Page 1 ___________________ SINAMICS V90, SIMOTICS S-1FL6 Preface ___________________ Safety instructions ___________________ SINAMICS/SIMOTICS General information ___________________ Mounting SINAMICS V90, SIMOTICS S-1FL6 ___________________ Connecting ___________________ Commissioning Operating Instructions ___________________ Basic operator panel (BOP) ___________________ Control functions ___________________ Safety Integrated function ___________________ Tuning ___________________...
Page 2 Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.
Page 3: Preface
SIMOTICS S-1FL6 Servo Motors Installation Guide Describes how to install the SMOTICS S-1FL6 servo motor and relevant safety notices. Target group This manual provides information about the SINAMICS V90 servo system for planners, operators, mechanical engineers, electrical engineers, commissioning engineers, and service engineers. Technical support...
Page 4 Preface SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 5: Table Of Contents
Main circuit wirings ........................86 4.2.1 Line supply - L1, L2, L3......................86 4.2.2 Motor power - U, V, W ......................87 Control/Status interface ......................90 4.3.1 Digital inputs/outputs (DIs/DOs) ..................... 91 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 6 6.4.3 Searching parameters in "P ALL" menu ................152 Auxiliary functions ........................ 153 6.5.1 Jog ............................154 6.5.2 Saving parameters (RAM to ROM) ..................155 6.5.3 Setting parameters to default ....................155 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 7 7.5.4 Torque limit ........................... 204 7.5.5 Zero speed clamp ......................... 204 7.5.6 Ramp-function generator ...................... 205 Torque control (T) ......................... 207 7.6.1 300% overload capacity ......................207 7.6.2 Torque setpoint ........................208 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 8 Safety Integrated basic functions ..................243 8.4.1 Safe Torque Off (STO) ......................243 8.4.2 Forced dormant error detection ................... 245 Tuning ..............................247 Controller overview ......................247 Tuning mode ........................249 One-button auto tuning ......................250 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 9 Assembly of cable terminals on the drive side ..............337 Motor selection ........................340 A.3.1 Selection procedure ......................340 A.3.2 Parameter description ......................341 A.3.3 Selection examples ....................... 343 Replacing fans ........................344 Index..............................347 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 10 Table of contents SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 11: Safety Instructions
Touching live components can result in death or severe injury. • Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV- (Protective Extra Low Voltage) output voltages for all connections and terminals of the electronics modules. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 12 • Install devices without a protective housing in a metal control cabinet (or protect the device by another equivalent measure) in such a way that contact with fire is prevented. • Ensure that smoke can only escape via controlled and monitored paths. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 13 • Check that the warning labels are complete based on the documentation. • Attach any missing warning labels to the components, in the national language if necessary. • Replace illegible warning labels. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 14 As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death. • Protect the parameterization (parameter assignments) against unauthorized access. • Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY STOP or EMERGENCY OFF). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 15 • Operate the motor according to the relevant specifications. • Only operate the motors in conjunction with effective temperature monitoring. • Immediately switch off the motor if excessively high temperatures occur. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 16: Handling Electrostatic Sensitive Devices (Esd)
– Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring • Only place electronic components, modules or devices on conductive surfaces (table with ESD surface, conductive ESD foam, ESD packaging, ESD transport container). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 17: Industrial Security
Siemens recommends strongly that you regularly check for product updates. For the secure operation of Siemens products and solutions, it is necessary to take suitable preventive action (e.g. cell protection concept) and integrate each component into a holistic, state-of-the-art industrial security concept.
Page 18 5. Release of environmental pollutants or emissions as a result of improper operation of the system and/or failure to dispose of components safely and correctly SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 19: Residual Risks During The Operation Of Electric Motors
– Component failure – Software errors in converter operation – Operation and/or environmental conditions outside the specification – External influences/damage SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 20: Additional Safety Instructions
NOTICE Property loss Notify Siemens service personnel immediately of any damage discovered after delivery. If the equipment is put into storage, keep it in a dry, dust-free, and low-vibration environment. The storage temperature ranges from -40 °C to +70 °C.
Page 21 When the equipment is working, hazardous touch current can be present at the PE connectors; if touched, this can result in death or severe personal injury. • Do not touch the PE connector during operation or within a certain period since power disconnection. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 22 Incorrect input voltage will cause severe damage to the drive. It is recommended that the actual input voltage should not be greater than 110% of the rated voltage or smaller than 75%. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 23 Some environmental factors may result in power derating, e.g. altitude and surrounding temperature. In this case, the drive cannot work normally. Environmental factors must be taken into account during commissioning or operation. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 24 • Clamping voltage VPR = 2000 V, IN = 3kA min, MCOV = 508 VAC, SCCR = 65 kA • Suitable for Type 2 SPD application • Clamping shall be provided between phases and also between phase and ground. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 25 1 m. • The harmonic current value of SINAMICS V90 exceed the class A limit of IEC 61000-3-2, but the SINAMICS V90 system installed within the Category C2 First Environment require supply authority acceptance for connection to the public low-voltage power supply network.
Page 26 Note Non-Siemens products This document contains recommendations relating to non-Siemens products. Non-Siemens products whose fundamental suitability is familiar to us. It goes without saying that equivalent products from other manufacturers may be used. Our recommendations are to be seen as helpful information, not as requirements or dictates.
Page 27: General Information
General information The SINAMICS V90 drives are available in two variants, 400 V variant and 200 V variant. The V90 400 V variant has four frame sizes: FSAA, FSA, FSB, and FSC. They are used on three phase power network only. The V90 200 V variant has four frame sizes too. They are FSA, FSB, FSC, and FSD.
Page 28 General information 2.1 Deliverables Components in SINAMICS V90 400 V variant drive package Component Illustration Rated power Outline dimension Frame Order number (kW) size (Width x Height x Depth, mm) SINAMICS V90, 60 x 180 x 200 FSAA 6SL3210-5FE10-4UA0 three phase, 400 V 0.75/1.0...
Page 29 General information 2.1 Deliverables Drive rating plate (example) ① ⑤ Drive name Order number ② ⑥ Power input Product serial number ③ ⑦ Power output Part number ④ Rated motor power SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 30: Motor Components
1FL6032-2AF21- 0.64 • 1❑❑1 1.27 • 1FL6034-2AF21- 1❑❑1 1FL6042-2AF21- 2.39 • 1❑❑1 3.18 • 1FL6044-2AF21- 1❑❑1 1FL6052-2AF21- 4.78 • 0❑❑1 6.37 • 1FL6054-2AF21- 0❑❑1 User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 31 1FL6064-1AC61- 9.55 0❑❑1 • 1FL6066-1AC61- 0❑❑1 1FL6067-1AC61- 0❑❑1 1FL6090-1AC61- 11.90 • 0❑❑1 16.70 • 1FL6092-1AC61- 23.90 • 0❑❑1 33.40 • 1FL6094-1AC61- 0❑❑1 1FL6096-1AC61- 0❑❑1 User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 32 Thermal class Motor ID ④ ⑩ ⑯ Rated torque Degree of protection Weight ⑤ ⑪ ⑰ Stall torque Motor operating mode Maximum speed ⑥ ⑫ ⑱ Rated voltage Stall current Rated speed SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 33: Device Combination
General information 2.2 Device combination Device combination The tables below show the combination of SINAMICS V90 servo drives and SIMOTICS S- 1FL6 servo motors. Combination between V90 200 V variant drives and low inertia motors SIMOTICS S-1FL6 servo motor SINAMICS V90 servo drive...
Page 34 General information 2.2 Device combination SIMOTICS S-1FL6 servo motor SINAMICS V90 servo drive Type Rated Rated Rated Shaft Motor ID Order number Order number Frame Power torque power speed height size supply Without With (Nm) (kW) (rpm) (mm) brake brake 7.16...
Page 35: Product Overview
General information 2.3 Product overview Product overview SINAMICS V90 servo drives ● SINAMICS V90 200 V variant FSA and FSB FSC and FSD SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 36 General information 2.3 Product overview ● SINAMICS V90 400V variant FSAA and FSA FSB and FSC SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 37 General information 2.3 Product overview SIMOTICS S-1FL6 servo motors ● Low inertia motors Shaft-height: 20 mm, 30 mm, and 40 mm Shaft-height: 50 mm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 38: System Configuration
The SINAMICS V90 servo drive is integrated with digital input/output interface, pulse train interface and analog interface. It can be connected either to a Siemens controller like S7-200, S7-1200 or S7-200 SMART, or to a third-party controller. Absolute position information can be read from the servo drive by the PLC via RS485 port.
Page 39 General information 2.4 System configuration SINAMICS V90 200 V variant The configuration for FSB when used on the single phase power network: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 40 General information 2.4 System configuration The illustration below takes the connection between FSD and low inertia servo motor of 50 mm shaft-height when used on the three phase power network for an example. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 41 General information 2.4 System configuration SINAMICS V90 400 V variant SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 42: Accessories
General information 2.5 Accessories Accessories Cables and connectors The illustration below shows cables between the drive and the motor and configurable cable connectors: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 43 15 m * 5CL01-1BF0 20 m 5CL01-1CA0 Power cable (C1) 5CK31-1AD0 5CK31-1AF0 10 m 5CK31-1BA0 20 m 5CK31-1CA0 Power cable (c1) 5CL11-1AD0 5CL11-1AF0 5CL11-1AH0 10 m 5CL11-1BA0 15 m 5CL11-1BF0 20 m 5CL11-1CA0 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 44 Cable and connector (between V90 drive and controller) Name Order number Length (m) Option 1 Setpoint connector (50 pins) 6SL3260-2NA00-0VA0 Setpoint cable (50 pins) 6SL3260-4NA00-1VB0 Option 2 Setpoint cable with terminal block (50 pins) 6SL3260-4NA00-1VA5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 45 Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes. Refer to the table below for the selection of fuses and circuit breakers: SINAMICS V90 200 V variant SINAMICS V90 Standard fuse...
Page 46 5FE17- 810-6 1021- 1021- 0UA0 4DA10 4DA10 Braking resistor The SINAMICS V90 has a built-in braking resistor, the table below shows the information of the built-in resistor: SINAMICS V90 Resistance (Ω) Max. power Rated power (W) Max. energy (kJ) (kW)
Page 47 189.6 Filter Siemens recommends you to use a line filter to protect the system from high frequency noise. The line filter restricts the conductive interference emitted from the SINAMICS V90 to the permissible values. The SINAMICS V90 drives with these external line filters have been tested in accordance with the emission requirements of the Category C2 environment.
Page 48 General information 2.5 Accessories The table below lists all filters recommended by Siemens: SINAMICS V90 Rated current (A) Degree of protection Order number Power sup- Frame size 1-phase, 200 VAC to 6SL3203-0BB21-8VA0 240 VAC 3-phase, 200 VAC to 6SL3203-0BE15-0VA0 240 VAC...
Page 49 50/60 Hz (-10% to +10%) Product standard IEC 61800-5-1 Insertion loss The table below shows the insertion loss of the line filters. Parameter Description Rated current Noise frequency (MHz) 0.15 CM (dB) DM (dB) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 50 DM (dB) Connecting (example) The figure below provides a connection example. It shows how to connect a line filter to a SINAMCIS V90 drive. Filter used on the single phase power network SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 51 SD cards/SD cards with a maximum capacity of 2 GB from manufacturers such as KINGMAX, Kingston or SanDisk. Replacement fans For SINAMICS V90 400 V variant: ● Fan kits for frame size B: 6SL3200-0WF00-0AA0 ● Fan kits for frame size C: 6SL3200-0WF01-0AA0...
Page 52: Function List
Stops motor and clamps the motor shaft when motor speed setpoint is below a parameterized threshold level Modbus communication (Page 212) Supports the communication between the SINAMICS V90 PTI, IPos, S, T servo drive and PLC with the standard Modbus communica-...
Page 53 S-curve profile with a parameterized time constant SINAMICS V-ASSISTANT You can perform parameter settings, test operation, ad- PTI, IPos, S, T justment and other operations with a PC SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 54: Technical Data
-10 VDC to +10VDC/max. torque (input impedance 10 kΩ to 12 kΩ) control input mode Speed limit Set through a parameter or the analog input command (0 VDC to +10 VDC/max. rated speed) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 55 Certifica- tions When SINAMICS V90 works with a motor with a brake, the voltage tolerance of 24 VDC power supply must be -10% to +10% to meet the voltage requirement of the brake. Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes.
Page 56 General information 2.7 Technical data Specific technical data SINAMICS V90 200 V variant Order No. 6SL3210-5FB... 10-1UA0 10-2UA0 10-4UA1 10-8UA0 11-0UA1 11-5UA0 12-0UA0 Frame size Rated output current (A) 10.6 11.6 Max. output current (A) 14.1 18.9 31.8 34.8 Max. supported motor power (kW) 0.75...
Page 57 General information 2.7 Technical data SINAMICS V90 400 V variant Order No. 6SL3210-5FE... 4UA0 8UA0 0UA0 5UA0 0UA0 5UA0 0UA0 0UA0 Frame size FSAA Rated output current (A) 11.0 12.6 13.2 Max. output current (A) 13.8 23.4 33.0 37.8 39.6 Max.
Page 58: Technical Data - Servo Motors
Type of construction IM B5, IM V1, and IM V3 Positive rotation Clockwise (default setting in SINAMICS V90 servo drives) Certification This lifetime is only for reference. When a motor keeps running at rated speed under rated load, replace its bearing after 20,000 to 30,000 hours of service time.
Page 59 When the surrounding temperature is between 30 °C and 40 °C, the 1FL605 motor will have a power derating of 10%. Note The data of rated torque, rated power, maximum torque, and armature resistance in the above table allow a tolerance of 10%. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 60 General information 2.7 Technical data Torque-Speed characteristics SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 61 • The feature in short-term operating area varies with power supply voltages. • The continuous operating area becomes smaller and the voltage consumptions on the cables grow larger when the cables in the major loop exceed 20 m. Permissible radial and axial forces SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 62 [ms] Maximum brake closing time [ms] Maximum 2000 number of emergency stops Oil seal lifetime [h] 5000 Encoder lifetime [h] 20000 - 30000 Degree of protection IP65, with shaft oil seal SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 63 0.89 0.84 2000 1.00 0.94 0.90 0.86 0.82 2500 0.96 0.90 0.86 0.83 0.78 3000 0.92 0.86 0.82 0.79 0.75 3500 0.88 0.82 0.79 0.75 0.71 4000 0.82 0.77 0.74 0.71 0.67 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 64 General information 2.7 Technical data Torque-Speed characteristics SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 65 1FL604❑ and 1FL609❑ have a 5 mm of shaft sheltered in sleeves, and 1FL606❑ has an 8 mm of shaft in sleeves. Therefore, the distances to flange in the above three figures begin respectively from 5 mm, 8mm, and 5 mm. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 66: Technical Data - Cables
600/1000 Operation temperature (°C) -25 to 80 Shielding Minimum bending radius, static 6 x outer diameter (mm) Bending cycles 1000000 Oil resistance EN60811-2-1 fulfilled Flame-retardant EN60332-1-1to 1-3 fulfilled Certifications RoHS, UL, CE SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 67: Mounting
10 mm. In this case, the minimum mounting clearance should not be less than 5 mm. • The surrounding temperature is 45 °C to 55 °C. In this case, the minimum mounting clearance should not be less than 20 mm. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 68: Drill Patterns And Outline Dimensions
Mounting 3.1 Mounting the drive 3.1.2 Drill patterns and outline dimensions SINAMICS V90 200 V variant (unit: mm) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 69 Mounting 3.1 Mounting the drive SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 70 Mounting 3.1 Mounting the drive SINAMICS V90 400 V variant (unit: mm) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 71 Mounting 3.1 Mounting the drive SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 72: Mounting The Drive
3.2.1 Mounting orientation and dimensions Mounting orientation SIMOTICS S-1FL6 supports flange mounting only and three types of constructions, so it can be installed in three orientations as shown in the following figure. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 73 Rated torque 0.05 kW 0.16 Nm 38.5 0.1 kW 0.32 Nm 38.5 Shaft-height 30 mm (unit: mm) Rated power Rated torque 0.2 kW 0.64 Nm 39.5 132.5 0.4 kW 1.27 Nm 39.5 157.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 74 0.75 kW 2.39 Nm 178.3 1.0 kW 3.18 Nm 158.8 198.1 Shaft-height 50 mm (unit: mm) Rated power Rated torque a 1.5 kW 4.78 Nm 143.5 177.5 2.0 kW 6.37 Nm 167.5 201.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 75 154.5 169.5 61.5 0.75 kW 2.39 Nm 201.5 216.5 Shaft-height 45 mm, with absolute encoder (unit: mm) Rated power Rated torque 0.4 kW 1.27 Nm 203.5 61.5 0.75 kW 2.39 Nm 250.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 76 Shaft-height 65 mm, with absolute encoder (unit: mm) Rated power Rated torque 0.75 kW 3.58 Nm 205.5 69.5 1.0 kW 4.78 Nm 238.5 1.5 kW 7.16 Nm 238.5 1.75 kW 8.36 Nm 271.5 2.0 kW 9.55 Nm 304.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 77 33.4 Nm 289.5 314.5 Shaft-height 90 mm, with absolute encoder (unit: mm) Rated power Rated torque 2.5 kW 11.9 Nm 98.5 3.5 kW 16.7 Nm 5.0 kW 23.9 Nm 7.0 kW 33.4 Nm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 78: Mounting The Motor
Eyebolts that have been screwed in must be either tightened or removed after mounting. To ensure better heat dissipation, install a flange between the machine and the motor. You can install the motor onto the flange with four screws as shown in the following figure. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 79 270 x 270 x 10 (mm) 8 Nm Aluminum alloy 1FL606❑ 4 x M8 390 x 390 x 15 (mm) 20 Nm 1FL609❑ 4 x M12 420 x 420 x 20 (mm) 85 Nm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 80 Mounting 3.2 Mounting the motor SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 81: Connecting
Connecting System connection The SINAMICS V90 servo system is connected as follows: SINAMICS V90 200 V variant The connection for FSB when used on the single phase power network: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 82 Connecting 4.1 System connection The connection for FSD when used on the three phase power network: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 83 Connecting 4.1 System connection SINAMICS V90 400 V variant SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 84 For low inertia motors with shaft-heights of 20 mm, 30 mm and 40 mm, the encoder cable connectors may only be accessible to electrically skilled personnel. Note The mini-USB interface of the SINAMICS V90 is used for fast commissioning and diagnostics with SINAMICS V-ASSISTANT installed in the PC. Do not use it for long monitoring.
Page 85 To achieve EMC-compliant installation of the drive, use the shielding plate that is shipped with the drive to connect the cable shields. See the following example for steps to connect cable shields with the shielding plate: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 86: Main Circuit Wirings
Main circuit wirings 4.2.1 Line supply - L1, L2, L3 Signal Description SINAMICS V90 200 V variant Line phase L1 Line phase L2 Line phase L3 Required wire range and tightening torque: FSA and FSB: 26 AWG to 12 AWG FSC and FSD: 20 AWG to 12 AWG, 0.4 Nm to 0.5 Nm...
Page 87: Motor Power - U, V, W
Connecting 4.2 Main circuit wirings Signal Description SINAMICS V90 400 V variant Line phase L1 Line phase L2 Line phase L3 Maximum conductor cross-section: FSAA and FSA: 1.5 mm (M2.5 screws, 4.43 lb.in/0.5 Nm) FSB and FSC: 2.5 mm (M4 screws, 19.91 lb.in/2.25 Nm)
Page 88 Protective earthing Low inertia motor, shaft-height: 50 mm High inertia motor, shaft-height: 45 mm, 60 mm, and 90 mm Black Phase U Black Phase V Black Phase W Yellow-green Protective earthing Wiring SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 89 Connecting 4.2 Main circuit wirings Plugging the motor power cable SINAMICS V90 200 V variant ● For FSA and FSB ● For FSC and FSD SINAMICS V90 400 V variant ● For FSAA and FSA You can plug the motor power cable with the same plugging method for V90 200 V variant drives of frame size FSA and FSB.
Page 90: Control/Status Interface
Z (-) PTIB_24P 24 V pulse train input B, posi- PTOZ (OC) Pulse train encoder output tive Z signal (open collector output) PTIB_24M 24 V pulse train input B, ground SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 91: Digital Inputs/Outputs (Dis/Dos)
Reserved 4.3.1 Digital inputs/outputs (DIs/DOs) SINAMICS V90 supports free assignment of signals to the following digital input and output terminals depending on the control mode selected: DI1 to DI8 -- Assignable with parameters p29301 to p29308 DO1 to DO6 -- Assignable with parameters p29330 to p29335...
Page 92: Dis
DO1 to DO6 by setting the bit 0 to bit 5 of parameter p0748. 4.3.1.1 You can assign a maximum of 28 internal digital input signals to the SINAMICS V90 servo drive. For detailed information about these signals, see the table below:...
Page 93 1 : 0: internal torque limit 2 • 1 : 1: internal torque limit 3 • Level Enable clockwise rotations. ✓ ✓ 1: Enable clockwise rotation, ramp up • 0: Disable clockwise rotation, ramp down • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 94 0 : 0: internal speed limit 1 • 0 : 1: external speed limit (analog input 1) • 1 : 0: internal speed limit 2 • 1 : 1: internal speed limit 2 • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 95 – When referencing by SINAMICS V-ASSISTANT, the DI signal SREF is invalid. – During trial run test, the DI signal SON is invalid; meanwhile, DI7 and DI8 are occupied by SINAMICS V-ASSISTANT. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 96 Wiring The digital inputs support both PNP and NPN types of wirings. You can find detailed information from the following diagrams: NPN wiring PNP wiring SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 97: Dos
Connecting 4.3 Control/Status interface 4.3.1.2 You can assign a maximum of 14 internal digital output signals to the SINAMICS V90 servo drive. For detailed information about these signals, see the table below: Name Descriptions Control mode IPos Servo ready ✓...
Page 98 0: drive is not ready for servo on (fault occurs or main • power supply is missing) Note: After the drive is servo on, the signal remains in 1 status unless the above abnormal cases happen. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 99 If warning condition assigned to p29340 occurs, WARNING1 becomes ON. If warning condition assigned to p29341 occurs, WARNING2 becomes ON. Wiring The digital outputs only support NPN type of wiring as illustrated below: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 100: Pulse Train Inputs/Encoder Outputs (Ptis/Ptos)
Pulse train inputs/encoder outputs (PTIs/PTOs) 4.3.2.1 PTIs Two channels of pulse train input are available for the SINAMICS V90 servo drive: ● 24 V single end pulse train input ● High-speed 5 V differential pulse train input (RS485) When using the 24 V single end PTI:...
Page 101: Ptos
When not using the open collector: When using the open collector: 4.3.3 Analog inputs/outputs (AIs/AOs) 4.3.3.1 SINAMICS V90 has two analog input terminals. The input voltage at each analog input varies with control modes. Pin No. Analog input Input voltage...
Page 102: Aos
The command voltage of the analog inputs always follows the formula below: = (AI+) - (AI-) input 4.3.3.2 The SINAMICS V90 has two analog outputs. You can find detailed information about these two analog outputs from the table below: Pin No. Analog output...
Page 103 Connecting 4.3 Control/Status interface Wiring Do wiring of analog outputs as follows: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 104: Standard Application Wirings (Factory Setting)
Connecting 4.3 Control/Status interface 4.3.4 Standard application wirings (factory setting) 4.3.4.1 Pulse train input position control (PTI) Standard wiring for pulse train input position control mode: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 105 Digital inputs, supporting both PNP and NPN types. The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.
Page 106: Internal Position Control (Ipos)
Connecting 4.3 Control/Status interface 4.3.4.2 Internal position control (IPos) Standard wiring for internal position control mode: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 107 Digital inputs, supporting both PNP and NPN types. The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.
Page 108: Speed Control (S)
Connecting 4.3 Control/Status interface 4.3.4.3 Speed control (S) Standard wiring for speed control mode: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 109 Digital inputs, supporting both PNP and NPN types. The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.
Page 110: Torque Control (T)
Connecting 4.3 Control/Status interface 4.3.4.4 Torque control (T) Standard wiring for torque control mode: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 111 Digital inputs, supporting both PNP and NPN types. The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.
Page 112: Connection Examples With Plcs
You can assign different digital inputs/outputs based on your actual requirement. 4.3.5.1 SIMATIC S7-200 SMART Pulse train input position control (PTI) When connect to different axes, the outputs are different. The diagram below take the connection with axis 0 as example. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 113 300 rpm. The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if the PTI input frequency exceeds 100 KHz. Internal position control (IPos) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 114 Connecting 4.3 Control/Status interface Speed control (S) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 115 Connecting 4.3 Control/Status interface Torque control (T) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 116: Simatic S7-200
The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the zero position exceeds 300 rpm. The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if the PTI input frequency exceeds 100 KHz. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 117 Connecting 4.3 Control/Status interface Internal position control (IPos) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 118 Connecting 4.3 Control/Status interface Speed control (S) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 119 Connecting 4.3 Control/Status interface Torque control (T) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 120: Simatic S7-1200
The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the zero position exceeds 300 rpm. The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if the PTI input frequency exceeds 100 KHz. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 121 Connecting 4.3 Control/Status interface Internal position control (IPos) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 122 Connecting 4.3 Control/Status interface Speed control (S) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 123 Connecting 4.3 Control/Status interface Torque control (T) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 124: Power Supply/Sto
STO interfaces. If you do not need to use it any more, you must reinsert the short-circuit stick; otherwise, the motor will not run. For detailed information about the STO function, refer to "Safety Integrated basic functions (Page 243)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 125: Encoder Interface
4.5 Encoder interface Plugging the 24 V power supply and STO cables Encoder interface The SINAMICS V90 200 V variant servo drive supports incremental encoder only, while the SINAMICS V90 400 V variant servo drive supports incremental encoder and absolute encoder.
Page 126 Power supply 5 V Power supply 0 V Phase A+ Phase B+ Phase R+ n. c. Not connected P_Supply Power supply 5 V Power supply 0 V Phase A- Phase B- Phase R- Shielding Grounding SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 127 Inverted clock Phase B+ Data_P Data Phase B- Clock_P Clock Phase R+ n. c. Not connected Phase R- Data_N Inverted data Wiring Low inertia motor, shaft-height: 20 mm, 30 mm and 40 mm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 128 High inertia motor, shaft-height: 45 mm, 65 mm, and 90 mm Grounding To ensure better EMC effects, you are recommended to strip the encoder cable and connect the cable shield to earth, as shown in the following figure: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 129: External Braking Resistor - Dcp, R1
For the connection of the external braking resistor, refer to System connection (Page 81). Motor holding brake interface (400V variant only) You can connect the SINAMICS V90 servo drive to a servo motor with brake to use the function of motor holding brake.
Page 130: Rs485 Interface
Description Brake+ Phase Brake+ Brake- Phase Brake- Wiring RS485 interface The SINAMICS V90 servo drives support communication with the PLCs through the RS485 interface over the USS or Modbus protocol. Pin assignment Illustration Signal name Description Reserved Do not use...
Page 131: Commissioning
• Do not switch off the drive power supply when the data transfer from the micro SD card/SD card to the drive is in process. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 132: Initial Commissioning In Jog Mode
SINAMICS V-ASSISTANT is a software tool that can be installed on a PC and runs on the Windows operating system. It communicates with the SINAMICS V90 servo drive with a USB cable. With SINAMICS V-ASSISTANT, you can change drive parameters and monitor drive working states in online mode.
Page 133 CCW You can change it by setting the parameter p29001 if necessary. Check the Jog speed. The default Jog speed is 100 rpm. You can change it by setting the parameter p1058. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 134: Commissioning In Pulse Train Position Control Mode (Pti)
(p29003=0) is the factory setting of SINAMICS V90 servo drives. Save the parameter and restart the servo drive to apply the setting of the pulse train input position con- trol mode. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 135 Calculate the electronic gear ratio by selecting me- • chanical structure. – For more information, see SINAMICS V90 V- ASSISTANT Online Help. Refer to "Electronic gear ratio (Page 173)". Set the torque limitation and speed limitation. Refer to "Torque control (T) (Page 207)" and "Speed con- trol (S) (Page 201)".
Page 136: Commissioning In Internal Position Control Mode (Ipos)
= 0: linear axis • you use the modular axis, you need to define the p29245 = 1: modular axis • modular range by setting parameter p29246. Refer to "Configuring linear/modular axis (Page 189)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 137 (CWL) and en- • coder zero mark. Refer to "Referencing (Page 190)". Set the pulse train encoder output. Refer to "PTO function (Page 183)". Save parameters with the BOP. Switch on the line supply. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 138: Commissioning In Speed Control Mode (S)
Switch to the speed control mode by setting Refer to "Compound controls (Page 161)". p29003=2. Save the parameter and restart the servo drive to apply the setting of the speed control mode. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 139 Refer to "Actual status display (Page 148)". The system commissioning in speed control mode You can check the system performance. If it is not satis- ends. fied, you can adjust it. Refer to "Tuning (Page 247)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 140: Commissioning In Torque Control Mode (T)
19 (SLIM1) • p29308[3]: DI8 • Refer to "Digital inputs/outputs (DIs/DOs) (Page 91)". Save parameters with the BOP. Switch on the line supply. Clear faults and alarms. Refer to "Diagnostics (Page 313)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 141 Refer to "Actual status display (Page 148)". The system commissioning in torque control mode You can check the system performance. If it is not satis- ends. fied, you can adjust it. Refer to "Tuning (Page 247)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 142 Commissioning 5.6 Commissioning in torque control mode (T) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 143: Basic Operator Panel (Bop)
Basic operator panel (BOP) BOP overview The SINAMICS V90 servo drive is designed with a Basic Operator Panel (BOP) on the front panel of the servo drive: You can use the BOP for the following operations: ● Standalone commissioning ● Diagnosis ●...
Page 144: Bop Display
(Page 149)". P 0x Parameter group Six groups are available: 1. P0A: basic 2. P0B: gain adjustment 3. P0C: speed control 4. P0D: torque control 5. P0E: position control 6. P0F: IO SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 145 Position following error The communication between the SINAMICS V-ASSISTANT and the servo drive is established. In this case, the BOP is protected from any operations except clear- ing alarms and acknowledging faults. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 146: Control Buttons
Moves current display to the left page when is displayed at the upper right corner, for example Moves current display to the right page when is displayed at the lower right corner, for example SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 147: Parameter Structure
Basic operator panel (BOP) 6.2 Parameter structure Parameter structure The overall parameter structure of SINAMICS V90 BOP is designed as follows: Note There is no ABS menu function for a servo motor with an incremental encoder. The ABS menu function is only available for a servo motor with an absolute encoder...
Page 148: Actual Status Display
With p29002, you define which of the following drive operating status data is to be displayed on the BOP.: Parameter Value Meaning p29002 0 (default) Actual speed DC voltage Actual torque Actual position Position following error Note Make sure you save p29002 after modification. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 149: Basic Operations
● Method 1: change the value directly with the UP or DOWN button ● Method 2: move the cursor to a digit with the SHIFT button, then change the digit value with the UP or DOWN button SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 150 Basic operator panel (BOP) 6.4 Basic operations If you edit a parameter value with Method 1, proceed as follows: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 151 It is forbidden to use this function when the servo is ON. Use this function when the servo is OFF. Note The parameters p1414 and p1656 cannot be changed using the SHIFT button. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 152: Viewing Parameters
To view a parameter, proceed as follows: 6.4.3 Searching parameters in "P ALL" menu If you do not know which group that a parameter belongs to, you can find it in the "P ALL" menu. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 153: Auxiliary Functions
Adjust absolute encoder SD card/SD card NOTE: This function is available only when the servo motor with an absolute encoder is connected. ⑤ Copy parameter set from a micro SD card/SD card to drive SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 154: Jog
To run the connected motor with the Jog function and view the Jog torque, proceed as follows: Jog in torque (example) NOTICE Exit the Jog mode after completing Jog run. The servo motor cannot run if the servo drive is in the Jog mode. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 155: Saving Parameters (Ram To Rom)
Editing parameters (Page 149) 6.5.3 Setting parameters to default This function is used to reset all parameters to their default values. To reset the parameters to their default values, proceed as follows: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 156: Transferring Data (Drive To Sd)
Do not plug or unplug the micro SD card/SD card during copying; otherwise, the copying operation will fail. Note Write protection function is not supported by SINAMICS V90. Data in the micro SD card/SD card will be overwritten even if the write protection function of the micro SD card/SD card is enabled.
Page 157: Transferring Data (Sd To Drive)
With the firmware update function of the BOP, you can update the drive firmware. To do this, you have to store proper firmware files on a micro SD card/SD card and insert it into the micro SD card/SD card slot. After that, proceed as follows: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 158: Adjusting Ai Offsets
6.5.7 Adjusting AI offsets NOTICE Connect to ground You must firstly connect the AI1 or AI2 to ground and then adjust AI offset. Refer to section "Analog inputs (Page 101)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 159 AI offset. Parameter range p29042 or p29061 ranges from -0.5 V to + 0.5 V. A value that is out of this range causes an alarm. Refer to chapter "Parameter list (Page 275)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 160: Adjusting An Absolute Encoder
With the BOP function menu "ABS", you can set current position of absolute encoder to be zero position. To do this, proceed as follows: Note Save parameter The position value is set in parameter p2525. You must save the parameters after setting the zero position. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 161: Control Functions
Control functions Compound controls Control modes Nine control modes are available for the SINAMICS V90 servo drive: Control modes Abbreviation Basic control modes Pulse train input position control mode (PTI) Internal position control mode (IPos) IPos Speed control mode (S)
Page 162: General Functions
Servo motor circuit is connected (servo is ON). Servo motor is ready to run. OFF = falling edge Servo motor circuit is shut off (servo is OFF). Servo motor is not ready to run. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 163: Direction Of Motor Rotation
Negative p29001 CW is forward direction Analog monitoring: Analog monitoring: • • (factory setting) PTO: • PTO: • CCW is forward direction Analog monitoring: Analog monitoring: • • PTO: • PTO: • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 164: Over-Travel
To clear the fault, acknowledge it with RESET, and then leave away from the STOP cam minus in the positive traversing direction to return the axis to the valid traversing range. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 165: Motor Holding Brake
(for example, the servo power is shut off). The servo motor can move because of its own weight or an external force even the motor power has been cut off. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 166 • Refer to Section "System connection (Page 81)" for the standard wiring of the holding brake. Signal status The following table describes the states of various interfaces and components when the brake works. ● SINAMICS V90 200 V variant Status MBR (DO) Brake control Relay...
Page 167 Connection example (for V90 200 V variant only) The following shows the example when the brake is controlled through the motor holding brake signal (Brake) of the SINAMICS V90 200 V variant servo drive. Note It is the Isolated digital output power supply. When you use the 24 VDC power supply, it can be also the controller power supply.
Page 168 SINAMICS V90 servo drive. Note For SINAMICS V90 200 V variant servo drives, the actual motor holding brake time consists of the time delay of the motor brake and the time delay of the current amplifying component (a relay in the example above);...
Page 169: Stopping Method At Servo Off
Stopping method at servo OFF You can select a stopping method when the servo is OFF. The following stopping methods are available: ● Ramp-down (OFF1) ● Coast-down (OFF2) ● Emergency stop (OFF3) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 170 Signal name Setting Description EMGS Servo drive is ready to run. Emergency stop. For detailed information about the digital input signals SON and EMGS, refer to Section "Digital inputs/outputs (DIs/DOs) (Page 91)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 171: Pulse Train Input Position Control (Pti)
Pulse train input position control (PTI) 7.3.1 Sequence of SON When the SINAMICS V90 servo drive operates in pulse train input position control mode (PTI), the pulse train setpoint must be send out after the RDY signal is ok. Timing diagram 7.3.2...
Page 172: Selecting A Setpoint Pulse Train Input Form
7.3 Pulse train input position control (PTI) 7.3.3 Selecting a setpoint pulse train input form The SINAMICS V90 servo drive supports two kinds of setpoint pulse train input forms: ● AB track pulse ● Pulse + Direction For both forms, positive logic and negative logic are supported:...
Page 173: Smoothing Function
Smoothes the parameter in response to a sudden posi- tion setpoint 7.3.6 Electronic gear ratio Encoder specifications The encoder specifications are shown as follows: Type Resolution Incremental encoder 2500 ppr Absolute encoder 20 bit single turn + 12 bit multi-turn SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 174 (p29013) are used for the four electronic gear ratios: Parameter Range Factory setting Unit Description p29012[0] 1 to 10000 The first numerator of electronic gear p29012[1] 1 to 10000 The second numerator of electronic gear SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 175 The range of electronic gear ratio is from 0.02 to 200. The electronic gear ratio can be set at SERVO OFF state only. After the setting, you need to reference the drive again. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 176 Calculate electronic (1/6000) × (1/1) × 10000 = 10000/6000 (1/36000) × (3/1) × 10000 = 10000/12000 gear ratio Set param- p29012/p = 10000/6000 = 5/3 = 10000/12000 = 5/6 eters 29013 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 177: Inhibiting Pulse Train Input Setpoint (P-Trg)
• The signal P-TRG is active only when the digital input signal SON is in OFF state. • When the signal P-TRG is active in the PTI mode or a compound mode with PTI, the alarm A7585 occurs. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 178: Speed Limit
The overall speed limit can be configured by setting the following parameters: Parameter Value range Default Unit Description p1083 0 to 210000 210000 Overall speed limit (positive) p1086 -210000 to 0 -210000 Overall speed limit (negative) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 179: Torque Limit
TLIM1 and TLIM2: Digital signal Torque limit TLIM2 TLIM1 Internal torque limit 1 External torque limit (analog input 2) Internal torque limit 2 Internal torque limit 3 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 180 Internal torque limit 3 (positive) p29051[0] -300 to 150 -300 Internal torque limit 1 (negative) p29051[1] -300 to 150 -300 Internal torque limit 2 (negative) p29051[2] -300 to 150 -300 Internal torque limit 3 (negative) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 181 For example, if p29041[1] is 100%, the relationship between torque limit value and analog input is shown as follows: In this case, analog input of 5 V corresponds to 50% of rated torque and 10 V corresponds to 100% of rated torque. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 182: Clearing Droop Pulses (Clr)
You can clear the droop pulses with the DI signal CLR after p29242 is set. The signal CLR is the factory setting of pin 11 (DI7) on the control/status interface. p29242 = 0 p29242 = 1 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 183: Referencing (Only For Absolute Encoder)
A pulse train encoder output (PTO) which provides pulse signals can transmit the signals to the controller to realize a closed-loop control system inside the controller, or transmit them to another drive as pulse train setpoint for a synchronous axis. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 184 The electronic gear ratio can be set at SERVO OFF state only. Note PTO direction For an application of fully closed-loop position control using PTI and PTO, you can set the PTO direction with parameter p29033. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 185: Internal Position Control (Ipos)
10000 LU (p29247 = 10000). Note If the value of p29247 increases by N times, the values of p2542, p2544 and p2546 should increase by N times accordingly. Otherwise, the fault F7450 or F7452 occur. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 186: Setting Fixed Position Setpoint
IPos maximum acceleration p2573 IPos maximum deceleration Fixed position setpoint 2 p2617[1] Fixed position setpoint 2 (P_pos2) p2618[1] Speed of fixed position setpoint 2 (P_pos_spd2) p2572 IPos maximum acceleration p2573 IPos maximum deceleration SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 187 When the motor is working in the IPos control mode, you need to check that whether the values of the parameters p2542, p2544, p2546, p2547 and p2573 are your desired values. The values are set automatically by the drive based on the encoder resolution. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 188: Selecting A Positioning Mode - Absolute/Incremental
• the axis has been referenced for incremental measuring system. Refer to Section "Referencing (Page 190)" for detailed information about referencing. • the axis has been adjusted for absolute measuring system. Refer to Section "Adjusting an absolute encoder (Page 160)" for reference. Example SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 189: Configuring Linear/Modular Axis
Configuring linear/modular axis Linear axis or modular axis can be used depending on your actual application. The linear axis has a restricted traversing range and it is the factory setting of the SINAMICS V90 servo drive. The modular axis has an unrestricted traversing range. The value range of the position repeats itself after a value specified in p29245.
Page 190: Referencing
1 (default) External reference cam (signal REF) and encoder zero mark Encoder zero mark only External reference cam (signal CCWL) and encoder zero mark External reference cam (signal CWL) and encoder zero mark SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 191 The current position is set to zero at a rising edge of the signal REF and the servo drive is referenced: CAUTION The referencing point may not be fixed during referencing. The servo motor must be in servo on state so that the referencing point is fixed during referencing. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 192 When the servo motor reaches the reference point (p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing finishes successfully. The whole process is shown in the diagram below: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 193 When the servo motor reaches the reference point (p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing finishes successfully. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 194 Speed for searching zero mark LU/min p2609 0 to 2147482647 20000 Maximum distance for searching the zero mark p2611 1 to 40000000 1000 Speed for searching reference point LU/min 2. Configure the signal SREF. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 195 When the servo motor reaches the reference point (p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing finishes successfully. The whole process is shown in the diagram below: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 196 During the referencing, if SREF is OFF, the referencing stops. 4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output. 5. Switch off the signal SREF, and the referencing finishes successfully. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 197 • For the safety purpose, the maximum distance for searching the cam (p2606) and the maximum distance for searching the zero mark (p2609) must be set. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 198: Software Position Limit
● negative position limit The function of software position limit only becomes active after going to reference. When the actual position reaches one of the above-mentioned software position limits, motor speed decelerates to 0. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 199: Speed Limit
Select one of the eight fixed position setpoints with the co-settings of signals POS1, POS2 and POS3: Fixed position setpoint Signal POS3 POS2 POS1 Fixed position setpoint 1 Fixed position setpoint 2 Fixed position setpoint 3 Fixed position setpoint 4 Fixed position setpoint 5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 200 Signal type Signal name Setting Description P-TRG 0→1 Starts positioning according to selected fixed position setpoint The timing diagram for starting positioning with the trigger signal P-TRG is shown as follows: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 201: Speed Control (S)
Fixed speed setpoint 1 (p1001) Fixed speed setpoint 2 (p1002) Fixed speed setpoint 3 (p1003) Fixed speed setpoint 4 (p1004) Fixed speed setpoint 5 (p1005) Fixed speed setpoint 6 (p1006) Fixed speed setpoint 7 (p1007) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 202: Speed Control With External Analog Speed Setpoint
If the drive is working with external analog speed setpoint, the system continues to work automatically after you repower on the 24 VDC power supply which is shut off unexpected for the drive. In this case, do not touch the equipment. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 203: Speed Control With Fixed Speed Setpoint
-210000 to Fixed speed setpoint 2 210000 p1003 -210000 to Fixed speed setpoint 3 210000 p1004 -210000 to Fixed speed setpoint 4 210000 p1005 -210000 to Fixed speed setpoint 5 210000 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 204: Direction And Stop
Refer to "Torque limit (Page 179)" for details. 7.5.5 Zero speed clamp The function of zero speed clamp is used to stop motor and lock motor axis when motor speed setpoint is below a parameterized threshold level (p29075). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 205: Ramp-Function Generator
The ramp-up time p1120 and ramp-down time p1121 can be used to set acceleration and deceleration ramps separately. This allows a smoothed transition in the event of setpoint changes. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 206 ● the acceleration (p1120) and deceleration (p1121) ramps ● the initial (p1130) and final (p1131) rounding-off times You can see the properties of the S-curve ramp-function generator from the diagram below: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 207: Torque Control (T)
Ramp-function generator final rounding-off time Torque control (T) 7.6.1 300% overload capacity SINAMICS V90 servo drives can work with 300% overload capacity for a specific time period. The following diagrams show in details: SINAMICS V90 200 V servo drive Without load...
Page 208: Torque Setpoint
● Automatic adjustment with BOP function: refer to "Adjusting AI offsets (Page 158)" for details. ● Manual input of an offset value (p29042) Parameter Range Factory setting Unit Description p29042 -0.50 to 0.50 Offset adjustment for analog input 2 (torque setpoint) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 209: Torque Control With Fixed Torque Setpoint
In S mode or T mode, when the servo motor is ready to run, signal CWE or CCWE is a must to start running the motor. For more information about the signals CWE and CCWE, refer to "DIs (Page 92)". 7.6.4 Speed limit Refer to "Speed limit (Page 178)" for details. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 210: Communicating With The Plc
7.7.1 USS communication The SINAMICS V90 can communicate with the PLC through an RS485 cable with the standard USS communication protocol. After the communication is established, you can change the position setpoint and speed setpoint through the USS communication protocol.
Page 211 For S control mode, you can change the following parameter via USS: p1001 to p1007 • Ten monitor parameters can be read by USS: r0020, r0021, r0026, r0027, r0031, r0032, r0034, r0807, • r2556, and r2521 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 212: Modbus Communication
7.7.2 Modbus communication The SINAMICS V90 servo drive can communicate with the PLC through an RS485 cable with the standard Modbus communication protocol. For Modbus data format, V90 supports Modbus RTU while Modbus ASCII is not supported. Registers of the servo drive can be read by Modbus function code FC3 and written via function code FC6 (single register) or FC16 (multiple registers).
Page 213 ⑥ Save the parameters and restart the drive. ⑦ Configure the PLC parameters. Note: Keep the PLC baud rate the same as the drive setting. Set even parity check for the PLC. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 214 Set the drive work mode to S control mode. Configure the PLC parameters. Note: Keep the PLC baud rate the same as the drive setting. Set even parity check for the PLC (parity = 2). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 215 • p29007 = 2 Select Modbus control source by p29008. • p29008 = 1 Set the transmission baud rate by p29009. • p29009 = 8 (38400 baud) Save the parameters and restart the drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 216 For example, we write 0x46E to the register 40100 firstly and then write 0x46F to the register. The motor now is in SON status. You can check the control word definition table below to see the meaning of "0x46E" and "0x46F". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 217 Write the position setpoint and speed setpoint via the registers 40932, 40933, 40934, 40935, 40102 and 40103. Mapping table The SINAMICS V90 servo drive supports the following registers. "R", "W", "R/W" in the column access stand for read, write, read/write. Modbus register...
Page 218 40324 Reference speed 6 to 32767 Motor rated speed 40325 Control mode 0 to 8 p29003 40340 Speed setpoint -16250 to r0020 16250 40341 Actual speed value -16250 to r0021 16250 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 219 40806/40807 Fixed position setpoint -2147482648 to p2617[3] 2147482647 40808/40809 Fixed position setpoint -2147482648 to p2617[4] 2147482647 40810/40811 Fixed position setpoint -2147482648 to p2617[5] 2147482647 40812/40813 Fixed position setpoint -2147482648 to p2617[6] 2147482647 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 220 Fixed speed setpoint 4 R/W 0x4000 hex = -210000.000 to p1004 100% × motor 210000.00 rated speed 40904 Fixed speed setpoint 5 R/W 0x4000 hex = -210000.000 to p1005 100% × motor 210000.00 rated speed SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 221 OFF2 1: No OFF2 (enable is possible) OFF2 1: No OFF2 (enable is possible) 0: OFF2 (immediate pulse cancelation 0: OFF2 (immediate pulse cancelation and power on inhibit) and power on inhibit) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 222 0: Inhibit operation (cancel pulses) EN_PAMP 1: Operating condition (the ramp function Reserved generator can be enabled) 0: Inhibit ramp function generator (set the ramp function generator output to zero) Reserved Reserved SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 223 All the reserved bits in register 40100 must be set to 0. Definition of register 40110 PTI, IPos, S and T control modes Signals Description Servo ready FAULT Fault status In-position signal SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 224: Absolute Position System
The scaling factor is as defined in the above table. Absolute position system When the SINAMICS V90 servo drive uses a servo motor with an absolute encoder. the current absolute position can be detected and transmitted to the controller. With this function...
Page 225: Transmitting Sequence For The Absolute Position Data
The following table shows you the transmitting sequence for the absolute position data: Main step Sub step/comment ① Set PTI control mode. Set p29003 = 0. ② Enable absolute position mode. Set p29250 = 1. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 226 PLC sends a data request to drive through the RS485 cable. 2. In response to the data request from the PLC, the servo drive transmits the absolute position data (r2521) to the PLC. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 227: Safety Integrated Function
For example, the control system for a machine that is to be used in the US must fulfill local US requirements even if the machine manufacturer (OEM) is based in the European Economic Area (EEA). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 228: Functional Safety
Machinery Directive and the Low-Voltage Directive apply). 8.1.2.1 Machinery Directive The basic safety and health requirements specified in Annex I of the Directive must be fulfilled for the safety of machines. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 229: Harmonized European Standards
● Type B2 standards for protective safety devices are defined for different machine types (e.g. EMERGENCY STOP devices, two-hand operating circuits, interlocking elements, contactless protective devices, safety-related parts of controls). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 230: Standards For Implementing Safety-Related Controllers
EC Machinery Directive are fulfilled. These standards ensure that the relevant safety requirements of the Machinery Directive are fulfilled. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 231: Din En Iso 13849-1 (Replaces En 954-1)
EN 954-1. Performance levels (PL), which are based on the categories, are used. The following safety-related characteristic quantities are required for devices/equipment: ● Category (structural requirement) ● PL: Performance level SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 232: En 62061
PFHD value of the sub-system. Safety-related characteristic quantities for subsystem elements (devices): ● λ: Failure rate ● B10 value: For elements that are subject to wear ● T1: Lifetime SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 233 Details of simple sub-systems that have been implemented and integrated are now available as "functional examples". Note EN 62061 and machinery directive IEC 62061 has been ratified as EN 62061 in Europe and harmonized as part of the Machinery Directive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 234: Series Of Standards En 61508 (Vde 0803)
When the procedure is repeated, this is known as an iterative process. This can help eliminate hazards (as far as this is possible) and can act as a basis for implementing suitable protective measures. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 235 EN ISO 13849-1. For electrical and electronic controllers, EN 62061 can be used as an alternative to EN ISO 13849-1. Electronic controllers and bus systems must also comply with IEC/EN 61508. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 236: Risk Reduction
The OSHA regulations are described in OSHA 29 CFR 1910.xxx ("OSHA Regulations (29 CFR) PART 1910 Occupational Safety and Health"). (CFR: Code of Federal Regulations.) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 237: Nrtl Listing
NFPA 79 9.2.5.4.1.4). Like EN 60204-1, NFPA 79 no longer specifies that the electrical energy must be disconnected by electromechanical means for emergency stop functions. The core requirements regarding programmable electronics and communication buses are: system requirements (see NFPA 79 9.4.3) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 238: Ansi B11
JIS number Comment ISO12100-1 JIS B 9700-1 Earlier designation TR B 0008 ISO12100-2 JIS B 9700-2 Earlier designation TR B 0009 ISO14121- 1 / EN1050 JIS B 9702 ISO13849- 1 JIS B 9705-1 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 239: Machine Safety In Japan
In addition to the requirements of the guidelines and standards, company-specific requirements must be taken into account. Large corporations in particular (e.g. automobile manufacturers) make stringent demands regarding automation components, which are often listed in their own equipment specifications. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 240: General Information About Sinamics Safety Integrated
8.3.2 Certification The safety function of the SINAMICS V90 drive system meets the following requirements: ● Category 3 according to ISO 13849-1:2006 ● Performance Level (PL) d to ISO 13849-1:2006 ● Safety integrity level 2 (SIL 2) to IEC 61508...
Page 241: Safety Instructions
Safety Integrated function 8.3 System features In addition, the safety function of SINAMICS V90 has been certified by independent institutes. An up-to-date list of certified components is available on request from your local Siemens office. 8.3.3 Safety instructions Note Additional safety information and residual risks not specified in this section are included in the chapter "Safety instructions (Page 11)".
Page 242: Probability Of Failure Of The Safety Function
Hardware fault tolerance (HFT) The HFT value of SINAMICS V90 drive system is one. It means that the system can handle one fault without brake down. SINAMICS V90 STO function is a subsystem from type A, and only the discrete components are involved in the STO function.
Page 243: Response Time
● This function is integrated in the drive; this means that a higher-level controller is not required. ● The function is drive-specific, i.e. it is available for each drive and must be individually commissioned. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 244 High level Safe The servo motor can normally run when you power on the servo drive. Low level Low level Safe The servo drive starts up normally but the servo motor cannot run. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 245: Forced Dormant Error Detection
This functionality must be implemented by means of forced dormant error detection function, triggered either in manual mode or by the automated process. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 246 The forced dormant error detection procedure of Safety Function (STO) always has to be executed through the terminals. The mission time of the devices is 40000 hours. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 247: Tuning
Current loop > speed loop > position loop Since the current loop of SINAMICS V90 servo drive already has a perfect frequency width, it is only necessary for you to adjust the speed loop gain and the position loop gain.
Page 248 You can slowly adjust the position loop feed forward gain. The effect of feed forward function is not obvious if the position loop gain is too big. Parameter Value range Default value Unit Description p29111 0.00 to 200.00 Position loop feed forward gain SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 249: Tuning Mode
The tuning function only uses the first group of servo gains (position loop gain 1, speed loop gain 1 and speed loop integral time 1). The following tuning functions are available for the SINAMICS V90 servo drive. Select a tuning mode by setting the parameter p29021:...
Page 250: One-Button Auto Tuning
– For the motor with an absolute encoder: position limitation is defined by p29027 – For the motor with an incremental encoder: the motor must be allowed to rotate freely about two rounds when tuning starts SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 251 Tuning 9.3 One-button auto tuning One-button auto tuning procedure Proceed as follows to perform one-button auto tuning for the SINAMICS V90 servo drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 252 Higher dynamic factor means higher tracking ability and shorter settling time but also higher possibility of resonance. You should find a desired dynamic factor within a resonance-free range. 35 dynamic factors are available for the SINAMICS V90 servo drive: Dynamic factor (p29020) Machine rigidity ↑...
Page 253 0.5 to 16000 1999 Current setpoint filter 1 denominator natural frequen- p1659 0.001 to 10 Current setpoint filter 1 denominator damping p2533 0 to 1000 LR position setpoint filter time constant SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 254 One-button auto tuning may cause some changes of the control parameters. When the system rigidity is low, this may lead to a situation that when you set EMGS = 0, the motor needs take long time to emergency stop. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 255: Real-Time Auto Tuning
● Make sure that the motor has multiple accelerations and decelerations. Step command is recommended. ● Machine resonance frequency changes when the machine is running. Real-time auto tuning procedure Proceed as follows to perform real-time auto tuning for the SINAMICS V90 servo drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 256 Higher dynamic factor means higher tracking ability and shorter settling time but also higher possibility of resonance. You should find a desired dynamic factor within a resonance-free range. 35 dynamic factors are available for the SINAMICS V90 servo drive: Dynamic factor (p29020) Machine rigidity ↑...
Page 257 After the tuning is completed, the host controller can run the motor. Note After the real-time auto tuning is activated, do not change other auto tuning related control/filter parameters since these parameters can be set automatically and your changes will not be accepted. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 258 In such cases, use the one-button auto tuning or manual tuning to optimize the drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 259: Manual Tuning
● p29021=5: auto tuning function is disabled and all control parameters are reset to tuning default values. ● p29021=0: auto tuning function is disabled without changing control parameters. Procedure for manual tuning Follow the procedure below to perform manual tuning: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 260: Resonance Suppression
(by automatically setting notch filter) to suppress the mechanical resonance. Now four current setpoint filters are available for the V90 servo drive. Filter 1 is lowpass filter. Filter 2, filter 3 and filter 4 are band damp filters. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 261 Natural frequency of current notch filter 3 denominator. p1669 0.001 to 10 Damp of current notch filter 3 denominator. p1670 0.5 to 16000 1000 Natural frequency of current notch filter 3 numerator. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 262 Damp of current notch filter 3 denominator. p1670 0.5 to 16000 1000 Natural frequency of current notch filter 3 numerator. p1671 0.0 to 10 0.01 Damp of current notch filter 3 numerator. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 263: Low Frequency Vibration Suppression
Step Description Comment ① Set the drive to servo off status. ② Select the filter type by p31581. Vibration suppression filter type. 0: filter type rugged • 1: filter type sensitive • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 264: Gain Switching
Five gain switching modes in total are available: ● Gain switching disabled ● Gain switching using digital input signal (G-CHANGE) ● Gain switching using position deviation ● Gain switching using position setpoint frequency ● Gain switching using actual speed SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 265: Gain Switching Using An External Digital Input Signal (G-Change)
Speed loop gain 2 p29121[0] 0 to 100000 Speed loop integral time 1 p29121[1] 0 to 100000 Speed loop integral time 2 p29139 8 to 1000 Time constant to smooth the switching between gain sets SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 266: Gain Switching Using Position Deviation
Speed loop integral time 2 p29131 0 to 2147483647 100 Position deviation threshold for automatically triggering gain switching p29139 8 to 1000 Time constant to smooth the switching between gain sets Timing diagram SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 267: Gain Switching Using Position Setpoint Frequency
0 to 100000 Speed loop integral time 2 p29133 0 to 2147000064 100 Speed threshold for automatically triggering gain switching p29139 8 to 1000 Time constant to smooth the switching between gain sets SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 268: Pi/P Switching
Selection of a switching mode for PI/P switching Five switching modes in total are available for PI/P switching: ● using torque setpoint ● using an external digital input signal (G-CHANGE) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 269 The mode switching function suppresses torque saturation and eliminates the over- shooting or undershooting of the motor speed. Example 2: The function of PI/P switching can be used to suppress overshooting and undershooting when speed loop gain is increased SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 270: Pi/P Switching Using Torque Setpoint
PI/P switching using an external digital input signal (G-CHANGE) DI settings ● Position control mode Signal Setting Description G-CHANGE The first group of gains is selected. The second group of gains is selected. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 271: Pi/P Switching Using Speed Setpoint
2000 (default) Speed threshold for automatically triggering PI to P switch. p29120[0] 0 to 999999 0.3 (default) Nms/rad Speed loop gain 1 p29121[0] 0 to 100000 15 (default) Speed loop integral time 1 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 272: Pi/P Switching Using Acceleration Setpoint
For detailed information about speed setpoint, refer to "Configuring speed setpoint (Page 201)". Acceleration For detailed information about acceleration, refer to "Setting fixed position setpoint (Page 186)" of the internal position control mode. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 273: Pi/P Switching Using Pulse Deviation
Nms/rad Speed loop gain 1 p29121[0] 0 to 100000 15 (default) Speed loop integral time 1 Note Speed setpoint For detailed information about speed setpoint, refer to "Configuring speed setpoint (Page 201)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 274 Tuning 9.9 PI/P switching SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 275: Parameters
When judging the state of the drive according to the "RDY" LED, ensure that no faults or alarms exist. Data type Type Description 16-bit integer 32-bit integer 16 bits without sign 32 bits without sign Uint16 16-bit unsigned integer Uint32 32-bit unsigned integer Float 32-bit floating point number SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 276 Parameters 10.1 Overview Parameter groups The SINAMICS V90 parameters are divided into the following groups: Parameter group Available parameters Parameter group display on the BOP Basic parameters p290xx Gain adjustment parameters p291xx Speed control parameters p10xx to p14xx, p21xx Torque control parameters...
Page 277: Parameter List
Description: Sets a value for the fixed speed / velocity setpoint 5. p1006 Fixed speed setpoint 6 -210000.000 210000.000 0.000 Float T, U Description: Sets a value for the fixed speed / velocity setpoint 6. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 278 Description: Sets the initial rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down. Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 279 Notice: For reasons relating to the compatibility to earlier firmware versions, a parameter value of zero in indices 1 to 31 is overwritten with the parameter value in index 0 when the drive boots. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 280 Note: The drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 281 Speed setpoint filter 2 T, U type Description: Sets the type for speed setpoint filter 2. Dependency: PT1 low pass: p1422 PT2 low pass: p1423, p1424 General filter: p1423 ... p1426 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 282 Danger: Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating in an uncontrollable fashion. Notice: The maximum value depends on the maximum torque of the connected motor. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 283 Description: Sets the denominator natural frequency for current setpoint filter 3 (PT2, general filter). Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 284 The smoothed actual speed/velocity is compared with the threshold values and is only used for messages and signals. p2161 * Speed threshold 3 0.00 210000.00 10.00 Float T, U Description: Sets the speed threshold value for the signal that indicates the axis is stationary. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 285 Dependency: Refer to: p2542, p2545, and F07450 Note: The following applies for the setting of the standstill and positioning monitoring time: Standstill monitoring time (p2543) ≤ positioning monitoring time (p2545) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 286 The programmed acceleration override acts on the maximum acceleration. "Direct setpoint input/MDI" mode: The acceleration override is effective. "Jog" and "search for reference" modes: No acceleration override is active. The axis starts with the maximum acceleration. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 287 If the axis is already outside the valid traversing range, then an appropriate fault is output. The fault can be acknowledged at standstill. Traversing blocks with valid position can be activated. Note: The traversing range can also be limited using STOP cams. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 288 Note: When traversing to the reference cam, the velocity override is effective. If, at the start of the search for reference, the axis is already at the reference cam, then the axis immediately starts to traverse to the zero mark. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 289 Note: The target position is approached in either relative or absolute terms depending on p29241. p2618[0... EPOS traversing block 40000000 T, U velocity Description: Sets the velocity for the traversing block. Dependency: Refer to p2617 Note: The velocity can be influenced using the velocity override (p2646). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 290 3: Torque control (T) • 4: Control change mode: PTI/S • 5: Control change mode: IPos/S • 6: Control change mode: PTI/T • 7: Control change mode: IPos/T • 8: Control change mode: S/T • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 291 10: 76800 baud • 11: 93750 baud • 12: 115200 baud • 13: 187500 baud • Note: The change only becomes effective after power on. The parameter is not influenced by default function. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 292 Four numerators in total are available. You can select one of the numerators by configuring the digital input signal EGEAR. For detailed information about the calculation of a numerator, refer to the SINAMICS V90 Operating Instruc- tions or use SINAMICS V-ASSISTANT to do the calculation.
Page 293 Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is necessary • for interpolating axes. The time in p29028 should be set according to the axis with the lowest dynamic re- sponse. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 294 Description: The numerator of the electronic gear ratio for the output pulses. For detailed information about the calculation of a numerator, refer to the SINAMICS V90 Operating Instruc- tions or use the SINAMICS V-ASSISTANT to do the calculation.
Page 295 Three internal torque limits in total are available. You can select the internal parameters or the analog input as the source of the torque limit with the combina- tion of the digital input signals TLIM1 and TLIM2. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 296 Offset Adjustment for -0.50 0.50 0.00 Float Analog output 2 Description: Offset adjustment for analog output 2. p29110[0.. Position Loop Gain 0.000 300.000 Float T, U .1] ** Motor 0/mi pendent 1.000 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 297 Switch from the first group of control parameters to the second group when the position deviation is larger • than the threshold. Switch from the second group of control parameters to the first group when the position deviation is small- • er than the threshold. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 298 Switch from the PI control to the P control when the actual torque is larger than the threshold. • Switch from the P control to the PI control when the actual torque is smaller than the threshold. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 299 3: NEG Mod • p29242 CLR Pulse Mode Description: Select clear pulse mode 0: disabled • 1: means clear pulse on high level • 2: means clear pulse on rising edge • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 300 Note: The drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 301 [1]: DI1 for Control mode 1 • [2]: DI1 for Control mode 2 • [3]: DI1 for Control mode 3 • p29302[0.. Digital Input 2 Assign- ment Description: Defines the function of digital input signal DI2 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 302 Description: Defines the function of digital input signal DI6 Index: [0]: DI6 for Control mode 0 • [1]: DI6 for Control mode 1 • [2]: DI6 for Control mode 2 • [3]: DI6 for Control mode 3 • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 303 14: RDY_ON • p29331 Digital Output 2 Assign- ment Description: Defines the function of digital output signal DO2 p29332 Digital Output 3 Assign- ment Description: Defines the function of digital output signal DO3 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 304 • 4: Encoder warning • 5: Motor overtemperature warning: 85% of overtemperature threshold has been reached. • 6: Capacitor service life warning: The capacitor has reached its expiry, so replace it. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 305 1: The sensitive VIBSUP filter has a higher sensitivity to frequency offsets compared with the rugged filter • type, but results in a lower delay of the motion sequence. The total motion sequence is extended by half the time period T /2 (T = 1/f SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 306 Note: Smoothing time constant = 100 ms The signal is not suitable as a process quantity and may only be used as a display quantity. The field-generating current actual value is available smoothed (r0029) and unsmoothed. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 307 For the actual torque limit < 0, the following applies: r0033 = 0 % r0034 Motor utilization thermal Float Description: Displays the motor utilization from motor temperature model 1 (I t) or 3. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 308 • [19]: Cooling unit liquid intake • Dependency: Refer to A01009 Notice: Only for internal Siemens troubleshooting. Note: The value of -200 indicates that there is no measuring signal. r0037[0]: Maximum value of the inverter temperatures (r0037[5...10]). • r0037[1]: Maximum value of the depletion layer temperatures (r0037[13...18]).
Page 309 Description: Displays the status of digital outputs. Note: DI/DO: Bidirectional Digital Input/Output The drive unit displays the value in hex format. You can convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 310 Bit08 EGEAR2 Bit09 TLIMT1 Bit10 TLIMT2 Bit11 CWE Bit12 CCWE Bit13 ZSCLAMP Bit14 SPD1 Bit15 SPD2 Bit16 SPD3 Bit17 TSET Bit18 SLIMT1 Bit19 SLIMT2 Bit20 POS1 Bit21 POS2 Bit22 POS3 Bit23 REF Bit24 SREF Bit25 STEPF Bit26 STEPB Bit27 STEPH Bit28 EMGS Bit29 C-MODE SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 311 Bit 10: WARNING2 • Bit 11: REFOK • Bit 12: CM_STA • Bit 13: RDY_ON • r29979 PStatus Description: Displays the status of position loop. Bit 0 - Bit 1: actual EGear index • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 312 Parameters 10.2 Parameter list SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 313: Diagnostics
● General properties of faults and alarms – Triggering on selected messages possible. – Contain the component number for identifying the affected SINAMICS component. – Contain diagnostic information on the relevant message. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 314 Non-first alarm in the case of multiple alarms NOTICE Faults have higher display priority than alarms In the case that both faults and alarms occur, only faults are displayed until they have been acknowledged. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 315 BOP operations for faults and alarms To view faults or alarms, proceed as follows: ● Faults ● Alarms To exit from fault or alarm display, proceed as follows: ● Faults ● Alarms SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 316 • You can acknowledge faults using RESET signal. For details of the signal, refer to DIs (Page 92). • You can acknowledge faults on the SINAMICS V-ASSISTANT. For details, refer to SINAMICS V-ASSISTANT Online Help. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 317 Communication with PC is not active Green Flash at 0.5 Hz Communication with PC is active Flash at 2 Hz Micro SD card/SD card operating (read or write) Continuously lit Communication with PC is in error SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 318: List Of Faults And Alarms
Load another valid parameter backup • (e.g. from the memory card), save, carry out a POWER ON (switch-off/switch-on). Note: If the fault situation is repeated, then this fault is again output after several interrupted boots. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 319 IMMEDIATELY The higher-level control has withdrawn • Check the data transfer via the fieldbus • the "master control by PLC" signal. (master/drive). Data transfer via the fieldbus (mas- • ter/drive) was interrupted. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 320 Reduce the numerator or denominator • point filter natural frequency > greater than the Shannon frequency. natural frequency of the current setpoint Shannon frequecy filter involved. Switch out the filter involved (p1656). • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 321 Reaction: OFF1 Position loop gain too low. • Acknowledgement: Position loop gain too high (instabil- • IMMEDIATELY ity/oscillation). Mechanical overload. • Connecting cable, motor/drive convert- • er incorrect (phase missing, inter- change). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 322 Reaction: OFF1 between the reference cam and zero mark cam and the zero mark without finding the Acknowledgement: (p2609). zero mark. IMMEDIATELY Use an external encoder zero mark • (equivalent zero mark). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 323 OFF3) Acknowledgement: IMMEDIATELY F7488: EPOS: Relative posi- In the mode "direct setpoint input/MDI", for Check the control. tioning not possible continuous transfer relative positioning was selected. Reaction: OFF1 (OFF2, OFF3) Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 324 The power unit parameters cannot be read Carry out a POWER ON (power off/on) for • present or no parameters are stored in the power all components. unit. Reaction: NONE Change the module. • Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 325 For incremental motor, needs pole position Stop motor before SON. failure identification when first SON. If motor already in run (i.e. by external force) posi- Reaction: OFF2 tion identification may failure. Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 326 Adapt the load duty cycle. • Reaction: OFF2 rent was exceeded for an inadmissibly Check the motor and power unit rated • Acknowledgement: long time. currents. IMMEDIATELY The permissible load duty cycle was • not maintained. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 327 DC link fast discharge through the Braking Module. The DC link has either a ground fault or • a short-circuit. The pre-charging circuit is possibly • defective. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 328 A*, B* and R* are not connection of them. inverted with respect to signals A, B and R. Reaction: ENCODER Does the encoder supply signals and the • Acknowledgement: PULSE associated inverted signals? INHIBIT SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 329 The servo motor with absolute encoder is The servo motor will be automatically config- motor changed changed. Actual motor ID is different from ured after the acknowledgement of this fault. commissioned motor ID. Reaction: OFF1 Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 330 The saved object-specific parameters are not loaded the next time that the system powers up. For the system to successfully power up, all of the parameters must have been completely backed up. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 331 A7461: EPOS: Reference When starting a traversing block/direct Reference the system (search for reference, point not set setpoint input, a reference point is not set. flying referencing, set reference point). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 332 Encoderless operation is active due to a Remove the cause of a possible encoder • tion due to a fault active fault. fault. Carry out a POWER ON (power off/on) for • all components. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 333 A30016: Load supply The DC link voltage is too low. Switch on the load supply. • switched off Check the line supply if necessary. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 334 Change PTO ratio. quency exceeds 280K, drive will output A52932 to remind that exceed limitation. For absolute encoder, when PTO frequen- cy exceeds 120K, drive will output A52932 to remind that exceed limitation. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 335: Appendix
50 mm and high inertia motor. Assembly of cable connectors on the motor side Power connector assembly SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 336 The connector assembly procedures for incremental and absolute encoders are the same. Brake connector assembly The assembly of a brake connector follows the procedure as described in the figure above for an encoder connector. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 337: Assembly Of Cable Terminals On The Drive Side
A.2 Assembly of cable terminals on the drive side Assembly of cable terminals on the drive side Power terminal assembly Drive type Procedure Illustration SINAMICS V90 200 V Terminal assembly procedure: variant: 1. Remove the outer sheath of the cable. FSA/FSB/FSC/FSD 2. Remove the insulation from the wire.
Page 338 Appendix A.2 Assembly of cable terminals on the drive side Encoder terminal assembly The terminal assembly procedures for incremental and absolute encoders are the same. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 339 A.2 Assembly of cable terminals on the drive side Brake terminal assembly The assembly of a brake terminal follows the procedure as described in the figure above for a power terminal. Setpoint connector assembly SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 340: Motor Selection
The inertia ratio can be obtained by dividing the load inertia by the rotor inertia of the selected motor. The unit of inertia is x 10 kg·m 4. Calculate the speed. Calculate the speed according to the travel distance, acceleration time, deceleration time, and constant motion time. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 341: Parameter Description
80% of the motor’s rated torque. : Acceleration torque [N·m] : Acceleration time [s] : Cycle time [s] : Moving torque [N·m] : Constant motion time [s] : Deceleration torque [N·m] : Deceleration time [s] SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 342 W: Mass (kg) W: Mass (kg) D: Pulley wheel diameter (m) : Speed of each motor Reducer (rpm) : Pulley inertia (kg·m Object hung with pulley : Inertia of each motor (kg·m SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 343: Selection Examples
) / t = 1.71 Nm < 4.78 Nm (rated torque) 6. Final selection According to the above calculated speed, torque, and inertia ratio, you are recommended to select 1000 W motors, i.e. 1FL6062. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 344: Replacing Fans
A.4 Replacing fans Replacing fans Proceed as illustrated below to remove the fan from the SINAMICS V90 drive. To re- assemble the fan, proceed in reverse order. When re-assembling the fan for FSC, make sure that the arrow symbol ("...
Page 345 Appendix A.4 Replacing fans Replacing the fan from frame size C SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 346 Appendix A.4 Replacing fans SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 347: Index
Connecting the RS485 interface, 130 Gain switch, 264 Connecting the SIMATIC S7-1200 Gain switching using actual speed, 267 For internal position control (IPos), 121 For pulse train input position control (PTI), 120 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...
Page 348 OSHA, 236 Harmonized European Standards, 229 Over-travel, 164 Overview of absolute position system, 224 Restrictions, 225 Overview of SINAMICS V90 BOP functions, 153 Internal position control mode (IPos) Linear/modular axis, 189 Position setpoint, 186 Selecting a fixed position setpoint and starting...
Page 349 Standards for implementing safety-related controllers, 230 Stopping method at servo OFF, 169 Coast-down, 170 Emergency stop, 170 Ramp-down (OFF1), 170 System connection, 81 Technical data Cables, 66 Torque control mode 300% overload capacity, 207 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 09/2015, A5E36037884...

This manual is also suitable for:

Simotics s-1fl6

Siemens SINAMICS V90 Operating Instructions Manual

1 Safety Instructions

2 General Information

3 Mounting

4 Connecting

5 Commissioning

6 Basic Operator Panel (BOP)

7 Control Functions

8 Safety Integrated Function

9 Tuning

10 Parameters

11 Diagnostics

Appendix

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Summary of Contents for Siemens SINAMICS V90