P1135 (no-load motor voltage)
P1400 (rated motor speed)
P1142 (threshold speed for field weakening)
P1136 (no-load motor current)
Check parameters and if required correct using a motor data sheet.
Siemens motor:
The no-load voltage is determined from the motor code (P1102).
Acknowledgement
Stop response
785
Cause
The no-load current (P1136) of the motor (ARM) is incorrect (less than/
equal to zero).
Remedy
Determine the no-load current of the motor (ARM) being used and enter into P1136.
Third-party motor:
The no-load current should be determined from a motor data sheet.
Siemens motor:
The no-load current is determined from the motor code (P1102).
Acknowledgement
Stop response
786
Cause
The threshold speed for field weakening for induction motors (P1142) is
incorrect (less than/equal to zero).
Remedy
Determine the speed at which field weakening starts for the motor
being used and enter into P1142.
Third-party motor:
The field weakening speed should be determined from a motor data
sheet.
Siemens motor:
The field weakening speed is determined from the motor code (P1102).
Acknowledgement
Stop response
7-741
7 Fault Handling/Diagnostics
7.3
787
Cause
The feedforward control gain for induction motors cannot be represented in the internal numerical format if the motor moment of inertia
and rated motor torque were unfavorably selected.
Remedy
Acknowledgement
Stop response
788
Cause
Remedy
Acknowledgement
POWER ON
Stop response
789
Cause
The setpoint transfer from SimoCom U to the drive was interrupted, i.e.
there is no longer an online connection. The Master Control was returned to the drive.
Communication between the two communication partners was faulty.
While moving the drive using SimoCom U, other functions were carried-out on the PG/PC (e.g. online help was opened, a file was opened)
so that from SimoCom U the drive can only be irregularly supplied with
data.
Remedy
Acknowledgement
POWER ON
Stop response
7-742
7 Fault Handling/Diagnostics
7.3
790
Cause
The selected operating mode (P0700) is not permitted for this module
or axis.
Supplementary info = 0x1:
Operating mode ==0 selected on the 1st axis
Supplementary info = 0x2:
Positioing operating mode selected for the Nset control module
Supplementary info = 0x3:
Operating mode is not possible with this firmware release
Supplementary info = 0x4:
External position reference value operating mode no longer possible.
Remedy
Acknowledgement
POWER ON
Stop response
STOP I
791
Cause
Remedy
Acknowledgement
POWER ON
Stop response
7-743
7 Fault Handling/Diagnostics
7.3
792
Cause
Remedy
Acknowledgement
POWER ON
Stop response
STOP I
793
Cause
The input signal waveform for the angular encoder interface must be
set the same for the drives.
Remedy
Acknowledgement
POWER ON
Stop response
794
Cause
Remedy
Acknowledgement
POWER ON
Stop response
7-744
7 Fault Handling/Diagnostics
7.3
795
Cause
The position reference value normalization for the angular encoder interface is not permissible.
Supplementary info
= 1 > Condition P0401 * P0895 < 8388608 violated
= 2 > Condition P0402 * P0896 < 8388608 violated
Remedy
Acknowledgement
POWER ON
Stop response
STOP II
797
Cause
The anolog / digital converters are initialized during the startup or following pulse disable. During this time the converter cannot be correctly
initialized if the encoder rotates too fast or the encoder / motor is connected incorrectly.
Remedy
Acknowledgement
POWER ON
Stop response
STOP I
798
Cause
Remedy
Run up again.
Acknowledgement
POWER ON
Stop response
STOP I
799
Cause
Remedy
Acknowledgement
POWER ON
Stop response
7-745
7 Fault Handling/Diagnostics
7.3
800
Cause
A 1/0 edge was identified at the Minus hardware limit switch input signal.
Remedy
In the pos mode: Return the drive to the traversing range using jog
key 1 or 2.
In the n-set mode: Enter a setpoint that opposes the approach
direction.
Acknowledgement
not required
Stop response
STOP VII
801
Cause
A 1/0 edge was identified at the Plus hardware limit switch input
signal.
Remedy
In the pos mode: Return the drive to the traversing range using jog
key 1 or 2.
In the n-set mode: Enter a setpoint that opposes the approach
direction.
Acknowledgement
not required
Stop response
STOP VII
802
Cause
The drive was not stationary as the zero pulse offset was programmed
on the angular encoder interface. Low speeds are not critical, but the
inaccuracy of the zero pulse position increases in proportion to speed.
Remedy
Ensure that the drive is at a standstill, or take into account a higher inaccuracy of the zero pulse.
Acknowledgement
not required
Stop response
STOP VII
804
Cause
When starting a traversing block, the controller enable has not been
set, or the controller enable is missing during a traversing program
when re-starting the axis from standstill.
Controller enable missing, i.e. one of the following signals missing:
PROFIBUS control signals (STW1.0: ON / OFF 1 (signal edge),
STW1.1: OC / OFF2, STW1.2: OC / OFF 3, STW1.3: Enable inverter
/ pulse inhibit) and the appropriate signals of the bus interface
PC enable (SimoCom U)
Terminal 64
Terminal 65.x
Remedy
Set the missing signal, and re-start the traversing block or enter a signal edge via PROFIBUS.
Acknowledgement
not required
Stop response
STOP VII
7-746
7 Fault Handling/Diagnostics
7.3
805
Cause
When starting a traversing block, the pulse enable is not set, or the
pulse enable is missing during a traversing program when re-starting
the axis from standstill.
Pulse enable missing, i.e. one of the following signals missing:
PROFIBUS control signals (STW1.1: OC / OFF 2, STW1.3: Enable
inverter / pulse inhibit) or the appropriate signals of the bus interface
Terminal 48 (NE module)
Terminal NS1/NS2 (NE module)
Terminal 63 (NE module)
Terminal 663 (control module)
Remedy
Set the missing enable signal and then re-start the traversing block.
Acknowledgement
not required
Stop response
STOP VII
806
Cause
When starting a traversing block, the operating condition / reject traversing task input signal is not set.
Remedy
Set the operating condition / reject traversing task input signal and
then re-start the traversing block.
Acknowledgement
not required
Stop response
STOP VII
807
Cause
Remedy
Set the operating condition / intermediate stop input signal and then
re-start the traversing block.
Acknowledgement
not required
Stop response
STOP VII
808
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
7-747
7 Fault Handling/Diagnostics
7.3
809
Cause
Remedy
Cancel the parking axis function and then re-start the required function.
Acknowledgement
not required
Stop response
STOP VII
810
Cause
The velocity programmed in this block was calculated with the actual
override and a value of 0 was obtained.
The velocity is set to the lowest unit.
Remedy
Increase override.
Acknowledgement
not required
Stop response
STOP VII
811
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
814
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
7-748
7 Fault Handling/Diagnostics
7.3
815
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
816
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
820
Cause
The power module is being operated too long above the permissible
load limit.
Remedy
Acknowledgement
not required
Stop response
STOP VII
824
Cause
Remedy
Read-out the detailed fault cause from P1800 and remove the cause.
Fault coding in supplementary info and P1800.
Acknowledgement
not required
Stop response
STOP VII
7-749
7 Fault Handling/Diagnostics
7.3
827
Cause
The bus interface is still not in the data exchange state or data exchange was interrupted.
Causes:
The master has not yet run up, or has not yet established a
connection to the slave.
The bus addresses differ in the master configuring and slave
parameterization.
The bus connection has been physically interrupted.
The master is still in the clear condition.
An illegal parameterization or configuration was received.
A BUS address was assigned several times.
Remedy
Acknowledgement
not required
Stop response
STOP VII
828
Cause
The bus interface is in the data exchange state and was selected using
the parameterizing telegram of the clock-cycle synchronous operation.
It was not possible to synchronize to the clock cycle specified by the
master and to the master sign of life.
Causes:
The master does not send an equidistant global control frame
although clock synchronism has been selected via the
bus configuration.
The master uses a different equidistant DP clock cycle as was
communicated to the slave in the parameterizing telegram.
The master does not increment its sign-of-life in the configured time
grid Tmapc.
Remedy
Acknowledgement
not required
Stop response
STOP VII
7-750
7 Fault Handling/Diagnostics
7.3
829
Cause
Remedy
Check the bus configuration at the master, and if required correct the
parameterization.
If required, insert (reason 18) a suitable option module and activate.
If required, (reason 31 or reason 32) upgrade the option module firmware to a version greater than or equal to 04.01.
Acknowledgement
not required
Stop response
STOP VII
7-751
7 Fault Handling/Diagnostics
7.3
830
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
7-752
7 Fault Handling/Diagnostics
7.3
831
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
832
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
7-753
7 Fault Handling/Diagnostics
7.3
833
Cause
Cyclic data transfer between this slave and a slave-to-slave communications publisher was still not started or was interrupted.
Examples:
bus connection interrupted
Publisher failure
Master runs up again
The response monitoring (Watchdog) for this slave was de-activated
via the parameterizing telegram (SetPrm) (Diagnostics:
P1783:1 bit 3 = 0).
Supplementary info: PROFIBUS address of the publisher
Remedy
Acknowledgement
not required
Stop response
STOP VII
840
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
841
Cause
Remedy
Change the traversing block mode teach in block from relative to absolute.
Acknowledgement
not required
Stop response
STOP VII
842
Cause
Remedy
Change the traversing block mode teach in standard block from relative to absolute.
Acknowledgement
not required
Stop response
STOP VII
7-754
7 Fault Handling/Diagnostics
7.3
843
Cause
The search velocity for spindle positioning is too high for the selected
maximum deceleration.
Remedy
Reduce the search speed P0082:256 or increase the maximum deceleration P0104.
Acknowledgement
not required
Stop response
STOP VII
845
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
849
Cause
For a block with the ENDLOS_POS command, the axis has actuated
the plus software limit switch (P0316) for absolute or relative positioning.
The behavior for software limit switch reached, can be set using
P0118.0.
Remedy
Acknowledgement
not required
Stop response
STOP VII
850
Cause
For a block with the ENDLOS_NEG command, the axis has actuated
the minus software limit switch (P0315) for absolute or relative positioning
The behavior for software limit switch reached, can be set using
P0118.0.
Remedy
Acknowledgement
not required
Stop response
STOP VII
864
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
7-755
7 Fault Handling/Diagnostics
7.3
865
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
866
Cause
For the current controller adaption, the upper current limit (P1181) was
parameterized with a lower value than the lower current limit (P1180).
Adaption is de-activated when the parameterizing error is output.
Remedy
Acknowledgement
not required
Stop response
STOP VII
867
Cause
The sum of the values in P1631 + P1632 is greater than the value in
P1633.
Remedy
Boot module
Note:
P1630 to P1633 are internal Siemens parameters
Acknowledgement
not required
Stop response
STOP VII
868
Cause
Remedy
Boot module
Note:
P1630 and P1633 are internal Siemens parameters
Acknowledgement
not required
Stop response
STOP VII
7-756
7 Fault Handling/Diagnostics
7.3
869
Cause
Remedy
Enter a value in P0160 which lies within the modulo range (P0242).
Acknowledgement
not required
Stop response
STOP VII
870
Cause
When calculating the jerk time T from the acceleration a and the jerk r,
the result was an excessively high jerk time, so that the time is limited
internally.
The following is valid: T = a/r, where
a: Acceleration (higher value from P0103 and P0104)
r: Jerk (P0107)
Remedy
Acknowledgement
not required
Stop response
STOP VII
871
Cause
In induction motor operation (selected by P1465 < P1146), drive converter frequencies of 4 or 8 kHz are permissible.
Remedy
Change P1100
Cancel induction motor operation (P1465 > P1146)
Acknowledgement
not required
Stop response
STOP VII
872
Cause
Remedy
Change P1491
Acknowledgement
not required
Stop response
STOP VII
7-757
7 Fault Handling/Diagnostics
7.3
875
Cause
For the axes of a drive module, an unequal fixed voltage (P1161) was
set.
As a fixed voltage <> 0 replaces the DC link voltage measured value,
but the DC link voltage is only measured once for all drives of a drive
module, the fixed voltage on all module axes must be equal, before it is
accepted.
Remedy
Acknowledgement
not required
Stop response
STOP VII
876
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
877
Cause
The function number, used as output, may not be used in the actual
operating mode.
Remedy
Acknowledgement
not required
Stop response
STOP VII
878
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
7-758
7 Fault Handling/Diagnostics
7.3
879
Cause
P0205:8 may not be greater than two position controller clock cycles.
Higher values are internally limited.
Remedy
Acknowledgement
not required
Stop response
STOP VII
881
Cause
Remedy
Correct P0915:17
Acknowledgement
not required
Stop response
STOP VII
882
Cause
For signals with double words (length = 32 bits), the corresponding signal identifier must be configured twice for adjacent process data. The
following subparameter must therefore also be parameterized with the
same signal number.
Remedy
Correct P0915:17
Acknowledgement
not required
Stop response
STOP VII
883
Cause
Remedy
Correct P0916:17
Acknowledgement
not required
Stop response
STOP VII
7-759
7 Fault Handling/Diagnostics
7.3
884
Cause
For signals with double words (length = 32 bits), the corresponding signal identifier must be configured twice for adjacent process data. The
following subparameter must therefore also be parameterized with the
same signal number.
Remedy
Correct P0916:17
Acknowledgement
not required
Stop response
STOP VII
885
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
886
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
889
Cause
The axis has reached the fixed stop however was not able to establish the programmed clamping torque
Remedy
Acknowledgement
not required
Stop response
STOP VII
890
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
7-760
7 Fault Handling/Diagnostics
7.3
891
Cause
With the actual master drive velocity, this coupling axis will probably
reach or pass the PLUS software limit switch.
This warning is output if the coupled axis has fallen below 200% of the
braking travel up to the PLUS software limit switch.
Remedy
Traverse the master drive so that this coupling axis goes into the permissible traversing range.
Acknowledgement
not required
Stop response
STOP VII
892
Cause
With the actual master drive velocity, this coupling axis will probably
reach or pass the MINUS software limit switch.
This warning is output if the coupled axis has fallen below 200% of the
braking travel up to the MINUS software limit switch.
Remedy
Traverse the master drive so that this coupling axis goes into the permissible traversing range.
Acknowledgement
not required
Stop response
STOP VII
893
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
894
Cause
Remedy
Acknowledgement
not required
Stop response
STOP VII
895
Cause
Only one drive can use the output terminals on the optional TERMINAL
module.
Remedy
Acknowledgement
not required
Stop response
STOP VII
7-761
7 Fault Handling/Diagnostics
7.4
Commissioning functions
7.4
Commissioning functions
The commissioning functions and support tools help during startup,
during service, when optimizing the drive, and troubleshooting.
Overview
The SIMODRIVE 611 universal control board has the following commissioning and help functions:
S Trace function
S Measuring function
Caution
Setpoints entered via analog inputs (e.g. via terminals 56.x/14.x and/or
24.x/20.x) or speeds entered via PROFIBUSDP are added when the
function generator starts.
Note:
The analog inputs can be disabled via P0607 = 0 (for terminal
56.x/14.x) or P0612 = 0 (for terminal 24.x/20.x).
Note
Startup
(commissioning)
functions and
SimoCom U tool
7-762
7 Fault Handling/Diagnostics
7.4
7.4.1
Commissioning functions
Overview
S From SW 11.1 the Oscillate function of the SIMODRIVE 611 analog can be simulated.
The function generator generates various types of setpoints (squarewave, staircase, delta, PRBS or sinusoidal), and enters this setpoint,
corresponding to the selected mode, as current setpoint, disturbing
torque or as speed setpoint.
!
Starting the
function
generator
Danger
If the function generator is active, then traversing motion is not
monitored.
Starting conditions
Operating mode FG
P1804
=1
= 3 (only V/Hz
operation)
Speed controlled
operation on
Controller enable
Operating mode FG
P1804
=2
= 3 (without V/Hz
operation)
x
7-763
7 Fault Handling/Diagnostics
7.4
Commissioning functions
Table 7-5
Starting conditions
Operating mode FG
P1804
=1
= 3 (only V/Hz
operation)
Operating mode FG
P1804
=2
= 3 (without V/Hz
operation)
Pulse enable
Rampup generator
enabled
Fault
If a fault is identified when starting or during operation, then the function generator is exited, and the reason for the fault is displayed by entering a negative value in P1800.
Stopping the
function
generator
S Cancel
As soon as one of the function generator starting conditions is no
longer fulfilled, the drive brakes along the braking ramp P1813 or
coasts down when the pulse enable is withdrawn.
Further, the function generator is stopped, if incorrect parameterization is executed during operation.
Note
The control structure of the drive is reestablished each time that the
function generator is stopped or aborted.
While the function generator runs, e.g. in the mode current setpoint
(P1804 = 1), all of the higherlevel control loops are open. The control
loops are reclosed when the function generator is either stopped or
canceled.
7-764
7 Fault Handling/Diagnostics
7.4
Parameter
overview
Table 7-6
Commissioning functions
No.
1800
Description
Function generator control
Min.
40
Standard
0
Max.
2
Unit
Effective
immediately
... starts, exits the function generator and if a fault/error is present, displays the reason.
=2
=1
=0
= 1
= 2
Inadmissible mode or the mode was changed while the FG was active
= 4
= 6
= 7
= 8
= 9
Incorrect waveform or the waveform was changed while the FG was active
= 10
= 11
The bandwidth is less than 1 Hz or greater than the maximum possible bandwidth
(for a sampling time of 0.125 ms, the maximum possible bandwidth is 4000 Hz)
= 15
= 16
The commissioning function was not started or was aborted due to an active internal regenerative stop
= 17
The commissioning function was not started or was aborted due to the missing
pulse enable
= 18
The commissioning function was not started or was aborted due to the missing
speed controller enable
= 19
The commissioning function was not started or was aborted due to the missing
speed controlled mode enable
= 20
The commissioning function was not started or was aborted due to a missing ramp
function generator enable signal
= 21
The commissioning function was not started due to a traversing axis (e.g. active
traversing block)
=23
The commissioning function was canceled because the synchronous start enable
was withdrawn
7-765
7 Fault Handling/Diagnostics
7.4
Commissioning functions
Table 7-6
No.
1804
Description
Function generator mode
Min.
1
Standard
3
Max.
5
Unit
Effective
immediately
Current setpoint
The current control loop is closed, all of the higherlevel control loops are open.
The function generator output is the current setpoint in the current controller clock
cycle.
=2
Disturbing torque
The speed control loop is closed, all of the higherlevel control loops are open. The
function generator output is the current setpoint in the speed controller clock cycle.
When starting and stopping, the acceleration/deceleration is limited by the ramp
function generator of the function generator.
=3
Speed setpoint
The speed control loop is closed, all of the higherlevel control loops are open. The
function generator output is the speed setpoint in the speed controller clock cycle.
When starting and stopping, the acceleration/deceleration is limited by the ramp
function generator of the function generator.
=4
7
=5
Note: When a parameter is changed with the function generator active, this causes the
system to crash.
7-766
7 Fault Handling/Diagnostics
7.4
Table 7-6
Commissioning functions
No.
1805
Description
Min.
Standard
Max.
5
Unit
Effective
immediately
Rectangle
Limiting
Rampup
time
Offset:
Amplitude
Offset
Start
=2
Pulse width
Period
Staircase
Limiting
Offset
Start
=3
Period
Triangular
Limiting
Amplitude
Rampup
time
Start
=4
White
noise
Offset
Period
Amplitude
Rampup
time
Offset
Start
1/(2 x bandwidth)
=5
Sinusoidal
Limiting
Amplitude
Rampup
time
Start
Limiting
Offset
Period
P1807
Amplitude:
P1806
Pulse width:
P1811
Period:
P1810
Limit:
P1808
Rampup time:
P1813
Open parameter
Offset:
2nd amplitude
Amplitude
Rampup
time
Open parameter
P1807
Amplitude:
P1806
2nd amplitude:
P1809
Period:
P1810
Limit:
P1808
Rampup time:
P1813
Open parameter
Offset:
P1807
Amplitude:
P1806
Period:
P1810
Limit:
P1808
Rampup time:
P1813
Open parameter
Offset:
P1807
Amplitude:
P1806
Bandwidth:
P1812
Limit:
P1808
Rampup time:
P1813
Open parameter
Offset:
P1807
Amplitude:
P1806
Period:
P1810
Limit:
P1808
Rampup time:
P1813
7-767
7 Fault Handling/Diagnostics
7.4
Commissioning functions
Table 7-6
No.
1806
Description
Startup function, amplitude
Min.
1 600.0
Standard
5.0
Max.
1 600.0
Unit
%
Effective
immediately
... specifies the amplitude of the signal to be output. The units are dependent on P1804.
if
1807
then
P1804 = 1, 2
P1804 = 3
1 600.0
0.0
1 600.0
immediately
... defines the offset of the signal to be output. The units are dependent on P1804.
if
then
P1804 = 1
P1804 = 2, 3
Note:
For P1804 = 2 (fault torque mode), the offset does not affect the current setpoint, but the
speed setpoint, to compensate for the effects of backlash (play).
1808
0.0
100.0
1 600.0
immediately
... defines the limit of the signal to be output. The units are dependent on P1804.
if
then
P1804 = 1, 2
P1804 = 3
Note:
The limit is effective, symmetrically around the zero point.
For P1804 = 2 (disturbance torque mode), the limit only acts on the current setpoint, but not
on the speed setpoint (= offset).
1809
1 600.0
7.0
1 600.0
immediately
... specifies the 2nd amplitude for the staircase waveform. The units are dependent on
P1804.
1810
if
then
P1804 = 1, 2
P1804 = 3
1 000
65 535
ms
immediately
500
65 535
ms
immediately
8 000
Hz
immediately
4 000
7-768
7 Fault Handling/Diagnostics
7.4
Table 7-6
Commissioning functions
No.
1813
Description
Min.
Standard
32.0
Max.
Unit
100 000.0 ms
Effective
immediately
... specifies the time in which the drive accelerates or decelerates (brakes) to the required
speed. In this case, the parameter refers to P1400 (rated speed).
The following applies:
P1813 =
P1400
required speed
Example:
Rated speed nrated = 3000 RPM (P1400)
The drive should accelerate up to 500 RPM in 20 ms
> P1813 = (3000 / 500) S 20 ms = 120 ms
Additional
waveforms
Limiting
Waveform,
triangular
Fig. 7-5
7-769
7 Fault Handling/Diagnostics
7.4
Commissioning functions
Details of the
staircase
waveform
S Amplitude = 0 (P1806 = 0)
Advantages:
Reversing is possible
The axis stops at the end points
Disadvantage:
There is play and static friction if there is no offset
With offset, the axis continually distances itself from the starting
point
2nd amplitude
Limiting
Offset
Start
Fig. 7-6
Period
S Amplitude 0 0 (P1806 0 0)
Advantages:
Reversing is possible
A higher (2nd amplitude) is selected from a basic velocity (amplitude)
The traversing profile periodically repeats itself.
This means that when optimizing the control loop, the effect can
be immediately monitored, e.g. using an oscilloscope connected
to test sockets DAC1/DAC2.
The axis always moves through the same distance in each direction
2nd amplitude
Amplitude
Rampup
time
Start
Fig. 7-7
7-770
Period
Limiting
7 Fault Handling/Diagnostics
7.4
7.4.2
Commissioning functions
Trace function
Description
Selected measuring quantities in the drive can be measured corresponding to the specified measuring parameters, using the trace
function and graphically displayed using SimoCom U.
Overview of
functions
S Triggering
without triggering (the trace starts immediately after START)
with triggering to an additional trigger signal with signal edge/signal level/bit pattern triggering and trigger delay/pretrigger
trigger is initiated by a change in the bit mask (from SW 5.1)
A trigger is initiated as soon as one of the bits in the bit mask
changes.
with triggering to alarm (ab SW 14.1)
7-771
7 Fault Handling/Diagnostics
7.4
Commissioning functions
Fig. 7-8
Trace parameterizing
Readers note
The trace function can only be used together with the SimoCom U
parameterizing and startup tool, i.e. SimoCom U is used to control
the trace function and to display the measured values.
Additional information on the trace function is provided in the online
help for SimoCom U.
7-772
7 Fault Handling/Diagnostics
7.4
7.4.3
Commissioning functions
Description
For SIMODRIVE 611 universal, there are two test sockets to output
analog signals, with the following features:
8 bit
S Voltage range
0 V to +5 V
S Modulespecific
The test sockets are provided for each module, i.e. they can be activated and deactivated from each drive.
Only one drive can output one value at a test socket.
7-773
7 Fault Handling/Diagnostics
7.4
Commissioning functions
Parameter
overview
Table 7-7
Test sockets
Parameter
No.
1820
Name
Signal number, test socket 1
Min.
0
Standard
8
Max.
530
Unit
Effective
immediately
... defines which signal is output via the DAC (D/A converter).
The signal number from the signal selection list must be entered for analog output (refer to Chapter 6.7 under Table 6-57).
1821
Speed actual
value, motor
drive A
(standard)
X34
5V
2.5 V
DAC2
1822
1826
1830
immediately
128
127
immediately
immediately
14
530
immediately
12
47
immediately
128
127
immediately
immediately
DAC2
1832
Active power
drive B
(as standard)
47
... defines the status of the test socket for this drive.
=0
Test socket is inactive
=1
Test socket is active
As always only one drive can output one value at a test socket, when
changing the parameter in one drive, the parameter in the other drive is
automatically adapted.
Note:
For a 2axis module, the test sockets are preset as follows after the first
startup:
Drive A
Drive B
Test socket 1
active (P1826 = 1)
inactive (P1826 = 0)
Test socket 2
inactive (P1836 = 0)
active (P1836 = 1)
8 0 V of
the meas.
signal
DAC1
... specifies the offset, which is added to the 8bit output signal.
The signal to be output is shifted by 5/256 V (19.5 mV) by changing the
offset by 1 digit.
P1822 = 128 8 0 V, P1822 = 0 8 +2.5 V, P1822 = 127 8 +5V
0V
X34
... defines the shift factor, with which the output signal is manipulated.
Only an 8 bit output window can be output from a 24/48 bit signal due to
the 8bit resolution. The shift factor can be used to define which 8 of the
24/48 bits are located in the output window and should be output.
DAC1
1836
7-774
7 Fault Handling/Diagnostics
7.4
Commissioning functions
Shift factor
Bit 23 (MSB)
16 15
8 7
0 (LSB)
8 7
0 (LSB)
Bit 47 (MSB)
40 39
Voltage range
Output
voltage [V]
1st overflow
2nd overflow
3rd overflow
4th overflow
+5V
2.5 V
0V
000000H 200000H 400000H 600000H 800000H A00000H C00000H
Shift factor = 0
Shift factor = 2
Offset = 0 V
Fine normalization= 100 %
E00000H
FFFFFFH
Hexadecimal value
7-775
7 Fault Handling/Diagnostics
7.4
Commissioning functions
7.4.4
Measurement function
Overview
Measuring
principle
Test signals with a selectable time interval are input into the drives to
determine the measured values for graphic display of the time and frequency characteristics of drives and closedloop control functions.
Speed setpoint
Test signal
generator
Current
setpoint
Setpoint
0
Speed
controller
Current
controller
Process
Meas. value 1
Meas. value 2
Meas. value 3
Meas. buffer 1
Meas. buffer 2
Meas. buffer 3
Readers note
The trace function can only be used together with the SimoCom U
parameterizing and startup tool, i.e. SimoCom U is used to control
the trace function and to display the measured values.
Additional information on the measuring functions is provided in the
online help for SimoCom U.
7-776
7 Fault Handling/Diagnostics
7.5
7.5
Description
7.5.1
Commissioning
For V/Hz operation, it is first necessary to carryout the standard commissioning for an induction motor with motor selection to obtain practical preassignment values (default values) for all of the parameters.
If a motor measuring system is not used, then no encoder must be
selected as the encoder type.
As unlisted motors are generally used, for simple sensorless (no encoder) operation, the rating plate data should be entered and
the calculate equivalent circuit diagram data and calculate controller data functions executed.
V/Hz operation is then activated using P1014 = 1.
Parameters for
V/Hz operation
with induction
motors (ARM)
For V/Hz operation with induction motors, the following parameters are
available:
Table 7-8
Parameter
P1014
P1125
P1127
P1132
7-777
7 Fault Handling/Diagnostics
7.5
Table 7-8
Parameter
V/Hz characteristic
ARM
Name
P1134
P1146
P1103
P1238
P1400
P1401
P1405:8
The speed setpoint is converted into the frequency to be used as reference, taking into account the pole pair number, which is determined
from the rated motor frequency and rated motor speed.
This means the synchronous frequency, associated with the speed setpoint, is output (no slip compensation)
U [V]
~ 430 V
P1132
7
P1127
P1134
f [1/s]
Rampup time
7.5.2
Commissioning
7-778
7 Fault Handling/Diagnostics
7.5
Parameters for
V/Hz operation
with synchronous
motors (SRM)
Parameter
V/Hz characteristic
SRM
Name
P1014
P1104
P1105
P1112
P1114
Voltage constant
P1125
P1400
P1401
P1405:8
The speed setpoint conversion into the frequency to be used as reference is obtained from the pole pair number.
U [V]
~ 430 V
P1114
P1112 x
1000
60
f [1/s]
Rampup times
7-779
7 Fault Handling/Diagnostics
7.6
Spare parts
7.5.3
Parameter
overview
Table 7-10
No.
1014
Name
Min.
Standard
0
Max.
Unit
Effective
PO
100.0
immediately
1125
=1
=0
0.01
5.0
When V/Hz operation is activated, this is the time in which the speed setpoint is changed from
0 to the maximum motor speed (P1146).
1127
0.0
2.0
20.0
V(pk)
immediately
When V/Hz operation is activated, and at 0 frequency, the voltage which is output is increased
by the value in this parameter.
Note:
The parameter is preset when carryingout the calculate controller data function.
7.6
Spare parts
Table 7-11
Terminal
Item number
Order No.
[MLFB]
X421
AS1, AS2
GWE000000590513
6SY9907
X431
GWE000000588343
6SY9908
X451, X452
GWE000000588293
6SY9910
A5E0009717
6SY9913
X453, X454
X441
75.x. 16.x, 15
GWE000000588277
6SY9911
X422, X432
I4...I11, O4...O11
GWE000000588285
6SY9912
6SY9904
6SY9905s
7-780
Lists
A.1
A.2
A.3
A.3.1
A.3.2
A.3.4
A.3.5
List of motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of the rotating synchronous motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of permanentmagnet synchronous motors with
field weakening (1FE1, 2SP1, PE spindle) . . . . . . . . . . . . . . . . . . . . . . . . . .
List of permanentmagnet synchronous motors without
field weakening, builtin torque motors (1FW6, from SW 6.1) . . . . . . . . . .
List of linear synchronous motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of induction motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4
A.4.1
A.4.2
A.3.3
A-927
A-927
A-939
A-946
A-951
A-957
A-781
A Lists
A.1
Parameter list
A.1
Parameter list
Readers note
The parameters listed in the following are valid for all of the software
releases of SIMODRIVE 611 universal.
The complete list is updated corresponding to the edition of this
documentation and corresponds here to the documented software
releases of SIMODRIVE 611 universal.
The parameters are designated depending on the particular software
release.
The parameters are listed as follows:
General
information on the
parameter list
Parameter number
xxxx
Min
xx
Parameter text
Motor dependency
Max Units
xx
yy
Data type
zz
Effective
uu
S RO
Units
1 MSR = 0.001 mm
for P0100 = 1
1 MSR = 0.0001 inch
for P0100 = 2
1 MSR = 0.001 degrees for P0100 = 3
S PrgE
>
>
>
Fig. A-1
A-782
mm
inch
degrees
50 mm/min
5 inch/min
500 degrees/min
(> x.y)
(yyy)
(Read Only)
can only be read
S c * MSR
no data:
... available from SW 2.1
Example:
P0082:64 = 50 000 [c*MSR/min]
Software release
End of program is
effective if none of the programs
(block processing) are active
Information on effective
In order that a parameter immediately becomes
effective after a change, it may be necessary to
execute the associated function (e.g. P0160
(reference point coordinates) a reference point
approach must be carried out).
Parameter list
A Lists
! 611ue diff !
A.1
Parameter list
The following parameters are available for the SIMODRIVE 611 universal
control board:
Parameter list
Version: 13.02.01
0001
Min
Max
Unit
Data type
Integer16
Effective
RO
... in the Positioning mode and for the spindle positioning function it specifies the block number of the traversing block being processed.
Note: Refer under the index entry traversing blocks or for P0080:256
0002
Min
Max
Unit
MSR
Data type
Integer32
Effective
RO
... in the Positioning mode and for the spindle positioning function it specifies the programmed position of the traversing block being processed.
Note: Refer under the index entry traversing blocks or for P0081:256
0003
Min
Max
Unit
c*MSR/min
Data type
Unsigned32
Effective
RO
... in the Positioning mode and for the spindle positioning function it specifies the programmed velocity of the traversing block being processed.
Note: Refer under the index entry traversing blocks or for P0082:256
0004
Min
Max
Unit
%
Data type
Unsigned16
Effective
RO
... in the Positioning mode and for the Spindle positioning function it specifies the programmed acceleration override of the traversing block being processed.
Note: Refer under the index entry traversing blocks or for P0083:256
0005
Min
Max
Unit
%
Data type
Unsigned16
Effective
RO
... in the Positioning mode and for the Spindle positioning function it specifies the programmed deceleration override of the traversing block being processed.
Note: Refer under the index entry traversing blocks or for P0084:256
0006
Min
Max
Unit
Data type
Unsigned16
Effective
RO
... in the Positioning mode specifies the programmed command of the traversing block being
processed.
Note: Refer under the index entry traversing blocks or for P0085:256
0007
Min
Max
Unit
Data type
Unsigned16
Effective
RO
... in the Positioning mode specifies the programmed command parameter of the traversing
block being processed.
Note: Refer under the index entry traversing blocks or for P0086:256
A-783
A Lists
A.1
0008
Min
Parameter list
! 611ue diff !
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
... in the Positioning mode and for the Spindle positioning function it specifies the programmed mode of the traversing block being processed.
Note: Refer under the index entry traversing blocks or for P0087:256
0020
Min
Position setpoint
Standard
Max
Unit
MSR
Data type
Integer32
Effective
RO
... in the positioning mode and for the Spindle positioning function, displays the actual absolute reference position.
0021
Min
Max
Unit
MSR
Data type
Integer32
Effective
RO
... in the positioning mode and for the Spindle positioning function, displays the actual
system deviation (reference value actual difference) at the absolute actual position.
0022
Min
Distance to go
Standard
Max
Unit
MSR
Data type
Integer32
Effective
RO
... indicates the distance to go in the operating mode positioning and for the function spindle
positioning.
The distance to go is the difference up to the end of the actual traversing block (P0001).
0023
Min
Velocity setpoint
Standard
Max
Unit
c*MSR/min
Data type
Integer32
Effective
RO
... in the positioning mode and for the Spindle positioning function, displays the actual
system deviation (reference value actual difference) at the actual setpoint traversing velocity.
0024
Min
Actual velocity
Standard
Max
Unit
c*MSR/min
Data type
Integer32
Effective
RO
... in the positioning mode and for the Spindle positioning function, displays the actual traversing velocity.
0025
Min
Effective override
Standard
Max
Unit
%
Data type
Floating Point
Effective
RO
... in the Positioning mode displays the actual, effective velocity override.
Note:
The currently effective override can differ from the specified override due to limits (e. g. P0102
(maximum velocity)).
A-784
A Lists
! 611ue diff !
0026
Min
A.1
Parameter list
Max
Unit
MSR
Data type
Integer32
(> 3.1)
Effective
RO
... displays, in the Positioning mode, the position actual value displayed when an edge is detected at the External block change input signal.
Note:
The parameter is reset when starting a traversing block with the block change enable CONTINUE EXTERNAL.
refer to the index entry block step enable CONTINUE EXTERNAL
0029
Min
Following error
Standard
Max
Unit
MSR
Data type
Integer32
Effective
RO
... in the positioning mode and for the Spindle positioning function, displays the actual following error.
The following error is the difference between the position setpoint (before the position setpoint
filter, interpolator output) and the position actual value.
Note: refer to the index entry Kv factor or Analog signals for the position control loop
0030
Min
Max
Unit
MSR
Data type
Integer32
Effective
RO
... in the positioning mode and for the Spindle positioning function, displays the actual
system deviation (reference value actual difference) at the position controller input.
Note: refer to the index entry Kv factor or Analog signals for the position control loop
0031
Min
Max
Unit
1000/min
Data type
Floating Point
Effective
RO
... in the positioning mode and for the Spindle positioning function, displays the actually available (measured) Kv factor.
Example:
A Kv factor = 1 is set in P0200:8.
When traversing the axis, the current (measured) Kv factor is calculated and displayed in this
parameter.
Note:
The actual Kv factor display (P0031) can have large values at low velocities due to the rounding-off errors.
At standstill, the selected (required) Kv factor (P0200:8) is displayed.
0032
Min
Max
Unit
MSR
(> 3.3)
Data type
Integer32
Effective
RO
A-785
A Lists
A.1
Parameter list
0079
Min
0
! 611ue diff !
Reformat memory
Standard
0
Max
1
Unit
Data type
Unsigned16
Effective
immed.
... the memory can be reformated for the traversing blocks, i.e. re-segmented.
0
inactive, initial status
0 > 1
Re-format memory is initiated
Advantages of a re-formatted memory:
When displaying the blocks via SimoCom U or via the display unit on the front panel, the blocks
are located at the beginning of the memory, are sorted according to increasing block numbers,
and there are no gaps.
Note:
The parameter is automatically reset to 0 when reformating has been completed.
Standard
1
Max
255
Unit
Data type
Integer16
Effective
PrgE
A traversing block must be assigned a valid block number, so that it can be started.
1
invalid block number
0 to 255
Valid block number
The block change enable (progress condition) itself is saved in the traversing block in
P0087:256 (mode block change enable).
Several blocks (e. g. for blocks with the block step enable CONTINUE FLYING) are processed
in the increasing sequence of the block numbers.
The block number must be unique over all traversing blocks.
Note: refer to the index entry Traversing blocks
0081:256 Position
Min
200000000
Standard
0
Max
200000000
Unit
MSR
Data type
Integer32
Effective
PrgE
0082:256 Velocity
Min
6
Standard
600000
Max
2000000000
Unit
c*MSR/min
Data type
Unsigned32
Effective
PrgE
... defines the velocity, with which the target position is approached.
Note: refer to the index entry Traversing blocks
Standard
100
Max
100
Unit
%
Data type
Unsigned16
Effective
PrgE
... specifies which override has an effect on the maximum acceleration (P0103).
Note: refer to the index entry Traversing blocks
Standard
100
Max
100
Unit
%
Data type
Unsigned16
Effective
PrgE
... specifies which override has an effect on the maximum deceleration (P0104).
Note: refer to the index entry Traversing blocks
A-786
A Lists
! 611ue diff !
A.1
Parameter list
0085:256 Command
Min
1
Standard
1
Max
10
Unit
Data type
Unsigned16
Effective
PrgE
Each traversing block must contain precisely one command for execution.
Value command
1
POSITIONING
2
ENDLESSTRAVERSING_POS
3
ENDLESSTRAVERSING_NEG
4
WAIT
5
GOTO
6
SET_O
7
RESET_O
8
FIXED ENDSTOP (from SW 3.3 onwards)
9
COUPLING_ON (from SW 3.3)
10
COUPLING_OFF (from SW 3.3)
Depending on the command, additional block information is required in a traversing block.
Note:
refer to the index entry Traversing blocks or Command-dependent block information
Standard
1
Max
65535
Unit
Data type
Unsigned16
Effective
PrgE
... specifies the supplementary block information required for the following commands.
Command
Additional information
WAIT
Waiting time in ms
GOTO
Block number
SET_O
1, 2, 3: Set direct output 1, 2 or 3 (both signals)
RESET_O
1, 2, 3: Reset direct output 1, 2 or 3 (both signals)
FIXED ENDSTOP (from SW 3.3)
Clamping torque or clamping force
Rotary drive: 1 65 535 [0.01 Nm]
Linear drive: 1 65 535 [N]
Note:
refer to the index entry Traversing blocks or Command-dependent block information
A-787
A Lists
A.1
Parameter list
! 611ue diff !
0087:256 Mode
Min
0
Standard
0
Max
1331
Unit
Hex
Data type
Unsigned16
Effective
PrgE
0091
Min
200000000
MDI position
Standard
0
(> 7.1)
Max
200000000
Unit
MSR
Data type
Integer32
Effective
Vsoet_0
0092
Min
6
MDI velocity
Standard
3000
(> 7.1)
Max
2000000000
Unit
c*MSR/min
Data type
Unsigned32
Effective
Vsoet_0
... defines the velocity with which the MDI target position is approached.
The value, entered here, is used if the velocity is not entered as cycle process data (refer to
P0915) via PROFIBUS.
Note:
The parameter is not effective for Vset_0 if P0110 = 3 and P0097 = U3WX are set. The parameter becomes effective when the signal edge of the digital input signal external block change
changes and if MDI is not entered via PROFIBUS-DP control words (STW).
refer under the index entry traversing blocks
A-788
A Lists
! 611ue diff !
0093
Min
1
A.1
Parameter list
Max
100
(> 7.1)
Unit
%
Data type
Unsigned16
Effective
Vsoet_0
... specifies which override is effective for the MDI block at the maximum acceleration (P0103).
The value, entered here, is used if the acceleration override is not entered as cycle process
data (refer to P0915) via PROFIBUS
Note:
The parameter is not effective for Vset_0 if P0110 = 3 and P0097 = U3WX are set. The parameter becomes effective when the signal edge of the digital input signal external block change
changes and if MDI is not entered via PROFIBUS-DP control words (STW).
refer under the index entry traversing blocks
0094
Min
1
Max
100
(> 7.1)
Unit
%
Data type
Unsigned16
Effective
Vsoet_0
... specifies which override is effective for the MDI block at the maximum deceleration (P0104).
The value, entered here, is used if the acceleration override is not entered as cycle process
data (refer to P0915) via PROFIBUS
Note:
The parameter is not effective for Vset_0 if P0110 = 3 and P0097 = U3WX are set. The parameter becomes effective when the signal edge of the digital input signal external block change
changes and if MDI is not entered via PROFIBUS-DP control words (STW).
refer under the index entry traversing blocks
0097
Min
0
MDI mode
Standard
310
(> 7.1)
Max
330
Unit
Hex
Data type
Unsigned16
Effective
Vsoet_0
... for several commands, for the MDI block it provides the following additional information.
P0097 = VMX
V
Block step enable function
=0
END
=3
CONTINUE EXTERNAL (Standard)
W
Positioning mode
=0
ABSOLUTE
=1
RELATIVE (standard)
=2
ABS_POS (only for modulo rotary axis)
=3
ABS_NEG (only for modulo rotary axis)
X
Identifications
not relevant
Note: refer to the index entry Traversing blocks
0100
Min
1
Dimension system
Standard
1
Max
3
Unit
Data type
Unsigned16
Effective
PO
... specifies the measuring system grid pattern (MSR) which is being used.
1 > 1 MSR = 1/1000 mm
2 > 1 MSR = 1/10000 inch
3 > 1 MSR = 1/1000 degrees
Example: P0100 = 1 > 345123 MSR = 345.123 mm
Note: refer to the index entry Dimension system
A-789
A Lists
A.1
Parameter list
0101
Min
! 611ue diff !
Max
Unit
Data type
Unsigned16
Effective
RO
0102
Min
1000
Max
2000000000
Unit
c*MSR/min
Data type
Unsigned32
Effective
immed.
... defines the maximum traversing velocity of the axis, in the mode Positioning and n-set,
when selecting spindle positioning
Note: Refer under the index entry Closed-loop position control and Spindle positioning
0103
Min
1
Maximum acceleration
Standard
100
Max
999999
Unit
Data type
1000MSR/s2 Unsigned32
Effective
Vsoet_0
... defines the maximum acceleration acting on the axis/spindle when approaching.
The effective acceleration can be programmed in the traversing block using an override
(P0083:256).
Note: refer to the index entry Position control
0104
Min
1
Maximum deceleration
Standard
100
Max
999999
Unit
Data type
1000MSR/s2 Unsigned32
Effective
Vsoet_0
0107
Min
0
Jerk limiting
Standard
0
(> 3.1)
Max
100000000
Unit
Data type
1000MSR/s2 Unsigned32
Effective
Vsoet_0
... defines an increase (jerk) in the form of a ramp for acceleration and deceleration, so that approach and deceleration are smooth (jerk-limited).
The duration of the acceleration ramp (jerk time) is calculated from the higher value of maximum acceleration (P0103) resp. maximum deceleration (P0104) and the jerk limitation set
(P0107).
0
jerk limiting off
>0
jerk limiting on, the set value is effective
Note:
The calculated jerk time which is currently effective is displayed in P1726 (calculated jerk
time).
The jerk time is limited internally to 200 ms.
refer to the index entry jerk limitation
0108
Min
2000000000
Max
2000000000
Unit
c*MSR/min
Data type
Integer32
Effective
immed.
A-790
A Lists
! 611ue diff !
0109
Min
2000000000
A.1
Parameter list
Max
2000000000
Unit
c*MSR/min
Data type
Integer32
Effective
immed.
0110
Min
0
Max
3
Unit
Data type
Unsigned16
(> 3.1)
Effective
PrgE
0111
Min
5.0
Max
12.5
Unit
V(pk)
Data type
Floating Point
Effective
immed.
... defines at which input voltage at terminal 56.x/14.x, the override in P0112 is reached.
Prerequisite:
position setpoint interface (P0700 = 2) or positioning (P0700 = 3) selected
P0607 = 2 (override)
Example:
P0111 = 10, P0112 = 100 > for 10 V at terminal 56.x/14.x, the override is 100 percent
Note: refer to the index entry Override
0112
Min
0
Normalization of override
Standard
100
Max
255
Unit
%
Data type
Integer16
Effective
immed.
... defines which override is reached when connecting the voltage in P0111 at terminal
56.x/14.x.
Prerequisite:
position setpoint interface (P0700 = 2) or positioning (P0700 = 3) selected
P0607 = 2 (override)
Example:
P0111 = 10, P0112 = 100 > for 10 V at terminal 56.x/14.x, the override is 100 percent
Note:
refer to the index entry Override
A-791
A Lists
A.1
Parameter list
0113
Min
0
! 611ue diff !
Max
3
Unit
(> 3.3)
Data type
Unsigned16
Effective
immed.
... defines the behavior for fixed end stop/clamping torque not reached.
Bit 0
Behavior for fixed end stop not reached
Bit 0 = 1
Block change is executed
The torque limiting is automatically withdrawn. The block step enable is realized as programmed in the block.
Bit 0 = 0
Fault 145 is signaled
The axis is braked and stops in front of the programmed target position.
Bit 1
Characteristics for the clamping torque not reached
Bit 1 = 1
Warning 889 is signaled and a block change executed
The block step enable is realized as programmed in the block.
Bit 1 = 0
Warning 889 is signaled
The block step enable changes as programmed in the block only when the clamping torque has
been reached.
Note:
Fault 145 (fixed endstop not reached)
Warning 889 (fixed endstop, axis has not reached the clamping torque)
refer to the index entry Travel to endstop
0114
Min
0
Max
1
Unit
(> 3.3)
Data type
Unsigned16
Effective
immed.
... defines how the system can switch into the status fixed endstop.
0
above following error
The status is automatically reached if the following error exceeds the value set in P0115:8.
1
via input signal
The status is only reached, if it is identified via the input signal Fixed endstop sensor.
Note:
refer to the index entry Travel to endstop
0115:8
Min
0
Max
200000000
Unit
MSR
Data type
Integer32
(> 3.3)
Effective
immed.
... defines at which following error the fixed endstop reached status is recognized.
The fixed endstop reached status is automatically reached, if the following error exceeds the
theoretically calculated following error by the value entered in P0115:8.
Note:
Prerequisite: P0114 = 0
refer to the index entry Travel to endstop
0116:8
Min
0
Max
200000000
Unit
MSR
(> 3.3)
Data type
Integer32
Effective
immed.
... Defines the monitoring window for the fixed endstop reached status. If the axis exits the
positioning window an appropriate fault is signaled.
Note:
refer to the index entry Travel to endstop
A-792
A Lists
! 611ue diff !
0117
Min
1
A.1
Max
100
Unit
%
Parameter list
(> 11.1)
Data type
Unsigned16
Effective
immed.
... defines the tolerance window for the output signal programmable velocity reached..
Note:
Refer under output signal programmed velocity reached
0118
Min
0
Max
1
Unit
(> 4.1)
Data type
Unsigned16
Effective
immed.
... defines which fault/warning is signaled if the axis comes to a standstill precisely at the software limit switch.
Bit 0
Behavior for software limit switch reached
Bit 0 = 1
Software limit switch reached with warning 849/850
Move away jogging in the opposite direction or via a traversing block
Bit 0 = 0
Software limit switch reached with fault 119/120
Move away in the opposite direction jogging, and acknowledge the fault.
0120
Min
1
Teach-in block
Standard
1
Max
255
(> 4.1)
Unit
Data type
Integer16
Effective
immed.
... specifies whether the block number for the teach in block is entered via input signals or via
P0120.
1
Enter a block number via input signals
0 to 255
Block number entered via P0120
Note:
refer under the index entry Teach-in
0121
Min
1
Max
255
(> 4.1)
Unit
Data type
Integer16
Effective
immed.
... specifies which traversing block is used as teach in in the standard block
The standard block contains additional block data, which are not contained for teach-in.
1
Not a standard block
Only the position value is transferred into the teach-in block.
0 bis 255
Standard block
This block is transferred into the teach-in block and the position value overwritten.
Note:
refer under the index entry Teach-in
0122
Min
0
Jogging 1 increments
Standard
1000
Max
200000000
(> 4.1)
Unit
MSR
Data type
Integer32
Effective
immed.
0123
Min
0
Jogging 2 increments
Standard
1000
Max
200000000
(> 4.1)
Unit
MSR
Data type
Integer32
Effective
immed.
A-793
A Lists
A.1
0124
Min
0
Parameter list
! 611ue diff !
Teach-in configuration
Standard
0
Max
3
(> 4.1)
Unit
Hex
Data type
Unsigned16
Effective
immed.
0125
Min
0
Max
2
Unit
(> 5.1)
Data type
Unsigned16
Effective
PO
... switches the spindle positioning function into the mode n-set on/off.
0
De-activate spindle positioning
1
Activate spindle positioning
Note:
refer under the index entry Spindle positioning
0126
Min
0
Max
360000
Unit
MSR
Data type
Unsigned32
Effective
immed.
... specifies the zero tolerance window in degrees, which is monitored by the spindle positioning, in order to secure, in conjunction with a BERO, the zero mark consistency. If the zero mark
is not recognized, or if uneven zero mark clearances are measured which are outside the tolerance, then alarm message 186 or 193 is output, e.g. if the encoder cable is, for example, interrupted.
0
De-activate zero mark monitoring
>0
Zero mark monitoring is activated
Note:
refer under the index entry Spindle positioning
0127
Min
0
Max
1
Unit
Data type
Integer16
(> 5.1)
Effective
immed.
By setting bit 0 to 1, the zero mark offset to the hardware zero mark is entered into P0128. After
this, 0 is written back into P0127.
Note:
refer under the index entry Spindle positioning
A-794
A Lists
! 611ue diff !
0128
Min
2147483647
A.1
Parameter list
Max
2147483647
Unit
MSR
(> 5.1)
Data type
Integer32
Effective
immed.
0129
Min
0
Max
2147483647
Unit
c*MSR/min
Data type
Unsigned32
(> 5.1)
Effective
immed.
This means that a tolerance in degrees/min (+/) is specified, which must be reached in order
to synchronize or to change-over to closed-loop position control
Note:
refer under the index entry Spindle positioning
0130
Min
0
Max
100
Unit
%
Data type
Unsigned16
(> 5.1)
Effective
immed.
... is used to enter a percentage value referred to the specified minimum search velocity
(P0082), which must be reached, so that the spindle can be positioned.
Note:
refer under the index entry Spindle positioning
0131
Min
0
Max
20000
Unit
MSR
(> 5.1)
Data type
Unsigned32
Effective
immed.
If, when the controller is inhibited, the spindle is pushed out of this tolerance window in Degrees, the position actual value is corrected/tracked. If the controller is then re-enabled, the
spindle remains stationary at that position. A new positioning operation is only executed if
spindle positioning is activated (as defined in the traversing block). If the spindle remains in
the motion window, then positioning is executed through the shortest path as soon as only the
controller enable is re-set again.
Note:
refer under the index entry Spindle positioning
0132
Min
Max
Unit
MSR
Data type
Integer32
(> 5.1)
Effective
RO
... indicates the clearance between two consecutive BERO zero marks in degrees.
Note:
refer under the index entry Spindle positioning
0133
Min
1000
Max
2147483647
Unit
c*MSR/min
Data type
Unsigned32
(> 5.1)
Effective
immed.
0134
Min
0
Max
20000
Unit
MSR
Data type
Unsigned32
(> 5.1)
Effective
immed.
... defines the tolerance range in degrees for the Spindle position reached output signal
(Fct. No. 59 or PROFIBUS-DP MeldW.15). The position reference value is compared with the
position actual value.
Note:
refer under the index entry Spindle positioning
A-795
A Lists
A.1
Parameter list
0136
Min
! 611ue diff !
Max
Unit
(> 5.1)
Data type
Unsigned16
Effective
RO
0137
Min
Max
Unit
(> 5.1)
Data type
Unsigned16
Effective
RO
0160
Min
200000000
Max
200000000
Unit
MSR
Data type
Integer32
Effective
immed.
... specifies the position value which is set as the actual axis position after referencing or adjustment.
Note:
The range for an absolute value encoder is limited to +2048 revolutions. The value which was
entered into P0160, is limited to this value and after POWER ON is overwritten with another
value (remainder of division by 2048).
refer under the index entry Referencing/adjusting
0161
Min
0
Stopping at marks
Standard
0
(> 8.3)
Max
1
Unit
Data type
Unsigned16
Effective
PrgE
0162
Min
200000000
Max
200000000
Unit
MSR
Data type
Integer32
Effective
PrgE
For incremental measuring systems, after the reference zero pulse has been detected, the axis
is moved through this distance. At this position the axis has reached the reference point and
accepts the reference points coordinates (P0160) as new actual value.
Note: refer to the index entry Reference point approach
A-796
A Lists
! 611ue diff !
0163
Min
1000
A.1
Parameter list
Max
2000000000
Unit
c*MSR/min
Data type
Unsigned32
Effective
PrgE
The axes moves with this velocity after starting reference point approach, towards the reference
cam.
The velocity must be set, so that after the reference cam has been reached, and subsequent
braking, the following conditions are fulfilled:
the axis must come to a standstill direct at the reference cam
when braking it is not permissible that the HW limit switch is reached
Note: refer to the index entry Reference point approach
0164
Min
1000
Max
2000000000
Unit
c*MSR/min
Data type
Unsigned32
Effective
PrgE
Between identifying the reference cam and synchronization with the first zero pulse, the axis
moves with this velocity (zero reference pulse).
Note: refer to the index entry Reference point approach
0165
Min
1000
Max
2000000000
Unit
c*MSR/min
Data type
Unsigned32
Effective
PrgE
Between synchronizing with the first zero pulse (zero reference pulse) and reaching the reference point, the axis moves with this velocity.
Note: refer to the index entry Reference point approach
0166
Min
0
Max
1
Unit
Data type
Unsigned16
Effective
PrgE
... defines in which direction the reference cam (for axes with reference cams, P0173 = 0) or
the zero pulse (for axes without reference cams, P0173 = 1) is approached/searched.
1
Negative direction
0
Positive direction
Note: refer to the index entry Reference point approach
0167
Min
0
Max
1
Unit
Data type
Unsigned16
Effective
immed.
... the switching characteristics of the reference cam signal (input terminal with function number
78) is adapted.
1
Inverted
0
Not inverted
Note: refer to the index entry Reference point approach and Invert reference cam signal
0170
Min
0
Max
200000000
Unit
MSR
Data type
Unsigned32
Effective
PrgE
... specifies the max. distance the axis can travel from starting the reference point approach in
order to find the reference cam.
Note: refer to the index entry Reference point approach
A-797
A Lists
A.1
0171
Min
0
Parameter list
! 611ue diff !
Max
200000000
Unit
MSR
Data type
Unsigned32
Effective
PrgE
... specifies the maximum distance that the axis can traverse from leaving the reference (homing) cam or from the start, in order to find the zero pulse.
Note:
For distance-coded measuring system (from SW 8.3):
The maximum permissible distance between the start and up to the 2nd zero pulse. Recommended setting: Select the basic distance (clearance) between two fixed reference marks.
Refer under the index entry Reference point approach
0172
Min
Max
Unit
MSR
Data type
Unsigned32
Effective
RO
... the distance moved from leaving the reference cam or from the start up to reaching the zero
pulse is entered.
The parameter supports, at start-up, reference cam adjustments.
Note: refer to the index entry Reference point approach and Reference cam adjustment
0173
Min
0
Max
1
Unit
Data type
Unsigned16
Effective
PrgE
0
reference cam available
1
no reference cam available
Note: refer to the index entry Reference point approach
0174
Min
1
Max
2
Unit
Data type
Unsigned16
Effective
immed.
1
2
0175
Min
0
Max
4
Unit
Data type
Integer16
Effective
immed.
... displays the status when adjusting the absolute value encoder.
1
error occured when adjusting
0
Absolute value encoder is not adjusted (pre-setting at the first start-up)
1
Absolute value encoder has not yet been adjusted (encoder adjustment has been
initiated)
2
Absolute encoder is adjusted (before SW 3.1)
3
Absolute value encoder IM is adjusted (from SW 3.1)
4
Absolute encoder DM is adjusted (from SW 3.3)
Note: refer to the index entry Adjusting the absolute value encoder
A-798
A Lists
! 611ue diff !
0179
Min
0
A.1
Parameter list
Max
2
Unit
(> 5.1)
Data type
Unsigned16
Effective
immed.
0200:8
Min
0.0
Max
300.0
Unit
1000/min
Data type
Floating Point
Effective
immed.
... defines at which traversing velocity of the axis/spindle which following error is obtained.
Kv factor
significance
Low:
Slow response to a setpoint-actual value difference, following error is high
High:
Fast response to a setpoint-actual value difference, following error is low
Note:
The following diagnostic parameters are available:
P0029 (following error)
P0030 (system deviation, position controller input)
P0031 (actual Kv factor (position loop gain))
refer to the index entry Kv factor or Diagnostics of the motion status
0201
Min
20000
Backlash compensation
Standard
0
Max
20000
Unit
MSR
Data type
Integer32
Effective
immed.
... switches the backlash compensation in/out and defines the backlash amount for a positive or
negative backlash.
0
backlash compensation is disabled
>0
positive backlash (normal case)
<0
negative backlash
Note: refer to the index entry Backlash compensation
0203
Min
0
Max
1
Unit
Data type
Unsigned16
Effective
immed.
Data type
Floating Point
Effective
immed.
1
speed feedforward control active
0
feedforward control inactive
Note: refer to the index entry speed feedforward control
0204:8
Min
1.0
Max
100.0
Unit
%
A-799
A Lists
A.1
Parameter list
0205:8
Min
0.0
! 611ue diff !
Max
10.0
Unit
ms
Data type
Floating Point
Effective
immed.
... allows the time behavior of the closed speed control loop to be emulated with a dead time.
The entered value is limited to two position controller cycles (P1009).
Note: refer to the index entry speed feedforward control
0206:8
Min
0.0
Max
100.0
Unit
ms
Data type
Floating Point
Effective
immed.
... permits, in addition to P0205:8, the closed speed control loop to be simulated using a PT1
filter (low pass).
Note: refer to the index entry speed feedforward control
0210:8
Min
0.0
Max
1000.0
Unit
ms
Data type
Floating Point
Effective
immed.
0231
Min
0
Max
1
Unit
Data type
Unsigned16
Effective
PO
0232
Min
0
Max
1
Unit
Data type
Unsigned16
Effective
PO
0236
Min
1
Max
8388607
Unit
MSR/rev
Data type
Unsigned32
Effective
PO
(SRM ARM)
Data type
Unsigned32
Effective
PO
(SRM ARM)
0237:8
Min
1
Max
8388607
Unit
A-800
A Lists
! 611ue diff !
0238:8
Min
1
A.1
Parameter list
Max
8388607
Unit
Data type
Unsigned32
Effective
PO
(SRM ARM)
0239
Min
0
Max
1
Unit
Data type
Unsigned16
(> 4.1)
Effective
immed.
0
1
0241
Min
0
Max
1
Unit
Data type
Unsigned16
Effective
PO
(SRM ARM)
1
modulo conversion activated, modulo correction is executed according to P0242
0
modulo conversion de-activated
Note:
refer to the index entry rotary axis with modulo offset
0242
Min
1
Max
100000000
Unit
MSR
Data type
Unsigned32
(> 2.4)
Effective
PO
(SRM ARM)
0250
Min
0
Max
1
Unit
Data type
Unsigned16
(> 3.3)
Effective
PO
(SRM ARM)
0310
Min
200000000
Max
200000000
Unit
MSR
Data type
Integer32
Effective
immed.
0311
Min
200000000
Max
200000000
Unit
MSR
Data type
Integer32
Effective
immed.
A-801
A Lists
A.1
Parameter list
0314
Min
0
! 611ue diff !
Max
1
Unit
Data type
Unsigned16
Effective
PrgE
1
software limit switch active
0
software limit switch inactive (e.g. necessary for a rotary axes)
Note:
With P0314=0, for a linear axis, the software limit switch monitoring remains active. Only the
limits are set to +200000000.
0315
Min
200000000
Max
200000000
Unit
MSR
Data type
Integer32
Effective
PrgE
... the position for the software limit switch is set to minus.
Note:
P0315 (minus software limit switch) < P0316 (plus software limit switch)
0316
Min
200000000
Max
200000000
Unit
MSR
Data type
Integer32
Effective
PrgE
... the position for the software limit switch is set to plus.
Note:
P0315 (minus software limit switch) < P0316 (plus software limit switch)
0318:8
Min
0
Max
200000000
Unit
MSR
Data type
Unsigned32
Effective
immed.
... defines the maximum deviation between the measured and the calculated position actual
value before an error is output.
>= 1 The dynamic following error monitoring is active with this value
0
Monitoring is de-activated
Note: refer to the index entry Dynamic following error monitoring
0320
Min
0
Max
100000
Unit
ms
Data type
Floating Point
Effective
immed.
... defines the time after which the following error must be within the positioning window
(P0321).
Note: refer to the index entry Positioning monitoring
0321
Min
0
Positioning window
Standard
40
Max
20000
Unit
MSR
Data type
Unsigned32
Effective
immed.
... defines the positioning window, within which the position actual value must be located after
the position monitoring time has expired (P0320).
>= 1 The position monitoring is active with this value
0
Monitoring is de-activated
Note: refer to the index entry Positioning monitoring
0325
Min
0
Max
100000
Unit
ms
Data type
Floating Point
Effective
immed.
... defines the time after which the following error must be within the standstill window (P0326).
Note: refer to the index entry Standstill monitoring
A-802
A Lists
! 611ue diff !
0326
Min
0
A.1
Parameter list
Standstill window
Standard
200
Max
20000
Unit
MSR
Data type
Unsigned32
Effective
immed.
... defines the standstill window, in which the position actual value must be after the standstill
monitoring time has expired (P0325).
>= 1 The standstill monitoring is active with this value
0
Monitoring is de-activated
Note: refer to the index entry Standstill monitoring
0338
Min
0
Max
2
Unit
Hex
(> 7.1)
Data type
Unsigned16
Effective
immed.
... defines the fault response which is initiated for an illegal combination of input signals.
Example: When starting a traversing block, the input signal Operating conditions / reject traversing task is not set.
0
No output
1
A warning is output
2
Fault 196 is output with the warning number as supplementary information
This involves signal combinations, which result in warnings 804,805,806,807,808,809,840,845.
0400
Min
200000000
Max
200000000
Unit
MSR
Data type
Integer32
(> 4.1)
Effective
immed.
0401
Min
1
Max
8388607
Unit
Data type
Unsigned32
(> 3.3)
Effective
PO
... defines the coupling factor between the master and slave drive.
0402
Min
1
Max
8388607
Unit
Data type
Unsigned32
(> 3.3)
Effective
PO
... defines the coupling factor between the master and slave drive.
A-803
A Lists
A.1
Parameter list
0410
Min
1
! 611ue diff !
Max
8
Unit
Data type
Unsigned16
(> 3.3)
Effective
PO
0412
Min
200000000
Max
200000000
Unit
MSR
(> 3.3)
Data type
Integer32
Effective
immed.
... defines an offset between the slave drive and the synchronous position to the master drive.
Note:
If P0412 is changed, it becomes effective the next time that the coupling is switched-in.
refer under the index entry axis couplings
0413
Min
1000
Max
2000000000
Unit
MSR
(> 3.3)
Data type
Integer32
Effective
immed.
... defines with which additional velocity the slave drive corrects the following error, built-up during the synchronization phase, and the synchronous offset position P0412.
Note:
refer under the index entry axis couplings
0420
Min
200000000
Pos. difference, meas. probe to the zero point, slave drive (> 3.5)
Standard
0
Max
200000000
Unit
MSR
Data type
Integer32
Effective
PO
... for couplings with queue functionality, specifies the clearance between the measuring probe
and the zero point of the slave drive.
Note:
refer under the index entry axis couplings
0425:16
Min
Coupling positions
Standard
Max
(> 3.3)
Unit
MSR
Data type
Integer32
Effective
RO
A-804
A Lists
! 611ue diff !
0599
Min
A.1
Parameter list
Max
(> 2.4)
Unit
Data type
Unsigned16
Effective
RO
... displays whether the motor changeover has been enabled, and which motor data set is active.
0
Motor changeover inhibited (P1013 = 0)
1
Motor data set 1 (P1xxx) active
2
Motor data set 2 (P2xxx) active
3
Motor data set 3 (P3xxx) active
4
Motor data set 4 (P4xxx) active
Note: refer to the index entry Motor changeover
0600
Min
Operating display
Standard
Max
Unit
Hex
Data type
Unsigned32
Effective
RO
0601
Min
Max
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
RO
(SLM)
RO
(SRM ARM)
... is used to display the unfiltered summed setpoint for speed or velocity of the motor.
0602
Min
Max
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
RO
(SLM)
RO
(SRM ARM)
... is used to display the non-filtered actual value for the speed or velocity of the motor.
0603
Min
Motor temperature
Standard
Max
Unit
_C
Data type
Integer16
Effective
RO
... displays the motor temperature measured using the temperature sensor.
Note:
The display is invalid if a fixed temperature was entered in P1608.
0604
Min
Utilization, motor
Standard
Max
Unit
%
Data type
Floating Point
Effective
RO
0606
Min
Max
Unit
V(pk)
Data type
Floating Point
Effective
RO
... displays the analog voltage presently available at this input terminal.
A-805
A Lists
A.1
Parameter list
0607
Min
0
! 611ue diff !
Max
2
Unit
Data type
Unsigned16
Effective
immed.
... defines whether and how the analog setpoint is used at this analog input.
0
off
1
n-set/M-set operation (speed or torque setpoint interface, refer to Note)
2
override (position setpoint interface and positioning)
Note:
It is always possible to toggle between n-set/M-set operation using the Open-loop torque controlled mode input signal.
Analog setpoint for n-set/M-set > refer to the index entry Analog inputs
Analog setpoint for velocity override > refer to the index entry Override
0608
Min
0
Max
1
Unit
Data type
Unsigned16
Effective
immed.
An inversion inverts the polarity of the analog setpoint at this terminal internally.
1
Inverted
0
Not inverted
0609
Min
0.0
0.0
Max
1000.0
1000.0
Unit
ms
ms
Data type
Floating Point
Floating Point
Effective
immed. (ARM)
immed. (SRM SLM)
This allows the output value of the A/D converter to be smoothed using a PT1 filter.
0610
Min
9999.9
Max
9999.9
Unit
mV(pk)
Data type
Floating Point
Effective
immed.
If the motor erroneously rotates when a speed setpoint of 0 V is entered, a voltage offset can
be applied to set the analog input to zero using this parameter.
0611
Min
Max
Unit
V(pk)
Data type
Floating Point
Effective
RO
... displays the analog voltage presently available at this input terminal.
0612
Min
0
Max
3
Unit
Data type
Unsigned16
Effective
immed.
... defines whether and how the analog setpoint is used at this analog input.
0
off
1
n-set/M-set operation (refer to Note)
2
M-red operation
3
Equalization controller operation
Note:
It is always possible to toggle between n-set/M-set operation using the Open-loop torque controlled mode input signal.
Analog setpoint for n-set/M-set/M-red > refer to the index entry Analog inputs
Analog setpoint for velocity override > refer to the index entry Override
A-806
A Lists
! 611ue diff !
0613
Min
0
A.1
Parameter list
Max
1
Unit
Data type
Unsigned16
Effective
immed.
An inversion inverts the polarity of the analog setpoint at this terminal internally.
1
Inverted
0
Not inverted
0614
Min
0.0
0.0
Max
1000.0
1000.0
Unit
ms
ms
Data type
Floating Point
Floating Point
Effective
immed. (ARM)
immed. (SRM SLM)
This allows the output value of the A/D converter to be smoothed using a PT1 filter.
0615
Min
9999.9
Max
9999.9
Unit
mV(pk)
Data type
Floating Point
Effective
immed.
If the motor erroneously rotates when a speed setpoint of 0 V is entered, a voltage offset can
be applied to set the analog input to zero using this parameter.
0616:8
Min
0.0
0.0
Max
600.0
600.0
Unit
s
s
Data type
Floating Point
Floating Point
Effective
immed. (ARM)
immed. (SRM SLM)
During ramp-up, the setpoint is increased from zero to the maximum permissible actual speed.
Note:
Max. permissible actual speed for synchronous motors: Minimum from 1.2 x P1400 and P1147
Max. permissible actual speed for induction motors: Minimum from P1146 and P1147
refer to the index entry Ramp-function generator
From SW 2.4, this parameter is replaced by P1256:8 (P0616:8 = P1256:8).
0617:8
Min
0.0
0.0
Max
600.0
600.0
Unit
s
s
Data type
Floating Point
Floating Point
Effective
immed. (ARM)
immed. (SRM SLM)
During ramp-down, the setpoint is reduced from the maximum permissible actual speed to zero.
Note:
Max. permissible actual speed for synchronous motors: Minimum from 1.2 x P1400 and P1147
Max. permissible actual speed for induction motors: Minimum from P1146 and P1147
refer to the index entry Ramp-function generator
From SW 2.4 this parameter is replaced by P1257:8 (P0617:8 = P1257:8).
0618
Min
5.0
Max
12.5
Unit
V(pk)
Data type
Floating Point
Effective
immed.
This defines at which input voltage at terminal 56.x/14.x and/or terminal 24.x/20.x, the maximum useful motor speed (P1401:8, dependent on the motor data set) is reached for closedloop speed controlled operation.
Example:
SRM: P0618 = 9, P1401:8 = 2000 > at 9 V, the motor speed is 2000 RPM
SLM: P0618 = 9, P1401:8 = 120 > at 9 V, the motor velocity is 120 m/min
A-807
A Lists
A.1
0619
Min
5.0
Parameter list
! 611ue diff !
Max
12.5
Unit
V(pk)
Data type
Floating Point
Effective
immed.
This defines at which input voltage at terminal 56.x/14.x and/or terminal 24.x/20.x for open-loop
torque controlled operation, the normalization of the torque setpoint (P1241:8) is reached.
Example:
SRM: P0619 = 10, P1241:8 = 10 Nm > at 10 V, the torque is 10 Nm
SLM: P0619 = 10, P1241:8 = 1720 N > at 10 V, the force is 1720 N
0620
Min
5.0
Max
12.5
Unit
V(pk)
Data type
Floating Point
Effective
immed.
The parameter defines at which input voltage of terminal 24.x/20.x, the normalization, torque
reduction (P1243:8, motor data set-dependent) is reached.
0623
Min
200.0
Max
200.0
Unit
%
Data type
Floating Point
Effective
immed.
If signal number 34 (actual motor speed, finely normalized) is selected for the analog output,
when the maximum speed is reached, the following voltage is output as a function of parameter
P0623:
P0623 = 100% > 1.0 * 10 V = +10 V
P0623 = 50% > 0.5 * 10 V = +5 V
The following is valid for the maximum speed:
Max. permissible actual speed for synchronous motors: Minimum from 1.2 x P1400 and P1147
Max. permissible actual speed for induction motors: Minimum from P1146 and P1147
0624
Min
200.0
Max
200.0
Unit
%
Data type
Floating Point
Effective
immed.
If signal number 35 (utilization, finely-normalized) is selected for the analog output, then when
the motor is utilized to 100%, the following voltage is output dependent on P0624:
P0624 = 100% > 1.0 * 10 V = +10 V
P0624 = 50% > 0.5 * 10 V = +5 V
Note:
Motor utilization > refer to P0604
0625
Min
200.0
Max
200.0
Unit
%
Data type
Floating Point
Effective
immed.
If the signal number 36 (torque setpoint, finely-normalized) is selected for the analog output,
then at twice the rated torque, the following voltage is output dependent on P0625:
P0625 = 100% > +10 V
P0625 = 50% > +5 V
Note: Signal No. 36 is output signed.
A-808
A Lists
! 611ue diff !
0626
Min
0
A.1
Parameter list
Max
530
Unit
Data type
Unsigned16
Effective
immed.
0627
Min
0
Max
47
Unit
Data type
Unsigned16
Effective
immed.
... defines the shift factor, with which the analog signal is manipulated.
An 8 bit window of the 24/48 bit signal can be represented via the DAC. Thus, the shift factor
must be used to define which window of the internal 24/48 bit is to be displayed.
Note: refer to the index entry Analog outputs
0628
Min
128
Max
127
Unit
Data type
Integer16
Effective
immed.
0629
Min
0
Max
2
Unit
Data type
Unsigned16
Effective
immed.
0630
Min
0
Max
FFFFFF
Unit
Hex
Data type
Unsigned32
Effective
immed.
0631
Min
0
Max
1
Unit
Data type
Unsigned16
Effective
immed.
0632
Min
0.0
Max
1000.0
Unit
ms
Data type
Floating Point
Effective
immed.
... smooths the output signal with a 1st order proportional element (PT1 element, low pass filter).
0.0
filter is inactive
Note: refer to the index entry Analog outputs
A-809
A Lists
A.1
Parameter list
0633
Min
0
! 611ue diff !
Max
530
Unit
Data type
Unsigned16
Effective
immed.
0634
Min
0
Max
47
Unit
Data type
Unsigned16
Effective
immed.
Data type
Integer16
Effective
immed.
0635
Min
128
Max
127
Unit
0636
Min
0
Max
2
Unit
Data type
Unsigned16
Effective
immed.
0637
Min
0
Max
FFFFFF
Unit
Hex
Data type
Unsigned32
Effective
immed.
0638
Min
0
Max
1
Unit
Data type
Unsigned16
Effective
immed.
0639
Min
0.0
Max
1000.0
Unit
ms
Data type
Floating Point
Effective
immed.
0641:16
Min
100000.0
100000.0
Max
100000.0
100000.0
Unit
m/min
rpm
(> 3.1)
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
... is used to set the fixed speed setpoints 1 to 15. The required fixed setpoint is selected via the
fixed speed setpoint 1st to 4th input input signals.
The following is valid:
P0641:0
no meaning
P0641:1
Fixed setpoint 1, selection via input signals
P0641:2
Fixed setpoint 2, selection via input signals, etc.
A-810
A Lists
! 611ue diff !
0649
Min
0
A.1
Parameter list
Max
1
Unit
(> 3.1)
Data type
Unsigned16
Effective
PO
... all parameters (user data) can be erased in the memory module FEPROM. After the FEPROM has been erased, the control board is in the condition when it was originally supplied.
0
Standard value
1
All of the parameters are to be erased (establish the status when initially supplied)
Proceed as follows to delete all of the parameters:
Disable pulse and controller enable (e.g. via terminal 663, 65.A and 65.B)
Remove write protection (P0651 = 10 hex, only for operator control and display unit)
Activate erasion of all parameters in the FEPROM (P0649 = 1)
Starting writing into the FEPROM (P0652 = 1)
Execute a HW POWER-ON RESET
After run-up, the board is set to the status when it was first supplied.
0651
Min
0
Max
10
Unit
Hex
Data type
Unsigned16
Effective
immed.
This defines which parameters can be read (visible) and which can be written into.
0
Parameters can be read for standard installation & startup (operator prompting)
1
Parameters for standard installation & startup (operator prompting) can be read and
written into
2
All parameters can be read
4
All parameters can be read and written to
(Exception: motor data parameters cannot be written into)
8
Motor data parameters can be read and written into
10
All parameters (including the motor data) can be read and written into
Note:
The read and write protection is significant when parameterizing via the display and operator
control unit.
0652
Min
0
Transfer to FEPROM
Standard
0
Max
1
Unit
Data type
Unsigned16
Effective
immed.
... the parameter values from the RAM can be transferred into the FEPROM.
0 > 1
the values in the RAM are written into the FEPROM
1
data backup runs, other parameters cannot be selected
Note:
The parameter is automatically set to 0 at the end of data backup.
A-811
A Lists
A.1
0653
Min
Parameter list
! 611ue diff !
Max
Unit
Hex
Data type
Unsigned32
Effective
RO
A-812
A Lists
! 611ue diff !
0654
Min
A.1
Parameter list
Max
Unit
Hex
Data type
Unsigned32
Effective
RO
0655
Min
Max
(> 3.3)
Unit
Hex
Data type
Unsigned32
Effective
RO
A-813
A Lists
A.1
0656
Min
Parameter list
! 611ue diff !
Max
Unit
Hex
Data type
Unsigned32
Effective
RO
A-814
A Lists
! 611ue diff !
0657
Min
A.1
Parameter list
Max
Unit
Hex
Data type
Unsigned32
Effective
RO
A-815
A Lists
A.1
0658
Min
Parameter list
! 611ue diff !
Max
Unit
Hex
Data type
Unsigned32
Effective
RO
0659
Min
0
Bootstrap loading
Standard
0
Max
4
Unit
Data type
Unsigned16
Effective
PO
A-816
A Lists
! 611ue diff !
0660
Min
0
0
A.1
Parameter list
Max
86
86
Unit
Data type
Unsigned16
Unsigned16
Effective
immed. (ARM)
immed. (SRM SLM)
... defines the function that input terminal I0.x has on the control module.
The function number from the List of input signals is entered.
Note:
refer to the index entry Terminals term. I0.x to I3.x or List of the input signals
0661
Min
0
0
Max
86
86
Unit
Data type
Unsigned16
Unsigned16
Effective
immed. (ARM)
immed. (SRM SLM)
... defines the function that input terminal I1.x has on the control module.
The function number from the List of input signals is entered.
Note:
refer to the index entry Terminals term. I0.x to I3.x or List of the input signals
0662
Min
0
Max
86
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that input terminal I2.x has on the control module.
The function number from the List of input signals is entered.
Note:
refer to the index entry Terminals term. I0.x to I3.x or List of the input signals
0663
Min
0
Max
86
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that input terminal I3.x has on the control module.
The function number from the List of input signals is entered.
Note:
refer to the index entry Terminals term. I0.x to I3.x or List of the input signals
0664
Min
0
Max
86
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that input terminal I4 has on the option module TERMINALS.
The function number from the List of input signals is entered.
Note:
refer to the index entry Terminals term. I4 to I11 or List of the input signals
0665
Min
0
Max
86
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that input terminal I5 has on the option module TERMINALS.
The function number from the List of input signals is entered.
Note:
refer to the index entry Terminals term. I4 to I11 or List of the input signals
A-817
A Lists
A.1
0666
Min
0
Parameter list
! 611ue diff !
Max
86
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that input terminal I6 has on the option module TERMINALS.
The function number from the List of input signals is entered.
Note:
refer to the index entry Terminals term. I4 to I11 or List of the input signals
0667
Min
0
Max
86
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that input terminal I7 has on the option module TERMINALS.
The function number from the List of input signals is entered.
Note:
refer to the index entry Terminals term. I4 to I11 or List of the input signals
0668
Min
0
Max
86
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that input terminal I8 has on the option module TERMINALS.
The function number from the List of input signals is entered.
Note:
refer to the index entry Terminals term. I4 to I11 or List of the input signals
0669
Min
0
Max
86
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that input terminal I9 has on the option module TERMINALS.
The function number from the List of input signals is entered.
Note:
refer to the index entry Terminals term. I4 to I11 or List of the input signals
0670
Min
0
Max
86
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that input terminal I10 has on the option module TERMINALS.
The function number from the List of input signals is entered.
Note:
refer to the index entry Terminals term. I4 to I11 or List of the input signals
0671
Min
0
Max
86
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that input terminal I11 has on the option module TERMINALS.
The function number from the List of input signals is entered.
Note:
refer to the index entry Terminals term. I4 to I11 or List of the input signals
A-818
A Lists
! 611ue diff !
0672
Min
0
A.1
Parameter list
Max
86
Unit
(> 3.3)
Data type
Unsigned16
Effective
immed.
... defines the function of input terminal I0.B, drive B for the direct measuring system of drive A.
Note:
The function number from the List of input signals is entered.
Prerequisite: P0250 = 1 (direct measuring system)
The following functions can be executed via I0.B:
External block change (function number 67)
Flying measurement/length measurement (function number 80)
Equivalent zero mark (function number 79)
0676
Min
0
Max
3
Unit
Data type
Unsigned16
(> 4.1)
Effective
immed.
... defines which input terminals on the optional TERMINAL module are assigned to this drive.
0
none
1
Input terminal I4 to I7
2
Input terminals I8 to I11
3
Input terminals I4 to I11
Note:
The terminals can only be assigned to a drive once.
Prerequisite for the assignment: P0875 = 1
Assignment, outputs: Refer to P0696
0678
Min
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
The signal statuses of the input terminals are displayed using these parameters.
Bit 15 (Term. 63 / Term. 48), bit 14 (Term. 663), bit 13 (Term. 64), bit 12 (Term. 65.x),
Bit 11 (Term. I11), bit 10 (Term. I10), bit 9 (Term. I9), Bit 8 (Term. I8),
Bit 7 (Term. I7), bit 6 (Term. I6), bit 5 (Term. I5), bit 4 (Term. I4),
bit 3 (t. I3.x), bit 2 (t. I2.x), bit 1 (t. I1.x), bit 0 (t. I0.x)
Bit x = 1 > input terminal has signal status 1
Bit x = 0 > input terminal has signal status 0
Example: P0678 = F004 > Term. 63 / Term. 48, Term. 663, Term. 64, Term. 65.x and Term.
I2.x have signal status 1
Note:
Non-assigned bits are displayed with 0.
Terminal I4 to terminal I11 are on the optional TERMINAL module.
0680
Min
0
Max
88
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that output terminal O0.x has on the control module.
The function is entered from the List of output signals.
Note:
refer to the index entry Terminals term. O0.x to O3.x or List of the output signals
A-819
A Lists
A.1
0681
Min
0
Parameter list
! 611ue diff !
Max
88
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that output terminal O1.x has on the control module.
The function is entered from the List of output signals.
Note:
refer to the index entry Terminals term. O0.x to O3.x or List of the output signals
0682
Min
0
Max
88
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that output terminal O2.x has on the control module.
The function is entered from the List of output signals.
Note:
refer to the index entry Terminals term. O0.x to O3.x or List of the output signals
0683
Min
0
Max
88
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that output terminal O3.x has on the control module.
The function is entered from the List of output signals.
Note:
refer to the index entry Terminals term. O0.x to O3.x or List of the output signals
0684
Min
0
Max
88
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that output terminal O4 has on the option module TERMINALS.
The function is entered from the List of output signals.
Note:
refer to the index entry Terminals term. O4 to O11 or List of the output signals
0685
Min
0
Max
88
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that output terminal O5 has on the option module TERMINALS.
The function is entered from the List of output signals.
Note:
refer to the index entry Terminals term. O4 to O11 or List of the output signals
0686
Min
0
Max
88
Unit
Data type
Unsigned16
Effective
immed.
... defines the function thatoutput terminal O6 has on the option module TERMINALS.
The function is entered from the List of output signals.
Note:
refer to the index entry Terminals term. O4 to O11 or List of the output signals
A-820
A Lists
! 611ue diff !
0687
Min
0
A.1
Parameter list
Max
88
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that output terminal O7 has on the option module TERMINALS.
The function is entered from the List of output signals.
Note:
refer to the index entry Terminals term. O4 to O11 or List of the output signals
0688
Min
0
Max
88
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that output terminal O8 has on the option module TERMINALS.
The function is entered from the List of output signals.
Note:
refer to the index entry Terminals term. O4 to O11 or List of the output signals
0689
Min
0
Max
88
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that output terminal O9 has on the option module TERMINALS.
The function is entered from the List of output signals.
Note:
refer to the index entry Terminals term. O4 to O11 or List of the output signals
0690
Min
0
Max
88
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that output terminal O10 has on the option module TERMINALS.
The function is entered from the List of output signals.
Note:
refer to the index entry Terminals term. O4 to O11 or List of the output signals
0691
Min
0
Max
88
Unit
Data type
Unsigned16
Effective
immed.
... defines the function that output terminal O11 has on the option module TERMINALS.
The function is entered from the List of output signals.
Note:
refer to the index entry Terminals term. O4 to O11 or List of the output signals
0696
Min
0
Max
3
Unit
Data type
Unsigned16
(> 4.1)
Effective
immed.
... defines which output terminals on the TERMINAL option module are assigned to this drive.
0
none
1
Output terminal O4 to O7
2
Output terminals O8 to O11
3
Output terminals O4 to O11
Note:
The terminals can only be assigned to a drive once.
Prerequisite for the assignment: P0875 = 1
Assignment, inputs: Refer to P0676
A-821
A Lists
A.1
0698
Min
Parameter list
! 611ue diff !
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
The signal statuses of the output terminals are displayed using these parameters.
Bit 11 (t. O11), bit 10 (t. O10), bit 9 (t. O9), bit 8 (t. O8),
bit 7 (t. O7), bit 6 (t. O6), bit 5 (t. O5), bit 4 (t. O4),
bit 3 (T. O3.x), bit 2 (T. O2.x), bit 1 (T. O1.x), bit 0 (T. O0.x)
Bit x = 1 > output terminal has signal status 1
Bit x = 0 > output terminal has signal status 0
Example: P0698 = 0006 > Term. O2.x and O1.x have signal status 1
Note:
Non-assigned bits are displayed with 0.
Terminals O4 to O11 are on the optional TERMINAL module.
0699
Min
0
Max
FFF
Unit
Hex
Data type
Unsigned16
Effective
immed.
This parameter is used to define which output terminal signals are to be output inverted.
Bit 11 (Term. O11), bit 10 (Term. O10), bit 9 (Term. O9), bit 8 (Term. O8),
bit 7 (Term. O7), bit 6 (Term. O6), bit 5 (O5), bit 4 (Term. O4),
bit 3 (T. O3.x), bit 2 (T. O2.x), bit 1 (T. O1.x), bit 0 (T. O0.x)
Bit x = 1 > output terminal is inverted
Bit x = 0 > output terminal is not inverted
Example: P0699 = 0003 > Term. O1.x and O0.x are output inverted
Note:
Non-assigned bits are displayed with 0.
Terminals O4 to O11 are on the optional TERMINAL module.
0700
Min
0
A
1
2
3
A-822
Operating mode
Standard
1
Max
3
Unit
Data type
Unsigned16
Effective
PO
A Lists
! 611ue diff !
0701
Min
0
1
2
3
A.1
Parameter list
Max
Unit
Data type
Unsigned16
Effective
RO
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
...includes all of the parameters taken into account when saving the drive configuration (save
parameter in a file).
The following steps are necessary for a series start-up without using the SimoCom U start-up
tool:
1. Signal the motor type (write into P1102 = motor code)
2. Writing 4 into P0659 (drive carries-out defaults)
3. Write into all of the parameters listed in parameter P0731
4. Write 2 into P0659 (pre-assign motor/ LT data, calculate controller data)
5. Write into all parameters listed in parameter P0730 (minus the parameters listed in P0731)
Standard
Max
Unit
(> 6.1)
Data type
Unsigned16
Effective
RO
A-823
A Lists
A.1
0801
Min
1
Parameter list
! 611ue diff !
Changeover RS232/RS485
Standard
0
Max
1
Unit
Data type
Integer16
Effective
PO
The serial interface (X471) is set to RS232 or to RS485 using this parameter.
1
Interface is set to RS485
0
Interface is set to RS232
1
reserved
Note:
The interface can be changed over from both drives. As the interface is either set to RS232 or
to RS485, when changing the parameter in a drive, the parameter in the other drive is appropriately adapted.
The RS485 interface works only on control modules with the following hardware version:
Order no. (MLFB): 6SN1118_N_000AA0 > RS485 is not operable
from order no. (MLFB): 6SN1118_N_000AA1 > RS485 is operable
refer to the index entry SimoCom U via serial interface
0802
Min
0
Max
31
Unit
Data type
Unsigned16
Effective
PO
In an RS485 group, each drive must be assigned a unique drive number for addressing using
this parameter.
0
the drive is not available in the RS485 group
1 to 31
the drive has this valid drive number
Note:
The drive number must be unique within the complete group
refer to the index entry SimoCom U via serial interface
0803
Min
Max
Unit
Data type
Unsigned16
Effective
RO
For a 2-axis module, this parameter displays the drive number of the adjacent axis.
The adjacent drive number of drive A is the drive number of drive B.
The adjacent drive number of drive B is the drive number of drive A.
Standard
Max
(> 4.1)
Unit
Data type
Unsigned32
Effective
RO
The supplementary information of the warnings, displayed using P0953 P0960, is entered in
this parameter.
The following is valid:
P0828:0
Supplementary information, alarm 800 (P0953 bit 0)
P0828:1
Supplementary information, warning 801 (P0953 bit 1)
...
P0828:127 Supplementary information, alarm 927 (P0960 bit 15)
A-824
A Lists
! 611ue diff !
0850
Min
0
A.1
Parameter list
Max
1
Unit
Data type
Unsigned16
Effective
immed.
0851
Min
10.0
Max
10000.0
Unit
ms
Data type
Floating Point
Effective
immed.
0852
Min
0.0
0.0
Max
100000.0
100000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
Unit
ms
Data type
Floating Point
Effective
immed.
0853
Min
10.0
Max
600000.0
P0852 and P0853 form the criterion for withdrawing the output signal Open holding brake to
close the motor holding brake.
After controller enable is withdrawn the drive brakes with n-set = 0.
With the brake sequence control active, the open holding brake output signal is reset, if:
|n-act| < n holding brake (P0852)
or
The brake delay time (P0853) has expired
Note: refer to the index entry Motor holding brake
0854
Min
10.0
Max
10000.0
Unit
ms
Data type
Floating Point
Effective
immed.
With n-set = 0, the drive is actively controlled (internal controller enable) until the controller locking time expires (P0854).
In order that the brake has time to close, the closing time is bypassed to prevent a hanging
axis, for example, from sagging. The pulses are only canceled after this time.
Note: refer to the index entry Motor holding brake
A-825
A Lists
A.1
0868
Min
0
Parameter list
! 611ue diff !
Max
255
Unit
(> 6.1)
Data type
Unsigned16
Effective
PO
... is used to set the baud rate for the CAN option module (Robox Company).
0
1000 kBit/s
1
800 kBit/s
2
500 kBit/s
3
250 kBit/s
4
125 kBit/s
5
100 kBit/s
6
50 kBit/s
7
20 kBit/s
8
10 kBit/s
>8
Reserved
0870
Min
Module type
Standard
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
0871
Min
Module version
Standard
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
A-826
A Lists
! 611ue diff !
0872
Min
A.1
Parameter list
Max
Unit
Data type
Unsigned16
Effective
RO
... displays which option module was identified when the control module was powered-up.
0
no option module
1
Optional TERMINAL module, Order No. (MLFB): 6SN11140NA000AA0
2
Option module PROFIBUS-DP1
with PROFIBUS-aSIC SPC3, Order No. (MLFB): 6SN11140NB000AA0
3
Option module PROFIBUS-DP2 (from SW 3.1)
with PROFIBUS ASIC DPC31 without PLL, Order No. (MLFB): 6SN11140NB000AA1
4
Option module PROFIBUS-DP3 (from SW 3.1)
with PROFIBUS ASIC DPC31 with PLL, Order No. (MLFB): 6SN11140NB010AA0
253 CAN option module, Robox company
255 Third-party module corresponding to the published interface spec. (from SW 4.1)
0873
Min
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
Data type
Unsigned16
Effective
PO
0875
Min
0
Max
255
Unit
A-827
A Lists
A.1
0878
Min
0
Parameter list
! 611ue diff !
PROFIdrive configuration
Standard
0
Max
127
(> 8.2)
Unit
Hex
Data type
Unsigned16
Effective
immed.
... several behavioral features are activated in order to achieve conformance with the PROFIdrive profile.
Bit 0
Axis addressing according to PROFIdrive
Bit 0 = 1
For a non-cyclic access via the DPV1 parameter channel axis A is addressed
with index 1 (this is in conformance with the profile)
Bit 0 = 0
For a non-cyclic access via the DPV1 parameter channel axis A is addressed
with index 0 (this is not in conformance with the profile)
Bit 1
P915/P916 cannot be changed for P922 > 0
Bit 1 = 1
P915/P916 cannot be written into if P922 is greater than 0 (this is in conformance
with the profile)
Bit 1 = 0
P915/P916 can also be written into if P922 is greater than 0 (this is not in
conformance with the profile)
Bit 2
No. of Value = Length for string variables
Bit 2 = 1
For string variables, in the DPV1 parameter response the length of bytes is
transferred under No. of Values (in conformance with the profile)
Bit 2 = 0
For string variables, in the DPV1 parameter response the number of values are
transferred under No. of Values (this is not in conformance with the profile)
Bit 3, bit 4, bit 5 selects the PROFIdrive profile version
Bit 5 = 0, bit 4 = 0, bit 3 = 0: PROFIdrive profile Version 3.1.2 is active
Bit 5 = 0, bit 4 = 0, bit 3 = 1: PROFIdrive profile version 4.1 is active (from SW 12.1)
Bit 6
Function generator immediately active (from SW 11.2 onwards)
Bit 6 = 1
Function generator immediately active is activated in STW1 bit 9 (not in
conformance with the profile)
Bit 6 = 0
Function generator immediately active is deactivated in STW1 bit 9 (in
conformance with the profile)
Note:
The following parameters should be set for the PROFIdrive profile in conformance to profile version V3.1:
P0878 bit 0 = 1, bit 1 = 1, bit 2 = 1
P0879 bit 0 = 1, bit 1 = 0, bit 2 = 0, bit 9 = 1
P1012 bit 12 = 1, bit 13 = 1, bit 14 = 0, bit 15 = 1
In addition, the following parameters must be set in order to achieve compatibility to profile version V4.1.
P0878 bit 3 = 1
A-828
A Lists
! 611ue diff !
0879
Min
0
A.1
Parameter list
PROFIBUS configuration
Standard
1
Max
FFFF
(> 3.1)
Unit
Hex
Data type
Unsigned16
Effective
PO
0880
Min
100000.0
100000.0
Max
100000.0
100000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
... defines the normalization of the speed or velocity when using PROFIBUS-DP. When entering
a negative value, in addition, the motor direction of rotation is inverted.
Note:
4000hex or 16384dec in control word NSOLL_A corresponds to the speed or velocity in P0880.
refer to the index entry Control words NSOLL_A or NSOLL_B
A-829
A Lists
A.1
Parameter list
0881
Min
0.0
0.0
! 611ue diff !
Max
16384.0
16384.0
Unit
%
%
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
... defines the normalization of the torque/power reduction or force/power reduction when moving with PROFIBUS-DP.
Note:
4000Hex or 16384 dec in the MomRed control board corresponds to a reduction of the percentage specified in P0881.
refer under the index entry Control word MomRed
0882
Min
16384.0
16384.0
Max
16384.0
16384.0
Unit
%
%
Data type
Floating Point
Floating Point
(> 4.1)
Effective
immed. (SLM)
immed. (SRM ARM)
... defines the normalization of the torque and force setpoint when using PROFIBUS-DP.
Note:
P0882 is a percentage value referred to the rated motor torque. The parameter affects the process data MsollExt (external torque setpoint in the input direction) and Msoll (torque setpoint in
the output direction).
4000Hex or 16384 dec in the control word corresponds to the percentage entered in P0882.
refer under the index entry control word MsollExt, Status word Msoll
0883
Min
0.0
Max
16384.0
Unit
%
(> 3.1)
Data type
Floating Point
Effective
immed.
... defines the normalization of the override when entered via PROFIBUS-DP.
Note:
4000Hex or 16384dec in the PROFIBUS-PPO corresponds to the override in P0883 (refer
under the index entry control word Over).
0884
Min
1
Max
8388607
Unit
Data type
Unsigned32
Effective
PO
... together with P0896, defines the format for the output of positions via PROFIBUS-DP.
Note:
refer to P0896
refer under the index entry axis couplings
0887
Min
0.0
0.0
Max
10000.0
10000.0
Unit
ms
ms
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
This means that the speed actual value or velocity actual value can be smoothed via
PROFIBUS using a PT1 filter.
The value defines the smoothing time constant of the PT1 filter (P0887 = 0 smoothing is not
active).
A-830
A Lists
! 611ue diff !
0888:16
Min
0
A.1
Parameter list
Max
83
Unit
Data type
Unsigned16
(> 4.1)
Effective
immed.
... defines the function that a signal has that has been read-in via PROFIBUS-PZD for distributed inputs (DezEing)
The function number from the list of input signals is entered. The following applies for the individual indices of P0888:
0
Function DezEing bit 0
1
Function DezEing bit 1
2
etc.
0889:4
Min
1
Max
10000
Unit
Data type
Unsigned16
(> 9.1)
Effective
immed.
... defines the factor with which the handwheel pulses are evaluated.
Note:
refer to the index entry Angular encoder interface
0890
Min
0
Max
4
Unit
Data type
Unsigned16
Effective
PO
... defines how the angular encoder interface and encoder interface are operated.
Angular encoder interface (X461, X462 for SIMODRIVE 611 universal)
Encoder interface (X472 for SIMODRIVE 611 universal E)
0
Angular encoder interface or encoder interface switched-out
1
Angular encoder interface switched-in as output for incremental position actual value
2
Angular encoder interface switched-in as input for incremental position reference value
(from SW 3.3)
3
Angular encoder interface switched-in for drive A as input for the incremental position
reference value. The incremental position actual value from drive A is output at the
angular encoder interface from drive B, if P0890 (B) is 0. P0890 = 3 is only possible for
drive A. (from SW 3.3)
4
Encoder interface enabled as input for TTL encoders (encoder 3, from SW 3.1)
For SIMODRIVE 611 universal a TTL signal can be downloaded/read-in via the
angular incremental encoder interface and re-output via PROFIBUS-DP (encoder 3,
e.g. standard telegram 104).
Note:
The terminating resistor must be set for the angular encoder interface > switch S1
When injecting signals at the angular incremental encoder interface it should be ensured that
the interface is not parameterized as output. Otherwise, the internal and external drivers will
operate against one another and can mutually destroy themselves.
refer to the index entry Angular encoder interface or Encoder interface
A-831
A Lists
A.1
0891
Min
1
Parameter list
! 611ue diff !
Max
5
Unit
Data type
Integer16
(> 3.3)
Effective
PO
... defines the source for the external position reference value.
1
not an external position reference value
0
Angular encoder interface
1
Motor encoder, drive A (only drive B in double-axis modules)
(only for compatibility, recommended value = 2)
2
Position actual value drive A (only drive B in double-axis modules, from SW 4.1)
3
Position reference value drive A (only drive B in double-axis modules, from SW 4.1)
4
PROFIBUS-DP (from SW 4.1)
5
Angular incremental encoder interface coarse (resolution 1 increment corresponds to
approx. 1 mm or 1 Degree)
Note:
refer under the index entry axis couplings
A-832
A Lists
! 611ue diff !
0892
Min
2
A.1
Parameter list
Max
5
Unit
Data type
Integer16
Effective
PO
Resolver:
... defines the encoder pulse number via the angular encoder interface.
Resolver 12-bit module (6SN1118*NK000AA* or 6SN1118*NJ000AA*):
0
P*1024
1
P*512
2
P*256
3
P*128
Resolver 14-bit module (6SN1118*NK010AA* or 6SN1118*NJ010AA*), 12-bit setting
(1011[2]=0 and 1030[2]=0):
0
P*1024
1
P*512
2
P*256
3
P*128
4
P*64
5
P*32
Resolver 14-bit module (6SN1118*NK010AA* or 6SN1118*NJ010AA*), 14-bit setting
(1011[2]=1 and 1030[2]=1):
2
P*4096
1
P*2048
0
P*1024
1
P*512
2
P*256
3
P*128
Encoder with sin/cos 1Vpp:
... defines the factor by which the encoder resolution is reduced (encoder pulse number or measuring length/grid spacing), before the signals (quadrature signals) are visible via the angular
encoder output.
0
1:1 scale
1
1:2 scale
2
1:4 scale
3
1:8 scale
4
Doubling (from SW 5.1, with SIMODRIVE 611 universal HR/HRS/HRS2)
Note:
P > Resolver pole pair number
The values 2,1,4,5 for a resolver should only be set there where it is not intended to change
over from 12 >< 14 bit resolution.
If, for example, high precision is not required for the position control, but however, high speeds,
then the encoder pulse number, output via the angular incremental encoder interface can be
less than then the encoder pulse number of the motor measuring system.
refer to the index entry Angular encoder interface
A-833
A Lists
A.1
0893
Min
360.0
Parameter list
! 611ue diff !
Max
360.0
Unit
Degree
Data type
Floating Point
Effective
PO
0894
Min
0
Max
2
Unit
Data type
Unsigned16
(> 3.3)
Effective
PO
... defines the input signal shape for the angular encoder interface.
0
Quadrature signal
1
Pulse/direction signal
2
Forwards/reverse signal
Note:
refer to the index entry Angular encoder interface
0895
Min
1
Max
8388607
Unit
Data type
Unsigned32
(> 3.3)
Effective
PO
... together with P0896, defines, for couplings, the ratio between the input increments and dimension system grids.
Note:
> P0895 input pulses at the angular encoder correspond to P0896 MSR
> Setpoint input from P0895 corresponds to P0896 MSR
refer to P0896
refer under the index entry axis couplings
0896
Min
1
Ext. position ref. value no. of dimension system grids (> 3.3)
Standard
10000
Max
8388607
Unit
MSR
Data type
Unsigned32
Effective
PO
... together with P0895, defines for couplings, the ratio between the input pulse periods (or input
bit) and the measuring system grid.
Note:
refer to P0895
refer under the index entry axis couplings
0897
Min
0
Max
1
Unit
Data type
Unsigned16
(> 3.3)
Effective
PO
... defines whether the position reference value is entered externally and therefore the direction
should be inverted.
1
Position setpoint inversion
0
Not inverted
Note:
refer under the index entry axis couplings
A-834
A Lists
! 611ue diff !
0898
Min
0
A.1
Parameter list
Max
100000000
Unit
MSR
(> 3.5)
Data type
Unsigned32
Effective
PO
... informs the slave drive about the selected modulo range for the master drive.
Note:
The following applies: P0242 (master drive) = P0898 (slave drive)
The value 0 switches-out the modulo correction.
refer under the index entry axis couplings
0899:8
Min
0
Max
2
Unit
Data type
Unsigned16
(> 8.1)
Effective
immed.
... defines in which direction the angular incremental encoder interface pulses are permitted.
0
positive and negative direction
1
only the positive direction
2
only the negative direction
Note:
refer to the index entry Angular encoder interface
0900:4
Min
1
Max
10000
Unit
Data type
Unsigned16
(> 8.1)
Effective
immed.
... defines the factor with which the handwheel pulses are evaluated.
Note:
From SW 9.1 onwards, P0900:4 is replaced by P0889:4 (P0900:4 = P0889:4).
refer to the index entry Angular encoder interface
A-835
A Lists
A.1
Parameter list
0915:17
Min
0
! 611ue diff !
Max
65535
Unit
Data type
Unsigned16
(> 3.1)
Effective
immed.
... serves for allocating the signals to the process data in the setpoint frame.
The following applies:
P0915:0
no meaning
P0915:1
PZD1, unable to configure (standard setting)
P0915:2
PZD2, Configuring and display of the signal ID (refer to P0922)
P0915:3
PZD3, etc.
ID
Significance (abbreviation) (comments)
0
No signal (NIL)
50001
Control word 1 (STW1) (assignment n-set operation)
50001
Control word 1 (STW1) (assignment pos operation)
50003
Control word 2 (STW2)
50005
Speed setpoint A (NSOLL_A, nset-h) (n-set operation)
50007
Speed setpoint B (NSOLL_B, nset-(h+l)) (n-set operation)
50009
Encoder 1, control word (G1_STW) (n-set operation)
50013
Encoder 2 control word (G2_STW) (n-set operation, from SW 3.3)
50017
Encoder 3 control word (G3_STW) (n-set operation)
50025
System deviation DSC (XERR) (n set operation, from SW 4.1)
50026
Position controller gain factor DSC (KPC) (n set operation, from SW 4.1)
50101
Torque reduction (MomRed)
50103
Analog output, T. 75.x/15 (DAU1)
50105
Analog output T. 16.x/15 (DAU2)
50107
Digital outputs, T. O0.x to O3.x (DIG_OUT)
50109
Target position for spindle positioning (XSP) (n set operation, from SW 5.1)
50111
Distributed inputs (DezEing) (from SW 4.1)
50113
External torque setpoint (MsollExt) (n set operation, from SW 4.1)
50117
Control word, slave-to-slave communications (QStw) (pos operation,
from SW 4.1)
50201
Block selection (SatzAnw)
50203
Positioning control word (PosStw) (pos operation)
50205
Override (Over) (pos operation)
50207
External position reference value (Xext) (pos operation, from SW 4.1)
50209
Correction, external position reference value (XcorExt) (pos operation,
from SW 4.1)
50221
MDI position (MDIPos) (pos mode, from SW 7.1)
50223
MDI velocity (MDIVel) (pos mode, from SW 7.1)
50225
MDI acceleration override (MDIAcc) (pos mode, from SW 7.1)
50227
MDI deceleration override (MDIDec) (pos mode, from SW 7.1)
50229
MDI mode (MDIMode) (pos mode, from SW 7.1)
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
Operating mode not specified > possible in every operating mode
refer to the index entry Configuring the process data
A-836
A Lists
! 611ue diff !
0916:17
Min
0
A.1
Parameter list
Max
65535
Unit
Data type
Unsigned16
(> 3.1)
Effective
immed.
... serves for allocating the signals to the process data in the actual value frame.
The following applies:
P0916:0
no meaning
P0916:1
PZD1, unable to configure (standard setting)
P0916:2
PZD2, Configuring and display of the signal ID (refer to P0922)
P0916:3
PZD3, etc.
ID
Significance (abbreviation) (comments)
0
No signal (NIL)
50002
Status word 1 (ZSW1) (assignment, n-set operation)
50002
Status word 1 (ZSW1) (assignment pos operation)
50004
Status word 2 (ZSW2)
50006
Speed actual value A (NIST_A, nact-h)
50008
Speed actual value B (NIST_B, nact-(h+l))
50010
Encoder 1 status word (G1_ZSW) (n-set operation)
50011
Encoder 1 position actual value 1 (G1_XACT1) (n-set operation)
50012
Encoder 1 position actual value 2 (G1_XACT2) (n-set operation)
50014
Encoder 2 status word (G2_ZSW) (n-set operation, from SW 3.3)
50015
Encoder 2 position actual value 1 (G2_XACT1) (n-set operation, from SW 3.3)
50016
Encoder 2 position actual value 2 (G2_XACT2) (n-set operation, from SW 3.3)
50018
Encoder 3 status word (G3_ZSW) (n-set operation)
50019
Encoder 3 position actual value 1 (G3_XACT1) (n-set operation)
50020
Encoder 3 position actual value 2 (G3_XACT2) (n-set operation)
50102
Message word (MeldW)
50104
Analog input T. 56.x/14 (ADU1)
50106
Analog input T. 24.x/20 (ADU2)
50108
Digital inputs, T. I0.x to I3.x (DIG_IN)
50110
Utilization (util)
50112
Active power (Pwirk)
50114
Smoothed torque setpoint (Msoll)
50116
Smoothed torque-generating current Iq (IqGl)
50118
Status word, slave-to-slave communications (QZsw) (pos operation,
from SW 4.1)
50119
DC link voltage (VDClink1) (from SW 8.3)
50202
Currently selected block (AktSatz)
50204
Positioning status word (PosZsw) (pos operation)
50206
Position actual value (positioning operation) (XistP) (pos operation)
50208
Position reference value (positioning operation) (XsollP) (pos operation,
from SW 4.1)
50210
Correction position reference value (Xcor) (pos opertion, from SW 4.1)
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
Operating mode not specified > possible in every operating mode
refer to the index entry Configuring the process data
A-837
A Lists
A.1
0918
Min
0
Parameter list
! 611ue diff !
Max
126
Unit
Data type
Unsigned16
Effective
PO
0922
Min
0
Max
110
Unit
(> 3.1)
Data type
Unsigned16
Effective
PO
Standard
Max
Unit
Data type
Unsigned16
Effective
RO
This parameter can be read in order to define which PROFIdrive standard signals (signals
1...99) and manufacturer-specific signals are supported and which device-specific signal ID this
signal represents.
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
A-838
A Lists
! 611ue diff !
0930
Min
A.1
Parameter list
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
0944
Min
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
This parameter corresponds to the fault message counter. It is incremented each time that the
fault buffer changes.
This means that it can be ensured that the fault buffer can be consistently read-out
Note:
This parameter is reset at POWER ON.
refer to the index entry PROFIBUS-DP evaluate faults
0945:65
Min
Fault code
Standard
Max
Unit
Data type
Unsigned16
Effective
RO
The fault code, i. e. the number of the fault which occurred, is entered in this parameter.
The faults which occurred are entered as follows into the fault buffer:
first fault which has occurred > parameter with index 1 (with index 0 for the PROFIdrive profile)
To
eighth fault which has occurred> parameter with index 8 (with index 7 for the PROFIdrive
profile)
Note:
The following is associated with a fault: Fault code (P0945:65), fault number (P0947:65), fault
time (P0948:65) and fault value (P0949:65).
For reset fault memory the fault code, previously entered into P0945, is shifted by 8 indices.
The description of the faults, how they can be acknowledged as well as a list of all the faults is
provided in Section Fault handling / diagnostics.
This parameter is reset at POWER ON.
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
refer to the index entry PROFIBUS-DP evaluate faults
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
A-839
A Lists
A.1
Parameter list
0947:65
Min
! 611ue diff !
Fault number
Standard
Max
Unit
Data type
Unsigned16
Effective
RO
0948:65
Min
Fault time
Standard
Max
Unit
ms
Data type
Unsigned32
Effective
RO
This parameter specifies at which relative system time the fault occurred.
Note:
This parameter is set to zero at POWER ON, and the time is then started.
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
refer to the index entry PROFIBUS-DP evaluate faults
0949:65
Min
Fault value
Standard
Max
Unit
Data type
Unsigned32
Effective
RO
The supplementary information about a fault which has occurred is entered into this parameter.
Note:
The description of the faults, how they can be acknowledged as well as a list of all the faults is
provided in Section Fault handling / diagnostics.
This parameter is reset at POWER ON.
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
refer to the index entry PROFIBUS-DP evaluate faults
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
Unit
Data type
Unsigned16
Effective
immed.
0952
Min
0
Number of faults
Standard
0
Max
FFFF
The parameter specifies the number of faults which occurred after POWER ON.
From SW 9.1 onwards, the parameter can be reset with P0952 = 0.
When the parameter is reset, the fault buffer is cleared and the faults are acknowledged if the
causes were resolved.
Note:
This parameter is reset at POWER ON.
refer to the index entry PROFIBUS-DP evaluate faults
A-840
A Lists
! 611ue diff !
0953
Min
A.1
Parameter list
Warnings 800815
Standard
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
Data type
Unsigned16
Effective
RO
Data type
Unsigned16
Effective
RO
Data type
Unsigned16
Effective
RO
0954
Min
Warnings 816831
Standard
Max
Unit
Hex
0955
Min
Warnings 832847
Standard
Max
Unit
Hex
0956
Min
Warnings 848863
Standard
Max
Unit
Hex
0957
Min
Warnings 864879
Standard
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
A-841
A Lists
A.1
0958
Min
Parameter list
! 611ue diff !
Warnings 880895
Standard
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
Data type
Unsigned16
Effective
RO
Data type
Unsigned16
Effective
RO
0959
Min
Warnings 896911
Standard
Max
Unit
Hex
0960
Min
Warnings 912927
Standard
Max
Unit
Hex
0963
Min
(> 4.1)
Max
Unit
Data type
Unsigned16
Effective
RO
A-842
A Lists
! 611ue diff !
0964:11
Min
A.1
Parameter list
Equipment identification
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
... includes all data for the device identification and provides this to the Identify Utility.
Indices:
1
Company
Siemens = 42d
2
Drive type
Product type
3
Firmware version
xxyy (without patch number)
4
Firmware date (year)
yyyy (decimal)
5
Firmware date (day/month)
ddmm (decimal)
6
Number of axes
7
Patch number of the FW version
Product type:
1101 SIMODRIVE 611 universal 2-axis with 1Vpp encoder, n-set
1102 SIMODRIVE 611 universal 2-axis with 1 Vpp encoder, positioning
1103 SIMODRIVE 611 universal 2-axis with resolver, n-set
1104 SIMODRIVE 611 universal 2-axis with resolver, positioning
1105 SIMODRIVE 611 universal 1-axis with resolver, n-set
1106 SIMODRIVE 611 universal 1-axis with resolver, positioning
1111 SIMODRIVE 611 universalE 2-axis with 1Vpp encoder, n-set
1112 SIMODRIVE 611 universalE HR 2-axis with 1Vpp encoder, positioning
1120 SIMODRIVE 611 universal HR 2-axis with 1Vpp encoder, n-set
1121 SIMODRIVE 611 universal HR 2-axis with 1Vpp encoder, positioning
1122 SIMODRIVE 611 universal HR 2-axis with resolver, n-set
1123 SIMODRIVE 611 universal HR 2-axis with resolver, positioning
1124 SIMODRIVE 611 universal HR 1-axis with resolver, n-set
1125 SIMODRIVE 611 universal HR 1-axis with resolver, positioning
1126 SIMODRIVE 611 universal HR 1-axis with 1Vpp encoder, n-set
1127 SIMODRIVE 611 universal HR 1-axis with 1Vpp encoder, positioning
1113 SIMODRIVE 611 universalE HRS 2-axis with 1Vpp encoder, positioning
1130 SIMODRIVE 611 universal HRS 2-axis with 1Vpp encoder, n set
1131 SIMODRIVE 611 universal HRS 2-axis with 1Vpp encoder, positioning
1132 SIMODRIVE 611 universal HRS 2-axis with resolver, n set
1133 SIMODRIVE 611 universal HRS 2-axis with resolver, positioning
1134 SIMODRIVE 611 universal HRS 1-axis with resolver, n set
1135 SIMODRIVE 611 universal HRS 1-axis with resolver, positioning
1136 SIMODRIVE 611 universal HRS2 2-axis with resolver, n-set
1137 SIMODRIVE 611 universal HRS2 2-axis with resolver, positioning
1138 SIMODRIVE 611 universal HRS2 1-axis with resolver, n-set
1139 SIMODRIVE 611 universal HRS2 1-axis with resolver, positioning
0965
Min
Max
Unit
Hex
A
(> 6.1)
Data type
Unsigned16
Effective
RO
... the profile identification is saved here. Byte 1 contains profile number 3 (this corresponds to
the PROFIdrive profile).
Profile version 3.1 > byte 2 = 3
Profile version 4.1 > byte 2 = 41 (from SW 12.1)
0967
Min
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
A-843
A Lists
A.1
0968
Min
Parameter list
! 611ue diff !
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
0969
Min
0
Max
FFFFFFFF
Unit
ms
Data type
Unsigned32
Effective
immed.
... contains the relative system time since the last time that the drive was powered-up or the last
reset of the parameter or since the last counter overflow.
The counter only increments in real time after booting has been completed (Alarm 819 inactive).
Note:
This parameter can only be read and reset, i.e. only a value of 0 can be written into it.
0972
Min
0
Max
2
Unit
(> 3.3)
Data type
Unsigned16
Effective
immed.
A-844
A Lists
! 611ue diff !
0979:32
Min
A.1
Parameter list
Encoder format
Standard
Max
Unit
Hex
Data type
Unsigned32
Effective
RO
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
All of the parameter numbers defined in the drive are saved in parameters 980 989 from subindex 1. The arrays are assigned consecutively without any gaps. If a sub-index contains a
zero, then this is the end of the list of defined parameters. If a sub-index contains the parameter
number of the next list parameter, then the list continues there.
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
All of the parameter numbers defined in the drive are saved in parameters 980 989 from subindex 1. The arrays are assigned consecutively without any gaps. If a sub-index contains a
zero, then this is the end of the list of defined parameters. If a sub-index contains the parameter
number of the next list parameter, then the list continues there.
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
A-845
A Lists
A.1
Parameter list
0982:2
Min
! 611ue diff !
Number list_3
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
All of the parameter numbers defined in the drive are saved in parameters 980 989 from subindex 1. The arrays are assigned consecutively without any gaps. If a sub-index contains a
zero, then this is the end of the list of defined parameters. If a sub-index contains the parameter
number of the next list parameter, then the list continues there.
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
0983:2
Min
Number list_4
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
All of the parameter numbers defined in the drive are saved in parameters 980 989 from subindex 1. The arrays are assigned consecutively without any gaps. If a sub-index contains a
zero, then this is the end of the list of defined parameters. If a sub-index contains the parameter
number of the next list parameter, then the list continues there.
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
0984:2
Min
Number list_5
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
All of the parameter numbers defined in the drive are saved in parameters 980 989 from subindex 1. The arrays are assigned consecutively without any gaps. If a sub-index contains a
zero, then this is the end of the list of defined parameters. If a sub-index contains the parameter
number of the next list parameter, then the list continues there.
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
0985:2
Min
Number list_6
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
All of the parameter numbers defined in the drive are saved in parameters 980 989 from subindex 1. The arrays are assigned consecutively without any gaps. If a sub-index contains a
zero, then this is the end of the list of defined parameters. If a sub-index contains the parameter
number of the next list parameter, then the list continues there.
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
0986:2
Min
Number list_7
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
All of the parameter numbers defined in the drive are saved in parameters 980 989 from subindex 1. The arrays are assigned consecutively without any gaps. If a sub-index contains a
zero, then this is the end of the list of defined parameters. If a sub-index contains the parameter
number of the next list parameter, then the list continues there.
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
A-846
A Lists
! 611ue diff !
0987:2
Min
A.1
Parameter list
Number list_8
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
All of the parameter numbers defined in the drive are saved in parameters 980 989 from subindex 1. The arrays are assigned consecutively without any gaps. If a sub-index contains a
zero, then this is the end of the list of defined parameters. If a sub-index contains the parameter
number of the next list parameter, then the list continues there.
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
0988:2
Min
Number list_9
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
All of the parameter numbers defined in the drive are saved in parameters 980 989 from subindex 1. The arrays are assigned consecutively without any gaps. If a sub-index contains a
zero, then this is the end of the list of defined parameters. If a sub-index contains the parameter
number of the next list parameter, then the list continues there.
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
0989:2
Min
Number list_10
Standard
Max
(> 6.1)
Unit
Data type
Unsigned16
Effective
RO
All of the parameter numbers defined in the drive are saved in parameters 980 989 from subindex 1. The arrays are assigned consecutively without any gaps. If a sub-index contains a
zero, then this is the end of the list of defined parameters. If a sub-index contains the parameter
number of the next list parameter, then the list continues there.
Note:
If this parameter is read via non-cyclic communication (PROFIdrive), then the indices have
been shifted. Index 1 corresponds to Index 0 (etc.) in the description of the PROFIdrive profile.
1000
Min
2
Max
4
Unit
31.25s
Data type
Unsigned16
Effective
PO
A-847
A Lists
A.1
1001
Min
2
Parameter list
! 611ue diff !
Max
16
Unit
31.25s
Data type
Unsigned16
Effective
PO
Data type
Unsigned16
Effective
PO
1004
Min
0
Structure configuration
Standard
100
Max
315
Unit
Hex
1005
Min
0
Max
65535
Unit
Data type
Unsigned16
Effective
PO
(SRM ARM)
Note:
IM > Indirect measuring system (motor encoder)
If the encoder pulse number cannot be divided by 10 or 16 without a remainder, the zero mark
monitoring is internally disabled.
1006
Min
0
Max
65535
Unit
Data type
Unsigned16
Effective
PO
1007
Min
0
Max
8388607
Unit
Data type
Unsigned32
(> 3.3)
Effective
PO
(SRM ARM)
Note:
DM > Direct measuring system
Encoder pulses for indirect measuring system (IM, motor encoder) > refer to P1005
If the encoder pulse number cannot be divided by 10 or 16 without a remainder, the zero mark
monitoring is internally disabled.
A-848
A Lists
! 611ue diff !
1008
Min
20.0
A.1
Parameter list
Max
+20.0
Unit
Degree
Data type
Floating Point
Effective
immed.
Phase position of track A with respect to track B can be corrected using this parameter.
Note:
IM > Indirect measuring system (motor encoder)
Track A must have a 90 degree offset to track B
1009
Min
32
Max
128
Unit
31.25s
Data type
Unsigned16
Effective
PO
1010
Min
64
Interpolation cycle
Standard
128
Max
640
Unit
31.25s
Data type
Unsigned16
Effective
PO
A-849
A Lists
A.1
1011
Min
0
Parameter list
! 611ue diff !
Max
F003
Unit
Hex
Data type
Unsigned16
Effective
PO
... allows the actual value sensing to be configured for an indirect measuring system.
Bit 0
Invert speed actual value
Bit 0 = 1
Inversion, speed actual value
Bit 0 = 0
No inversion
Bit 1
Encoder phase failure correction
Bit 1 = 1
Encoder phase failure correction
Bit 1 = 0
No encoder phase error compensation
Bit 2
Resolver resolution
Bit 2 = 1
Resolver resolution, 14 bits
Bit 2 = 0
Resolver resolution, 12 bits
Note:
A resolver resolution of 14 bit can only be set with SIMODRIVE 611 universal HR/HRS/HRS2,
otherwise fault 759 is output.
After changing the resolver resolution from 12 bits to 14 bits, the resolution of some signals at
the analog output or DAU (D/A converter) changes refer under the index entry Resolver resolution.
The resolution displayed in SimoComU is always correct.
Bit 10
Plausibility monitoring, encoder (from SW 10.1)
Bit 10 = 0
No rotor position check default (up to SW 10.1)
Bit 10 = 1
Automatic rotor position check permitted (from SW 10.1)
Bit 12
Coarse position identification
Bit 12 = 1
Identify rough position
Bit 12 = 0
No coarse position identification
Note:
This bit has no significance for EnDat encoders.
For encoders without hall sensors and without C/D track (e. g. ERN 1387), the rotor position
identification replaces the coarse synchronization. The zero mark must still be adjusted (shift or
via P1017).
Bit 13
Fine position identification
Bit 13 = 1
The fine position is identified ( with pole position identification )
Bit 13 = 0
The fine position is not identified ( fine synchronization with zero mark )
Note:
This bit has no significance for EnDat encoders.
The rotor position identification replaces the coarse synchronization using Hall sensors or a C/D
track. The zero mark neither has to be present nor does it have to be adjusted.
If the rotor position identification does not offer satisfactory results, then the zero mark must be
adjusted.
Bit 14
Data transfer rate EnDat, bit 0
Bit 15
Transmission rate EnDat, Bit 1
Note:
Bits 14 and 15 are set as follows in the factory:
Bit 15, 14 = 00 > 100 kHz (standard)
Bit 15, 14 = 01 > 500 kHz (setting possible)
Bit 15, 14 = 10 > 1 MHz (setting, Siemens-internal)
Bit 15, 14 = 11 > 2 MHz (Siemens internal setting)
IM > Indirect measuring system (motor encoder)
refer to the index entry List of encoders
A-850
A Lists
! 611ue diff !
1012
Min
0
0
A.1
Parameter list
Function switch
Standard
A185
A105
Max
F1F5
F1F5
Unit
Hex
Hex
Data type
Unsigned16
Unsigned16
Effective
immed. (ARM)
immed. (SRM SLM)
A-851
A Lists
A.1
Parameter list
! 611ue diff !
Bit 14
Bit 14 = 1
1013
Min
0
Max
3
Unit
(> 2.4)
Data type
Unsigned16
Effective
PO
(ARM)
... the motor changeover is enabled or the motor changeover type is set.
0
Motor changeover inhibited
1
Motor changeover with pulse suppression
2
Motor changeover without pulse suppression (data set changeover)
3
Motor changeover with speed thresholds (P1247, P1248)
Note:
It is only possible to enable motor changeover in the Speed/torque setpoint mode (P0700 = 1)
(refer to the index entry Motor changeover).
1014
Min
0
Max
1
Unit
Data type
Unsigned16
Effective
PO
Data type
Unsigned16
Effective
PO
(SRM)
1015
Min
0
Max
1
Unit
... the permanently excited spindle (PE spindle, 1FE1 motor) is activated/de-activated for this
drive.
1
permanently excited spindle is activated
0
PE spindle is de-activated
Note:
For synchronous motors, field-weakening operation can be switched-in using P1015.
Refer under the index entry Permanent-magnet synchronous motor with and without field
weakening (PE spindle) or FD operation with field weakening.
A-852
A Lists
! 611ue diff !
1016
Min
360.0
A.1
Parameter list
Max
360.0
Unit
Degree
Data type
Floating Point
Effective
PO
(SRM SLM)
1017
Min
1
Max
1
Unit
Data type
Integer16
Effective
immed. (SRM SLM)
1:
Determine the commutation angular offset
0:
Function is de-activated (normal status)
1:
EnDat encoder: Serial numbers are read-in in P1025/P1026
The angular commutation offset is automatically determined during start-up:
Incremental measuring system with a zero mark:
set P1017 to 1
Move the axis over the zero mark (e. g. with inching 1)
> the angular offset is automatically entered into P1016
> fault 799 (save parameters in FEPROM and HW-RESET required) is displayed
Save parameters in the FEPROM (P0652 = 1)
Carry-out a HW_RESET
Absolute measuring system (EnDat encoder) (also 1FN3 linear motors, if P1075 = 3)
De-activate controller and pulse enable
Set P1017 to 1 (note: If, for 1FN1, the EnDat serial number, read from the measuring system,
is not equal to P0125/P1026, P1017 is automatically set to 1.)
Switch in the controller and pulse enable
> The angular offset is automatically entered into P1016 and the encoder serial number of
the encoder into P1025 and P1026
> fault 799 (save parameters in FEPROM and HW-RESET required) is displayed
Save to FEPROM and carry-out a HW-RESET
Absolute measuring system (EnDat encoder) with 1FN3 linear motor if a rotor position identification technique is not used:
Determine the rotor position difference between the normalized electrical rotor position and
EMF_V using the appropriate measuring techniques.
Add rotor position difference to P1016
Set P1017 to 1
> fault 799 (save parameters in FEPROM and HW-RESET required) is displayed
Save to FEPROM and carry-out a HW-RESET
Note: refer under the index entry Rotor position identification, PE spindle or linear motor
A-853
A Lists
A.1
1018
Min
0
Parameter list
! 611ue diff !
Max
64
Unit
Data type
Unsigned16
Effective
PO
1019
Min
0.0
0.0
Max
100.0
100.0
Unit
%
%
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM)
... defines the current with which the rotor position identification is executed. P1019 refers to the
maximum motor current (P1104) and only represents an approximate value, which is exceeded
or fallen short off during the identification, dependent on the iron saturation and the accuracy of
P1116 (armature inductance).
If a value is entered in P1019 which is too low, then the rotor position identification routine is
incorrect (fault 610). If the value is too high, the maximum permissible current can be exceeded
(fault 501 or 612) or an inadmissibly high movement can occur (refer to P1020 and fault 611).
The optimum setting of P1019 can be determined by starting as a test only the function several times using P1736.
Note: Also refer under the index entry PE spindle or Linear motor
1020
Min
0.0
0.0
Max
30.0
90.0
Unit
mm
Degree
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM)
... defines the distance which has been traveled during rotor position identification without a
fault being signaled.
Note:
If the distance is greater than the value entered in P1020, fault 611 is signaled (illegal movement during rotor position identification).
Angle (electrical) = angle (mechanical) * pole pair number (P1112)
1021
Min
0
Max
65535
Unit
Data type
Unsigned16
Effective
PO
1022
Min
0
Max
4294967295
Unit
Data type
Unsigned32
Effective
PO
A-854
A Lists
! 611ue diff !
1023
Min
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
A.1
Parameter list
IM diagnostics
Standard
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
Bit 12
Bit 13
Bit 15
Note:
IM > Indirect measuring system (motor encoder)
Bit 7 and 13 = 1 > Incremental and absolute track do not match
ERN: incremental encoder system
EQN: absolute encoder system
1024
Min
0
Max
8388607
Unit
nm
Data type
Unsigned32
Effective
PO
(SLM)
Note:
IM > Indirect measuring system (motor encoder)
1025
Min
0
Max
FFFF
Unit
Hex
Data type
Unsigned16
Effective
PO
(SRM SLM)
Note:
IM > Indirect measuring system (motor encoder)
1026
Min
0
Max
FFFF
Unit
Hex
Data type
Unsigned16
Effective
PO
(SRM SLM)
Note:
IM > Indirect measuring system (motor encoder)
A-855
A Lists
A.1
1027
Min
0
Parameter list
! 611ue diff !
IM configuration, encoder
Standard
0
Max
FFFF
Unit
Hex
Data type
Unsigned16
Effective
PO
... allows the encoder evaluation to be configured for an indirect measuring system.
Bit 2 TTL encoder
Bit 3 absolute encoder (EnDat interface)
Bit 4 linear measuring system
Bit 5 operation without motor measuring system
Bit 6 Coarse synchronous track, electrical revolution
Bit 7 Distance-coded measuring system (from SW 4.1)
Bit 8 zero mark selection, fine synchronization using the position controller
Note:
IM > Indirect measuring system (motor encoder)
1029
Min
0.0
Max
100.0
Unit
ms
Data type
Floating Point
Effective
immed. (SRM SLM)
... defines the additional delay time between the 60 individual measuring pulses to identify the
rotor position.
Note: Also refer under the index entry PE spindle or Linear motor
1030
Min
0
Max
FFFF
Unit
Hex
Data type
Unsigned16
(> 3.3)
Effective
PO
... allows the actual value sensing to be configured for a direct measuring system.
Bit 2
Resolver resolution
Bit 2 = 1
Resolver resolution, 14 bits
Bit 2 = 0
Resolver resolution, 12 bits
Bit 14
Data transfer rate EnDat, bit 0
Bit 15
Transmission rate EnDat, Bit 1
Note:
Bits 14 and 15 are set as follows in the factory:
Bit 15, 14 = 00 > 100 kHz (standard)
Bit 15, 14 = 01 > 500 kHz (setting possible)
Bit 15, 14 = 10 > 1 MHz (setting, Siemens-internal)
Bit 15, 14 = 11 > 10 MHz (setting, Siemens-internal)
DM > Direct measuring system (motor encoder)
refer to the index entry List of encoders
1031
Min
0
Max
65535
Unit
Data type
Unsigned16
(> 3.3)
Effective
PO
A-856
A Lists
! 611ue diff !
1032
Min
0
A.1
Parameter list
Max
4294967295
Unit
Data type
Unsigned32
(> 3.3)
Effective
PO
1033
Min
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
DM diagnostics
Standard
Max
(> 3.3)
Unit
Hex
Data type
Unsigned16
Effective
RO
Bit 12
Bit 13
Bit 15
Note:
DM > Direct measuring system
Diagnostics for indirect measuring system (IM, motor encoder) > refer to P1023
Bit 7 and 13 = 1 > Incremental and absolute track do not match
ERN: incremental encoder system
EQN: absolute encoder system
1034
Min
0
DM grid spacing
Standard
20000
Max
4294967295
(> 3.3)
Unit
nm
Data type
Unsigned32
Effective
PO
Note:
DM > Direct measuring system
1036
Min
0
Max
65535
(> 3.3)
Unit
Data type
Unsigned16
Effective
PO
A-857
A Lists
A.1
1037
Min
0
Parameter list
! 611ue diff !
DM encoder configuration
Standard
0
Max
FFFF
(> 3.3)
Unit
Hex
Data type
Unsigned16
Effective
PO
... allows the encoder evaluation to be configured for a direct measuring system.
Bit 2 TTL encoder
Bit 3 Absolute encoder (EnDat interface)
Bit 4 Linear measuring system
Bit 5 Operation without direct measuring system
Bit 7 Distance-coded measuring system (from SW 4.1)
Note:
DM > Direct measuring system
Configuration of the indirect measuring system (IM, motor encoder) > refer to P1027
1038
Min
0
Max
FFFF
Unit
Hex
Data type
Unsigned16
(> 3.3)
Effective
PO
(SRM SLM)
Note:
DM > Direct measuring system
1039
Min
0
Max
FFFF
Unit
Hex
(> 3.3)
Data type
Unsigned16
Effective
PO
(SRM SLM)
Data type
Unsigned16
Effective
PO
Note:
DM > Direct measuring system
1040
Min
0
Max
64
Unit
(> 3.3)
1042
Min
0
Max
11
Unit
(> 3.3)
Data type
Unsigned16
Effective
PO
... defines how many fine resolution bits are transferred for the PROFIBUS encoder interface.
This parameter applies for the following:
Fine resolution for process data G1_XIST1
Fine resolution for G1_XIST2 for reference mark or flying measurement
A-858
A Lists
! 611ue diff !
1043
Min
0
A.1
Parameter list
Max
11
Unit
Data type
Unsigned16
(> 3.3)
Effective
PO
... defines how many fine resolution bits are transferred for the PROFIBUS encoder interface.
This parameter applies for the fine resolution of process data G1_XIST2 when reading the absolute value.
Note:
The parameter is only valid for the absolute track of the absolute value encoder.
The fine resolution for the value display for reference mark or flying measurement is defined in
P1042.
1044
Min
0
Max
11
Unit
(> 3.3)
Data type
Unsigned16
Effective
PO
... defines how many fine resolution bits are transferred for the PROFIBUS encoder interface.
This parameter applies for the following:
Fine resolution for process data G2_XIST1
Fine resolution for G2_XIST2 for reference mark or flying measurement
1045
Min
0
Max
11
Unit
Data type
Unsigned16
(> 3.3)
Effective
PO
... defines how many fine resolution bits are transferred for the PROFIBUS encoder interface.
This parameter applies for the fine resolution of process data G2_XIST2 when reading the absolute value.
Note:
The parameter is only valid for the absolute track of the absolute value encoder.
The fine resolution for the value display for reference mark or flying measurement is defined in
P1044.
1049
Min
0
Max
1
Unit
(> 9.1)
Data type
Unsigned16
Effective
PO
(SRM SLM)
1050
Min
0
Max
4294967295
Unit
m
Data type
Unsigned32
Effective
PO
...specifies the basic clearance between two fixed reference marks. If the closed-loop identifies
that the distance between each second reference mark is different and is therefore incorrect,
the axis remains stationary. Fault 508 (zero mark monitoring, motor measuring system) is signaled.
Note:
IM > Indirect measuring system (motor encoder)
This monitoring function is only activated if P1050/P1024*1000 can either be divided by 16 or
by 10.
A-859
A Lists
A.1
1051
Min
0
Parameter list
! 611ue diff !
Max
4294967295
Unit
mDegree
Data type
Unsigned32
Effective
PO
...specifies the basic clearance between two fixed reference marks. If the closed-loop identifies
that the distance between each second reference mark is different and is therefore incorrect,
the axis remains stationary. Fault 508 (zero mark monitoring, motor measuring system) is signaled.
Note:
IM > Indirect measuring system (motor encoder)
This monitoring function is only activated if P1051/1000*P1005/360 can either be divided by 16
or by 10.
1052
Min
0
Max
4294967295
Unit
m
Data type
Unsigned32
Effective
PO
...specifies the basic clearance between two fixed reference marks. If the closed-loop identifies
that the distance between each second reference mark is different and is therefore incorrect,
the axis remains stationary. Fault 514 (zero mark monitoring, direct measuring system) is signaled.
Note:
DM > Direct measuring system
This monitoring function is only activated if P1052/P1034*1000 can either be divided by 16 or
by 10.
1053
Min
0
Max
4294967295
Unit
mDegree
Data type
Unsigned32
Effective
PO
... specifies the basic distance between two fixed reference marks. If the control recognizes that
the distance between each second reference mark differs, and is therefore incorrect, the axis
remains stationary. Fault 514 (zero mark monitoring, direct measuring system) is signaled.
Note:
This monitoring function is only activated if P1053/1000*P1007/360 can either be divided by 16
or by 10.
1054
Min
0.0
0.0
Max
500000.0
450000.0
Unit
m
mDegree
Data type
Floating Point
Floating Point
(> 8.3)
Effective
PO
(SLM)
PO
(SRM ARM)
... specifies the change of the difference between two reference marks for distance-coded encoders, indirect measuring system (motor measuring system).
1055
Min
0.0
0.0
Max
500000.0
450000.0
Unit
m
mDegree
Data type
Floating Point
Floating Point
(> 8.3)
Effective
PO
(SLM)
PO
(SRM ARM)
... specifies the change of the difference between two reference marks for distance-coded encoders, direct measuring system.
A-860
A Lists
! 611ue diff !
1058
Min
0
A.1
Max
10000000
Unit
m
Data type
Unsigned32
Parameter list
(> 12.3)
Effective
PO
... specifies the distance between two reference marks for indirect, linear measuring systems.
1059
Min
0
Max
10000000
Unit
m
Data type
Unsigned32
(> 12.3)
Effective
PO
... specifies the distance between two reference marks for direct, linear measuring systems.
1075
Min
1
Max
3
Unit
Data type
Unsigned16
(> 6.1)
Effective
immed. (SRM SLM)
1076
Min
10000.0
500.0
Max
10000.0
500.0
Unit
kg
kgm2
(> 6.1)
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM)
...defines the additional moment of inertia (SRM) or additional mass (SLM) which is used to set
the controller parameters for the motion-based rotor position identification.
1077
Min
0.0
Max
500.0
Unit
ms
Data type
Floating Point
(> 6.1)
Effective
immed. (SRM SLM)
...defines the integral action time of the controller for the rotor position identification. If P1077 is
set to 0, then the I component of the controller is displayed. For Calculate controller data,
P1077 is re-calculated and pre-assigned.
1078
Min
100.0
Max
10000.0
Unit
ms
Data type
Floating Point
Effective
immed. (SRM SLM)
...defines the maximum time of an individual measurement for the rotor position identification. If
this time is exceeded for an individual measurement, then fault 610 (rotor position identification
not successful) is signaled and P1734 is set to 6.
A-861
A Lists
A.1
1080
Min
0
Parameter list
! 611ue diff !
Max
1
Unit
Data type
Integer16
Effective
immed.
Suitable settings for the control parameters are calculated from the motor parameters and several other parameters using this function.
0 > 1 Controller data are being calculated, function is active
0
Function inactive or completed correctly
Error codes
15 Magnetizing reactance (P1141) = 0
16 Leakage reactance (P1139 / P1140) = 0
17 Rated motor frequency (P1134) = 0
18 Rotor resistance (P1138) = 0
19 Moment of inertia (P1117+P1123) <= 0
21 threshold speed for field weakening (P1142) = 0
22 Motor stall current (P1118) = 0
23 The ratio between the maximum motor current (P1104) and the motor stall current
(P1118) is greater than the maximum value for the torque limit (P1230) and the power
limit (P1235).
24 The ratio between the rated motor frequency (P1134) and the rated motor speed
(P1400) is inadmissible (pole pair number)
Note:
Recommendation: Execute this function using SimoCom U because the calculated parameters
are displayed and are only accepted and overwritten after confirmation.
At the end of the calculation, the parameters are automatically reset to 0 or an error code is
written into it.
When an error occurs, the parameters for the current controller, flux controller and speed controller could not be optimally pre-assigned. The standard values were entered.
After the cause of the error is resolved, the function can be re-started.
1081
Min
0
Max
1
Unit
Data type
Integer16
Effective
immed. (ARM)
Select third-party motor for the first start-up (refer to the index entry Motor code)
A-862
A Lists
! 611ue diff !
1082
Min
0
A.1
Parameter list
Max
1
Unit
Data type
Integer16
Effective
immed.
... the Calculate unlisted motor function is started. Parameters P1105 (only SRM), P1147,
P1241, P1401 are pre-assigned, the calculate controller data function executed and the appropriate unlisted motor code entered into P1102.
By entering the third-party motor code in P1102, at the next POWER ON, possibly changed
motor data will no longer be overwritten by the catalog motor data (previous motor code).
0 > 1 Third-party motor is being calculated, function is active
0
Function in inactive
Procedure for third-party motor:
Are all of the equivalent circuit diagram data known?
if yes: Enter all of the equivalent circuit diagram data and set P1082 to 1
Note:
At the end of the calculation, the parameter is automatically reset to 0 or an error code is written
into it (refer to P1080).
1083
Min
1
Max
4
Unit
Data type
Unsigned16
Effective
immed. (ARM)
A-863
A Lists
A.1
Parameter list
1084
Min
0
! 611ue diff !
Max
1
Unit
Data type
Integer16
Effective
immed. (ARM)
1094
Min
30
Max
55
Unit
C
(> 13.1)
Data type
Unsigned16
Effective
PO
... specifies the ambient temperature in Degrees Celsius for the power unit derating.
When powering up, the currently effective derating factor is calculated as a function of the pulse
frequency, the ambient temperature (P1094), the installation altitude (P1095) and the derating
factor X1. It can be seen in display data P1099.
Note:
also refer to P1095, P1178 or P1179
1095
Min
0.000000
Max
5000.000000
Unit
m
(> 13.1)
Data type
Floating Point
Effective
PO
... specifies the installation altitude in meters for the power unit derating.
When powering up, the currently effective derating factor is calculated as a function of the pulse
frequency, the ambient temperature (P1094), the installation altitude (P1095) and the derating
factor X1. It can be seen in display data P1099.
Note:
also refer to P1095, P1178 or P1179
A-864
A Lists
! 611ue diff !
1096
Min
0
A.1
Parameter list
Max
3
Unit
Data type
Unsigned16
(> 9.1)
Effective
immed.
1097
Min
0
Max
100
Unit
%
Data type
Integer16
(> 9.1)
Effective
immed.
1099
Min
Max
Unit
%
Data type
Floating Point
(> 2.4)
Effective
RO
1100
Min
2000.0
2000.0
Max
8000.0
8000.0
Unit
Hz
Hz
Data type
Floating Point
Floating Point
Effective
PO
(ARM)
PO
(SRM SLM)
A-865
A Lists
A.1
1101
Min
0
Parameter list
! 611ue diff !
Max
124
Unit
s
Data type
Integer16
Effective
PO
1102
Min
0
Max
65535
Unit
Data type
Unsigned16
Effective
PO
The motor code number describes the connected motor according to a table.
Note:
refer to the index entry Motor code
1103
Min
0.0
1104
Min
0.0
1105
Min
0
Max
500.0
Unit
A(rms)
Data type
Floating Point
Effective
PO
Data type
Floating Point
Effective
PO
(SRM SLM)
Max
500.0
Unit
A(rms)
Max
100
Unit
%
Data type
Integer16
Effective
immed. (SRM SLM)
... reduces the maximum motor current (P1104) to the specified percentage.
Note:
If the motor current is at its limit, the monitoring intervenes with P1605/P1606.
1106
Min
0
Max
65535
Unit
Data type
Unsigned16
Effective
PO
The power section code number defines the power section used.
Power section without automatic identification:
The module code must be selected from a table, and at first start-up, entered into P1106 (refer
under index entry power section code).
Power section with automatic identification:
At the first start-up, the power section code of the power section used is automatically entered
in P1106.
if the value in P1106 and the value of the detected power section in P1110 differ when the drive
runs-up, then an appropriate fault is output.
Power module Order No. [MLFB]
Power module code
6SN112x1Ax0x0HAx
1
6SN112x1Ax0x0AAx
2
6SN112x1Ax0x0BAx
4
6SN112x1Ax0x0CAx
6
6SN112x1Ax0x0DAx
7
6SN112x1Ax0x0GAx
8 (only for PE spindle)
6SN112x1Ax0x0EAx
9
6SN112x1Ax0x0FAx
10
6SN112x1Ax0x0JAx
11 (only for PE spindle)
6SN112x1Ax0x0KAx
12
6SN112x1Ax0x0LAx
13 (only for PE spindle)
A-866
A Lists
! 611ue diff !
1107
Min
A.1
Parameter list
Max
Unit
A(pk)
Data type
Floating Point
Effective
RO
... specifies the maximum transistor limiting current of the power section as peak value.
Important:
This parameter is used as normalization basis for the current actual value sensing.
Note: refer to the index entry Power section currents
1108
Min
Max
Unit
A(rms)
Data type
Floating Point
Effective
RO
1109
Min
Max
Unit
A(rms)
Data type
Floating Point
Effective
RO
1110
Min
Max
Unit
Data type
Unsigned16
Effective
RO
A-867
A Lists
A.1
1111
Min
Parameter list
! 611ue diff !
Max
Unit
A(rms)
Data type
Floating Point
Effective
RO
1112
Min
0
1113
Min
0.0
0.0
Max
4096
Unit
Data type
Unsigned16
Effective
PO
(SRM)
Unit
N/A
Nm/A
Data type
Floating Point
Floating Point
Effective
PO
(SLM)
PO
(SRM)
Max
2000.0
300.0
SRM:
The torque constant (kT) is the quotient of rated torque/rated current (RMS) for synchronous
motors with permanent excitation.
SLM:
The force constant is the quotient of the rated force/rated current (RMS) for linear permanent-magnet synchronous motors.
1114
Min
0.0
0.0
Max
10000.0
10000.0
Unit
Vs/m
V(RMS)
Data type
Floating Point
Floating Point
Effective
PO
(SLM)
PO
(SRM)
SRM:
The voltage constant is measured as induced voltage (EMF) under no load conditions at n =
1000 RPM as RMS value between the motor terminals (phase-to-phase).
SLM:
The voltage constant is measured as induced voltage (EMF) under no load conditions at v = 1
m/s as RMS value between the motor terminal and star point (phase).
1115
Min
0.0
Max
999.999
Unit
Ohm
Data type
Floating Point
Effective
PO
(SRM SLM)
... specifies the ohmic resistance of a phase of the armature winding (phase value) at 20 Degrees.
For 1FN1 and 1FN3 linear motors, the resistance value at 120 Degrees (operating temperature)
is entered.
The winding is in the star circuit configuration.
A-868
A Lists
! 611ue diff !
1116
Min
0.0
A.1
Parameter list
Max
300.0
Unit
mH
Data type
Floating Point
Effective
PO
(SRM SLM)
Inductance in the armature circuit for the single-phase equivalent circuit diagram.
1117
Min
0.0
0.0
0.0
Max
9.99999
500.0
9.99999
Unit
kgm
kg
kgm
Data type
Floating Point
Floating Point
Floating Point
Effective
immed. (ARM)
immed. (SLM)
immed. (SRM)
1118
Min
0.0
Max
500.0
Unit
A(rms)
Data type
Floating Point
Effective
PO
(SRM SLM)
... corresponds to the thermally permissible continuous current when the motor is at a standstill
with an overtemperature (temperature rise) of 100 Kelvin.
1119
Min
0.0
1120
Min
0.0
1121
Min
0.0
0.0
1122
Min
0.0
1123:8
Min
0.0
0.0
Max
65.0
Unit
mH
Data type
Floating Point
Effective
PO
(ARM)
Unit
U/A
Data type
Floating Point
Effective
immed.
Unit
s
s
Data type
Floating Point
Floating Point
Effective
immed. (ARM)
immed. (SRM SLM)
Unit
A(rms)
Data type
Floating Point
Effective
PO
(SRM)
Max
10000.0
Max
8000.0
8000.0
Max
500.0
Max
500.0
9.99999
Unit
kg
kgm2
(> 2.4)
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
Additional moment of inertia (SRM, ARM) and additional weight (SLM), which is caused by coupling a load to the motor. The contents of P1123:8 are added to the contents of P1117 for the
speedtorque feedforward control in induction motor operation and for the calculate controller
data function.
1124
Min
0.0
Max
1.0
Unit
Data type
Floating Point
Effective
immed.
A-869
A Lists
A.1
1125
Min
0.01
Parameter list
! 611ue diff !
Max
100.0
Unit
s
Data type
Floating Point
Effective
immed.
When V/f operation is selected (P1014), this is the time, in which the speed setpoint is changed
from 0 to the maximum motor speed (P1146).
1127
Min
0.0
1128
Min
90.0
Max
20.0
Unit
V(pk)
Data type
Floating Point
Effective
immed. (ARM)
Data type
Floating Point
Effective
immed. (SRM)
Max
135.0
Unit
Degree
(> 3.3)
For synchronous motors with non-symmetrical rotors in the rotational axis, the additional reluctance torque can be used to increase the torque.
The optimum load angle specifies at which load angle the torque reaches its maximum value at
150% rated current.
Note:
Refer to P1149 (reluctance torque constant)
Synchronous motors with non-symmetrical rotor in the rotational axis: e.g. 1FE motors
Traverse with reluctance torque: P1128 and P1149 not equal to the standard value
Traverse without reluctance torque: P1128 and P1149 equal to the standard value
1129
Min
0.0
1130
Min
0.0
1132
Min
0.0
1134
Min
0.0
1135
Min
0.0
1136
Min
0.0
Max
1.0
Unit
Data type
Floating Point
Effective
PO
(ARM)
Unit
kW
Data type
Floating Point
Effective
PO
(ARM)
Data type
Floating Point
Effective
PO
(ARM)
Data type
Floating Point
Effective
PO
(ARM)
Unit
V(RMS)
Data type
Floating Point
Effective
immed. (ARM)
Unit
A(rms)
Data type
Floating Point
Effective
immed.
Max
1500.0
Max
5000.0
Unit
V(RMS)
Max
3000.0
Unit
Hz
Max
500.0
Max
500.0
P1136 (motor short-circuit current) > this is the parameter name for SRM
P1136 (no-load motor current) > this is the parameter name for ARM
1137
Min
0.0
1138
Min
0.0
A-870
Max
120.0
Unit
Ohm
Data type
Floating Point
Effective
immed. (ARM)
Data type
Floating Point
Effective
immed. (ARM)
Max
120.0
Unit
Ohm
A Lists
! 611ue diff !
1139
Min
0.0
1140
Min
0.0
1141
Min
0.0
1142
Min
0.0
0.0
1145
Min
5.0
1146
Min
0.0
0.0
0.0
A.1
Parameter list
Max
500.0
Unit
Ohm
Data type
Floating Point
Effective
immed. (ARM)
Data type
Floating Point
Effective
immed. (ARM)
Data type
Floating Point
Effective
immed. (ARM)
Max
500.0
Unit
Ohm
Max
999.999
Unit
Ohm
Max
100000.0
100000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
Data type
Floating Point
Effective
immed.
Data type
Floating Point
Floating Point
Floating Point
Effective
PO
(ARM)
PO
(SLM)
PO
(SRM)
Max
1000.0
Unit
%
Max
100000.0
100000.0
100000.0
Unit
rpm
m/min
rpm
... specifies the maximum motor speed/maximum motor velocity defined by the motor manufacturer.
Note:
Refer under the index entry Limits
1147
Min
0.0
0.0
0.0
Max
100000.0
100000.0
100000.0
Unit
rpm
m/min
rpm
Data type
Floating Point
Floating Point
Floating Point
Effective
immed. (ARM)
immed. (SLM)
immed. (SRM)
... specifies the maximum permissible motor speed or motor velocity (refer under the index
entry Limits).
1148
Min
Max
Unit
rpm
Data type
Floating Point
Effective
RO
(ARM)
The rated output is reduced from the Threshold speed of the stall power.
A-871
A Lists
A.1
1149
Min
300.0
Parameter list
! 611ue diff !
Max
300.0
Unit
mH
(> 3.3)
Data type
Floating Point
Effective
immed. (SRM)
For synchronous motors with non-symmetrical rotors in the rotational axis, the additional reluctance torque can be used to increase the torque.
The reluctance torque constant, multiplied by the torque- and field-generating current, gives the
torque increase due to the reluctance torque.
Note:
Refer to P1128 (optimum load angle)
Synchronous motors with non-symmetrical rotor in the rotational axis: e.g. 1FE motors
Traverse with reluctance torque: P1128 and P1149 not equal to the standard value
Traverse without reluctance torque: P1128 and P1149 equal to the standard value
1150
Min
0.0
1151
Min
0.0
1152
Min
0
Max
99999.9
Unit
A/Vs
Data type
Floating Point
Effective
immed.
Unit
ms
Data type
Floating Point
Effective
immed.
Max
500.0
Max
800
Unit
V(pk)
Data type
Unsigned16
(> 13.1)
Effective
immed.
... defines the permissible lower limit for the DC link voltage, dynamic energy management.
Note:
This parameter is only effective if dynamic energy management is activated via P1155.
1153
Min
0
Max
800
Unit
V(pk)
Data type
Unsigned16
Effective
immed.
... defines the permissible upper limit for the DC link voltage, dynamic energy management.
Fault 617 is output when exceeded.
Note:
This parameter is only active if dynamic energy management is activated via P1155.
1154
Min
0
0
Max
100000.0
100000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
(> 13.1)
Effective
immed. (SLM)
immed. (ARM SRM)
... specifies the speed setpoint, which when exceeded, only the DC link voltage is monitored
and no longer the motor temperatures.
The normal functionality is restored if the response threshold is fallen below again.
This parameter is only active if dynamic energy management has been set P1155.bit0 = 1 (=
active).
Note:
This parameter is only active if dynamic energy management is activated via P1155.
A-872
A Lists
! 611ue diff !
1155
Min
0
A.1
Max
3
Parameter list
(> 13.1)
Unit
Data type
Unsigned16
Effective
immed.
1160
Min
200.0
1161
Min
0
Max
100000.0
Unit
rpm
Data type
Floating Point
Effective
immed. (ARM)
Unit
V(pk)
Data type
Unsigned16
Effective
immed.
Max
700
1162
Min
0
Max
800
Unit
V(pk)
Data type
Unsigned16
Effective
immed.
... defines the permissible DC link voltage lower limit. Fault 616 is output if this limit is fallen below.
1163
Min
0
Max
800
Unit
V(pk)
Data type
Unsigned16
Effective
immed.
... defines the permissible DC link voltage upper limit. Fault 617 is output if this limit is exceeded.
1164
Min
0
Max
600
Unit
V(pk)
(> 8.1)
Data type
Unsigned16
Effective
immed.
... defines the hysteresis for the DC link voltage monitoring. This parameter refers to parameter
1162.
1165
Min
0
Max
10000
Unit
ms
Data type
Unsigned16
Effective
immed.
... defines the duration of the suppressed peak in the DC link voltage sensing.
A-873
A Lists
A.1
1166
Min
0
Parameter list
! 611ue diff !
Max
3
(> 13.1)
Unit
Hex
Data type
Unsigned16
Effective
immed.
1167
Min
2.0
Max
100.0
Unit
%
Data type
Floating Point
(> 13.1)
Effective
immed.
Response threshold of the ground fault test, referred to the transistor limit current, power unit
(P1107).
Note:
If the threshold exceeds the rated motor current P1103 it is not possible/practical to make a
measurement in this combination of power unit and motor.
6 is entered into P1169.
Remedy:
Reduce the threshold or adapt the power unit/motor configuration.
1168
Min
0.0
0.0
Max
10.0
30.0
Unit
mm
Degree
Data type
Floating Point
Floating Point
(> 13.1)
Effective
immed. (SLM)
immed. (SRM ARM)
... enter the permitted rotation/motion for the ground fault test.
Note:
If the distance is greater than that entered in P1168, fault 511 (ground fault detected) is signaled.
1169
Min
Diagnostics, motor
Standard
Max
(> 13.1)
Unit
Data type
Integer16
Effective
RO
... a positive value means that a ground fault was not detected.
0: Function was not selected or still not terminated
1: Measurement completed, no ground fault occurred
1: Measurement was not able to be started, controller/pulse enable missing
2: Measurement was not able to be started, motor/spindle rotating
3: Short-circuit identified, current response threshold was exceeded
4: During the measurement, the motor moved more than is permitted in P1168
5: During the measurement, the current was not able to be decreased again in time (measurement not possible).
6: Measurement not possible/practical observe the configuration of P1167
7: Short circuit detected, current limiting reached or calcucated current rise too high.
8: Parking axis selected
A-874
A Lists
! 611ue diff !
1170
Min
0.0
A.1
Parameter list
Max
1000.0
Unit
mm
Data type
Floating Point
Effective
PO
(SLM)
The pole pair width of a linear drive corresponds to the length from a north and south pole of
the magnet.
1172
Min
0
Max
1
Unit
Data type
Unsigned16
(> 12.1)
Effective
PO
(SRM)
... defines feed drive operation with field weakening for this drive
1
FD operation with field weakening is activated
0
FD operation with field weakening is deactivated
Note:
This parameter is only active if P1015 has been set to 1 Activate PE-MSD.
see under the index entry Permanent-magnet synchronous motor with and without field weakening (PE spindle) or FD operation with field weakening.
1175
Min
Max
Unit
Data type
Floating Point
Effective
RO
For SRM, SLM or PE spindle in field weakening (P1015 = 1 and P1172 = 1), the limit current
power unit (rms) P1108 is multiplied by P1175 synchr. reduction factor for P1108.
1176
Min
Max
Unit
Data type
Floating Point
Effective
RO
For SRM, SLM or PE spindle in field weakening (P1015 = 1 and P1172 = 1), the limit current
power unit S6 (rms) P1109 is multiplied by P1176 synchr. reduction factor for P1109.
1177
Min
Max
Unit
Data type
Floating Point
Effective
RO
For SRM, SLM or PE spindle in field weakening (P1015 = 1 and P1172 = 1), the rated current
power unit (rms) P1111 is multiplied by P1177 synchr. reduction factor for P1111.
1178
Min
Max
Unit
%
Data type
Floating Point
Effective
RO
If, for SRM, SLM or PE spindle in field weakening (P1015 = 1 and P1172 = 1), parameter P1100
Frequency pulse width modulation is set greater than 4 kHz, then parameters P1108, P1109,
P1111 are reduced using Current reduction factor P1178 and the derating characteristic. This
reduction factor is saved in the power unit data and is automatically taken into account depending on P1100.
1179
Min
Max
Unit
%
Data type
Floating Point
Effective
RO
If, for ARM, parameter P1100 Frequency pulse width modulation is set greater than 3.2 kHz,
then parameters P1108, P1109, P1111 are reduced using Current reduction factor P1178 and
the derating characteristic. This reduction factor is saved in the power unit data and is automatically taken into account depending on P1100.
A-875
A Lists
A.1
Parameter list
1180
Min
0.0
! 611ue diff !
Max
100.0
Unit
%
Data type
Floating Point
Effective
immed. (SRM SLM)
Using the current controller adaptation (P1180, P1181, P1182), the P gain of the current controller (P1120) can be reduced depending on the current.
P1180 defines the lower current value from which the adaptation linearly reduces the P gain up
to the upper current value (P1181). In addition to current values P1180 and P1181, P1182 (factor, current controller adaptation) also defines the adaptation straight line (chracteristic).
The following value pairs are obtained:
First value pair:
P1180 / 100%
Second value pair:
P1181 / P1182
Note:
P1180, P1181> Percentage values referred to P1104 (maximum current)
P1182
> Percentage value, referred to P1120 (P gain, current controller)
The following applies: P1180 (lower current limit, adaptation) < P1181 (upper current limit
adaptation)
(refer under the index entry Current controller adaption)
1181
Min
0.0
Max
100.0
Unit
%
Data type
Floating Point
Effective
immed. (SRM SLM)
1182
Min
1.0
Max
100.0
Unit
%
Data type
Floating Point
Effective
immed. (SRM SLM)
Data type
Floating Point
Effective
PO
(ARM)
1185
Min
0.0
Max
10000.0
Unit
%
P1185 was introduced for 1PM4/1PM6 motors. For calculate controller data the current controller P gain is multiplied by the factor in P1185 and entered into P1120.
1200:8
Min
0
Max
4
Unit
Data type
Unsigned16
Effective
immed.
A-876
A Lists
! 611ue diff !
1201:8
Min
0
A.1
Parameter list
Max
800F
Unit
Hex
Data type
Unsigned16
Effective
immed.
1202:8
Min
0.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1203:8
Min
0.05
Max
5.0
Unit
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1204:8
Min
0.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1205:8
Min
0.05
Max
5.0
Unit
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
A-877
A Lists
A.1
Parameter list
1206:8
Min
0.0
! 611ue diff !
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1207:8
Min
0.05
Max
5.0
Unit
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1208:8
Min
0.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1209:8
Min
0.05
Max
5.0
Unit
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1210:8
Min
1.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1211:8
Min
5.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1212:8
Min
0.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
A-878
A Lists
! 611ue diff !
1213:8
Min
1.0
A.1
Parameter list
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1214:8
Min
5.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1215:8
Min
0.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1216:8
Min
1.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1217:8
Min
5.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1218:8
Min
0.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1219:8
Min
1.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
A-879
A Lists
A.1
Parameter list
1220:8
Min
5.0
! 611ue diff !
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1221:8
Min
0.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1222:8
Min
1.0
Max
100.0
Unit
%
Data type
Floating Point
(> 3.1)
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1223:8
Min
1.0
Max
100.0
Unit
%
Data type
Floating Point
(> 3.1)
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1224:8
Min
1.0
Max
100.0
Unit
%
Data type
Floating Point
(> 3.1)
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1225:8
Min
1.0
Max
100.0
Unit
%
Data type
Floating Point
(> 3.1)
Effective
immed.
Note:
The current setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1230:8
Min
5.0
Max
900.0
Unit
%
Data type
Floating Point
Effective
immed.
The parameter value refers to the stall torque (SRM), rated motor torque (ARM) and stall force
(SLM) of the motor.
Note: refer to the index entry Limits
1233:8
Min
5.0
Generative limitation
Standard
100.0
Max
100.0
Unit
%
Data type
Floating Point
Effective
immed.
A-880
A Lists
! 611ue diff !
1235:8
Min
5.0
A.1
Parameter list
Max
900.0
Unit
%
Data type
Floating Point
Effective
immed.
The parameter value refers to the motor output (SRM) and the rated motor output (ARM).
Note: refer to the index entry Limits
1237
Min
0.1
Max
500.0
Unit
kW
Data type
Floating Point
Effective
immed.
... allows the regenerative power for the rectifier/regenerative feedback module to be limited. An
appropriately lower value must be entered here especially when using a non-controlled NE
module.
Note: refer to the index entry Limits
1238
Min
0.0
Max
400.0
Unit
%
Data type
Floating Point
Effective
immed. (ARM)
1240:8
Min
50000.0
50000.0
Max
50000.0
50000.0
Unit
N
Nm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
This parameter value is added to the torque setpoint and force setpoint (SLM) if the closed-loop
speed control is active (pos operation and nset operation with speed setpoint input). The parameter has no effect if, in the nset mode, open-loop torque controlled operation was selected.
Note: refer under the index entry weight compensation
1241:8
Min
1.0
1.0
Max
50000.0
50000.0
Unit
N
Nm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
... defines the normalization for the torque setpoint and force setpoint (SLM) for open-loop
torque controlled operation at the analog input terminals 56.x/14.x and/or terminals 24.x/20.x
and displays the reference value for P0619.
Note: refer to the index entry Open-loop torque controlled operation
1242:8
Min
50000.0
50000.0
Max
50000.0
50000.0
Unit
N
Nm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
The value is added to the torque setpoint or the force setpoint (SLM).
Note: refer to the index entry Open-loop torque controlled operation
1243:8
Min
0.0
Max
100.0
Unit
%
Data type
Floating Point
Effective
immed.
A-881
A Lists
A.1
1244
Min
1
Parameter list
! 611ue diff !
Max
2
Unit
Data type
Unsigned16
Effective
immed.
1245
Min
0.0
0.0
Max
100000.0
100000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
Note:
... is described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1246
Min
0.0
0.0
Max
1000.0
1000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
Note:
... is described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1247
Min
100.0
Max
100000.0
Unit
rpm
Data type
Floating Point
(> 2.4)
Effective
immed. (ARM)
... the speed threshold for the motor changeover is defined with speed threshold (P1013 = 3) to
change over the motor data sets P1xxx to P2xxx.
Note: refer to the index entry Motor changeover
1248
Min
100.0
Max
100000.0
Unit
rpm
Data type
Floating Point
(> 2.4)
Effective
immed. (ARM)
... the speed threshold for the motor changeover is defined with the speed threshold (P1013 =
3) to change over the motor data sets P3xxx to P4xxx.
Note: refer to the index entry Motor changeover
A-882
A Lists
! 611ue diff !
1249
Min
0
A.1
Parameter list
Max
1
Unit
Data type
Unsigned16
(> 2.4)
Effective
immed. (ARM)
... specifies whether the contactor control for the motor changeover is defined by the drive or
from an external control.
1
Motor changeover via external control
The contactor control for motor changeover is determined via an external control via the Motor
changed over input signal (STW2.11).
0
Motor changeover via the drive
The contactor control for motor changeover is determined by the drive via output terminals with
function numbers 11, 12, 13 and 14.
Note:
refer to the index entry Motor changeover
The contactors for motor changeover must be switched to a no-current condition. If motor
changeover is executed using an external control, and changed over with Fault (e. g. with
drive pulses present), the power/supply infeed module could be destroyed.
Recommendation:
Change over the motor using the drive output terminals (P1249=0).
The output terminals 11, 12, 13 and 14 are not energized if P1249 = 1.
1250
Min
0.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
1251
Min
0.0
Max
1000.0
Unit
ms
Data type
Floating Point
Effective
immed.
1252
Min
0.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
PT1 filter for the torque setpoint display (smoothing for P1716 and ZSW Mset, analog output
from signal number 36).
Note:
< 1 Hz > the filter is inactive
This parameter has no effect on the closed-loop control.
1254
Min
0.0
Max
2.0
Unit
ms
Data type
Floating Point
Effective
immed.
A-883
A Lists
A.1
Parameter list
1255
Min
0.0
0.0
0.0
! 611ue diff !
Max
100000.0
100000.0
100000.0
Unit
rpm
m/min
rpm
(> 11.1)
Data type
Floating Point
Floating Point
Floating Point
Effective
immed. (ARM)
immed. (SLM)
immed. (SRM)
... defines the steady-state minimum spindle speed in speed setpoint operation.
1256:8
Min
0.0
0.0
Max
600.0
600.0
Unit
s
s
Data type
Floating Point
Floating Point
(> 2.4)
Effective
immed. (ARM)
immed. (SRM SLM)
During ramp-up, the setpoint is increased from zero to the maximum permissible actual speed.
Note:
Max. permissible actual speed for synchronous motors: Minimum from 1.1 (1.05 from SW 7.1
onwards with SIMODRIVE 611 universal HR/HRS/HRS2, resolver) x P1400 and P1147
Max. permissible actual speed for induction motors: Minimum from P1146 and P1147
Max. permissible actual speed for linear motors: From P1147
refer to the index entry Ramp-function generator
1257:8
Min
0.0
0.0
Max
600.0
600.0
Unit
s
s
Data type
Floating Point
Floating Point
(> 2.4)
Effective
immed. (ARM)
immed. (SRM SLM)
During ramp-down, the setpoint is reduced from the maximum permissible actual speed to zero.
Note:
Max. permissible actual speed for synchronous motors: Minimum from 1.1 (1.05 from SW 7.1
onwards with SIMODRIVE 611 universal HR/HRS/HRS2, resolver) x P1400 and P1147
Max. permissible actual speed for induction motors: Minimum from P1146 and P1147
Max. permissible actual speed for linear motors: From P1147
refer to the index entry Ramp-function generator
1259
Min
0
Max
3
Unit
Hex
Data type
Unsigned16
(> 3.7)
Effective
immed.
... defines if the torque/power de-rating or force/power de-rating depends on whether the drive
is motoring/generating.
Bit 0
Torque / power reduction, only when motoring
Bit 0 = 1
Reduction is only effective when motoring
Bit 0 = 0
Reduction is effective when motoring and regenerating
Bit 1
Motoring / regenerating limiting dependent on Nset
Bit 1 = 1
The torque limits when motoring are used if the product of torque and speed
setpoint is positive and the speed setpoint is not equal to 0
Bit 1 = 0
The torque limits when motoring are used if the product of torque and speed
actual value is positive or the absolute speed actual value is less than 10 RPM
P1259 valid for input via PROFIBUS and analog input.
Note: refer to the index entry Torque/power reduction
A-884
A Lists
! 611ue diff !
1260
Min
25.0
A.1
Parameter list
Max
100.0
Unit
%
Data type
Floating Point
(> 3.1)
Effective
immed.
... for the i2t power section limiting, it defines the limiting characteristic referred to i-S6.
Note:
I-S6 = P1109 (limiting power section current S6) x P1099 (limiting factor, power section currents)
refer to the index entry i2t power section limiting
1261
Min
25.0
25.0
Max
100.0
110.0
Unit
%
%
Data type
Floating Point
Floating Point
(> 3.1)
Effective
immed. (ARM)
immed. (SRM SLM)
... for the i2t power section limiting, it defines the limiting characteristic referred to i-n.
Note:
i-n = P1111 (rated power section current) x P1099 (limiting factor, power section currents)
refer to the index entry i2t power section limiting
1262
Min
Max
(> 3.1)
Unit
s
Data type
Floating Point
Effective
RO
... for the i2t power section limit, this is used to display the time during which the power section
is being limited.
Note:
The parameter is reset for value overflow and for POWER ON.
refer to the index entry i2t power section limiting
1263
Min
Max
(> 3.1)
Unit
%
Data type
Floating Point
Effective
RO
... for the i2t power section limit, this is used to display the actual current limit referred to i-max.
Note:
i-max = P1108 (limiting power section current) x P1099 (limiting factor, power section currents)
refer to the index entry i2t power section limiting
1264
Min
Max
(> 4.1)
Unit
%
Data type
Floating Point
Effective
RO
... is used for the i2t power section limiting to display the actual utilization. The difference to 100
% specifies how much reserve is available. The current limit is reduced for a utilization of 100%.
Note:
refer to the index entry i2t power section limiting
1265
Min
0
Max
3
Unit
Hex
(> 11.1)
Data type
Unsigned16
Effective
PO
A-885
A Lists
A.1
1266
Min
Parameter list
! 611ue diff !
Max
(> 11.1)
Unit
%
Data type
Floating Point
Effective
RO
1268
Min
0
Max
5000
(> 11.1)
Unit
s
Data type
Floating Point
Effective
PO
1269
Min
0
Max
100
Unit
%
Data type
Integer16
(> 11.1)
Effective
immed.
... outputs alarm 814 if the thermal motor utilization P1266 is greater than the thermal motor
utilization alarm threshold P1269 and the time monitoring is started in P1603.
Alarm 614 is output if the timer stage has expired without in the meantime the threshold of the
thermal motor utilization having been fallen below.
Note:
Also refer to P1603 and P1288.
1270
Min
0.0
0.0
0.0
Max
100000.0
100000.0
100000.0
Unit
rpm
m/min
rpm
Data type
Floating Point
Floating Point
Floating Point
(> 11.1)
Effective
immed. (ARM)
immed. (SLM)
immed. (SRM)
... defines the lower value of the speed range suppression. The speed range suppression function prevents the drive from operating under steady-steady conditions at speeds in a range limited by the lower and upper speed.
1271
Min
0.0
0.0
0.0
Max
100000.0
100000.0
100000.0
Unit
rpm
m/min
rpm
Data type
Floating Point
Floating Point
Floating Point
Effective
immed. (ARM)
immed. (SLM)
immed. (SRM)
... defines the upper value of the speed range suppression. The speed range suppression function prevents the drive from operating under steady-steady conditions at speeds in a range limited by the lower and upper speed.
A-886
A Lists
! 611ue diff !
1288
Min
0
A.1
Max
220
Unit
_C
Data type
Unsigned16
Parameter list
(> 12.2)
Effective
immed.
... defines the shutdown threshold of the thermal motor model (P1607 applies up to SW 12.1).
When commissioning, the value in P1288 is pre-assigned depending on the specific motor.
Note:
If P1288 is set < P1607, the value from P1607 is used as the shutdown threshold of the thermal
motor model.
see also P1265, P1266, P1268, P1269 or P1607.
1400
Min
0.0
0.0
0.0
1401:8
Min
100000.0
100000.0
Max
100000.0
100000.0
100000.0
Unit
rpm
m/min
rpm
Data type
Floating Point
Floating Point
Floating Point
Effective
PO
(ARM)
PO
(SLM)
PO
(SRM)
Max
100000.0
100000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
The parameter specifies the maximum useful motor speed and the useful motor velocity in
closed-loop speed controlled operation, and represents the setpoint for P0618.
Note:
The maximum useful motor speed, set via P1401:8, is not exceeded, independent of whether
the setpoint is entered via terminal or PROFIBUS.
refer to the index entry speed-controlled operation
1403
Min
0.0
0.0
0.0
Max
7200.0
7200.0
7200.0
Unit
rpm
m/min
rpm
Data type
Floating Point
Floating Point
Floating Point
Effective
immed. (ARM)
immed. (SLM)
immed. (SRM)
After the controller enable is withdrawn (e.g. via terminal or when a fault occurs) the drive
brakes along its torque limit.
If the absolute speed actual value or the absolute velocity value falls below the specified shutdown speed or creep speed, during the power-off sequence, the pulse enable is withdrawn, and
the drive coasts down.
The pulses are previously cancelled if the timer stage, set in P1404 has expired. When the
ramp-function generator is active, the timer stage only starts to run when a speed setpoint of
zero is reached at the ramp-function generator output.
0
P1403 is inactive, pulses are exclusively canceled via P1404
Note:
The functionality of P1403 is required if an overshoot when reaching zero speed after withdrawing the control enable is to be suppressed .
The pulse suppression control via P1403 and P1404 is ineffective when the motor holding brake
is activated (P0850 = 1)
A-887
A Lists
A.1
Parameter list
1404
Min
0.0
0.0
! 611ue diff !
Max
8388607.0
8388607.0
Unit
ms
ms
Data type
Floating Point
Floating Point
Effective
immed. (ARM)
immed. (SRM SLM)
After the controller enable has been withdrawn and after this delay, the gating pulses of the
power transistors are canceled on the drive side. If the ramp-function generator is active, the
delay only starts when zero speed setpoint has been reached at the ramp-function generator
output.
Note:
The pulses will be canceled beforehand, if the threshold, set in P1403, is fallen short off.
The pulse suppression control via P1403 and P1404 is ineffective when the motor holding brake
is activated (P0850 = 1)
1405:8
Min
100.0
Max
110.0
Unit
%
Data type
Floating Point
Effective
immed.
1407:8
Min
0.0
0.0
Max
999999.0
999999.0
Unit
Ns/m
Nm*s/rad
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
1408:8
Min
0.0
0.0
Max
999999.0
999999.0
Unit
Ns/m
Nm*s/rad
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
1409:8
Min
0.0
Max
500.0
Unit
ms
Data type
Floating Point
Effective
immed.
1410:8
Min
0.0
Max
500.0
Unit
ms
Data type
Floating Point
Effective
immed.
1411
Min
0.0
0.0
Max
100000.0
100000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
A-888
A Lists
! 611ue diff !
1412
Min
0.0
0.0
A.1
Parameter list
Max
100000.0
100000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
1413
Min
0
0
Max
1
1
Unit
Data type
Unsigned16
Unsigned16
Effective
immed. (ARM)
immed. (SRM SLM)
1414:8
Min
0.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The reference model is described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1415:8
Min
0.5
Max
5.0
Unit
Data type
Floating Point
Effective
immed.
Note:
The reference model is described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1416
Min
0.0
Max
1.0
Unit
Data type
Floating Point
Effective
immed.
Note:
The reference model is described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1417:8
Min
0.0
0.0
Max
100000.0
100000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
The threshold speed or the threshold velocity (SLM) for the output signal n_act < n_x is defined using this parameter.
1418:8
Min
0.0
0.0
Max
100000.0
100000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
The threshold speed or the threshold velocity (SLM) for the output signal n_act < n_min is defined using this parameter.
A-889
A Lists
A.1
Parameter list
1421:8
Min
0.0
! 611ue diff !
Max
1000.0
Unit
ms
Data type
Floating Point
Effective
immed.
The integrator of the speed controller is re-parameterized via a feedback element to a PT1 filter
(1st order lowpass characteristics). The PT1 filter time constant can be set via P1421.
The following is valid:
P1421 < 1.0 > the PT1 filter is not active, the pure integrator is effective
P1421 >= 1.0 > the PT1 filter is active and has replaced the pure integrator
Applications:
Movement at zero setpoint with a dominant stiction can be suppressed but with the disadvantage that a setpoint-actual value difference remains. This can result in, for example, an oscillation of a position-controlled axis at standstill (stick-slip effect) or overshoot with micrometer
steps.
Prevents excessive stress for axes which are mechanically rigidly coupled (e.g. for synchronous
spindles, master-slave axes).
1426:8
Min
0.0
0.0
Max
10000.0
10000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
The tolerance bandwidth for the n_set = n_act output signal is defined using this parameter.
1427
Min
0.0
Max
500.0
Unit
ms
Data type
Floating Point
Effective
immed.
The parameter defines the time which is started if the speed actual value or the velocity actual
value (SLM) has reached the tolerance bandwidth around the setpoint.
The time is used for the output signal Ramp-function generator ended and for the output signal n_set = n_act.
Note:
refer to the index entry Output signal ramp-up completed or Output signal n_set is equal to
n_act
1428:8
Min
0.0
Max
100.0
Unit
%
Data type
Floating Point
Effective
immed.
The threshold torque or the threshold force (SLM) for the output signal M < M_x is defined
using this parameter.
Note: refer to the index entry Output signal M less than M_x
1429
Min
0.0
Max
1000.0
Unit
ms
Data type
Floating Point
Effective
immed.
The parameter defines the time after which the evaluation for the output signal M < M_x is
started after run-up.
Note: refer to the index entry Output signal M less than M_x
A-890
A Lists
! 611ue diff !
1451:8
Min
0.0
A.1
Parameter list
Max
9999.999
Unit
Nm*s/rad
Data type
Floating Point
Effective
immed.
... the P gain of the speed controller is set in IM operation (operation without encoder).
1453:8
Min
0.0
Max
6000.0
Unit
ms
Data type
Floating Point
Effective
immed.
... the integral action time of the speed controller in IM operation (operation without encoder).
1458
Min
0.0
Max
150.0
Unit
%
Data type
Floating Point
Effective
immed.
Current setpoint for the currentfrequency open-loop control referred to the rated motor current.
1459
Min
0.0
Max
100.0
Unit
ms
Data type
Floating Point
Effective
immed.
Unit
rpm
Data type
Floating Point
Effective
immed.
1465
Min
0.0
Max
100000.0
Threshold speed for the changeover from the MSD to induction motor (IM) control.
1466
Min
3.000000
5.0
Max
100000.0
100000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
MSD:
Threshold speed for changing over between closed-loop and open-loop control for induction
motor operation.
Note:
When accelerating, condition P1466 >=150 RPM is checked. If this is not the case, then fault
722 is signaled.
FD,SLM:
If the electrical brake has been enabled (P1049 = 1) if the encoder fails and there is no encoder
information, then the axis is braked down to the changeover speed/velocity saved in parameter
P1466. The pulses are then inhibited and the motor coasts down.
If the motor speed/velocity at the instant that the encoder fails is below the changeover speed/
velocity defined in P1466, then the pulses are immediately inhibited and the motor coasts down.
Note
The following criteria apply when using the function Electrical braking when the encoder fails:
Rotating motor: P1466 > 40000 / P1114
Linear motor: P1466 > 1386 / P1114
If this limit is incorrectly parameterized, then fault message 722 is output changeover speed/
velocity too low.
A-891
A Lists
A.1
1467
Min
0
Parameter list
! 611ue diff !
(> 12.1)
Max
10
Unit
Data type
Unsigned16
Effective
immed.
... defines the BERO pulse number per motor revolution (e.g. BERO senses 7 fan wheel blades
per revolution > P1467 = 7).
A value >= 1 activates the speed monitoring function with BERO.
1468
Min
0
Max
65535
Unit
(> 12.1)
Data type
Unsigned16
Effective
immed.
1469
Min
Max
(> 12.1)
Unit
Data type
Unsigned16
Effective
RO
... displays the absolute value of the actual BERO speed actual value.
1490
Min
0
...can
0
1
2
3
1491
Min
0.0
Max
3
Unit
(> 7.1)
Data type
Unsigned16
Effective
PO
Max
10000.0
Unit
rad/s/Nm
(> 7.1)
Data type
Floating Point
Effective
immed.
1492
Min
0.0
0.0
Max
8000.0
8000.0
Unit
ms
ms
Data type
Floating Point
Floating Point
(> 7.1)
Effective
immed. (ARM)
immed. (SRM SLM)
1493
Min
200.0
200.0
Max
200.0
200.0
Unit
N
Nm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
... specifies a pre-tensioning torque (or pre-tensioning force (SLM)) which acts with a switch-in
delay via a PT1 element (P1494).
A-892
A Lists
! 611ue diff !
1494
Min
1.0
A.1
Parameter list
Max
1000.0
Unit
ms
Data type
Floating Point
Effective
immed.
... enters the time constant for the PT1 element which ensures a soft, gentle increase of the
pre-tensioning torque (P1493) when activating the equalization controller.
1495
Min
100.0
Max
100.0
Unit
%
Data type
Floating Point
Effective
immed.
... enters a weighting for the torque setpoint ( or force for the force setpoint (SLM) ) of the
master axis for the equalization controller.
1496
Min
0
Max
100.0
Unit
%
Data type
Floating Point
Effective
immed.
... enters a weighting fo the torque setpoint ( or force for the force setpoint (SLM) ) of the slave
axis for the equalization controller.
1500:8
Min
0
Max
2
Unit
Data type
Unsigned16
Effective
immed.
A-893
A Lists
A.1
Parameter list
1501:8
Min
0
! 611ue diff !
Max
8303
Unit
Hex
Data type
Unsigned16
Effective
immed.
1502:8
Min
0.0
Max
500.0
Unit
ms
Data type
Floating Point
Effective
immed.
Note:
The filter can be switched out/switched in via the First speed setpoint filter off input signal.
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1503:8
Min
0.0
Max
500.0
Unit
ms
Data type
Floating Point
Effective
immed.
Note:
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1506:8
Min
10.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The filter can be switched out/switched in via the First speed setpoint filter off input signal.
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
A-894
A Lists
! 611ue diff !
1507:8
Min
0.2
A.1
Parameter list
Max
5.0
Unit
Data type
Floating Point
Effective
immed.
Note:
The filter can be switched out/switched in via the First speed setpoint filter off input signal.
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1508:8
Min
10.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1509:8
Min
0.2
Max
5.0
Unit
Data type
Floating Point
Effective
immed.
Note:
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1514:8
Min
1.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1515:8
Min
5.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1516:8
Min
0.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
A-895
A Lists
A.1
Parameter list
1517:8
Min
1.0
! 611ue diff !
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1518:8
Min
5.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1519:8
Min
0.0
Max
7999.0
Unit
Hz
Data type
Floating Point
Effective
immed.
Note:
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1520:8
Min
1.0
Max
141.0
Unit
%
Data type
Floating Point
Effective
immed.
Note:
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
1521:8
Min
1.0
Max
141.0
Unit
%
Data type
Floating Point
Effective
immed.
Note:
The speed setpoint filters are described in:
References: /FBA/, Description of Functions, Drive Functions, Section DD2
A-896
A Lists
! 611ue diff !
1522
Min
0.0
A.1
Parameter list
Max
500.0
Unit
ms
Data type
Floating Point
Effective
immed.
1523
Min
0.0
Time constant, speed actual value filter (PT1) RLI (SRM) (> 9.1)
Time constant, velocity actual value filter (PT1) RLI (SLM)
Standard
0.0
Max
500.0
Unit
ms
Data type
Floating Point
Effective
immed. (SRM SLM)
Time constant of the speed actual value filtering during the rotor position identification routine,
traversing 3
<0.05 ms:
internally, P1522 is used for the calculation
>=0.05 ms: internally, P1523 is used for the calculation
Note: Pre-assignment (default) refer to P1522
A-897
A Lists
A.1
1560
Min
0
Parameter list
! 611ue diff !
Max
7FFF
(> 10.1)
Unit
Hex
Data type
Unsigned16
Effective
immed.
... defines the selection of functions for APC (active oscillation damping)
The direct measuring system must be selected and parameterized for APC. Further, P1562
must be correctly pre-assigned.
Bit 0 to bit 4 reserved
Bit 5
Activation from APC
Bit 5 = 0:
APC is deactivated
Bit 5 = 1:
APC is activated
Bit 6
Reserved
Bit 7
Select the input for the 2nd cascade APC
Bit 7 = 0:
Input 2nd cascade APC is the acceleration of the direct measuring system
Bit 7 = 1:
Input 2nd cascade APC is just the same as for the 1st cascade APC
Bit 8
Filter input APC from the function generator
Bit 8 = 0:
Filter input APC from selected measured values
Bit 8 = 1:
Filter input APC is the speed setpoint of the function generator
(for measuring purposes)
Bit 9
Do not connect filter output APC
Bit 9 = 0:
Filter output is connected when APC is activated
Bit 9 = 1:
Filter output is not connected (for measuring purposes)
Bit 10
Input 1st cascade APC
Bit 10 = 0:
Input 1st cascade APC is the acceleration of the direct measuring system
Bit 10 = 1:
Input 1st cascade APC is the speed of the direct measuring system minus
speed setpoint
Bit 11
Closed-loop speed control with direct measuring system (pulse decoupling)
Bit 11 = 0:
Closed-loop speed control with motor measuring system
Bit 11 = 1:
Closed-loop speed control with direct measuring system (bit 5 must also be set!)
Bit 12
Reserved
Bit 13
Disable APC 1st cascade
Bit 13 = 0:
1st cascade is active
Bit 13 = 1:
1st cascade is disabled
Bit 14
Disable APC 2nd cascade
Bit 14 = 0:
2nd cascade is active
Bit 14 = 1:
2nd cascade is disabled
Bit 15
reserved
A-898
A Lists
! 611ue diff !
1562
Min
1000000.0
A.1
Max
1000000.0
Unit
Data type
Floating Point
Parameter list
(> 10.1)
Effective
immed.
... defines the input to convert the motor measuring system to a direct measuring system.
The factor is entered with which, for uniform, consistent motion, the pulse frequency of the direct measuring system must be multiplied by in order to obtain the pulse frequency of the motor
measuring system. In this case, the resolution differences of the measuring system are included
as also a possibly existing gearbox or measuring gearbox.
A different direction of rotation is taken into account with a negative sign.
Example 1:
Rotating motor 2048 pulses/revolution with ballscrew, spindle pitch 10 mm/revolution, direct
measuring system with 20 m grid division (lattice pitch).
(10 mm/revolution)/(20 m) = 500 pulses of the direct measuring system per motor revolution
P1562 = 2048/500 = 4.096
Example 2:
Rotating motor 2048 pulses/revolution, load connected through a gearbox with a ratio 25:1, direct measuring system with 8192 pulses/revolution at the load side.
8192/25 pulses of the direct measuring system per motor revolution
P1565 = 2048 * 25/8192 = 6.25
Example 3:
Rotating motor, 2048 pulses/revolution with a load directly coupled to the shaft and a direct
measuring system at the load, 1024 pulses/revolution.
1024 pulses of the direct measuring system per motor revolution
P1562 = 2045/1024 = 2.0
1564:8
Min
1000.0
Max
1000.0
Unit
ms
Data type
Floating Point
Effective
immed.
... defines the derivative action time setting of the 1st cascade APC.
Note:
When selecting P1560 bit 10= 1 (input APC is a speed actual value), P1564 has no units.
1567:8
Min
1000.0
Max
1000.0
Unit
ms
Data type
Floating Point
Effective
immed.
... defines the derivative action time setting of the 2nd cascade APC.
Note:
When selecting P1560 bit 10= 1 (input APC is a speed actual value), P1564 has no units.
A-899
A Lists
A.1
Parameter list
1569
Min
1
! 611ue diff !
Max
64
Unit
Data type
Unsigned16
(> 10.1)
Effective
immed.
... sets the sub-sampling factor setting for the 1st and 2nd cascades of the acceleration filter
(filters 1, 2, 4 and 5) for APC.
Value 1 means no sub-sampling.
For filters with a low blocking frequency, sub-sampling should be used.
The following recommendation applies: Blocking frequency * sampling time * P1569 should be
greater than 1/160. This can be ensured using the sub-sampling factor.
The 3rd filter is also effective in the speed controller clock cycle and can be used to interpolate
the sub-sampled filter.
All of the filters can be de-activated by suitably parameterizing them (e.g. using the pre-assignment values). There is no switch to disable individual filters.
1570:8
Min
0
Max
1B1F
Unit
Hex
(> 10.1)
Data type
Unsigned16
Effective
immed.
A-900
A Lists
! 611ue diff !
1571:8
Min
0.0
A.1
Parameter list
Max
500.0
Unit
ms
Data type
Floating Point
(> 10.1)
Effective
immed.
... defines the time constant setting for the 1st acceleration filter (1st cascade) for APC.
The time constant is only effective if in P1570, bit 0 is set to 0 and bit 8 is set to 1.
1572:8
Min
2.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
... defines the denominator natural frequency setting for the 1st acceleration filter (1st cascade)
for APC.
1573:8
Min
0.0
Max
10.0
Unit
Data type
Floating Point
Effective
immed.
... defines the denominator damping setting for the 1st acceleration filter (1st cascade) for APC.
1574:8
Min
2.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
... defines the numerator natural frequency setting for the 1st acceleration filter (1st cascade).
The numerator settings are only effective if in P1570, bit 0 is set to 1.
1575:8
Min
0.0
Max
10.0
Unit
Data type
Floating Point
Effective
immed.
... defines the numerator damping setting for the 1st acceleration filter (1st cascade) for APC.
The numerator settings are only effective if in P1570, bit 0 is set to 1.
1576:8
Min
0.0
Max
500.0
Unit
ms
Data type
Floating Point
(> 10.1)
Effective
immed.
... defines the time constant setting for the 2nd acceleration filter (1st cascade).
The time constant is only effective if in P1570, bit 1 is set to 0 and bit 9 is set to 1.
1577:8
Min
2.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
... defines the denominator natural frequency setting for the 2nd acceleration filter (1st cascade)
for APC.
A-901
A Lists
A.1
Parameter list
1578:8
Min
0.0
! 611ue diff !
Max
10.0
Unit
Data type
Floating Point
Effective
immed.
... defines the denominator damping setting for the 2nd acceleration filter (1st cascade) for APC.
1579:8
Min
2.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
... defines the numerator natural frequency setting for the 2nd acceleration filter (1st cascade).
The numerator settings are only effective if in P1570, bit 1 is set to 1.
1580:8
Min
0.0
Max
10.0
Unit
Data type
Floating Point
Effective
immed.
... defines the numerator damping setting for the 2n acceleration filter (1st cascade) for APC.
The numerator settings are only effective if in P1570, bit 1 is set to 1.
1581:8
Min
2.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
... defines the denominator natural frequency setting for the 3rd acceleration filter (1st and 2nd
cascades) for APC.
1582:8
Min
0.0
Max
10.0
Unit
Data type
Floating Point
Effective
immed.
... defines the denominator damping setting for the 3rd acceleration filter (1st and 2nd cascades) for APC.
1583:8
Min
2.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
... defines the numerator natural frequency setting for the 3rd acceleration filter (1st and 2nd cascades).
The numerator settings are only effective if in P1570, bit 2 is set to 1.
1584:8
Min
0.0
Max
10.0
Unit
Data type
Floating Point
Effective
immed.
... defines the numerator damping setting for the 3rd acceleration filter (1st and 2nd cascade) for APC.
The numerator settings are only effective if in P1570, bit 2 is set to 1.
A-902
A Lists
! 611ue diff !
1585:8
Min
0.0
A.1
Parameter list
Max
500.0
Unit
ms
Data type
Floating Point
(> 10.1)
Effective
immed.
... defines the time constant setting for the 4th acceleration filter (2nd cascade).
The time constant is only effective if in P1570, bit 3 is set to 0 and bit 11 is set to 1.
1586:8
Min
2.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
... defines the denominator natural frequency setting for the 4th acceleration filter (2nd cascade)
for APC.
1587:8
Min
0.0
Max
10.0
Unit
Data type
Floating Point
Effective
immed.
... defines the denominator damping setting for the 4th acceleration filter (2nd cascade) for
APC.
1588:8
Min
2.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
... defines the numerator natural frequency setting for the 4th acceleration filter (2nd cascade).
The numerator settings are only effective if in P1570, bit 3 is set to 1.
1589:8
Min
0.0
Max
10.0
Unit
Data type
Floating Point
Effective
immed.
... defines the numerator damping setting for the 4th acceleration filter (2nd cascade) for APC.
The numerator settings are only effective if in P1570, bit 3 is set to 1.
1590:8
Min
0.0
Max
500.0
Unit
ms
Data type
Floating Point
(> 10.1)
Effective
immed.
... defines the time constant setting for the 5th acceleration filter (2nd cascade) for APC.
The time constant is only effective if in P1570, bit 4 is set to 0 and bit 12 is set to 1.
1591:8
Min
2.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
... defines the denominator natural frequency setting for the 5th acceleration filter (2nd cascade)
for APC.
A-903
A Lists
A.1
Parameter list
1592:8
Min
0.0
! 611ue diff !
Max
10.0
Unit
Data type
Floating Point
Effective
immed.
... defines the denominator damping setting for the 5th acceleration filter (2nd cascade) for
APC.
1593:8
Min
2.0
Max
8000.0
Unit
Hz
Data type
Floating Point
Effective
immed.
... defines the numerator natural frequency setting for the 5th acceleration filter (2nd cascade).
The numerator settings are only effective if in P1570, bit 4 is set to 1.
1594:8
Min
0.0
Max
10.0
Unit
Data type
Floating Point
Effective
immed.
... defines the numerator damping setting for the 5th acceleration filter (2nd cascade) for APC.
The numerator settings are only effective if in P1570, bit 4 is set to 1.
1600
Min
0
Suppressible faults 1
Standard
0
Max
7FFF
Unit
Hex
Data type
Unsigned16
Effective
immed.
A-904
A Lists
! 611ue diff !
1601
Min
0
A.1
Parameter list
Suppressible faults 2
Standard
0
Max
FFFF
Unit
Hex
Data type
Unsigned16
Effective
immed.
1602
Min
0
Max
200
Unit
_C
Data type
Unsigned16
Effective
immed.
... specifies the thermal steady-state permissible motor temperature and is appropriately pre-assigned when the motor code is entered.
Note:
When this temperature alarm threshold is exceeded, only an appropriate alarm is output which
disappears when the temperature threshold is fallen short off.
If the overtemperature condition remains longer than the time set in P1603, then this results in
fault 614.
The monitoring function can be enabled/disabled via P1601.14.
The temperature monitoring functions with/without pre-alarm (P1602 + P1603 or P1607) are not
mutually restricted, i. e. P1607 < P1602 is permissible.
Refer under the index entry Monitoring functions
1603
Min
0
Max
600
Unit
s
Data type
Unsigned16
Effective
immed.
When the temperature alarm threshold (P1602) is exceeded, this timer is started. If the timer
expires, and the temperature has not fallen below alarm threshold, fault 614 is output.
Note:
The monitoring function can be enabled/disabled via P1601.14.
Refer under the index entry Monitoring functions
1604
Min
0
Max
680
Unit
V(pk)
Data type
Unsigned16
Effective
immed.
A-905
A Lists
A.1
1605
Min
20.0
Parameter list
! 611ue diff !
Max
10000.0
Unit
ms
Data type
Floating Point
Effective
immed.
... specifies how long the speed controller or velocity controller output can be at its limit without
fault 608 being output.
Important:
If P1605 < P1404, then regenerative braking can be exited with fault 608, whereby the drive
then coasts down.
Note: refer to the index entry Monitoring functions
1606
Min
0.0
0.0
0.0
Max
100000.0
100000.0
100000.0
Unit
rpm
m/min
rpm
Data type
Floating Point
Floating Point
Floating Point
Effective
immed. (ARM)
immed. (SLM)
immed. (SRM)
... specifies up to which speed or velocity the torque setpoint or force setpoint monitoring is active, i. e. up to this value, fault 608 can be output (speed controller at the endstop).
Note:
For PE spindles (P1015 = 1 and P1172 = 0), the standard assignment is the same as for ARM
(30.0 rpm).
refer under index entry Monitoring functions
1607
Min
0
Max
200
Unit
_C
Data type
Unsigned16
Effective
immed.
... defines the shutdown limit for the motor temperature monitoring without pre-alarm.
When this temperature threshold is exceeded, the drive is shut down, the pulses canceled and
fault 613 output.
Note:
The monitoring function can be enabled/disabled via P1601.13.
The temperature monitoring functions with/without pre-alarm (P1602 + P1603 or P1607) are not
mutually restricted, i. e. P1607 < P1602 is permissible.
Refer under the index entry Monitoring functions
Also refer under the index entry Thermal motor model
1608
Min
0
Fixed temperature
Standard
0
Max
200
Unit
_C
Data type
Unsigned16
Effective
immed.
If a value > 0 is entered, then the rotor resistor is adapted, temperature-dependent, with this
fixed temperature.
Note:
The measured temperature is then no longer monitored and parameters 1602, 1603 and 1607
are then no longer effective.
A fixed temperature can, e. g. be required, if a motor does not have a temperature sensor.
Thus, e.g. the temperature monitoring of linear motors is disabled for the case where the monitoring is realized via an external PLC.
Refer under the index entry Monitoring functions
A-906
A Lists
! 611ue diff !
1609
Min
0
A.1
Parameter list
Max
1
(> 11.1)
Unit
Hex
Data type
Unsigned16
Effective
immed.
1610
Min
0
0
Diagnostic functions
Standard
1
0
Max
3
3
Unit
Hex
Hex
Data type
Unsigned16
Unsigned16
Effective
PO
(ARM)
PO
(SRM SLM)
Note:
Internal Siemens
P1610.0, this parameter is set to 1 as standard for synchronous motors with field weakening!
1611
Min
0
Max
1600
Unit
%
Data type
Unsigned16
Effective
immed.
Data type
Unsigned32
Unsigned32
Effective
immed. (ARM)
immed. (SRM SLM)
1612
Min
0
0
Max
FFFF
FFFF
Unit
Hex
Hex
(> 3.3)
A-907
A Lists
A.1
1613
Min
0
0
Parameter list
! 611ue diff !
Max
3FFFF
3FFFF
Unit
Hex
Hex
(> 3.3)
Data type
Unsigned32
Unsigned32
Effective
immed. (ARM)
immed. (SRM SLM)
1615
Min
0.0
0.0
Max
100.0
100.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
immed. (SLM)
immed. (SRM ARM)
Data type
Unsigned16
Effective
RO
1616
Min
Max
Unit
When continuously increased by several increments, there is an increased noise level (the
speed actual value is faulty).
A-908
A Lists
! 611ue diff !
1620
Min
0
A.1
Parameter list
Max
F
Unit
Hex
Data type
Unsigned16
Effective
immed.
1621
Min
0
Max
530
Unit
Data type
Unsigned16
Effective
immed.
Note:
Parameterize variable message function in the selection box with SimoCom U.
Refer under the index entry Variable message function
1622
Min
0
Max
FFFFFF
Unit
Hex
Data type
Unsigned32
Effective
immed.
Note:
Parameterize variable message function in the selection box with SimoCom U.
Refer under the index entry Variable message function
1623
Min
F4143E00
Max
BEBC200
Unit
Hex
Data type
Integer32
Effective
immed.
Note:
Parameterize variable message function in the selection box with SimoCom U.
Refer under the index entry Variable message function
1624
Min
0
Max
BEBC200
Unit
Hex
Data type
Unsigned32
Effective
immed.
Note:
Parameterize variable message function in the selection box with SimoCom U.
Refer under the index entry Variable message function
A-909
A Lists
A.1
1625
Min
0
Parameter list
! 611ue diff !
Max
10000
Unit
ms
Data type
Unsigned16
Effective
immed.
Note:
Parameterize variable message function in the selection box with SimoCom U.
Refer under the index entry Variable message function
1626
Min
0
Max
10000
Unit
ms
Data type
Unsigned16
Effective
immed.
Note:
Parameterize variable message function in the selection box with SimoCom U.
Refer under the index entry Variable message function
1645
Min
12.0
Max
1000.0
Unit
ms
Data type
Floating Point
Effective
immed. (SRM SLM)
... defines how long the current controller may remain at the same end stop while the acceleration/velocity and torque/force have different directions.
After this time has expired fault 510 positive feedback detected is initiated.
1646
Min
0.0
0.0
Max
100000.0
100000.0
Unit
m/min
rpm
Data type
Floating Point
Floating Point
(> 11.1)
Effective
immed. (SLM)
immed. (SRM)
1650
Min
0
Diagnostics control
Standard
0
Max
FFFF
Unit
Hex
Data type
Unsigned16
Effective
immed.
A-910
A Lists
! 611ue diff !
1651
Min
0
A.1
Parameter list
Max
530
Unit
Data type
Unsigned16
Effective
immed.
Refer under the index entry signal selection list for analog output
Note: Internal Siemens
1652
Min
0
Max
FFFFFF
Unit
Hex
Data type
Unsigned32
Effective
immed.
Data type
Unsigned32
Effective
RO
Data type
Unsigned32
Effective
RO
Data type
Unsigned16
Effective
immed.
Data type
Unsigned32
Effective
immed.
1653
Min
Max
Unit
Hex
1654
Min
Max
Unit
Hex
1655
Min
0
Max
1
Unit
1656
Min
0
Max
FFFFFF
Unit
Hex
1657
Min
Max
Unit
Hex
Data type
Unsigned32
Effective
RO
Unit
Hex
Data type
Unsigned32
Effective
immed.
Unit
Data type
Unsigned16
Effective
immed.
1658
Min
0
Max
FFFFFF
1659
Min
0
Max
1
A-911
A Lists
A.1
1690
Min
0
Parameter list
! 611ue diff !
Max
FFFF
Unit
Data type
Unsigned16
Effective
immed.
Unit
Hex
Data type
Unsigned32
Effective
immed.
Unit
Hex
Data type
Unsigned32
Effective
immed.
Unit
Hex
Data type
Unsigned32
Effective
immed.
Unit
Hex
Data type
Unsigned32
Effective
immed.
Unit
V(pk)
Data type
Unsigned16
Effective
RO
1691
Min
0
Max
FFFFFF
1692
Min
0
Max
FFFFFF
1693
Min
0
Max
FFFFFF
1694
Min
0
Max
FFFFFF
1701
Min
DC link voltage
Standard
Max
1703
Min
Max
Unit
s
Data type
Unsigned16
Effective
RO
Unit
V(RMS)
Data type
Floating Point
Effective
RO
Data type
Floating Point
Effective
RO
1705
Min
Max
1708
Min
Torque-generating current Iq
Standard
Max
Unit
%
A-912
A Lists
! 611ue diff !
1709
Min
A.1
Parameter list
Max
Unit
Data type
Floating Point
Effective
RO
Data type
Floating Point
Effective
RO
1710
Min
Max
Unit
A(pk)
1711
Min
Max
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
RO
(SLM)
RO
(SRM ARM)
1712
Min
Max
Unit
Vs
Data type
Floating Point
Effective
RO
(ARM)
1713
Min
Max
Unit
N
Nm
Data type
Floating Point
Floating Point
Effective
RO
(SLM)
RO
(SRM ARM)
Data type
Floating Point
Effective
RO
1715
Min
Max
Unit
1716
Min
Max
Unit
N
Nm
A
Data type
Floating Point
Floating Point
Effective
RO
(SLM)
RO
(SRM ARM)
1717
Min
Max
Unit
%
Data type
Floating Point
Effective
RO
... displays the actual limiting factor for torque/power or force/power (SLM).
Note:
refer to the index entry Torque/power reduction
A-913
A Lists
A.1
1718
Min
Parameter list
! 611ue diff !
Max
Unit
A(rms)
(> 3.1)
Data type
Floating Point
Effective
RO
1719
Min
Max
Unit
A(rms)
Data type
Floating Point
Effective
RO
Unit
ms
Data type
Unsigned16
Effective
RO
1723
Min
Max
1724
Min
Max
Unit
Data type
Unsigned16
Effective
RO
1725
Min
Max
Unit
N
Nm
Data type
Floating Point
Floating Point
(> 2.4)
Effective
RO
(SLM)
RO
(SRM ARM)
... specifies the reference value for the status word Msoll for PROFIBUS.
The following applies before SW 4.1: The value corresponds to 800% of the rated motor torque.
From SW 4.1 the following applies: The value corresponds to P0882 * rated motor torque.
1726
Min
(> 3.1)
Max
Unit
ms
Data type
Floating Point
Effective
RO
1729
Min
Max
(> 3.3)
Unit
Degree
Data type
Floating Point
Effective
RO
Unit
Hex
Data type
Unsigned16
Effective
RO
Unit
Hex
Data type
Unsigned16
Effective
RO
1731
Min
Max
1732
Min
Max
A-914
A Lists
! 611ue diff !
1733
Min
A.1
Parameter list
Max
Unit
Data type
Unsigned16
Effective
RO
1734
Min
Max
Unit
Data type
Integer16
(> 3.3)
Effective
RO
(SRM SLM)
... indicates the result of the last rotor position identification. When a fault condition occurs, negative values indicate the fault cause.
0
Function was not selected or was not exited
1, 2 Function was successfully executed (saturation-based technique)
3
Function was successfully executed (motion-based traversing, from SW 6.1)
Error codes
1
Measurement has not provided any significant result
Remedy: Increase current (P1019)
2
Current was not able to be reduced again in time during the measurement
Remedy: Check armature inductance (P1116) and if required, increase
3
The motor moved during the measurement more than permitted in P1020
Remedy: Increase permissible rotation (P1020) or reduce current (P1019)
4
Current rise is too low, the motor is possibily not correctly connected
Remedy: Check motor terminals
5
The current limit of the motor or the power module was exceeded
Remedy: Check current limits or reduce armature inductance (P1116)
6
Longest permissible time RLI exceeded. Within the permissible time, no continuous rotor
position value was achieved (from SW 6.1).
Remedy: refer under the index entry Rotor position identification
> Parameterization for motion-based traversing
7
No clear rotor position found. It appears that the motor cannot be freely moved
(e.g. it is locked, at its end stop).
Remedy: refer under the index entry Rotor position identification
> Parameterization for motion-based traversing
Note:
refer to P1736 or under the index entry Rotor position identification, PE spindle or Linear
motor
1735
Min
Processor utilization
Standard
Max
Unit
%
Data type
Unsigned16
Effective
RO
... continuously displays (online) the processor utilization and provides information about the
available computation time reserves of the processor.
The processor utilization is essentially dependent on the number of axes, operating mode and
cycle setting.
P1735 > 90 %
If, after start-up (optimization), this is displayed as normal status, then there is a high danger
that if additional computation time-intensive functions are selected, the processor will be overloaded (e.g. measuring function).
Note:
If processor utilization is too high it can be reduced by increasing the clock cycles (refer to the
index entry cycles).
P1735 < 90 %
From experience, there are no problems here, so that later (e.g. when troubleshooting), supplementary functions (e.g. measuring functions, trace functions) can be temporarily activated.
A-915
A Lists
A.1
1736
Min
0
Parameter list
! 611ue diff !
Max
1
Unit
Data type
Unsigned16
Effective
immed. (SRM SLM)
To check the rotor position identification, using this test function, the difference between the calculated
rotor position angle, and that currently used by the control, can be determined.
Bit 0 = 1:
The rotor position identification test has been activated (either directly here or
through the activated plausibility monitoring encoder P1011[10] = 1).
> the difference is entered into P1737
Bit 0 = 0:
The test has been completed (initial state)
Bit 1
The rotor position identification is also started even when the brake control is activated.
Bit 23
Start for the encoder plausibility monitoring (this cannot be set). When the encoder
plausibility monitoring is activated bit 0 and bit 23 are set (from SW 10.1).
Note:
refer under the index entry Rotor position identification, PE spindle or Linear motor
1737
Min
Max
Unit
Degree
Data type
Floating Point
Effective
RO
(SRM SLM)
Note:
also referfor P1736 and under the index entry PE spindle or linear motor
The rotor position identification is described in:
References: /FBA/, Description of Functions, Drive Functions, Section DM1
1738
Min
Max
Unit
Data type
Unsigned32
Effective
RO
Data type
Unsigned16
Effective
RO
1739
Min
Max
Unit
... displays that at least one parameter was written into and the value was not yet saved in the
non-volatile memory (FEPROM).
1
Must be saved in the FEPROM because parameters have been changed
0
Need not be saved in the FEPROM
1740
Min
Max
Unit
m/min
rpm
Data type
Floating Point
Floating Point
Effective
RO
(SLM)
RO
(SRM ARM)
1741
Min
Max
Unit
%
%
Data type
Floating Point
Floating Point
Effective
RO
(SLM)
RO
(SRM ARM)
A-916
A Lists
! 611ue diff !
1742
Min
A.1
Parameter list
Max
Unit
N
Nm
Data type
Floating Point
Floating Point
Effective
RO
(SLM)
RO
(SRM ARM)
1743
Min
Max
Unit
c*MSR/min
c*MSR/min
Data type
Floating Point
Floating Point
Effective
RO
(SLM)
RO
(SRM ARM)
1744
Min
Max
Unit
c*MSR/min
c*MSR/min
Data type
Floating Point
Floating Point
Effective
RO
(SLM)
RO
(SRM ARM)
1745
Min
Max
Unit
mm
Degree
Data type
Floating Point
Floating Point
Effective
RO
(SLM)
RO
(SRM ARM)
1781:17
Min
Max
Unit
Hex
Data type
Unsigned16
(> 4.1)
Effective
RO
... indicates the source of the process data received via PROFIBUS.
The high byte includes a reference to the source device (0xFF for the master, DP address for a
Publisher) and the low byte, the offset within the telegram
(Counting in bytes, starting with 1).
The following is valid:
P1781:0
Number of valid entries
P1781:1
Source of process data 1 (STW1)
P1781:2
Source of process data 2 (PZD2), etc.
Note: refer to the index entry Process data
1782:17
Min
Max
Unit
Hex
Data type
Unsigned16
(> 4.1)
Effective
RO
... indicates which offset the process data have in the telegrams sent to the master or the subscribers via the PROFIBUS
(Counting in bytes, starting with 1).
The following is valid:
P1782:0
Number of valid entries
P1782:1
Target offset, process data 1 (ZSW1)
P1782:2
Target offset, process data 2 (PZD2), etc.
Note: refer to the index entry Process data
A-917
A Lists
A.1
Parameter list
1783:97
Min
! 611ue diff !
Max
Unit
Hex
Data type
Unsigned16
(> 3.1)
Effective
RO
1784:97
Min
Max
Unit
Hex
Data type
Unsigned16
(> 3.1)
Effective
RO
1785:13
Min
Max
Unit
(> 3.1)
Data type
Unsigned16
Effective
RO
... contains diagnostic information for PROFIBUS operation. For the individual indices of P1785,
the following applies:
:0 Error, master sign-of-life since POWER ON
:1 Clock cycle-synchronous operation selected
:2 Interpolation clock cycle (Tipo) in s
:3 Position controller clock cycle (Tlr) in s
:4 Master application cycle time (Tmapc) in s
:5 DP cycle time (Tdp) in s
:6 Data Exchange time (Tdx) in s
:7 Instant of the setpoint sensing (To) in s
:8 Instant of the actual value sensing (Ti) in s
:9 PLL window (Tpllw) in 1/12 s
:10 PLL delay time (Tplld) in 1/12 s
:11 External slave-to-slave communication links
:12 Internal slave-to-slave communication links
1786:5
Min
Max
Unit
Hex
(> 2.4)
Data type
Unsigned16
Effective
RO
A-918
A Lists
! 611ue diff !
1787:5
Min
A.1
Parameter list
Max
Unit
Hex
(> 2.4)
Data type
Unsigned16
Effective
RO
1788:17
Min
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
... is an image of the process data received from the DP slave (control words).
The sub-parameter
with index 0 contains the number of valid words,
with index 1, the process data 1 (control word 1), with index 2, the process data 2 (PZD2), ...
Note: refer to the index entry Process data
1789:17
Min
Max
Unit
Hex
Data type
Unsigned16
Effective
RO
... is an image of the process data sent to the DP master (status words).
The sub-parameter
with index 0 contains the number of valid words,
with index 1, process data 1 (status word 1), with index 2, process data 2 (PZD2), ...
Note: refer to the index entry Process data
1790
Min
Max
Unit
Data type
Integer16
Effective
RO
1792
Min
Max
(> 3.3)
Unit
Data type
Unsigned16
Effective
RO
... indicates the measuring system which the drive control uses.
0
No measuring system
1
Motor measuring system
2
Direct measuring system
A-919
A Lists
A.1
1794
Min
Parameter list
! 611ue diff !
Max
Unit
Data type
Unsigned32
Effective
RO
1795
Min
Max
Unit
Data type
Unsigned32
Effective
RO
Data type
Unsigned32
Effective
RO
1796
Min
Initializer version
Standard
Max
Unit
... displays which version of the initializer is available on the memory module.
Example: P1796 = 10104 > V01.01.04 is available
1797
Min
Max
Unit
Data type
Unsigned32
(> 9.1)
Effective
RO
... indicates which version of the module initial program loader is available in the control module.
Example: P1797 = 10101 > V01.01.01 is available
1798
Min
Firmware date
Standard
Max
Unit
Data type
Unsigned32
Effective
RO
Internal Siemens
... displays when the firmware release (P1799) was generated.
Note: yyyymmdd > yyyy = year, mm = month, dd = day
1799
Min
Firmware version
Standard
Max
Unit
Data type
Unsigned32
Effective
RO
Data type
Integer16
Effective
immed.
1800
Min
40
Max
2
Unit
1804
Min
1
Max
5
Unit
Data type
Unsigned16
Effective
immed.
1805
Min
1
Max
5
Unit
Data type
Unsigned16
Effective
immed.
A-920
A Lists
! 611ue diff !
1806
Min
1600.0
A.1
Parameter list
Max
1600.0
Unit
%
Data type
Floating Point
Effective
immed.
... defines the amplitude of the function generation signal to be output. The unit depends on
P1804.
1, 2 Unit is referred to P1103 (rated motor current)
3
Unit is referred to P1400 (rated motor speed)
1807
Min
1600.0
Max
1600.0
Unit
%
Data type
Floating Point
Effective
immed.
... defines the offset of the function generator signal to be output. The unit depends on P1804.
1
Unit is referred to P1103 (rated motor current)
2, 3 Unit is referred to P1400 (rated motor speed
Note:
For P1804 = 2 (operating mode disturbing torque), the offset does not act on the current setpoint, but on the speed setpoint in order to bypass the effects of backlash.
1808
Min
0.0
Max
1600.0
Unit
%
Data type
Floating Point
Effective
immed.
... defines the limit of the function generator signal to be output. The unit depends on P1804.
1, 2 Unit is referred to P1103 (rated motor current)
3
Unit is referred to P1400 (rated motor speed
Note:
The limit is effective, symmetrically around the zero point.
For P1804 = 2 (operating mode Disturbing torque) the limit only acts on the curret setpoint,
however, not on the speed setpoint (=offset).
1809
Min
1600.0
Max
1600.0
Unit
%
Data type
Floating Point
Effective
immed.
... specifies the 2nd amplitude for the Staircase waveform of the function generator signal to
be output. The unit depends on P1804.
1, 2 Unit is referred to P1103 (rated motor current)
3
Unit is referred to P1400 (rated motor speed
1810
Min
1
Max
65535
Unit
ms
Data type
Unsigned16
Effective
immed.
1811
Min
0
Max
65535
Unit
ms
Data type
Unsigned16
Effective
immed.
... defines the pulse width for the squarewave waveform of the function generator signal to be
output.
1812
Min
1
Max
8000
Unit
Hz
Data type
Unsigned16
Effective
immed.
... defines the bandwidth in PRBS operation (only for P1805 = 4, PRBS).
A-921
A Lists
A.1
1813
Min
0.0
Parameter list
! 611ue diff !
Max
100000.0
Unit
ms
Data type
Floating Point
Effective
immed.
... specifies the time in which the drive accelerates or brakes to the required speed. In this case,
the parameter refers to P1400 (rated speed).
1814
Min
1
Max
11
Unit
Data type
Unsigned16
Effective
immed.
1815
Min
1
Max
2000
Unit
ms
Data type
Unsigned16
Effective
immed.
Data type
Unsigned16
Effective
immed.
1816
Min
0
Max
65535
Unit
ms
1817
Min
1
Max
1000
Unit
Data type
Unsigned16
Effective
immed.
Data type
Unsigned16
Effective
immed.
1820
Min
0
Max
530
Unit
1821
Min
0
Max
47
Unit
Data type
Unsigned16
Effective
immed.
... defines the shift factor, with which the analog signal is manipulated.
An 8 bit window of the 24/48 bit signal can be represented via the test socket, thus, the shift
factor must be used to define which window of the internal 24/48 bits is to be displayed.
1822
Min
128
Max
127
Unit
Data type
Integer16
Effective
immed.
The parameter specifies the offset value which is added to the 8-bit output signal.
Note: refer to the index entry Test sockets
1823
Min
0
Max
1
Unit
Data type
Unsigned16
Effective
immed.
A-922
A Lists
! 611ue diff !
1824
Min
0
A.1
Parameter list
Max
FFFFFF
Unit
Hex
Data type
Unsigned32
Effective
immed.
Unit
Data type
Unsigned16
Effective
immed.
1826
Min
0
Max
1
This parameter determines the status of test socket 1 for this drive.
0
test socket is inactive
1
test socket is active
As always only one drive can output one value at a test socket, when changing the parameter
in one drive, the parameter in the other drive is appropriately changed.
Note:
On a 2-axis module, the test sockets are pre-set as follows after the first start-up:
Drive A: Test socket 1 = active (P1826 = 1) and test socket 2 = inactive (P1836 = 0)
Drive B: Test socket 1 = inactive (P1826 = 0) and test socket 2 = active (P1836 = 1)
(refer to the index entry Test sockets)
1830
Min
0
Max
530
Unit
Data type
Unsigned16
Effective
immed.
Unit
Data type
Unsigned16
Effective
immed.
Unit
Data type
Integer16
Effective
immed.
Data type
Unsigned16
Effective
immed.
Unit
Hex
Data type
Unsigned32
Effective
immed.
Unit
Data type
Unsigned16
Effective
immed.
1831
Min
0
Max
47
1832
Min
128
Max
127
1833
Min
0
Max
1
Unit
1834
Min
0
Max
FFFFFF
1836
Min
0
Max
1
A-923
A Lists
A.2
A.2
Power module
Order No. and
code
Table A-1
A power module is defined by its Order No. (MLFB) and internally by its
code number.
Power
module
code
No. of
axes
Current rating
Tran
sistor
current
Motor1)
1FT6, 1FK6,
1FNx
Motor1)
1PHx,
1FE1 (from SW 3.1)
[A(pk)]
P1107
In/Imax
[A(rms)]
P1111/P1108
In/IS6/Imax [A(rms)]
P1111/P1109/P1108
P1106
6SN112x1Ax0x0HAx
1/2
3/6
3/3/3
6SN112x1Ax0x0AAx
1/2
15
5/10
5/5/8
6SN112x1Ax0x0BAx
1/2
25
9/18
8/10/16
6SN112x1Ax0x0CAx
1/2
50
18/36
24/32/32
6SN112x1Ax0x0DAx
80
28/56
30/40/51
6SN112x1Ax0x0LAx
132)
108
42/64
45/60/76
6SN112x1Ax0x0GAx
82)
120
42/64
45/60/76
6SN112x1Ax0x0EAx
160
56/112
60/80/102
6SN112x1Ax0x0FAx
10
200
70/140
85/110/127
6SN112x1Ax0x0JAx
112)
300
100/150 (from
SW 12.2)
120/150/193
6SN112x1Ax0x0KAx
12
400
140/210
200/250/257
Note:
rms:
rms value
pk:
Peak value
x:
In:
Continuous current
IS6:
Imax:
Peak current
1)
At higher pulse frequencies (P1100) In, Imax and IS6 must be reduced to protect the power
module.
The following applies before SW 2.4:
The display using P1108, P1109 and P1111 depends on the pulse frequency.
The reduction factor is already calculated into this parameter.
The displayed values only correspond to the values in the table for the standard setting of the
pulse frequency (P1100).
The following applies from SW 2.4:
The display using P1108, P1109 and P1111 corresponds to the values in this table.
The limiting factor is displayed in P1099 (limiting factor, power module currents).
Example:
P1111 = 9 A, P1099 = 80 % > reduced rated current In = 9 A S 80 % = 7.2 A
2)
A-924
from SW 8.2
A Lists
A.2
Readers note
Additional information about the power modules can be found in
Reference:
/PJU/
SIMODRIVE 611,
Configuration Manual, Drive Converters
Chapter Power modules
P1261 S in
P1261 S in
4s
8s
Range
Range
without current of the limited
limiting
current
10 s 20 s
Range
without current
limiting
v
4 min
v
t
8 min
Range
of the limited
current
Note:
imax = P1108 (current limit, power module) S P1099 (limit factor, power module currents)
iS6 = P1109 (current limit, power module S6) S P1099 (limit factor, power module currents)
in = P1111 (rated current, power module) S P1099 (limit factor, power module currents)
Fig. A-2
A-925
A Lists
A.2
Output signals
(refer to Chapter
6.4.5 and 6.4.6)
Parameter
overview
(refer to Chapter
A.1)
The following signals are available for the i2t power module limit function:
> MeldW.10
(power module current not limited)
The following parameters are available for the i2t power module limiting function:
P1261
P1263
P1264
Constant
Running
P1263
100 %
<100 %
P1264
<100 %
100 %
> Limiting?
No
Yes
A-926
A Lists
A.3
A.3
List of motors
List of motors
Readers note
General information about the motors can be found in
SIMODRIVE 611/MASTERDRIVES MC
Configuration Manuals
/PJAL/ General Part for Synchronous Motors
/ASAL/ General Part for Asynchnonous Motors
Reference:
A.3.1
Readers note
Information about the motors can be found in
Reference:
/PFK6/
/PFK7/
/PFT6/
/PFT7/
SIMODRIVE 611/MASTERDRIVES MC
Configuration Manuals
AC Servomotors 1FK6
Synchronous Motors 1FK7
Synchronous Motors 1FT6
Synchronous Motors 1FT7
SINAMICS_1PH8_Configuration Manual
Table A-2
nrated
M0
(100 K)
I0
(100 K)
P1102
[RPM]
[Nm]
[A(rms)]
1FK60326AK7xxxxx
2401
6000
1.1
1.70
1FK60337AK7xxxxx
2315
6000
1.3
2.20
1FK60406AK7xxxxx
2402
6000
1.6
2.80
1FK60426AF7xxxxx
2201
3000
3.2
2.80
1FK60437AH7xxxxx
2311
4500
3.1
4.50
1FK60437AK7xxxxx
2314
6000
3.1
6.40
1FK60447AF7xxxxx
2211
3000
4.0
4.50
1FK60447AH7xxxxx
2312
4500
4.0
6.30
1FK60606AF7xxxxx
2202
3000
6.0
4.30
Order No.
(MLFB)
A-927
A Lists
A.3
List of motors
Table A-2
Order No.
(MLFB)
A-928
Motor
code
nrated
M0
(100 K)
I0
(100 K)
P1102
[RPM]
[Nm]
[A(rms)]
1FK60617AF7xxxxx
2212
3000
6.4
6.10
1FK60617AH7xxxxx
2313
4500
6.4
8.00
1FK60636AF7xxxxx
2203
3000
11.0
7.90
1FK60647AF7xxxxx
2213
3000
12.0
11.00
1FK60647AH7xxxxx
2214
4500
12.0
15.00
1FK60806AF7xxxxx
2204
3000
8.0
5.80
1FK60827AF7xxxxx
2215
3000
14.0
10.60
1FK60836AF7xxxxx
2205
3000
16.0
10.40
1FK60857AF7xxxxx
2216
3000
22.0
22.50
1FK61008AF7xxxxx
2206
3000
18.0
12.20
1FK61018AF7xxxxx
2207
3000
27.0
17.50
1FK61038AF7xxxxx
2208
3000
36.0
23.50
1FK7011xAK7xxxxx
2511
6000
0.2
1.50
1FK7015xAK7xxxxx
2512
6000
0.3
1.50
1FK7022xAK7xxxxx
2538
6000
0.9
1.80
1FK7024xAK7xxxxx
2544
6000
1.1
1.60
1FK7032xAK7xxxxx
2539
6000
1.1
1.70
1FK7033xAK7xxxxx
2560
6000
1.3
2.20
1FK7034xAK7xxxxx
2573
6000
1.6
1.90
1FK7040xAK7xxxxx
2540
6000
1.6
2.35
1FK7042xAC7xxxxx
2543
2000
3.0
1.60
1FK7042xAF7xxxxx
2500
3000
3.0
2.20
1FK7042xAK7xxxxx
2541
6000
3.0
4.40
1FK7042xBK7xxxxx
2590
6000
3.0
4.40
1FK7043xAH7xxxxx
2561
4500
3.1
4.50
1FK7043xAK7xxxxx
2562
6000
3.1
6.40
1FK7044xAF7xxxxx
2563
3000
4.0
4.50
1FK7044xAH7xxxxx
2564
4500
4.0
6.30
1FK7060xAC7xxxxx
2579
2000
6.0
3.15
1FK7060xAF7xxxxx
2501
3000
6.0
4.55
1FK7060xAH7xxxxx
2520
4500
6.0
6.30
1FK7060xBF7xxxxx
2591
3000
6.0
4.45
1FK7061xAF7xxxxx
2565
3000
6.4
6.10
1FK7061xAH7xxxxx
2566
4500
6.4
8.00
A Lists
A.3
Table A-2
List of motors
Order No.
(MLFB)
Motor
code
nrated
M0
(100 K)
I0
(100 K)
P1102
[RPM]
[Nm]
[A(rms)]
1FK7062xAC7xxxxx
2580
2000
8.5
3.00
1FK7062xAF7xxxxx
2592
3000
8.5
5.30
1FK7062xAH7xxxxx
2581
4500
8.5
8.00
1FK7062xBF7xxxxx
2577
3000
8.5
5.30
1FK7063xAC7xxxxx
2582
2000
11.0
5.30
1FK7063xAF7xxxxx
2502
3000
11.0
8.00
1FK7063xAH7xxxxx
2521
4500
11.0
12.00
1FK7064xAC7xxxxx
2588
6000
12.0
8.30
1FK7064xAF7xxxxx
2567
3000
12.0
11.00
1FK7064xAH7xxxxx
2568
4500
12.0
15.00
1FK7080xAF7xxxxx
2503
3000
8.0
4.90
1FK7080xAH7xxxxx
2522
4500
8.0
7.40
1FK7081xAC7xxxxx
2583
2000
12.0
5.00
1FK7081xAF7xxxxx
2593
3000
12.0
8.70
1FK7081xAH7xxxxx
2584
4500
12.0
13.10
1FK7081xBF7xxxxx
2524
3000
12.0
8.70
1FK7083xAC7xxxxx
2585
2000
16.0
7.50
1FK7083xAF7xxxxx
2504
3000
16.0
10.10
1FK7083xAH7xxxxx
2523
4500
16.0
15.00
1FK7084xAC7xxxxx
2594
2000
20.0
8.50
1FK7084xAF7xxxxx
2586
3000
20.0
12.10
1FK7084xBC7xxxxx
2578
2000
20.0
8.50
1FK7084xBF7xxxxx
2596
3000
20.0
12.10
1FK7085xAC7xxxxx
2589
2000
22.0
14.00
1FK7085xAF7xxxxx
2570
3000
22.0
22.50
1FK7086xAA7xxxxx
2574
1200
28.0
9.20
1FK7086xAC7xxxxx
2576
2000
28.0
13.00
1FK7086xAF7xxxxx
2572
3000
28.0
21.00
1FK7086xSF7xxxxx
2571
3000
38.0
29.00
1FK7100xAC7xxxxx
2587
2000
18.0
8.40
1FK7100xAF7xxxxx
2505
3000
18.0
11.10
1FK7101xAC7xxxxx
2510
2000
27.0
12.30
1FK7101xAF7xxxxx
2506
3000
27.0
18.80
1FK7103xAC7xxxxx
2513
2000
36.0
14.40
A-929
A Lists
A.3
List of motors
Table A-2
Order No.
(MLFB)
A-930
Motor
code
nrated
M0
(100 K)
I0
(100 K)
P1102
[RPM]
[Nm]
[A(rms)]
1FK7103xAF7xxxxx
2507
3000
36.0
26.00
1FK7105xAC7xxxxx
2508
2000
48.0
20.00
1FK7105xAF7xxxxx
2509
3000
48.0
31.00
1FT60216AK7xxxxx
1411
6000
0.4
1.25
1FT60246AK7xxxxx
1412
6000
0.8
1.25
1FT6031xAK7xxxxx
1401
6000
1.0
1.40
1FT6034xAK7xxxxx
1402
6000
2.0
2.60
1FT6041xAF7xxxxx
1201
3000
2.6
1.90
1FT6041xAK7xxxxx
1403
6000
2.6
3.00
1FT6044xAF7xxxxx
1202
3000
5.0
3.00
1FT6044xAK7xxxxx
1404
6000
5.0
5.90
1FT6061xAC7xxxxx
1101
2000
4.0
1.90
1FT6061xAF7xxxxx
1203
3000
4.0
2.70
1FT6061xAH7xxxxx
1301
4500
4.0
4.00
1FT6061xAK7xxxxx
1405
6000
4.0
5.00
1FT6062xAC7xxxxx
1102
2000
6.0
2.70
1FT6062xAF7xxxxx
1204
3000
6.0
4.10
1FT6062xAH7xxxxx
1302
4500
6.0
5.70
1FT6062xAK7xxxxx
1406
6000
6.0
7.60
1FT6062xWF7xxxxx
1270
3000
10.2
6.90
1FT6062xWH7xxxxx
1370
4500
10.2
9.70
1FT6062xWK7xxxxx
1470
6000
10.2
12.90
1FT6064xAC7xxxxx
1103
2000
9.5
4.20
1FT6064xAF7xxxxx
1205
3000
9.5
6.10
1FT6064xAH7xxxxx
1303
4500
9.5
9.00
1FT6064xAK7xxxxx
1407
6000
9.5
12.00
1FT6064xWF7xxxxx
1272
3000
16.2
10.30
1FT6064xWH7xxxxx
1372
4500
16.2
15.40
1FT6064xWK7xxxxx
1472
6000
16.2
20.50
1FT6081xAC7xxxxx
1104
2000
8.0
3.90
1FT6081xAF7xxxxx
1206
3000
8.0
5.80
1FT6081xAH7xxxxx
1304
4500
8.0
8.60
1FT6081xAK7xxxxx
1408
6000
8.0
11.10
A Lists
A.3
Table A-2
List of motors
Order No.
(MLFB)
Motor
code
nrated
M0
(100 K)
I0
(100 K)
P1102
[RPM]
[Nm]
[A(rms)]
1FT6082xAC7xxxxx
1105
2000
13.0
6.60
1FT6082xAF7xxxxx
1207
3000
13.0
9.60
1FT6082xAH7xxxxx
1305
4500
13.0
14.80
1FT6082xAK7xxxxx
1409
6000
13.0
17.30
1FT6084xAC7xxxxx
1106
2000
20.0
8.80
1FT6084xAF7xxxxx
1208
3000
20.0
13.20
1FT6084xAH7xxxxx
1306
4500
20.0
19.80
1FT6084xAK7xxxxx
1410
6000
20.0
24.10
1FT6084xSF7xxxxx
1258
3000
26.0
18.20
1FT6084xSH7xxxxx
1356
4500
26.0
26.00
1FT6084xSK7xxxxx
1460
6000
26.0
35.00
1FT6084xWF7xxxxx
1283
3000
35.0
24.50
1FT6084xWH7xxxxx
1381
4500
35.0
37.00
1FT6084xWK7xxxxx
1485
6000
35.0
47.00
1FT6086xAC7xxxxx
1107
2000
27.0
11.30
1FT6086xAF7xxxxx
1209
3000
27.0
16.40
1FT6086xAH7xxxxx
1307
4500
27.0
23.30
1FT6086xSF7xxxxx
1259
3000
35.0
25.00
1FT6086xSG7xxxxx
1257
4000
27.0
23.30
1FT6086xSH7xxxxx
1357
4500
35.0
38.00
1FT6086xSK7xxxxx
1461
6000
35.0
44.00
1FT6086xWF7xxxxx
1284
3000
47.0
34.00
1FT6086xWH7xxxxx
1382
4500
47.0
52.00
1FT6086xWK7xxxxx
1486
6000
47.0
59.00
1FT6102xAB7xxxxx
1001
1500
27.0
8.70
1FT6102xAC7xxxxx
1108
2000
27.0
12.10
1FT6102xAF7xxxxx
1210
3000
27.0
16.90
1FT6102xAH7xxxxx
1308
4500
27.0
24.10
1FT6105xAB7xxxxx
1002
1500
50.0
16.00
1FT6105xAC7xxxxx
1109
2000
50.0
21.40
1FT6105xAF7xxxxx
1211
3000
50.0
32.00
1FT6105xSB7xxxxx
1139
1500
65.0
21.90
1FT6105xSC7xxxxx
1159
2000
65.0
30.00
1FT6105xSF7xxxxx
1261
3000
65.0
42.00
A-931
A Lists
A.3
List of motors
Table A-2
Order No.
(MLFB)
A-932
Motor
code
nrated
M0
(100 K)
I0
(100 K)
P1102
[RPM]
[Nm]
[A(rms)]
1FT6105xSH7xxxxx
1351
4500
65.0
59.00
1FT6105xWC7xxxxx
1184
2000
85.0
58.00
1FT6105xWF7xxxxx
1286
3000
85.0
83.00
1FT6108xAB7xxxxx
1003
1500
70.0
22.30
1FT6108xAC7xxxxx
1110
2000
70.0
29.00
1FT6108xAF7xxxxx
1213
3000
70.0
41.00
1FT6108xSB7xxxxx
1140
1500
90.0
31.00
1FT6108xSC7xxxxx
1160
2000
90.0
41.00
1FT6108xSF7xxxxx
1260
3000
90.0
62.00
1FT6108xWB7xxxxx
1078
1500
119.0
43.00
1FT6108xWC7xxxxx
1185
2000
119.0
57.00
1FT6108xWF7xxxxx
1288
3000
119.0
86.00
1FT6132xAB7xxxxx
1004
1500
75.0
21.60
1FT6132xAC7xxxxx
1111
2000
75.0
29.00
1FT6132xAF7xxxxx
1212
3000
75.0
43.00
1FT6132xSB7xxxxx
1142
1500
110.0
36.00
1FT6132xSC7xxxxx
1161
2000
110.0
47.00
1FT6132xSF7xxxxx
1262
3000
110.0
69.00
1FT6132xWB7xxxxx
1273
1500
155.0
58.00
1FT6132xWD7xxxxx
1274
2500
155.0
92.00
1FT6134xAB7xxxxx
1005
1500
95.0
27.00
1FT6134xAC7xxxxx
1112
2000
95.0
36.00
1FT6134xSB7xxxxx
1143
1500
140.0
44.00
1FT6134xSC7xxxxx
1162
2000
140.0
58.00
1FT6134xSF7xxxxx
1263
3000
140.0
83.00
1FT6134xWB7xxxxx
1275
1500
200.0
73.00
1FT6134xWD7xxxxx
1276
2500
200.0
122.00
1FT6136xAB7xxxxx
1006
1500
115.0
34.00
1FT6136xAC7xxxxx
1113
2000
115.0
42.00
1FT6136xSB7xxxxx
1144
1500
175.0
55.00
1FT6136xSC7xxxxx
1163
2000
175.0
77.00
1FT6136xSF7xxxxx
1264
3000
175.0
110.00
1FT6136xWB7xxxxx
1277
1500
240.0
92.00
1FT6136xWD7xxxxx
1278
2500
240.0
158.00
A Lists
A.3
Table A-2
List of motors
Order No.
(MLFB)
Motor
code
nrated
M0
(100 K)
I0
(100 K)
P1102
[RPM]
[Nm]
[A(rms)]
1FT6138xWB7xxxxx
1279
1500
300.0
112.00
1FT6138xWD7xxxxx
1280
2500
300.0
167.00
1FT6163xSB7xxxxx
1145
1500
425.0
151.00
1FT6163xWB7xxxxx
1147
1500
450.0
160.00
1FT6168xSB7xxxxx
1149
1500
600.0
194.00
1FT6168xWB7xxxxx
1150
1500
700.0
225.00
1FT7034xAK7xxxxx
1152
6000
2.0
2.70
1FT7036xAK7xxxxx
1153
6000
3.0
4.00
1FT7042xAF7xxxxx
1501
3000
3.0
2.10
1FT7042xAK7xxxxx
1502
6000
3.0
3.90
1FT7044xAF7xxxxx
1503
3000
5.0
2.80
1FT7044xAK7xxxxx
1504
6000
5.0
5.70
1FT7046xAF7xxxxx
1505
3000
7.0
4.00
1FT7046xAH7xxxxx
1532
4500
7.0
8.10
1FT7046xAK7xxxxx
1506
6000
7.0
8.10
1FT7062xAF7xxxxx
1516
3000
6.0
3.90
1FT7062xAK7xxxxx
1517
6000
6.0
8.40
1FT7062xWF7xxxxx
1543
3000
10.0
7.40
1FT7062xWK7xxxxx
1544
6000
10.0
12.50
1FT7064xAF7xxxxx
1520
3000
9.0
5.70
1FT7064xAK7xxxxx
1521
6000
9.0
9.00
1FT7064xWF7xxxxx
1545
3000
16.0
11.90
1FT7064xWK7xxxxx
1546
6000
16.0
20.20
1FT7065xSF7xxxxx
1579
3000
14.0
12.00
1FT7065xSH7xxxxx
1580
4500
14.0
16.00
1FT7065xWF7xxxxx
1568
3000
19.0
16.00
1FT7065xWH7xxxxx
1569
4500
19.0
22.00
1FT7066xAF7xxxxx
1522
3000
12.0
8.40
1FT7066xAH7xxxxx
1539
4500
12.0
13.60
1FT7066xWF7xxxxx
1547
3000
20.0
14.00
1FT7066xWH7xxxxx
1548
4500
20.0
19.70
1FT7067xSF7xxxxx
1581
3000
17.0
15.00
1FT7067xSH7xxxxx
1582
4500
17.0
19.00
1FT7067xWF7xxxxx
1570
3000
25.0
22.00
A-933
A Lists
A.3
List of motors
Table A-2
Order No.
(MLFB)
A-934
Motor
code
nrated
M0
(100 K)
I0
(100 K)
P1102
[RPM]
[Nm]
[A(rms)]
1FT7067xWH7xxxxx
1571
4500
25.0
28.00
1FT7068xAF7xxxxx
1525
3000
15.0
8.30
1FT7068xWF7xxxxx
1549
3000
30.0
19.00
1FT7082xAC7xxxxx
1533
2000
13.0
5.00
1FT7082xAF7xxxxx
1508
3000
13.0
7.60
1FT7082xAH7xxxxx
1509
4500
13.0
12.30
1FT7082xWC7xxxxx
1550
2000
21.0
10.70
1FT7082xWF7xxxxx
1551
3000
21.0
16.00
1FT7082xWH7xxxxx
1552
4500
21.0
24.00
1FT7084xAC7xxxxx
1534
2000
20.0
9.00
1FT7084xAF7xxxxx
1511
3000
20.0
11.00
1FT7084xAH7xxxxx
1512
4500
20.0
15.60
1FT7084xSC7xxxxx
1587
2000
27.0
15.00
1FT7084xSF7xxxxx
1588
3000
27.0
21.00
1FT7084xSH7xxxxx
1589
4500
27.0
30.50
1FT7084xWC7xxxxx
1553
2000
35.0
16.50
1FT7084xWF7xxxxx
1554
3000
35.0
23.00
1FT7084xWH7xxxxx
1555
4500
35.0
34.30
1FT7085xSF7xxxxx
1572
3000
34.0
28.00
1FT7085xSH7xxxxx
1573
4500
34.0
40.00
1FT7085xWF7xxxxx
1574
3000
43.0
36.00
1FT7085xWH7xxxxx
1575
4500
43.0
58.00
1FT7086xAC7xxxxx
1535
2000
28.0
10.60
1FT7086xAF7xxxxx
1514
3000
28.0
15.50
1FT7086xAH7xxxxx
1515
4500
28.0
22.40
1FT7086xSC7xxxxx
1590
2000
36.0
19.50
1FT7086xSF7xxxxx
1591
3000
36.0
29.00
1FT7086xSH7xxxxx
1592
4500
36.0
34.00
1FT7086xWC7xxxxx
1556
2000
50.0
23.00
1FT7086xWF7xxxxx
1557
3000
50.0
34.00
1FT7086xWH7xxxxx
1558
4500
50.0
40.50
1FT7087xSF7xxxxx
1576
3000
48.0
40.00
1FT7087xSH7xxxxx
1577
4500
48.0
45.00
1FT7087xWF7xxxxx
1567
3000
61.0
51.00
A Lists
A.3
Table A-2
List of motors
Order No.
(MLFB)
Motor
code
nrated
M0
(100 K)
I0
(100 K)
P1102
[RPM]
[Nm]
[A(rms)]
1FT7087xWH7xxxxx
1578
4500
61.0
67.00
1FT7102xAB7xxxxx
1526
1500
30.0
9.00
1FT7102xAC7xxxxx
1537
2000
30.0
12.50
1FT7102xAF7xxxxx
1527
3000
30.0
18.00
1FT7102xWB7xxxxx
1559
1500
50.0
17.80
1FT7102xWC7xxxxx
1560
2000
50.0
25.50
1FT7102xWF7xxxxx
1561
3000
50.0
40.00
1FT7105xAB7xxxxx
1528
1500
50.0
15.00
1FT7105xAC7xxxxx
1536
2000
50.0
18.00
1FT7105xAF7xxxxx
1529
3000
50.0
26.00
1FT7105xSC7xxxxx
1583
2000
65.0
31.00
1FT7105xSF7xxxxx
1584
3000
65.0
45.00
1FT7105xWB7xxxxx
1542
1500
90.0
28.20
1FT7105xWC7xxxxx
1562
2000
90.0
39.00
1FT7105xWF7xxxxx
1563
3000
90.0
53.20
1FT7108xAB7xxxxx
1530
1500
70.0
18.00
1FT7108xAC7xxxxx
1538
2000
70.0
25.00
1FT7108xAF7xxxxx
1531
3000
70.0
36.00
1FT7108xSC7xxxxx
1585
2000
91.0
39.00
1FT7108xSF7xxxxx
1586
3000
91.0
57.00
1FT7108xWB7xxxxx
1540
1500
125.0
39.00
1FT7108xWC7xxxxx
1564
2000
125.0
45.30
1FT7108xWF7xxxxx
1565
3000
125.0
65.00
1PH81312xF0xxxxx
1701
1750
105.0
30.30
1PH81312xF1xxxxx
1702
1750
105.0
30.30
1PH81312xF2xxxxx
1703
1750
115.0
41.00
1PH81312xL0xxxxx
1704
2800
105.0
48.00
1PH81312xL1xxxxx
1705
2800
105.0
48.00
1PH81312xL2xxxxx
1706
2800
116.0
60.10
1PH81332xF0xxxxx
1707
1750
131.0
45.10
1PH81332xF1xxxxx
1708
1750
131.0
45.10
1PH81332xF2xxxxx
1709
1750
155.0
43.40
1PH81332xG2xxxxx
1710
2300
155.0
60.50
A-935
A Lists
A.3
List of motors
Table A-2
Order No.
(MLFB)
A-936
Motor
code
nrated
M0
(100 K)
I0
(100 K)
P1102
[RPM]
[Nm]
[A(rms)]
1PH81332xL0xxxxx
1711
2800
131.0
58.80
1PH81332xL1xxxxx
1712
2800
131.0
58.80
1PH81352xF0xxxxx
1713
1750
158.0
44.20
1PH81352xF1xxxxx
1714
1750
158.0
44.20
1PH81352xF2xxxxx
1715
1750
196.0
58.70
1PH81352xG0xxxxx
1716
2300
158.0
62.60
1PH81352xG1xxxxx
1717
2300
158.0
62.60
1PH81352xG2xxxxx
1718
2300
196.0
85.10
1PH81372xF0xxxxx
1719
1750
203.0
62.10
1PH81372xF1xxxxx
1720
1750
203.0
62.10
1PH81372xF2xxxxx
1721
1750
226.0
60.00
1PH81372xG2xxxxx
1722
2300
226.0
90.40
1PH81372xL0xxxxx
1723
2800
203.0
89.30
1PH81372xL1xxxxx
1724
2800
203.0
89.30
1PH81372xM0xxxxx
1725
3300
203.0
115.00
1PH81372xM1xxxxx
1726
3300
203.0
115.00
1PH81382xF2xxxxx
1727
1750
290.0
120.00
1PH81382xG2xxxxx
1728
2300
290.0
134.00
1PH81642xF2xxxxx
1737
1750
440.0
118.00
1PH81642xG2xxxxx
1738
2300
440.0
158.00
1PH81642xL2xxxxx
1739
2800
440.0
203.00
1PH81642xM2xxxxx
1740
3300
440.0
237.00
1PH81652xF0xxxxx
1741
1750
440.0
126.00
1PH81652xF1xxxxx
1742
1750
440.0
126.00
1PH81652xL0xxxxx
1743
2800
440.0
188.00
1PH81652xL1xxxxx
1744
2800
440.0
188.00
1PH81662xF2xxxxx
1745
1750
550.0
159.00
1PH81662xG2xxxxx
1746
2300
550.0
204.00
1PH81662xL2xxxxx
1747
2800
550.0
238.00
1PH81662xM2xxxxx
1748
3300
550.0
286.00
1PH81672xF0xxxxx
1749
1750
503.0
143.00
1PH81672xF1xxxxx
1750
1750
503.0
143.00
1PH81672xG0xxxxx
1751
2300
503.0
191.00
1PH81672xG1xxxxx
1752
2300
503.0
191.00
A Lists
A.3
Table A-2
List of motors
Order No.
(MLFB)
Motor
code
nrated
M0
(100 K)
I0
(100 K)
P1102
[RPM]
[Nm]
[A(rms)]
1PH81672xL0xxxxx
1756
2800
503.0
229.00
1PH81672xL1xxxxx
1757
2800
503.0
229.00
1PH81682xF2xxxxx
1753
1750
620.0
179.00
1PH81682xG2xxxxx
1754
2300
620.0
238.00
1PH81682xL2xxxxx
1755
2800
521.0
240.00
1PH81842xC2xxxxx
1729
800
590.0
103.00
1PH81842xD2xxxxx
1730
1150
600.0
143.00
1PH81842xF2xxxxx
1731
1750
600.0
196.00
1PH81862xC2xxxxx
1733
800
800.0
143.00
1PH81862xD2xxxxx
1734
1150
800.0
196.00
Unlisted motors
2000
Note:
x:
A-937
A Lists
A.3
List of motors
Parameters for
unlisted motors
(SRM)
Table A-3
No.
A-938
Name
Unit
Value
1999
1102
1103
A(rms)
1104
A(rms)
1112
1113
Torque constant
Nm/A
1114
Voltage constant
V(rms)
1115
Armature resistance
1116
Armature inductance
mH
1117
kgm2
1118
A(rms)
1122
A(rms)
1128
Degrees.
1136
Noload motor current (this is only relevant for SRM with field weakening)
A(rms)
1142
RPM
1145
Stall torque reduction factor (is only relevant for SRM with field weakening)
1146
1149
1180
1181
1182
1400
1602
RPM
mH
RPM
_C
A Lists
A.3
A.3.2
List of motors
List of permanentmagnet synchronous motors with field weakening (1FE1, 2SP1, PE spindle)
Readers note
Information about the motors can be found in
Reference:
nmax
nrated
M0
(100 K)
Irated
(100 K)
P1102
[RPM]
[RPM]
[Nm]
[A(rms)]
1FE10416WM10xxxx
2773
20000
15800
4.5
13.0
1FE10416WN10xxxx
2755
18000
14000
4.5
12.0
1FE10416WU10xxxx
2750
13000
8500
4.5
8.0
1FE10426WN10xxxx
2757
18000
12500
11.0
24.0
1FE10426WR10xxxx
2758
15000
10000
11.0
19.0
1FE10514HC10xxxx
2766
40000
24000
5.0
25.0
1FE10514WL11xxxx
2813
30000
10300
6.5
13.5
1FE10514WL51xxxx
2814
30000
10300
6.5
13.5
1FE10514WN11xxxx
2875
30000
9500
6.5
13.0
1FE10516WK10xxxx
2876
15000
8000
10.0
20.0
1FE10516WN00xxxx
2877
12000
6000
7.5
11.0
1FE10516WN10xxxx
2804
12000
6000
10.0
15.0
1FE10516WN20xxxx
2817
12000
6000
7.5
11.0
1FE10516WN30xxxx
2818
12000
6000
10.0
15.0
1FE10524HD10xxxx
2767
40000
25000
12.0
57.0
1FE10524HG11xxxx
2768
40000
19000
12.0
44.0
1FE10524WK11xxxx
2807
30000
12500
13.0
30.0
1FE10524WN11xxxx
2806
30000
8000
13.0
20.0
1FE10524WN51xxxx
2819
30000
8000
13.0
20.0
1FE10526LK00xxxx
2808
12000
9000
12.0
22.0
Order No.
(MLFB)
A-939
A Lists
A.3
List of motors
Table A-4
Motor
code
nmax
nrated
M0
(100 K)
Irated
(100 K)
P1102
[RPM]
[RPM]
[Nm]
[A(rms)]
1FE10526WK10xxxx
2809
15000
7500
18.0
37.0
1FE10526WN00xxxx
2811
12000
6000
16.0
22.0
1FE10526WN10xxxx
2805
12000
5500
20.0
30.0
1FE10526WY10xxxx
2812
6000
3000
18.0
13.5
1FE10534HH11xxxx
2769
40000
13500
18.0
46.0
1FE10534WJ11xxxx
2963
30000
11000
20.0
36.0
1FE10534WN11xxxx
2824
30000
7900
20.0
29.0
1FE10546LR00xxxx
2815
8500
5000
24.0
24.0
1FE10546WN10xxxx
2810
12000
6000
37.0
60.0
1FE10546WQ10xxxx
2816
9500
4500
42.0
54.0
1FE10546WR10xxxx
2946
8500
4500
37.0
45.0
1FE10556LU00xxxx
2878
6000
4000
9.0
8.0
1FE10556LX00xxxx
2879
4200
2300
9.0
4.5
1FE10616LW00xxxx
2880
7000
4100
8.0
8.0
1FE10616WH10xxxx
2759
12000
8500
13.0
21.0
1FE10616WV10xxxx
2775
6000
3500
13.0
9.0
1FE10616WY10xxxx
2839
5000
3000
13.0
8.0
1FE10646LQ00xxxx
2881
5000
2000
40.0
29.0
1FE10646WN11xxxx
2840
12000
4300
56.0
56.0
1FE10646WQ11xxxx
2760
10000
3400
56.0
43.0
1FE10724WH11xxxx
2882
24000
9700
28.0
64.0
1FE10724WL11xxxx
2883
24000
6800
28.0
45.0
1FE10724WN01xxxx
2884
24000
5500
25.0
29.0
1FE10724WN10xxxx
2771
10000
5500
28.0
36.0
1FE10724WN11xxxx
2822
24000
5500
28.0
36.0
1FE10724WN31xxxx
2841
24000
5500
28.0
36.0
1FE10724WV11xxxx
2975
12600
2500
28.0
18.0
1FE10734WL11xxxx
2948
24000
9700
44.0
83.0
1FE10734WM11xxxx
2964
24000
7400
45.0
68.0
1FE10734WN01xxxx
2885
24000
6800
39.0
54.0
1FE10734WN11xxxx
2823
24000
6800
42.0
65.0
1FE10734WR01xxxx
2886
20000
4600
39.0
38.0
1FE10734WT11xxxx
2887
14000
3200
45.0
30.0
1FE10734WT31xxxx
2906
14000
3200
45.0
30.0
1FE10744WM11xxxx
2888
20000
7700
60.0
97.0
A-940
A Lists
A.3
Table A-4
List of motors
Motor
code
nmax
nrated
M0
(100 K)
Irated
(100 K)
P1102
[RPM]
[RPM]
[Nm]
[A(rms)]
1FE10744WN11xxxx
2826
20000
7000
56.0
91.0
1FE10744WN51xxxx
2907
20000
7000
56.0
91.0
1FE10744WR11xxxx
2959
20000
4800
60.0
58.0
1FE10744WT11xxxx
2966
18000
4100
60.0
53.0
1FE10744WV11xxxx
2965
15500
3800
60.0
45.0
1FE10824WF10xxxx
2967
16000
7500
42.0
81.0
1FE10824WK11xxxx
2958
20000
5600
42.0
55.0
1FE10824WN01xxxx
2889
20000
4000
37.0
35.0
1FE10824WN11xxxx
2825
20000
3500
42.0
42.0
1FE10824WN51xxxx
2908
20000
3500
42.0
42.0
1FE10824WP11xxxx
2809
15000
2700
42.0
30.0
1FE10824WR11xxxx
2890
11000
2000
42.0
24.0
1FE10824WR31xxxx
2910
11000
2000
42.0
24.0
1FE10826WE11xxxx
2776
8000
1700
65.0
24.0
1FE10826WP10xxxx
2891
8500
5000
65.0
65.0
1FE10826WQ11xxxx
2911
9000
4300
65.0
60.0
1FE10826WS10xxxx
2912
6000
3600
65.0
45.0
1FE10826WS30xxxx
2913
6000
3600
65.0
45.0
1FE10826WW10xxxx
2761
3800
2200
65.0
30.0
1FE10826WW11xxxx
2914
9000
2200
65.0
30.0
1FE10834WN01xxxx
2892
20000
4200
55.0
66.0
1FE10834WN11xxxx
2827
20000
4200
63.0
77.0
1FE10844WN11xxxx
2829
20000
4300
84.0
105.0
1FE10844WN31xxxx
2915
20000
4300
84.0
105.0
1FE10844WP11xxxx
2916
20000
4300
78.0
79.0
1FE10844WQ11xxxx
2917
18000
3400
84.0
83.0
1FE10844WQ51xxxx
2918
18000
3400
84.0
83.0
1FE10844WT11xxxx
2919
15000
3000
84.0
60.0
1FE10844WT51xxxx
2920
15000
3000
84.0
60.0
1FE10844WV11xxxx
2968
12000
2600
84.0
50.0
1FE10846LN00xxxx
2830
5000
2000
90.0
58.0
1FE10846WN11xxxx
2831
9000
3400
130.0
85.0
1FE10846WR11xxxx
2832
9000
2300
130.0
60.0
1FE10846WU11xxxx
2751
7000
1700
130.0
45.0
1FE10846WX11xxxx
2942
4500
1100
130.0
30.0
A-941
A Lists
A.3
List of motors
Table A-4
Motor
code
nmax
nrated
M0
(100 K)
Irated
(100 K)
P1102
[RPM]
[RPM]
[Nm]
[A(rms)]
1FE10854WN11xxxx
2828
18000
3500
105.0
105.0
1FE10854WQ11xxxx
2833
16000
3000
105.0
85.0
1FE10854WT11xxxx
2834
12000
2200
105.0
60.0
1FE10916WN10xxxx
2801
7000
3500
28.0
24.0
1FE10916WN30xxxx
2921
7000
3500
28.0
24.0
1FE10916WS10xxxx
2835
4000
2000
30.0
15.0
1FE10924WP11xxxx
2772
18000
3400
45.0
41.0
1FE10924WV11xxxx
2837
10000
2000
50.0
24.0
1FE10926WN00xxxx
2838
7000
4000
58.0
50.0
1FE10926WN10xxxx
2836
7000
3500
66.0
58.0
1FE10926WN30xxxx
2922
7000
3500
66.0
58.0
1FE10926WR11xxxx
2923
7000
3200
66.0
41.0
1FE10934WF01xxxx
2842
16000
6000
66.0
85.0
1FE10934WH11xxxx
2870
18000
4500
75.0
83.0
1FE10934WK01xxxx
2843
16000
4400
65.0
60.0
1FE10934WM11xxxx
2924
18000
3500
75.0
64.0
1FE10934WN01xxxx
2844
16000
3400
65.0
51.0
1FE10934WN10xxxx
2925
6500
3300
75.0
60.0
1FE10934WN11xxxx
2820
16000
3300
75.0
60.0
1FE10934WN51xxxx
2753
16000
3300
75.0
60.0
1FE10936WN10xxxx
2802
7000
3500
100.0
83.0
1FE10936WS10xxxx
2846
4000
2000
100.0
53.0
1FE10936WS30xxxx
2926
4000
2000
100.0
53.0
1FE10936WV01xxxx
2777
7000
1800
88.0
37.0
1FE10936WV11xxxx
2847
7000
1600
100.0
43.0
1FE10936WV31xxxx
2927
7000
1600
100.0
43.0
1FE10936WX11xxxx
2774
6300
1460
98.0
30.0
1FE10937LN00xxxx
2845
7000
3500
75.0
60.0
1FE10944LW01xxxx
2848
9000
2500
72.0
30.0
1FE10944WK10xxxx
2960
9000
4400
100.0
108.0
1FE10944WK11xxxx
2869
18000
4400
100.0
108.0
1FE10944WL11xxxx
2867
18000
3800
100.0
90.0
1FE10944WS11xxxx
2849
13000
2500
100.0
60.0
1FE10944WU11xxxx
2803
10000
1800
95.0
45.0
1FE10954WN11xxxx
2868
18000
3500
125.0
108.0
A-942
A Lists
A.3
Table A-4
List of motors
Motor
code
nmax
nrated
M0
(100 K)
Irated
(100 K)
P1102
[RPM]
[RPM]
[Nm]
[A(rms)]
1FE10956LT01xxxx
2850
7000
1500
160.0
60.0
1FE10956WU11xxxx
2949
7000
1650
170.0
58.0
1FE10964WK10xxxx
2851
10000
5000
150.0
180.0
1FE10964WN11xxxx
2821
16000
3300
150.0
120.0
1FE10986WT11xxxx
2770
4300
1000
85.0
17.5
1FE11034WN01xxxx
2863
16000
4200
80.0
65.0
1FE11034WN11xxxx
2871
16000
3600
102.0
84.0
1FE11034WN31xxxx
2928
16000
3600
102.0
84.0
1FE11034WQ01xxxx
2852
15000
3600
80.0
60.0
1FE11034WQ11xxxx
2929
15000
3300
100.0
68.0
1FE11034WT01xxxx
2853
12000
2700
80.0
45.0
1FE11034WT11xxxx
2930
12000
2500
100.0
53.0
1FE11034WU01xxxx
2854
10000
2700
80.0
45.0
1FE11044WL11xxxx
2969
16000
5300
136.0
140.0
1FE11044WN11xxxx
2872
16000
3800
136.0
120.0
1FE11054WA01xxxx
2970
12500
2600
150.0
85.0
1FE11054WN01xxxx
2856
16000
3000
148.0
102.0
1FE11054WN11xxxx
2873
16000
3000
170.0
120.0
1FE11054WQ01xxxx
2857
10000
2560
150.0
85.0
1FE11054WQ11xxxx
2931
10000
2600
170.0
95.0
1FE11054WS11xxxx
2944
10000
2300
170.0
84.0
1FE11064WN11xxxx
2874
16000
3400
204.0
159.0
1FE11064WR11xxxx
2754
14000
2900
204.0
128.0
1FE11064WS11xxxx
2932
12500
2700
200.0
120.0
1FE11064WY11xxxx
2858
6000
1200
200.0
60.0
1FE11126LW01xxxx
2893
7000
1800
70.0
29.0
1FE11136LU01xxxx
2894
7000
1800
105.0
43.0
1FE11136WD10xxxx
2971
1650
950
150.0
30.0
1FE11136WU11xxxx
2763
6500
2100
150.0
60.0
1FE11136WX11xxxx
2764
5700
1400
150.0
43.0
1FE11146LU11xxxx
2859
6500
1200
130.0
45.0
1FE11146WR11xxxx
2860
6500
2000
200.0
108.0
1FE11146WR31xxxx
2933
6500
2000
200.0
108.0
1FE11146WT10xxxx
2861
3300
1400
200.0
84.0
1FE11146WT11xxxx
2855
6500
1400
200.0
84.0
A-943
A Lists
A.3
List of motors
Table A-4
Motor
code
nmax
nrated
M0
(100 K)
Irated
(100 K)
P1102
[RPM]
[RPM]
[Nm]
[A(rms)]
1FE11146WT31xxxx
2934
6500
1400
200.0
84.0
1FE11146WT51xxxx
2935
6500
1400
200.0
84.0
1FE11146WW11xxxx
2895
6000
1000
200.0
58.0
1FE11146WW31xxxx
2936
6000
1000
200.0
58.0
1FE11156WT11xxxx
2752
6500
1500
265.0
85.0
1FE11166LS01xxxx
2864
5000
1000
210.0
60.0
1FE11166LT01xxxx
2865
5600
1000
270.0
75.0
1FE11166WR11xxxx
2866
6500
1200
300.0
109.0
1FE11166WT11xxxx
2862
5500
900
300.0
84.0
1FE11166WW11xxxx
2943
4000
700
300.0
60.0
1FE11166WY11xxxx
2937
3000
740
310.0
45.0
1FE11244WN11xxxx
2896
14000
3000
200.0
135.0
1FE11254WN11xxxx
2897
14000
3000
250.0
162.0
1FE11254WP11xxxx
2898
12500
2500
250.0
147.0
1FE11254WQ11xxxx
2972
10000
2200
250.0
116.0
1FE11264WN11xxxx
2899
14000
3000
300.0
200.0
1FE11264WP11xxxx
2900
12500
2500
300.0
180.0
1FE11264WQ11xxxx
2901
10000
2000
300.0
147.0
1FE11448WL11xxxx
2945
6500
1400
430.0
133.0
1FE11448WQ11xxxx
2961
4900
1100
430.0
98.0
1FE11448WT10xxxx
2941
1700
900
430.0
85.0
1FE11448WV11xxxx
2947
3500
780
430.0
71.0
1FE11458LV11xxxx
2765
4100
1000
420.0
75.0
1FE11458WN11xxxx
2902
8000
1700
585.0
200.0
1FE11458WQ11xxxx
2938
6000
1300
585.0
158.0
1FE11458WS11xxxx
2903
5000
1100
585.0
130.0
1FE11478WM11xxxx
2962
6000
1300
820.0
220.0
1FE11478WN11xxxx
2904
5500
1200
820.0
200.0
1FE11478WQ11xxxx
2939
4200
950
820.0
158.0
1FE11478WQ31xxxx
2940
4200
950
820.0
158.0
1FE11478WS11xxxx
2905
3500
750
820.0
130.0
2SP12021HAxxxxxx
2954
15000
2700
42.0
30.0
2SP12021HBxxxxxx
2955
18000
3500
42.0
42.0
2SP12041HAxxxxxx
2956
15000
3000
84.0
60.0
2SP12041HBxxxxxx
2957
18000
4300
78.0
79.0
A-944
A Lists
A.3
Table A-4
List of motors
Motor
code
nmax
nrated
M0
(100 K)
Irated
(100 K)
P1102
[RPM]
[RPM]
[Nm]
[A(rms)]
2SP12531xAxxxxxx
2950
10000
2500
100.0
53.0
2SP12531xBxxxxxx
2951
15000
3300
100.0
68.0
2SP12551xAxxxxxx
2952
10000
2600
170.0
95.0
2SP12551xBxxxxxx
2953
15000
3000
170.0
120.0
Unlisted motors
1999
Parameters for
unlisted motors
(PE spindle)
Table A-5
No.
1015
Name
Activate PEMSD
Unit
Value
1
1999
1 = activated, 0 = deactivated
1102
1103
A(rms)
1104
A(rms)
1112
1113
Torque constant
Nm/A
1114
Voltage constant
V(rms)
1115
1116
Armature inductance
1117
kgm2
1118
A(rms)
1122
A(rms)
1128
Degrees.
1136
A(rms)
1142
1145
1146
1149
1180
1181
1182
1400
mH
RPM
%
RPM
mH
RPM
A-945
A Lists
A.3
List of motors
A.3.3
Readers note
Information about the motors can be found in
Reference:
nmax
nrated
M0
(100 K)
Irated
(100 K)
P1102
[RPM]
[RPM]
[Nm]
[A(rms)]
1FW60900xx050Fxx
1801
1100
140
119.0
5.9
1FW60900xx050Kxx
1802
1100
250
119.0
8.2
1FW60900xx070Kxx
1803
1100
220
166.0
10.0
1FW60900xx071Jxx
1804
1100
430
166.0
16.0
1FW60900xx100Kxx
1805
1100
82
238.0
8.2
1FW60900xx101Jxx
1806
1100
270
238.0
16.0
1FW60900xx151Jxx
1807
1100
150
357.0
16.0
1FW60900xx152Jxx
1808
1100
310
357.0
26.0
1FW61300xx050Kxx
1809
910
130
258.0
9.7
1FW61300xx051Jxx
1810
910
310
258.0
17.0
1FW61300xx070Kxx
1811
910
96
361.0
10.0
1FW61300xx071Jxx
1812
910
200
361.0
17.0
1FW61300xx101Jxx
1813
910
120
516.0
17.0
1FW61300xx102Jxx
1814
910
250
516.0
28.0
1FW61300xx151Jxx
1815
910
78
775.0
19.0
1FW61300xx152Jxx
1816
910
150
775.0
28.0
1FW61500xx051Jxx
1842
800
230
360.0
18.0
1FW61500xx054Fxx
1843
800
650
360.0
44.0
1FW61500xx072Jxx
1844
800
260
504.0
27.0
1FW61500xx074Fxx
1845
800
450
504.0
44.0
Order No.
(MLFB)
A-946
A Lists
A.3
Table A-6
List of motors
Motor
code
nmax
nrated
M0
(100 K)
Irated
(100 K)
P1102
[RPM]
[RPM]
[Nm]
[A(rms)]
1FW61500xx102Jxx
1846
800
170
720.0
27.0
1FW61500xx104Fxx
1847
800
300
720.0
44.0
1FW61500xx152Jxx
1848
800
100
1080.0
27.0
1FW61500xx154Fxx
1849
800
190
1080.0
44.0
1FW61600xx051Jxx
1817
690
140
467.0
17.0
1FW61600xx052Jxx
1818
690
250
467.0
28.0
1FW61600xx071Jxx
1819
690
96
653.0
17.0
1FW61600xx072Jxx
1820
690
170
653.0
28.0
1FW61600xx101Jxx
1821
690
60
933.0
17.0
1FW61600xx102Jxx
1822
690
110
933.0
28.0
1FW61600xx152Jxx
1823
690
66
1400.0
28.0
1FW61600xx155Gxx
1824
690
160
1400.0
56.0
1FW6160xxx055Gxx
1858
690
590
467.0
56.0
1FW6160xxx075Gxx
1859
690
390
653.0
56.0
1FW6160xxx078Fxx
1860
690
610
653.0
80.0
1FW6160xxx102Pxx
1861
690
600
933.0
110.0
1FW6160xxx105Gxx
1862
690
260
933.0
56.0
1FW6160xxx108Fxx
1863
690
390
933.0
80.0
1FW6160xxx150Wxx
1864
690
560
1400.0
160.0
1FW6160xxx152Pxx
1865
690
360
1400.0
110.0
1FW6160xxx158Fxx
1866
690
240
1400.0
80.0
1FW6160xxx200Wxx
1867
690
400
1870.0
160.0
1FW6160xxx202Pxx
1868
690
260
1870.0
110.0
1FW6160xxx205Gxx
1869
690
110
1870.0
56.0
1FW6160xxx208Fxx
1870
690
170
1870.0
80.0
1FW61900xx051Jxx
1825
630
97
672.0
160.0
1FW61900xx052Jxx
1826
630
160
672.0
27.0
1FW61900xx071Jxx
1827
630
63
941.0
18.0
1FW61900xx072Jxx
1828
630
110
941.0
27.0
1FW61900xx101Jxx
1829
630
38
1340.0
18.0
1FW61900xx102Jxx
1830
630
70
1340.0
27.0
1FW61900xx152Jxx
1831
630
40
2020.0
27.0
1FW61900xx155Gxx
1832
630
100
2020.0
54.0
1FW6190xxx055Gxx
1871
630
380
672.0
54.0
1FW6190xxx075Gxx
1872
630
250
941.0
54.0
A-947
A Lists
A.3
List of motors
Table A-6
Motor
code
nmax
nrated
M0
(100 K)
Irated
(100 K)
P1102
[RPM]
[RPM]
[Nm]
[A(rms)]
1FW6190xxx078Fxx
1873
630
390
941.0
78.0
1FW6190xxx102Pxx
1874
630
450
1340.0
120.0
1FW6190xxx105Gxx
1875
630
170
1340.0
54.0
1FW6190xxx108Fxx
1876
630
260
1340.0
78.0
1FW6190xxx152Pxx
1878
630
270
2020.0
120.0
1FW6190xxx158Fxx
1879
630
160
2020.0
78.0
1FW6190xxx200Wxx
1880
630
260
2690.0
150.0
1FW6190xxx202Pxx
1881
630
200
2690.0
120.0
1FW6190xxx205Gxx
1882
630
73
2690.0
54.0
1FW6190xxx208Fxx
1883
630
110
2690.0
78.0
1FW62300xx051Jxx
1833
580
69
841.0
16.0
1FW62300xx052Jxx
1834
580
110
841.0
24.0
1FW62300xx071Jxx
1835
580
45
1180.0
16.0
1FW62300xx072Jxx
1836
580
73
1180.0
24.0
1FW62300xx102Jxx
1837
580
46
1680.0
24.0
1FW62300xx105Gxx
1838
580
130
1680.0
54.0
1FW62300xx154Cxx
1839
580
43
2520.0
33.0
1FW62300xx155Gxx
1840
580
80
2520.0
53.0
1FW6230xxx055Gxx
1884
580
290
841.0
53.0
1FW6230xxx075Gxx
1885
580
190
1180.0
53.0
1FW6230xxx078Fxx
1886
580
290
1180.0
74.0
1FW6230xxx102Pxx
1887
580
290
1680.0
100.0
1FW6230xxx108Fxx
1888
580
190
1680.0
74.0
1FW6230xxx150Wxx
1889
580
270
2520.0
140.0
1FW6230xxx152Pxx
1890
580
180
2520.0
100.0
1FW6230xxx158Fxx
1891
580
120
2520.0
74.0
1FW6230xxx200Wxx
1892
580
190
3360.0
140.0
1FW6230xxx202Pxx
1893
580
130
3360.0
100.0
1FW6230xxx205Gxx
1894
580
56
3360.0
53.0
1FW6230xxx208Fxx
1895
580
84
3360.0
74.0
1FW62900xx157Axx
1841
470
53
4760.0
64.0
1FW6290xxx070Lxx
1896
470
210
2220.0
100.0
1FW6290xxx072Pxx
1897
470
270
2220.0
120.0
1FW6290xxx075Gxx
1898
470
110
2220.0
56.0
1FW6290xxx110Lxx
1899
470
130
3490.0
100.0
A-948
A Lists
A.3
Table A-6
List of motors
Motor
code
nmax
nrated
M0
(100 K)
Irated
(100 K)
P1102
[RPM]
[RPM]
[Nm]
[A(rms)]
1FW6290xxx112Pxx
1950
470
170
3490.0
120.0
1FW6290xxx117Axx
1951
470
73
3490.0
62.0
1FW6290xxx150Lxx
1952
470
89
4760.0
100.0
1FW6290xxx152Pxx
1953
470
120
4760.0
120.0
1FW6290xxx200Lxx
1954
470
68
6030.0
100.0
1FW6290xxx202Pxx
1955
470
91
6030.0
120.0
Unlisted motors
1999
Note:
x:
A-949
A Lists
A.3
List of motors
Parameters for
thirdparty motors
(1FW6)
Table A-7
No.
A-950
Name
Unit
Value
1999
1102
1103
A(rms)
1104
A(rms)
1112
1113
Torque constant
Nm/A
1114
Voltage constant
V(rms)
1115
1116
Armature inductance
1117
kgm2
1118
A(rms)
1122
A(rms)
1128
Degrees.
1136
A(rms)
1142
1145
1146
1180
1181
1182
1400
mH
RPM
%
RPM
RPM
A Lists
A.3
A.3.4
List of motors
Readers note
Information about the motors can be found in
SIMODRIVE 611 Linear Motor 1FN
Configuration Manual
Reference:
S 1FN1 motors
S 1FN3type peakload motors
S Continuous Load Motors of the 1FN3 Product
Family
Table A-8
Motor code
vmax
Fmax
(MLFB)
P1102
[m/min]
[N]
1FN10723xF7xxxxx
3031
200
1720
1FN10763xF7xxxxx
3032
200
3450
1FN11225xC7xxxxx
3003
145
3250
1FN11225xF7xxxxx
3021
200
3250
1FN11245xC7xxxxx
3001
145
4850
1FN11245xF7xxxxx
3023
200
4850
1FN11265xC7xxxxx
3004
145
6500
1FN11265xF7xxxxx
3022
200
6500
1FN11845xC7xxxxx
3002
145
7920
1FN11845xF7xxxxx
3024
200
7920
1FN11865xC7xxxxx
3005
145
10600
1FN11865xF7xxxxx
3025
200
10600
1FN12445xC7xxxxx
3006
145
10900
1FN12445xF7xxxxx
3026
200
10900
1FN12465xC7xxxxx
3007
145
14500
1FN12465xF7xxxxx
3027
200
14500
1FN30501KD0xxxxx
3477
492
320
1FN30501ND0xxxxx
3459
435
260
1FN30502KC4xxxxx
3476
391
640
1FN30502NB8xxxxx
3460
202
510
1FN30502WC0xxxxx
3401
373
550
1FN31001KC5xxxxx
3479
417
680
A-951
A Lists
A.3
List of motors
Table A-8
A-952
Motor code
vmax
Fmax
(MLFB)
P1102
[m/min]
[N]
1FN31001NC0xxxxx
3461
214
510
1FN31001WC0xxxxx
3441
322
490
1FN31002KC5xxxxx
3473
415
1350
1FN31002NC8xxxxx
3462
307
1020
1FN31002WC0xxxxx
3402
297
1100
1FN31002WE0xxxxx
3403
497
1100
1FN31003KC5xxxxx
3474
414
2030
1FN31003NC0xxxxx
3463
211
1530
1FN31003WC0xxxxx
3442
277
1650
1FN31003WE0xxxxx
3404
497
1650
1FN31004NC8xxxxx
3464
305
2040
1FN31004WC0xxxxx
3405
297
2200
1FN31004WE0xxxxx
3406
497
2200
1FN31005WC0xxxxx
3407
255
2750
1FN31501KC7xxxxx
3472
461
1030
1FN31501NC2xxxxx
3465
234
770
1FN31501WC0xxxxx
3408
321
825
1FN31501WE0xxxxx
3409
605
825
1FN31502KC7xxxxx
3475
459
2060
1FN31502NB8xxxxx
3466
201
1530
1FN31502WC0xxxxx
3410
282
1650
1FN31503KC7xxxxx
3478
458
3100
1FN31503NC7xxxxx
3467
292
2300
1FN31503WC0xxxxx
3411
282
2470
1FN31504NB8xxxxx
3468
200
3060
1FN31504WC0xxxxx
3412
282
3300
1FN31505WC0xxxxx
3413
282
4120
1FN33001NC1xxxxx
3469
230
1470
1FN33001WC0xxxxx
3443
309
1720
1FN33002NC1xxxxx
3470
228
2940
1FN33002WB0xxxxx
3414
176
3450
1FN33002WC0xxxxx
3415
297
3450
1FN33002WG0xxxxx
3416
805
3450
1FN33003NC4xxxxx
3471
257
4400
1FN33003WC0xxxxx
3417
297
5170
A Lists
A.3
Table A-8
List of motors
Motor code
vmax
Fmax
(MLFB)
P1102
[m/min]
[N]
1FN33003WG0xxxxx
3418
836
5170
1FN33004NB8xxxxx
3449
196
5870
1FN33004WB0xxxxx
3419
176
6900
1FN33004WC0xxxxx
3420
297
6900
1FN34502NC5xxxxx
3450
271
4400
1FN34502WA5xxxxx
3444
112
5180
1FN34502WC0xxxxx
3421
275
5180
1FN34502WE0xxxxx
3422
519
5180
1FN34503NC5xxxxx
3451
270
6600
1FN34503WA5xxxxx
3445
114
7760
1FN34503WB0xxxxx
3423
164
7760
1FN34503WB5xxxxx
3424
217
7760
1FN34503WC0xxxxx
3425
275
7760
1FN34503WE0xxxxx
3426
519
7760
1FN34504NB8xxxxx
3452
190
8810
1FN34504WB0xxxxx
3427
164
10350
1FN34504WB5xxxxx
3428
217
10350
1FN34504WC0xxxxx
3429
275
10350
1FN34504WE0xxxxx
3430
519
10350
1FN36002NB8xxxxx
3453
200
5870
1FN36002WA5xxxxx
3446
120
6900
1FN36003NB8xxxxx
3454
199
8810
1FN36003WB0xxxxx
3431
155
10350
1FN36003WC0xxxxx
3432
254
10350
1FN36004NB8xxxxx
3455
199
11740
1FN36004WA3xxxxx
3447
105
13800
1FN36004WB0xxxxx
3433
155
13800
1FN36004WB5xxxxx
3434
215
13800
1FN36004WC0xxxxx
3435
254
13800
1FN39002NB2xxxxx
3456
130
8810
1FN39002WB0xxxxx
3436
160
10350
1FN39002WC0xxxxx
3437
253
10350
1FN39003NB2xxxxx
3457
129
13210
1FN39003WB0xxxxx
3448
181
15530
1FN39004NB2xxxxx
3458
129
17610
A-953
A Lists
A.3
List of motors
Table A-8
A-954
Motor code
vmax
Fmax
(MLFB)
P1102
[m/min]
[N]
1FN39004WB0xxxxx
3438
160
20700
1FN39004WB5xxxxx
3439
203
20700
1FN39004WC0xxxxx
3440
253
20700
2 S 1FN10723xF7xxxxx
3231
200
3440
2 S 1FN10763xF7xxxxx
3232
200
6900
2 S 1FN11225xC7xxxxx
3203
145
6500
2 S 1FN11225xF7xxxxx
3221
200
6500
2 S 1FN11245xC7xxxxx
3201
145
9700
2 S 1FN11245xF7xxxxx
3223
200
9700
2 S 1FN11265xC7xxxxx
3204
145
13000
2 S 1FN11265xF7xxxxx
3222
200
13000
2 S 1FN11845xC7xxxxx
3202
145
15840
2 S 1FN11845xF7xxxxx
3224
200
15840
2 S 1FN11865xC7xxxxx
3205
145
21200
2 S 1FN11865xF7xxxxx
3225
200
21200
2 S 1FN12445xC7xxxxx
3206
145
21800
2 S 1FN12445xF7xxxxx
3226
200
21800
2 S 1FN12465xC7xxxxx
3207
145
29000
2 S 1FN12465xF7xxxxx
3227
200
29000
2 S 1FN30502WC0xxxxx
3601
373
1100
2 S 1FN31002WC0xxxxx
3602
297
2200
2 S 1FN31002WE0xxxxx
3603
497
2200
2 S 1FN31003WE0xxxxx
3604
497
3300
2 S 1FN31004WC0xxxxx
3605
297
4400
2 S 1FN31004WE0xxxxx
3606
497
4400
2 S 1FN31005WC0xxxxx
3607
255
5500
2 S 1FN31501WC0xxxxx
3608
282
1650
2 S 1FN31501WE0xxxxx
3609
534
1650
2 S 1FN31502WC0xxxxx
3610
282
3300
2 S 1FN31503WC0xxxxx
3611
282
4940
2 S 1FN31504WC0xxxxx
3612
282
6600
2 S 1FN31505WC0xxxxx
3613
282
8240
2 S 1FN33002WB0xxxxx
3614
176
6900
2 S 1FN33002WC0xxxxx
3615
297
6900
2 S 1FN33002WG0xxxxx
3616
805
6900
A Lists
A.3
Table A-8
List of motors
Motor code
vmax
Fmax
(MLFB)
P1102
[m/min]
[N]
2 S 1FN33003WC0xxxxx
3617
297
10340
2 S 1FN33003WG0xxxxx
3618
836
10340
2 S 1FN33004WB0xxxxx
3619
176
13800
2 S 1FN33004WC0xxxxx
3620
297
13800
2 S 1FN34502WC0xxxxx
3621
275
10360
2 S 1FN34502WE0xxxxx
3622
519
10360
2 S 1FN34503WB0xxxxx
3623
164
15520
2 S 1FN34503WB5xxxxx
3624
217
15520
2 S 1FN34503WC0xxxxx
3625
275
15520
2 S 1FN34503WE0xxxxx
3626
519
15520
2 S 1FN34504WB0xxxxx
3627
164
20700
2 S 1FN34504WB5xxxxx
3628
217
20700
2 S 1FN34504WC0xxxxx
3629
275
20700
2 S 1FN34504WE0xxxxx
3630
519
20700
2 S 1FN36003WB0xxxxx
3631
155
20700
2 S 1FN36003WC0xxxxx
3632
254
20700
2 S 1FN36004WB0xxxxx
3633
155
27600
2 S 1FN36004WB5xxxxx
3634
215
27600
2 S 1FN36004WC0xxxxx
3635
254
27600
2 S 1FN39002WB0xxxxx
3636
160
20700
2 S 1FN39002WC0xxxxx
3637
253
20700
2 S 1FN39004WB0xxxxx
3638
160
41400
2 S 1FN39004WB5xxxxx
3639
203
41400
2 S 1FN39004WC0xxxxx
3640
253
41400
Unlisted motors
3999
Note:
x:
2 S 1FN ...
A-955
A Lists
A.3
List of motors
Parameters for
unlisted motors
(SLM)
Table A-9
Parameter
No.
Name
Unit
Value
3999
1102
1103
1104
1113
Force constant
1114
Voltage constant
1115
2 (parallel)
A(rms)
I0
2 S I0
A(rms)
Imax
2 S Imax
N/A
2SF
Vs/m
kE
kE
Armature resistance
RA
0.5 S RA
1116
Armature inductance
mH
LA
0.5 S LA
1117
Motor weight
kg
mM
2 S mM
1118
A(rms)
I0
2 S I0
1146
m/min
vmax
vmax
1170
mm
2p
2p
1180
1181
1182
1400
m/min
v0
v0
A-956
Danger
It is only permissible to connect temperature sensor cables with PELV
or SELV voltage (refer to EN 602041 Chapter 6.4)
A Lists
A.3
A.3.5
List of motors
Readers note
Information about the motors can be found in
Reference:
Table A-10
/APH2/
/APH4/
/APH7/
/PPM/
Order No.
(MLFB)
Motor
code
nrated
Prated
Irated
[kW]
[A(rms)]
P1102
[RPM]
1PH20924WG4xxxxx
326
2000
4.7
22.0
1PH20936WF4xxxxx
320
1500
7.5
24.0
1PH20956WF4xxxxx
321
1500
10.0
30.0
1PH20964WG4xxxxx
327
2000
10.1
43.0
1PH21136WF4xxxxx
322
1500
15.0
56.0
1PH21156WF4xxxxx
323
1500
16.5
55.0
1PH21176WF4xxxxx
324
1500
18.0
60.0
1PH21186WF4xxxxx
325
1500
23.0
82.0
1PH21234WF4xxxxx
328
1500
11.5
57.0
1PH21274WF4xxxxx
329
1500
21.0
85.0
1PH21284WF4xxxxx
330
1500
25.0
101.0
1PH21434WF4xxxxx
331
1500
30.0
101.0
1PH21474WF4xxxxx
332
1500
38.0
116.0
1PH21826WC4xxxxx
333
750
11.8
37.0
1PH21846WP4xxxxx
334
600
14.5
56.0
1PH21866WB4xxxxx
335
500
18.3
65.0
1PH21886WB4xxxxx
336
500
23.6
78.0
1PH22546WB4xxxxx
337
500
28.8
117.0
1PH22566WB4xxxxx
338
500
39.3
119.0
1PH41034NF2xxxxx
300
1500
7.5
26.0
1PH41054NF2xxxxx
302
1500
11.0
38.0
A-957
A Lists
A.3
List of motors
Table A-10
Order No.
(MLFB)
A-958
Motor
code
nrated
Prated
Irated
P1102
[RPM]
[kW]
[A(rms)]
1PH41074NF2xxxxx
304
1500
14.0
46.0
1PH41334NF2xxxxx
306
1500
15.0
55.0
1PH41354NF2xxxxx
308
1500
22.0
73.0
1PH41374NF2xxxxx
310
1500
27.0
85.0
1PH41384NF2xxxxx
312
1500
30.0
102.0
1PH41634NF2xxxxx
314
1500
37.0
107.0
1PH41674NF2xxxxx
316
1500
46.0
120.0
1PH41684NF2xxxxx
318
1500
52.0
148.0
1PH61014NF4xxxxx
101
1500
3.7
13.0
1PH61014NG4xxxxx
102
2000
4.7
14.5
1PH61034NG4xxxxx
104
2000
7.0
20.0
1PH6103xNF4xxxxx
103
1500
5.5
18.5
1PH61054NF4xxxxx
105
1500
7.5
24.0
1PH61054NG4xxxxx
106
2000
9.5
26.0
1PH61054NZ4xxxxx
140
3000
12.0
29.0
1PH61074NC4xxxxx
131
750
5.0
24.0
1PH61074NG4xxxxx
108
2000
11.5
31.0
1PH6107xNF4xxxxx
107
1500
9.0
28.0
1PH61314NF4xxxxx
109
1500
9.0
28.5
1PH61314NG4xxxxx
110
2000
12.0
33.5
1PH61314NZ0xxxxx
141
1500
8.0
24.0
1PH61334NB4xxxxx
132
500
4.3
27.0
1PH61334NB8xxxxxD
201
500
4.2
17.0
1PH61334NB8xxxxxY
200
500
4.3
17.0
1PH61334NF0xxxxx
111
1500
11.0
29.0
1PH61334NF4xxxxx
112
1500
11.0
33.0
1PH61334NG0xxxxx
136
2000
14.5
33.0
1PH61334NG4xxxxx
113
2000
14.5
40.0
1PH61354NF0xxxxx
114
1500
15.0
38.0
1PH61354NG4xxxxx
116
2000
20.0
53.0
1PH6135xNF4xxxxx
115
1500
15.0
44.0
1PH61374NB4xxxxx
133
500
7.5
46.0
1PH61374NB8xxxxxD
203
500
7.5
27.0
1PH61374NB8xxxxxY
202
500
7.5
27.0
A Lists
A.3
Table A-10
List of motors
Order No.
(MLFB)
Motor
code
nrated
Prated
Irated
P1102
[RPM]
[kW]
[A(rms)]
1PH61374NF4xxxxx
117
1500
18.5
53.0
1PH61374NG0xxxxx
137
2000
24.0
52.0
1PH61374NG4xxxxx
118
2000
24.0
61.0
1PH61374NZ0xxxxx
143
750
11.0
45.0
1PH61384NF4xxxxx
120
1500
22.0
65.0
1PH61384NG4xxxxx
121
2000
28.0
71.0
1PH6138xNF0xxxxx
119
1500
22.0
55.0
1PH61614NF4xxxxx
123
1500
22.0
64.0
1PH61614NG4xxxxx
124
2000
28.0
72.0
1PH6161xNF0xxxxx
122
1500
22.0
57.0
1PH61634NB4xxxxx
134
500
11.5
68.0
1PH61634NB8xxxxxD
205
500
11.5
43.0
1PH61634NB8xxxxxY
204
500
11.5
43.0
1PH61634NF0xxxxx
125
1500
30.0
77.0
1PH61634NF4xxxxx
126
1500
30.0
91.0
1PH61634NG4xxxxx
127
2000
38.0
87.0
1PH61634NZ0xxxxx
139
950
19.0
58.0
1PH61674NB4xxxxx
135
500
14.5
81.0
1PH61674NB8xxxxxD
207
500
14.5
50.0
1PH61674NB8xxxxxY
206
500
14.5
49.5
1PH61674NF4xxxxx
129
1500
37.0
102.0
1PH61674NG0xxxxx
138
2000
45.0
89.0
1PH61674NG4xxxxx
130
2000
45.0
97.0
1PH6167xNF0xxxxx
128
1500
37.0
85.0
1PH61684NF0xxxxx
142
1500
40.0
85.0
1PH61864NB4xxxxx
160
500
22.0
66.0
1PH61864NB8xxxxxD
209
500
22.0
55.0
1PH61864NB8xxxxxY
208
500
22.0
55.0
1PH61864NB9xxxxx
167
700
30.8
67.0
1PH61864NF4xxxxx
164
1500
50.0
100.0
1PH6186xNE4xxxxx
163
1250
42.0
84.0
1PH62064NB4xxxxx
162
500
32.0
96.0
1PH62064NB8xxxxxD
211
500
32.0
78.0
1PH62064NB8xxxxxY
210
500
32.0
78.0
A-959
A Lists
A.3
List of motors
Table A-10
Order No.
(MLFB)
A-960
Motor
code
nrated
Prated
Irated
P1102
[RPM]
[kW]
[A(rms)]
1PH62064NF4xxxxx
166
1500
76.0
154.0
1PH6206xNE4xxxxx
165
1250
63.0
122.0
1PH62264NB8xxxxxD
215
500
42.0
95.0
1PH62264NB8xxxxxY
214
500
42.0
95.0
1PH6226xNF4xxxxx
168
1500
100.0
188.0
1PH7101xxFxxxLxx
460
1500
3.7
10.0
1PH7101xxFxxxxxx
426
1500
3.7
10.0
1PH7103xxDxxxLxx
461
1000
3.7
10.0
1PH7103xxDxxxxxx
430
1000
3.7
10.0
1PH7103xxFxxxLxx
462
1500
5.5
13.0
1PH7103xxFxxxxxx
431
1500
5.5
13.0
1PH7103xxGxxxLxx
463
2000
7.0
17.5
1PH7103xxGxxxxxx
427
2000
7.0
17.5
1PH7105xxFxxxLxx
464
1500
7.0
17.5
1PH7105xxFxxxxxx
428
1500
7.0
17.5
1PH7107xxDxxxLxx
465
1000
6.3
17.5
1PH7107xxDxxxxxx
432
1000
6.3
17.5
1PH7107xxFxxxLxx
466
1500
9.0
23.5
1PH7107xxFxxxxxx
429
1500
9.0
23.5
1PH7107xxGxxxLxx
467
2000
10.5
26.0
1PH7107xxGxxxxxx
433
2000
10.5
26.0
1PH7131xxFxxxLxx
468
1500
11.0
24.0
1PH7131xxFxxxxxx
406
1500
11.0
24.0
1PH7133xxDxxxLxx
469
1000
12.0
30.0
1PH7133xxDxxxxxx
408
1000
12.0
30.0
1PH7133xxFxxxLxx
470
1500
15.0
34.0
1PH7133xxFxxxxxx
434
1500
15.0
34.0
1PH7133xxGxxxLxx
471
2000
20.0
45.0
1PH7133xxGxxxxxx
409
2000
20.0
45.0
1PH7135xxFxxxLxx
472
1500
18.5
42.0
1PH7135xxFxxxxxx
435
1500
18.5
42.0
1PH7137xxDxxxLxx
473
1000
17.0
43.0
1PH7137xxDxxxxxx
411
1000
17.0
43.0
1PH7137xxFxxxLxx
474
1500
22.0
57.0
A Lists
A.3
Table A-10
List of motors
Order No.
(MLFB)
Motor
code
nrated
Prated
Irated
P1102
[RPM]
[kW]
[A(rms)]
1PH7137xxFxxxxxx
436
1500
22.0
57.0
1PH7137xxGxxxLxx
475
2000
28.0
60.0
1PH7137xxGxxxxxx
412
2000
28.0
60.0
1PH7163xxBxxxLxx
476
500
12.0
30.0
1PH7163xxBxxxxxx
437
500
12.0
30.0
1PH7163xxDxxxLxx
477
1000
22.0
55.0
1PH7163xxDxxxxxx
414
1000
22.0
55.0
1PH7163xxFxxxLxx
478
1500
30.0
72.0
1PH7163xxFxxxxxx
415
1500
30.0
72.0
1PH7163xxGxxxLxx
479
2000
36.0
85.0
1PH7163xxGxxxxxx
438
2000
36.0
85.0
1PH7167xxBxxxLxx
480
500
16.0
35.0
1PH7167xxBxxxxxx
439
500
16.0
35.0
1PH7167xxDxxxLxx
481
1000
28.0
71.0
1PH7167xxDxxxxxx
440
1000
28.0
71.0
1PH7167xxFxxxLxx
482
1500
37.0
82.0
1PH7167xxFxxxxxx
417
1500
37.0
82.0
1PH7167xxGxxxLxx
483
2000
41.0
89.0
1PH7167xxGxxxxxx
441
2000
41.0
89.0
1PH7184xxDxxxxxx
442
1000
39.0
90.0
1PH7184xxExxxxxx
418
1250
40.0
85.0
1PH7184xxFxxxxxx
443
1500
51.0
120.0
1PH7184xxLxxxxxx
444
2500
78.0
171.0
1PH7184xxTxxxxxx
424
500
21.5
76.0
1PH7186xxDxxxxxx
445
1000
51.0
116.0
1PH7186xxExxxxxx
420
1250
60.0
120.0
1PH7186xxTxxxxxx
425
500
29.6
106.0
1PH7224xxCxxxxxx
423
700
55.0
117.0
1PH7224xxDxxxxxx
484
1000
71.0
161.0
1PH7224xxFxxxxxx
422
1500
100.0
188.0
1PH80831xF0xxxxx
801
1750
3.3
7.5
1PH80831xF1xxxxx
864
1750
3.3
7.5
1PH80831xF2xxxxx
865
1750
4.0
8.7
A-961
A Lists
A.3
List of motors
Table A-10
Order No.
(MLFB)
A-962
Motor
code
nrated
Prated
Irated
P1102
[RPM]
[kW]
[A(rms)]
1PH80831xG0xxxxx
866
2300
4.1
11.3
1PH80831xG1xxxxx
867
2300
4.1
11.3
1PH80831xG2xxxxx
868
2300
4.9
12.0
1PH80831xM0xxxxx
869
3300
4.5
13.5
1PH80831xM1xxxxx
870
3300
4.5
13.5
1PH80831xN0xxxxx
879
5000
5.3
17.0
1PH80831xN1xxxxx
880
5000
5.3
17.0
1PH80831xN2xxxxx
881
5000
7.5
18.0
1PH80871xF0xxxxx
871
1750
4.3
10.0
1PH80871xF1xxxxx
872
1750
4.3
10.0
1PH80871xF2xxxxx
873
1750
5.4
13.7
1PH80871xG0xxxxx
874
2300
5.4
13.7
1PH80871xG1xxxxx
875
2300
5.4
13.7
1PH80871xG2xxxxx
876
2300
7.0
17.7
1PH80871xM0xxxxx
877
3300
5.2
17.1
1PH80871xM1xxxxx
878
3300
5.2
17.1
1PH80871xN0xxxxx
882
5000
6.5
19.5
1PH80871xN1xxxxx
883
5000
6.5
19.5
1PH80871xN2xxxxx
884
5000
9.5
24.0
1PH81011xF0xxxxx
885
1750
4.3
12.5
1PH81011xF1xxxxx
886
1750
4.3
12.5
1PH81011xF2xxxxx
887
1750
5.8
12.8
1PH81011xG2xxxxx
888
2300
7.3
16.8
1PH81011xS0xxxxx
889
5000
4.9
13.5
1PH81011xS0xxxxx
890
2000
4.9
13.2
1PH81011xS1xxxxx
891
5000
4.9
13.5
1PH81011xS1xxxxx
892
2000
4.9
13.2
1PH81031xD0xxxxx
893
1150
4.3
10.0
1PH81031xD1xxxxx
894
1150
4.3
10.0
1PH81031xF0xxxxx
895
1750
6.3
13.1
1PH81031xF1xxxxx
896
1750
6.3
13.1
1PH81031xF2xxxxx
897
1750
8.2
19.7
1PH81031xG0xxxxx
898
2300
7.5
17.0
1PH81031xG1xxxxx
899
2300
7.5
17.0
A Lists
A.3
Table A-10
List of motors
Order No.
(MLFB)
Motor
code
nrated
Prated
Irated
P1102
[RPM]
[kW]
[A(rms)]
1PH81031xG2xxxxx
900
2300
10.9
23.8
1PH81031xM0xxxxx
920
3300
9.3
25.7
1PH81031xM1xxxxx
921
3300
9.3
25.7
1PH81031xM2xxxxx
922
3300
11.7
30.0
1PH81051xF0xxxxx
901
1750
8.0
17.5
1PH81051xF1xxxxx
902
1750
8.0
17.5
1PH81051xF2xxxxx
903
1750
12.5
28.5
1PH81051xG2xxxxx
904
2300
15.0
34.0
1PH81051xM2xxxxx
923
3300
18.5
45.0
1PH81051xS0xxxxx
905
5000
9.3
24.0
1PH81051xS0xxxxx
906
2000
10.0
23.0
1PH81051xS1xxxxx
907
5000
9.3
24.0
1PH81051xS1xxxxx
908
2000
10.0
23.0
1PH81071xD0xxxxx
909
1150
7.2
17.5
1PH81071xD1xxxxx
910
1150
7.2
17.5
1PH81071xF0xxxxx
911
1750
10.0
22.0
1PH81071xF1xxxxx
912
1750
10.0
22.0
1PH81071xF2xxxxx
913
1750
15.5
42.0
1PH81071xG0xxxxx
914
2300
12.0
26.0
1PH81071xG1xxxxx
915
2300
12.0
26.0
1PH81071xM0xxxxx
924
3300
13.0
38.0
1PH81071xM1xxxxx
925
3300
13.0
38.0
1PH81071xM2xxxxx
926
3300
20.0
60.0
1PH81071xS0xxxxx
916
5000
11.0
28.0
1PH81071xS0xxxxx
917
2000
11.0
26.7
1PH81071xS1xxxxx
918
5000
11.0
28.0
1PH81071xS1xxxxx
919
2000
11.0
26.7
1PH81311xF0xxxxx
803
1750
13.0
24.0
1PH81311xF1xxxxx
804
1750
13.0
24.0
1PH81311xF2xxxxx
805
1750
17.0
30.0
1PH81311xG2xxxxx
806
2300
20.0
39.0
1PH81311xS0xxxxx
807
5000
14.6
40.0
1PH81311xS0xxxxx
808
2000
14.6
39.0
1PH81311xS1xxxxx
809
2000
14.6
39.0
A-963
A Lists
A.3
List of motors
Table A-10
Order No.
(MLFB)
A-964
Motor
code
nrated
Prated
Irated
P1102
[RPM]
[kW]
[A(rms)]
1PH81311xS1xxxxx
810
5000
14.6
40.0
1PH81331xD0xxxxx
811
1150
13.5
29.0
1PH81331xD1xxxxx
812
1150
13.5
29.0
1PH81331xF0xxxxx
813
1750
17.5
34.0
1PH81331xF1xxxxx
814
1750
17.5
34.0
1PH81331xF2xxxxx
815
1750
19.5
38.0
1PH81331xG0xxxxx
816
2300
22.5
44.0
1PH81331xG1xxxxx
817
2300
22.5
44.0
1PH81331xG2xxxxx
818
2300
22.5
52.0
1PH81351xF0xxxxx
819
1750
21.5
43.0
1PH81351xF1xxxxx
820
1750
21.5
43.0
1PH81351xF2xxxxx
821
1750
25.5
51.0
1PH81351xG2xxxxx
822
2300
31.0
61.0
1PH81351xS0xxxxx
823
5000
24.5
52.0
1PH81351xS0xxxxx
824
2000
24.5
51.0
1PH81351xS1xxxxx
825
2000
24.5
51.0
1PH81351xS1xxxxx
826
5000
24.5
52.0
1PH81371xD0xxxxx
827
1150
19.5
43.0
1PH81371xD1xxxxx
828
1150
19.5
43.0
1PH81371xF0xxxxx
829
1750
25.0
56.0
1PH81371xF1xxxxx
830
1750
25.0
56.0
1PH81371xF2xxxxx
831
1750
31.5
67.0
1PH81371xG0xxxxx
832
2300
29.0
56.0
1PH81371xG1xxxxx
833
2300
29.0
56.0
1PH81371xS0xxxxx
834
5000
27.5
56.0
1PH81371xS0xxxxx
835
2000
29.0
56.0
1PH81371xS1xxxxx
836
5000
27.5
56.0
1PH81371xS1xxxxx
837
2000
29.0
56.0
1PH81381xF2xxxxx
838
1750
33.0
77.0
1PH81631xB0xxxxx
927
500
12.0
30.0
1PH81631xB1xxxxx
928
500
12.0
30.0
1PH81631xD0xxxxx
929
1150
25.0
55.0
1PH81631xD1xxxxx
930
1150
25.0
55.0
1PH81631xF0xxxxx
931
1750
34.0
70.0
A Lists
A.3
Table A-10
List of motors
Order No.
(MLFB)
Motor
code
nrated
Prated
Irated
P1102
[RPM]
[kW]
[A(rms)]
1PH81631xF1xxxxx
932
1750
34.0
70.0
1PH81631xF2xxxxx
933
1750
43.0
84.0
1PH81631xG0xxxxx
934
2300
38.0
78.0
1PH81631xG1xxxxx
935
2300
38.0
78.0
1PH81631xG2xxxxx
936
2300
48.0
93.0
1PH81651xB0xxxxx
937
500
16.0
36.0
1PH81651xB1xxxxx
938
500
16.0
36.0
1PH81651xD0xxxxx
939
1150
31.0
69.0
1PH81651xD1xxxxx
940
1150
31.0
69.0
1PH81651xF0xxxxx
941
1750
41.0
76.0
1PH81651xF1xxxxx
942
1750
41.0
76.0
1PH81651xF2xxxxx
943
1750
53.0
104.0
1PH81651xG0xxxxx
944
2300
44.0
85.0
1PH81651xG1xxxxx
945
2300
44.0
85.0
1PH81651xG2xxxxx
946
2300
60.0
107.0
1PH81661xF2xxxxx
947
1750
61.0
116.0
1PH81661xG2xxxxx
948
2300
72.0
124.0
1PH81841xB2xxxxx
839
500
23.0
54.0
1PH81841xC2xxxxx
840
800
38.0
77.0
1PH81841xD2xxxxx
841
1150
54.0
112.0
1PH81841xF2xxxxx
842
1750
82.0
150.0
1PH81841xL2xxxxx
843
2900
102.0
182.0
1PH81861xB2xxxxx
844
500
30.0
70.0
1PH81861xC2xxxxx
845
800
49.0
99.0
1PH81861xD2xxxxx
846
1150
74.0
148.0
1PH81861xF2xxxxx
847
1750
111.0
200.0
1PH82241xB2xxxxx
849
500
46.0
100.0
1PH82241xC2xxxxx
850
800
70.0
130.0
1PH82241xD2xxxxx
851
1150
101.0
186.0
1PH82261xB2xxxxx
854
500
59.0
128.0
1PH82261xC2xxxxx
855
800
93.0
186.0
1PH82281xB2xxxxx
859
500
72.0
150.0
1PM4101xxF8x (L37)D
639
4000
3.7
13.5
A-965
A Lists
A.3
List of motors
Table A-10
Order No.
(MLFB)
A-966
Motor
code
nrated
Prated
Irated
P1102
[RPM]
[kW]
[A(rms)]
1PM4101xxF8x (L37)Y
638
1500
3.7
13.0
1PM4101xxF8xxxxxD
601
4000
3.7
13.5
1PM4101xxF8xxxxxY
600
1500
3.7
13.0
1PM4101xxW2x (L37)
640
1500
5.0
18.0
1PM4101xxW2xxxxx
620
1500
5.0
18.0
1PM4105xxF8x (L37)D
633
4000
7.5
24.0
1PM4105xxF8x (L37)Y
632
1500
7.5
23.0
1PM4105xxF8xxxxxD
603
4000
7.5
24.0
1PM4105xxF8xxxxxY
602
1500
7.5
23.0
1PM4105xxW2x (L37)
641
1500
11.0
38.0
1PM4105xxW2xxxxx
621
1500
11.0
38.0
1PM4133xxF8x (L37)D
634
4000
11.0
41.0
1PM4133xxF8x (L37)Y
635
1500
11.0
41.0
1PM4133xxF8xxxxxD
605
4000
11.0
41.0
1PM4133xxF8xxxxxY
604
1500
11.0
41.0
1PM4133xxW2x (L37)
642
1500
15.0
55.0
1PM4133xxW2xxxxx
618
1500
15.0
55.0
1PM4137xxF8x (L37)D
637
4000
18.5
56.0
1PM4137xxF8xxxxxD
607
4000
18.5
56.0
1PM4137xxF8xxxxxY
606
1500
18.5
56.0
1PM4137xxW2x (L37)
643
1500
27.0
85.0
1PM4137xxW2xxxxx
619
1500
27.0
85.0
1PM6101xxF8x(L37)D
623
4000
3.7
13.5
1PM6101xxF8x(L37)Y
622
1500
3.7
13.0
1PM6101xxF8xxxxxD
609
4000
3.7
13.5
1PM6101xxF8xxxxxY
608
1500
3.7
13.0
1PM6105xxF8x (L37)D
625
4000
7.5
24.0
1PM6105xxF8x (L37)Y
624
1500
7.5
23.0
1PM6105xxF8xxxxxD
611
4000
7.5
24.0
1PM6105xxF8xxxxxY
610
1500
7.5
23.0
1PM6107xxF8xxxxxD
645
4000
9.0
30.0
1PM6107xxF8xxxxxY
644
1500
9.0
28.0
1PM6133xxF8x (L37)D
627
4000
11.0
41.0
1PM6133xxF8x (L37)Y
626
1500
11.0
41.0
A Lists
A.3
Table A-10
List of motors
Order No.
(MLFB)
Motor
code
nrated
Prated
Irated
P1102
[RPM]
[kW]
[A(rms)]
1PM6133xxF8xxxxxD
613
4000
11.0
41.0
1PM6133xxF8xxxxxY
612
1500
11.0
41.0
1PM6137xxF8x (L37)D
629
4000
18.5
56.0
1PM6137xxF8x (L37)Y
628
1500
18.5
56.0
1PM6137xxF8xxxxxD
615
4000
18.5
56.0
1PM6137xxF8xxxxxY
614
1500
18.5
56.0
1PM6138xxF8x (L37)D
630
4000
22.0
57.0
1PM6138xxF8x (L37)Y
631
1500
22.0
58.0
1PM6138xxF8xxxxxD
617
4000
22.0
57.0
1PM6138xxF8xxxxxY
616
1500
22.0
58.0
2SP12538xAxx0xxxD
340
4000
13.2
29.0
2SP12538xAxx0xxxY
341
1800
13.2
28.0
2SP12538xAxx1xxxD
343
4000
13.2
29.0
2SP12538xAxx1xxxY
342
1800
13.2
28.0
2SP12558xAxx0xxxD
345
1800
11.7
28.0
2SP12558xAxx0xxxY
344
800
11.7
30.0
2SP12558xAxx1xxxD
346
1800
11.7
28.0
2SP12558xAxx1xxxY
347
800
11.7
30.0
DMR160.80.6RIFY
212
200
12.6
60.0
DMR160.80.6RIFD
213
200
12.6
60.0
Unlisted motors
99
Note:
x: Space retainer for the Order No.
A-967
A Lists
A.3
List of motors
Parameters for
unlisted motors
(ARM)
Table A-11
No.
A-968
Name
Unit
Value
99
1102
Motor code
1103
A(rms)
1117
kgm2
1119
1129
1130
kW
1132
1134
Hz
1135
1136
A(rms)
1137
1138
1139
1140
1141
Magnetizing reactance
1142
RPM
1146
RPM
1288
1400
1602
mH
_C
RPM
_C
A Lists
A.4
A.4
Encoder list
A.4.1
Encoder code
Encoder list
A-969
A Lists
A.4
Encoder list
Table A-12
Rough classification
Incremental
encoder
Installation
Encoder
code
P1006
Motor
The Order No. (MLFB)
defines the encoder
code
1PH4xxxxxxxxxNxx 1)
1PH6xxxxxxxxxNxx
1PH7xxxxxxxxxNxx
2
Encoder
1FT6xxxxxxxxxAxx
1FK6xxxxxxxxxAxx
Additional
parameters
ERN 13872)
Voltage signals sin/cos 1Vpp
2048 pulses/revolution C/D track
SIZAG 2
30
1PH2
6FX20018RA031B/1C/1F 3)
P1011
1FE1
P1008
SIZAG 2
31
Incremental
encoder
6FX20018RA031D/1E/1G3)
P1011
1FE1
P1008
SIMAG H
32
mounted
Encoder
with
sin/cos
1Vpp
1PH2
1PH2
6FX20016RB014xx0 3)
P1011
1FE1
P1008
SIMAG H
33
1PH2
6FX20016RB015xx0 3)
P1011
1FE1
P1008
SIMAG H
34
1PH2
6FX20016RB016xx0 3)
P1011
1FE1
P1008
EQN 13252)
10
Absolute
encoder
Installation
1FK6xxxxxxxxxExx
(from
SW
3.3)
EQI 13242)
15
70
(from
SW
9.1)
A-970
1FT6xxxxxxxxxExx
1FK6xxxxxxxxxGxx
EQI 11252)
1FK702xxxxxxxJxx
1FK703xxxxxxxJxx
A Lists
A.4
Table A-12
Rough classification
Encoder
code
P1006
20
Resolver
Linear
encoders
Motor
The Order No. (MLFB)
defines the encoder
code
1FT6xxxxxxxxxTxx
1FK6xxxxxxxxxTxx
Encoder
Additional
parameters
Resolver 2p (1speed)
Incremental
encoder
21
1FT6xxx4xxxxxSxx
Special design
Resolver 4p (2speed)
Installation
22
1FT6xxx6xxxxxSxx
Special design
Resolver 6p (3speed)
23
1FT6xxx8xxxxxSxx
Special design
Resolver 8p (4speed)
LC 1822)
absolute
80
(from
SW
9.1)
Without
encoder
98
1LAx
Unlisted
encoder
with
sin/cos 1Vpp
Special
cases
Encoder list
P1011
P1005
P1027
Unlisted
encoder
with
TTL signal4)
1LAx
1PHx
e.g. 1XP80012
P1011
P1005
P1027
Unlisted
resolver
Resolver 2p (1speed)
to
resolver 12p (6speed)
P1011
P1018
P1027
Linear
encoders
Incremental
absolute
Distance
coded
measuring
system
99
e.g. LS 186/LS
4842)
1FN1
1FN3
e.g. LC 1811)
P1011
P1024
P1027
P1027
P1037
P1050
P1051
P1052
P1053
A-971
A Lists
A.4
A.4.2
Encoder list
Encoder adaptation
Encoder types
S Incremental encoders with TTL signal from SW 8.1 mounted on induction motors only with SIMODRIVE 611 universal HR/HRS
(Order No. 6SN1118VNH010AAV)
Note
From SW 9.2:
Linear scales with resolution <100 nm can also be used as motor
measuring system (indirect measuring system)!
Recommended
encoder signals
for faultfree
operation with
sin/cos 1 Vpp
Signal
5V
0.375 to 0.6 V
2.0...
3.0 V
0V
Fig. A-3
A-972
t
Signal characteristics for track signals A+, A, B+, B, C+, C, D+ and D
A Lists
A.4
Encoder list
Signal
5V
3.5 V
0.2 to 0.5 V
0.2 to 0.5 V
1.5 V
0V
Fig. A-4
From SW 6.1 for SIMODRIVE 611 universal HR/HRS/HRS2, it is possible to set the resolver resolution.
A-973
A Lists
A.4
Encoder list
Note
After the resolver resolution has been changed from 12 bit to 14 bit,
the resolution of several signals at analog output (X441, P0625/P0633)
or at the test sockets DAU (P1820/P1830) also change. The signals
involved are those signals whose normalization refers to the speed
(P1711). These are the following signals:
S Speed actual value, motor (SRM, ARM)
S Speed setpoint (SRM, ARM)
S Speed setpoint, reference model (SRM, ARM)
S Absolute speed actual value (SRM, ARM)
S Speed setpoint at terminals 56.x/14.x, 24.x/20.x (SRM, ARM)
S Speed setpoint from PROFIBUS PPO (SRM, ARM)
S Speed correction value (SRM, ARM)
S Position controller output (SRM, ARM)
S Precontrolled speed (SRM, ARM)
S DSC precontrolled speed, motor (from SW 4.1)
S Equalization controller output(from SW 7.1)
Do you want the original resolution:
S Restore the original resolver resolution (P1011.2) or
S Adapt the shift factor, analog outputs P0627/P0634 or test sockets
(DAU) P1821/1831 (+2 or 2)
Fault message 749 (from SW 7.1) is output, if the following conditions
are not fulfilled:
Note
If P1146, P1147 or P1465 are changed during operation so that the set
limits are exceeded, then fault message 749 is output.
If the condition is not violated, then when the system is
recommissioned, the 14bit resolution is preset and the speed actual
value smoothing (P1522) is selected.
If the resolver resolution is manually changed, then it is also necessary
to change the presetting of P1522 (refer to the parameter list
Attachment A.1).
A-974
A Lists
A.4
Parameterizing
an indirect
measuring system
Encoder list
Parameterizing a
direct measuring
system
A-975
A Lists
A.4
Encoder list
Parameters for
unlisted encoders
P1024
P1034
Grid spacing
P1022
P1032
P1021
P1031
P1027.14/15
P1037.14/15
Transmission rate
P1027.4
P1037.4
P1027.3
P1037.3
Rotary
Linear
Rotary
Linear
Absolute
te (EnDat)
(
Increme
mental
P1005
P1007
Parameter
Name
Parameter
Encoder typ
Enc
type
Unlisted encoders: Which data are required for which encoder type?
Parameter
Table A-13
Note:
x:
Input required
:
No input required
A:
Display
0 or 1:
The parameter bit must be set like this
For an absolute value encoder (P1037.3 = 1), the drive can automatically detect the protocol being used
(EnDatI).
Readers note
Additional information on encoder systems is provided in:
Reference:
/PJU/
SIMODRIVE 611,
Configuration Manual, Drive Converters
Chapter Indirect and direct position sensing
J
A-976
List of Abbreviations
ABS
Absolute
ADC
Analogtodigital converter
AIE
AO
Analog output
ARM
ASCII
Being prepared
CE
Controller enable
ChkCfg
COM
Communications module
CPU
CTS
Clear To Send:
Signal that it is clear to send for serial data interfaces
DAC
Digitaltoanalog converter
DM
DP
DPC31
DPMC1, DPMC2
DPR
DRAM
DRF
DRIVE ES Basic
DSC
DSP
DSR
DXB
Data eXchange Broadcast: DXB request is a task (request) which initiates a slave (publisher) to send its actual values as broadcast
B-977
B List of Abbreviations
EGB
EMC
Electromagnetic compatibility
EMK
Electromotive force
EnDat
EPROM
ET200
Peripheral devices (I/O) from the SIMATIC range which can be coupled
via PROFIBUS
FD
Feed drive
FEPROM
FFT
FG
Function generator
FIPO
Fine interpolator
EN+
EN
GC
GlobalControlTelegramm (BroadcastTelegramm)
GSD
HEX
HLG
Rampfunction generator
HW
Hardware
HWE
Input
I/R
IBN
Commissioning
Id
Fieldgenerating current
IF
Pulse enable
IM
IM
IND
IPO
Interpolator
Iq
Torquegenerating current
B-978
B List of Abbreviations
KL
Terminal
Kv
LED
LSB
MDI
MAV
MLFB
MPI
MS
MSB
MSCY_C1
MSC
MSD
NC
Numerical control
NE
Line infeed
NIL
Not in List
NIST
nset
Speed setpoint
Output
OC
Operating condition
OLP
Parameter
PCMCIA
PD
PEH
PELV
PG
Programming device
PLC
PIV
PKE
PLI
PLL
PNO
B-979
B List of Abbreviations
PO
POWER ON
PosAnw
Position selection
PosZsw
PPO
PRBS
PROFIBUS
PTP
Point To Point
PWE
PWM
RAM
Random Access Memory, i.e. program memory that can be read and
written to
REL
Relative
RF
Controller enable
RLI
RO
Read Only
SELV
SERCOS
SetPrm
SF
Shift factor
SLM
SPC3
SRM
SS
Interface
SSI
STS
Gating unit
STW
SW
Software
SWE
UI
Uncontrolled infeed
VDI
B-980
B List of Abbreviations
VPM
VP module,
module to limit the DC link voltage when a fault condition occurs
(VPM: Voltage Protection Module)
Vpp
Peaktopeak voltage
WZM
Machine tools
xact
xset
ZK
DC link
ZSW
B-981
B List of Abbreviations
B-982
References
General Documentation
/BU/
/KT101/
/KT654/
/ST7/
SIMATIC
Products for Totally Integrated Automation and Micro Automation
Catalog ST 70 S 2005
Order No.: E86 060K4670A101B2
Order No.: E86 060K4670A101B27600 (English)
/STEP7/
C-983
C References
Catalog IK PI S 2005
Industrial Communications for Automation and Drives
Order No. of the bound edition: E86060K6710A101B6
Order No. of the looseleaf edition: E86060K6710A100B6
/P1/
/P2/
/P3/
/P4/
/STPI/
/PPA/
C-984
C References
/PPD/
/PDP/
Manufacturer/Service Documentation
Note
A list of additional documents, updated on a monthly basis, is available
on the Internet for the available languages at:
http://www.siemens.com/motioncontrol
Select Support > Technical documentation > Ordering
documentation > Printed documentation.
/FBU_TE/
/FBU_TEH/
/SP/
SIMODRIVE 611A/611D,
SimoPro 3.1
Program for Configuring Machine Tool Drives
Order No.: 6SC6 1116PC000BAj
Ordering location: WK Frth
/S7H/
SIMATIC S7300
Installation Manual Technological Functions
Reference Manual: CPU Data (HW Description)
Order No.: 6ES7 3988AA038BA0
(2002 Edition)
/S7HT/
SIMATIC S7300
Manual: STEP 7, Fundamentals, V. 3.1
Order No.: 6ES7 8104CA028BA0
(03.97 Edition)
(07.05 Edition)
C-985
C References
/S7HR/
SIMATIC S7300
Manual: STEP 7, Reference Manuals, V. 3.1
Order No.: 6ES7 8104CA028BR0
(03.97 Edition)
/ET200X/
SIMATIC
Distributed ET 200X
Manual EWA 4NEB 780 601601 04
Part of the package with Order No.
6ES7 1988FA018BA0
(05.01 Edition)
C-986
Certificates
Note
The complete certification for the Safe standstill function can be
found as follows:
Reference:
EG Declaration of
Conformity
/PJU/
SIMODRIVE 611
Configuration Manual, Drive Converters
You can find the EC declaration of conformance for the machinery directive, the
EMC directive and the Low-Voltage-Directive in the Internet at:
http://support.automation.siemens.com/WW/view/de/32151216
Certification Number: 664.EMNI1113.02.001
Entry ID: 25447747 15257461
There, as search term, enter the number 25447747 or contact the local Siemens office in your region.
Note
Please observe the following documentation:
Reference:
D-987
D Certificates
D
Fig. D-1
D-988
D Certificates
D
Fig. D-2
EC Declaration of Conformity
D-989
D Certificates
D
Fig. D-3
D-990
D Certificates
D
Fig. D-4
D-991
D Certificates
D
Fig. D-5
D-992
D Certificates
D
Fig. D-6
D-993
D Certificates
D
Fig. D-7
D-994
D Certificates
Product standard:
EN 618003
Title:
1)
Basic Standards:
EN 55011
EN 6100042
EN 6100043
EN 6100044
EN 6100045
EN 6100046
EN 6100048
EN 61000411
EN 61000413
EN 61000414
EN 61000417
EN 61000427
EN 61000428
2)
3)
4)
5)
6)
7)
8)
9)
10)
11)
12)
13)
14)
Associated standards:
1)
8)
2)
9)
3)
4)
5)
6)
7)
Fig. D-8
10)
11)
12)
11)
12)
Version 07/08/15
C1/1
D-995
D Certificates
D-996
Index
Symbols
Numbers
Abbreviations, B-977
Acknowledging faults, 7-665
with POWER ON, 7-665
with RESET FAULT MEMORY, 7-665
Activate function generator immediately
(from SW 11.2), 6-653
Active oscillation damping (APC) (from SW
10.1), 6-648
Actual position value, 6-396
Adjusting
Absolute encoder, 6-414
Reference cams, 6-407
Alarm log, 7-665
Alarms, 7-664
Evaluating via PROFIBUS-DP, 5-301
Handling the, 7-671
List of, 7-673
Overview of the, 7-664
Analog inputs, 2-80, 6-551
Analog outputs, 2-79, 6-565
Analog signals
for the current and speed control loop-,
6-575
for the position control loop, 6-576
Angular incremental encoder interface, 2-81,
6-579
as an output, 6-581
as input (from SW 3.3), 6-586, 6-590
Handwheel connection, 6-590
Terminating resistor, 1-39
Any gearbox ratio (from SW 8.1), 6-372
APC (from SW 10.1), 6-648
Automatic controller setting, 6-346
Automatic power module identification,
4-144
Axis couplings (from SW 3.3), 6-446
Equalization controller (from SW 7.1),
6-484
Torque setpoint coupling via PROFIBUS
(from SW 4.1), 6-478
with queue function (being prepared)-,
6-463
E-997
E Index
E-998
Commissioning
Built-in torque motors, 4-176
Checklist for, 4-123
Direct measuring system (from SW 3.3),
4-205
Firmware download-, 4-133
First, 4-122
Induction motor with TTL encoder (from
SW 8.1)-, 4-206
Linear motor, 4-181
PE spindle, 4-165
Prerequisites for, 4-123
PROFIBUS-DP, 5-295
Series, 4-122
Upgrading the FW, optional PROFIBUS
module-, 4-124
Using the display and operator unit-,
4-135
Using the SimoCom U tool, 4-126
Commissioning required, 3-107
Communication
PROFIdrive conformance, 5-211
via PROFIBUS-DP, 5-210
via RS232, 3-111
via RS485 (from hardware ...1), 3-112
Configuration
the drive group, 1-28
the process data (from SW 3.1), 5-265
Configuring process data (from SW 3.1)-,
5-265
Configuring the telegram (from SW 3.1)-,
5-265
Connection diagram
for the control board, 2-75
for the optional PROFIBUS-DP module,
2-84
for the optional TERMINAL module, 2-82
Control board front panel, 1-37
E Index
Digital inputs
for control board, 2-80, 6-496
for the optional TERMINAL module, 2-83,
6-549
digital outputs
for control board, 2-81, 6-521
for the optional TERMINAL module, 2-83,
6-549
if all do not function, 2-81, 2-83
Dimension system, 6-380
Dimension system grid (MSR), 6-376, 6-380
Direct measuring system, A-975
Direct measuring system (from SW 3.3),
4-202
Direction adaptation, 6-396
Display and operator unit, 1-38
Example: Changing a parameter value,
3-99
Display in cyclic operation, 4-125
Display unit
Alarm mode, 3-93
Hexadecimal values, 3-98
Parameterizing mode, 3-93, 3-94
Poweron mode, 3-93
Distancecoded reference marks
n-set mode (from SW 4.1), 6-367
pos mode (from SW 8.3)-, 6-410
Drive configuration, 3-107
Drive group, 1-28
Drive inactive, 4-146
Drive number for RS485, 3-110
DSC, 6-627
DSR, 6-627
Dynamic energy management (from SW
13.1), 6-657
Dynamic monitoring of following errors,
6-397
Dynamic Servo Control, 6-627
E-999
E Index
FAQs, iii
FAULT LED-, 1-38, 7-672
Fault without a number being displayed,
7-673
Faults, 7-664
Acknowledging, 7-665
Can be set (from SW 3.3), 7-668
Evaluating via PROFIBUS-DP, 5-300
Handling the, 7-670
List of, 7-673
Overview of the, 7-664
Stop responses of, 7-667
that can be suppressed, 7-668
FD operation with field weakening, 4-207
FEPROM: Saving data, 4-138
Fixed setpoint (from SW 3.1), 6-350
Fixed speed setpoint (from SW 3.1), 6-350
Fixed stop (from SW 3.3), 6-618
Folder, of abbreviations, B-977
Followup mode, 6-402
Following error monitoring, 6-397
Function generator, 7-763
Functioninitiating parameters, 4-138
E-1000
GSD, 5-291
Hardware
limit switch (n-set mode)--, 6-358
limit switch (pos mode)--, 6-386
Parameter assignment, 4-144
Hardware limit switchn-set mode-, 6-358
pos mode-, 6-386
Help for the reader, vi
Holding brake, 6-594
Hotline, iv
E Index
6-511
Enable inverter/pulse inhibit, 6-505
Enable setpoint/inhibit setpoint, 6-518
Equivalent zero mark, 6-516
External block change (from SW 3.1),
6-512
First speed setpoint filter off, 6-503
Fixed speed setpoint (from SW 3.1),
6-503
Fixed stop, sensor (from SW 3.3), 6-513
Flying measurement (from SW 3.1),
6-517
Followup mode, 6-513
Inactive, 6-500
Incremental jogging (from SW 4.1), 6-510
Integrator inhibit, speed controller, 6-502
Invert the angular incremental encoder
input (from SW 3.5)-, 6-516
Jogging 1 ON/jogging 1 OFF, 6-510
Jogging 2 ON/jogging 2 OFF, 6-510
Master signoflife (from SW 3.1)-,
6-520
Minus hardware limit switch (NC contact)-, 6-517
Motor changed over (from SW 2.4),
6-519
Motor data set changeover (from SW
2.4)-, 6-501
ON/OFF 1, 6-504
Openloop torque controlled mode,
6-501
Opening the holding brake for test purposes (from SW 4.1), 6-506
Oper. condition/intermediate stop, 6-508
Operating condition/OFF 2, 6-504
Operating condition/OFF 3, 6-505
Operating condition/reject traversing
task, 6-507
Parameter set changeover-, 6-502
Plus hardware limit switch (NC contact)-,
6-517
Rampfunction generator start/ramp
function generator stop, 6-518
Rampup generator enabled, 6-505
Rampup time zero, 6-501
Reference cams, 6-516
Request passive referencing (from SW
5.1), 6-513
Reset the fault memory, 6-501
Selection, parking axis, 6-506
Set setpoint, master drive (from SW 4.1),
6-515
Setting the home position, 6-514
E-1001
E Index
E-1002
E Index
New information
for SW 10.1, xi
for SW 10.2, xi
for SW 11.1, xii
for SW 11.2, xii
for SW 12.1, xii
for SW 12.2, xii
for SW 13.1, xii
for SW 13.2, xiii
for SW 2.4, viii
for SW 3.1/3.2, viii
for SW 3.3, ix
for SW 4.1, ix
for SW 5.1, x
for SW 6.1, x
for SW 7.1, x
for SW 8.1, x
for SW 8.3, xi
for SW 9.1, xi
for SW 9.2, xi
Identification of, vii
Notes
Benefits, iv
Standard scope, iv
Target group, iii
Technical Support, iv
E-1003
E Index
E-1004
6-537
Spindle positioning on (from SW 5.1),
6-533
Status, block selection, 6-536
Status, controller enable, 6-534
Status, fixed speed setpoint (from SW
3.1), 6-532
Suppress fault 608 active (from SW 3.1),
6-542
Teachin executed (from SW 4.1), 6-540
Travel to fixed stop active (from SW 3.3),
6-542
Variable signaling function, 6-530
Velocity limiting active, 6-547
Warning present/no warning present,
6-533
Output terminals
Assignment, for the optional TERMINAL
module (from SW 4.1), 6-550
for control board, 6-521
for the optional TERMINAL module,
6-549
Freely parameterizable, 6-521, 6-549
Invert, 6-522, 6-550
Permanentlyconnected, 6-521
Overcontrol protection, 6-566
Override, 6-385
Overview
of the input signals, 6-498
of the output signals, 6-524
Overview of functions, 1-27
Parameter
for diagnostics, 4-141
functioninitiating, 4-138
Motor data setdependent, 6-605
parameter setdependent, 6-600
with . (bit number), vii
with :256 (traversing blockdependent),
6-426
with :64 (traversing blockdependent), vii
with :8 (parameter setdependent), vii,
6-600
with: (subparameters), vii
Parameter assignment, 1-26, 3-92
Overview when, 3-92
Using SimoCom U, 3-100
Using the display and operator unit-, 3-93
via PROFIBUS, 5-297
Parameter set changeover, 6-600
E Index
nset-l, 5-233
SatzAnw, 5-227
SatzAnw (from SW 4.1), 5-239
STW1, 5-227, 5-230
STW2, 5-227, 5-232
XERR (from SW 4.1), 5-227, 5-234
XSP (from SW 4.1), 5-227, 5-236
Status words
ADC1, 5-229, 5-246
ADC2, 5-229, 5-246
AktSatz (from SW 4.1), 5-229, 5-250
Ausl, 5-229, 5-247
DIG_IN (from SW 3.1), 5-229, 5-247
G1_XIST1 (from SW 3.1), 5-229,
5-253
G1_XIST2 (from SW 3.1), 5-229,
5-253
G1_ZSW (from SW 3.1), 5-229, 5-253
G2_XIST1 (from SW 3.3), 5-229,
5-253
G2_XIST2 (from SW 3.3), 5-229,
5-253
G2_ZSW (from SW 3.3), 5-229, 5-253
G3_XIST1 (from SW 3.1), 5-229,
5-253
G3_XIST2 (from SW 3.1), 5-229,
5-253
G3_ZSW (from SW 3.1), 5-229, 5-253
IqGl (from SW 3.1), 5-229, 5-249
MeldW, 5-229, 5-246
Mset, 5-229, 5-248
nistl, 5-245
NIST_A, 5-229, 5-245
NIST_B (from SW 3.1), 5-229, 5-245
Pactive, 5-229, 5-248
UZK (from SW 8.3), 5-229, 5-251
XistP, 5-252
ZSW1, 5-229, 5-243
ZSW2, 5-229, 5-245
E-1005
E Index
PROFIBUS-DP
Commissioning, 5-295
Diagnostics and troubleshooting, 5-299
Encoder interface (from SW 3.1), 5-253
Evaluating faults, 5-300
Evaluating warnings, 5-301
Example: Operate drive, 5-281
Example: Reading parameters, 5-287
Example: Write parameter, 5-289
PZD configuring (from SW 3.1)-, 5-265
Setting the address, 5-297, 5-298
Switch out the DP slave (module)-, 5-315
Terminals and signals, 5-222
When can the modules be used?, 1-42
Which modules are available?, 1-32,
1-41
PROFIdrive conformance, 5-211
Proper use, xv
Pulse enable, 6-495
Pulse frequency, A-924
PZD area-, 5-216, 5-226
E-1006
E Index
Rack, 6-369
Rampfunction generator, 6-344
Ratio, 6-369
Read/write protection-, 4-138
Reference cams, 6-406
Reference point approach, 6-404
References, C-983
Referencing/adjustment, 6-404
Reformatting, 6-426
Reformatting the memory, 6-426
Resolution, resolver, A-973
Resolver resolution, A-973
Revisions, vii
Rotary axis
Axis coupling for modulo-rotary axes
(from SW 4.1), 6-465
with modulo correction (from SW 2.4),
6-370, 6-371, 6-373, 6-374, 6-431,
6-432
without modulo correction, 6-370, 6-371
Rotor position identification, 4-187
Rotor position identification (RLI), 6-639
Rotor position synchronization, 6-639
RS232, 2-89, 3-111
RS485 (from HW ...1), 2-90, 3-112
Runtime behavior, 4-132
E-1007
E Index
Units, A-782
in the degrees dimension system-, 6-378
in the inch dimension system-, 6-377
in the metric dimension system, 6-377
Unlisted motors
Parameters for ARM, A-968
Parameters for built-in torque motors,
A-950
Parameters for PE spindles-, A-945
Parameters for SLM, A-956
Parameters for SRM, A-938
What is an unlisted motor?, 4-137
Upgrading the firmware, 4-132
Upgrading the software, 4-132
Using the manual, vi
E-1008
E Index
X151, 2-74
X302, 1-35, 1-36, 1-44
X34, 2-78
X351, 2-78
X411, 2-79, 2-86, 2-87
X412, 2-79, 2-86, 2-87
X421, 2-76
X422, 2-83
X423, 2-88
X431, 2-77
X432, 2-83
X441, 2-79
X451, 2-80
X452, 2-80
X461, 2-81
X462, 2-81
X471, 2-78, 2-87
E-1009
SINUMERIK
SIROTEC
SIMODRIVE
SINUMERIK
SIMODRIVE
Catalog
Accessories
Catalog NC 60 S 2006
Automation Systems for Processing
Machines
SL 01
System Solutions
IKPI
Industrial Communications
and Field Devices
CA 01
Components for
Automation & Drives
KT 10.1
ST 70
ST 80
Power Supplies
SITOP power
SIMATIC
SIMATIC HMI
Manufacturer/Service Documentation
SIMODRIVE
SIMODRIVE
SIMODRIVE
SIMODRIVE
611
Configuration Manual
Configuration Manual
Configuration Manual
Configuration Manual
Converter
AC Servomotors
1PH
1PM, 2SP
Manufacturer/Service Documentation
SIMODRIVE
SIMODRIVE
SINUMERIK
SIROTEC
SIMODRIVE
SIMODRIVE
611 universal
Configuration Manual
Configuration Manual
EMC Guidelines
Function Manual
AC Motors
for Main Spindle Drives
Linear Motors
1FN1, 1FN3
SINUMERIK
SIROTEC
SIMODRIVE
Synchronous
Builtin Motors 1FE1
Electronic Documentation
SINUMERIK
SIMODRIVE
Motors
DOCONCD
DOCONWEB
Control Components
for ClosedLoop
Speed Control
and Positioning
Siemens AG
Industry Sector
Drive Technologies
Motion Control Systems
Postfach 3180
91050 ERLANGEN
GERMANY
nderungen vorbehalten
Siemens AG 2014
www.siemens.com/motioncontrol