Siemens Ltda. 2009. All rights reserved.

SINAMICS S120 Date: 21.07.2009

Preparations for commissioning
supply
1
3
4
2
5
1. Component wiring
2. Rules for wiring with
DRIVE-CLiQ
3. Activating online operation
via PROFIBUS
4. STARTER commissioning
tool
5. CU320 has the right
CompactFlash Card
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Preparation 1: wiring (example)
Main switch
Line fuses
SITOP with fuses
24VDC for drive components and EP
DRIVE-CLiQ wiring
Line contactor with DI to CU320
Line reactor or reactor + filter
Cables to motors and encoders
Grounding
example:
CU320 with ALM,
2 Motor module with Motor,
2 Motor encoders, 1 external
encoder over 3 SMI
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Preparation 1: wiring Line Module
Active Line Module
Infeed operation
DRIVE-CLiQ wiring:
ALM > CU320 > Motor Module
ALM.p863.0 = drive_02.p864
drive_03.p864
Smart Line Module
Infeed operation
HW-wiring:
SLM X21:1 (DO) >> TB30 X481:1 (DI0)
TB30.r4022.0 = drive_02.p864
drive_03.p864
By using a SLM without DRIVE-CLiQ
connection you have to connects and
parameterize the I/O terminals.
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Sensor Module SMC/SME
oder DRIVE-CLiQ Motor
Preparation 2: Rules for wiring with DRIVE-CLiQ
Obligatory rules:
Maximum length of DRIVE-CLiQ-Cable:
MOTION-CONNECT 500: 70m
MOTION-CONNECT 800: 100m
Maximum length of DRIVE-CLiQ-Cable:
MOTION-CONNECT 500: 70m
MOTION-CONNECT 800: 100m
X500 X500 X500
Double
X500
X500
X2
X1
1
2
SMx1 an Port 2
SMx2 an Port 3
Optional rules:
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Preparation 3: Activating online operation via PROFIBUS
As Start-up tool, the current STARTER
is installed.
The communication from the
STARTER to the CU320 takes place
over PROIBUS under observance of
the construction-guidelines.
The PG/PC interface is with the
system-function PG/PC interface puts
in , to furnish,
For the CU320 interface, the address is
to be put in merely.
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Preparation 3: Set PG/PC Interface
Used Interface:
PROFIBUS
(no PROFIBUS-DP Slave)
PG/PC is the only master?
12 Mbit/s
DP or User-Defined with
NetPro
Test > O.K.
Read Bus Nodes: 0 + 4 + ...
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Preparation 4: SINAMICS Firmware and STARTER Software
current FW-version
SINAMICS:
V02.05.00.00
current SW-version
STARTER/SCOUT:
V4.1.2.4
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Memory places
V
0
2
.0
1
.0
1
HD HD
RAM RAM
RAM to ROM copy,
Save Parameter
SINAMICS CU PG / PC
Load in to the PG save project
Reboot,
Parameter reset
Load to target device
Open project
Online Offline
IDC IDC
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Structure of the CompactFlash Card S120
1 user
parameter file
For example:
PS xx00= General
PS xx01= Object 1: CU
PS xx02= Object 2/3: Drive
PS xx03= Object 4: TB30
PS xx99= General
n saved
parameter files
+
V
0
2
.
0
1
.
0
1
System data
User data
License
FW for components
GSD data
CU loader
The following is saved on the CompactFlash Card:
The firmware of the CU and the components
The user parameters (PF1: each DO =1 file)
Additional parameter files for factory reset
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Save and reset parameters
A) Use Icons
Load project to target system
all Project data to target system
drive 1,
drive 2,
SIMOTION
With/without RAM t0 ROM copy:
Download
Project-part of the marked device
A upload to PG
B download to target system
C restore factory settings (p976=1)
D copy RAM to ROM
A B C D
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Meaning of the Icons in the Project Navigator (ONLINE)
gn - gn
rd - rd
rd. - gn
w - w
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Topology and Compare of Components
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Servo: Closed-loop control
M
Motor
G
sensor
Speed
- n
ist
n
soll
Position
- x
ist
x
soll
Act. current
- I
ist
I
soll
PWM
3
2
I
U
I
V
I
W
I
q
I
d
Motor-
model
I
q
I
d

M
K
V
...Gain K
P
... Gain
T
N
... Integral Time
K
P
... Gain
T
N
.. Integral Time
Position controler
Torque precontrol
Speed precontrol
Speed controller Current controller
Gating unit
Encoder
Rotor pos.
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Optimizing PI-controller with method Ziegler-Nichols
controlled
system
PI-controller
correcting
variable
setpoint Actual value
K
P
... Gain
T
N
Integral time
Input (setpoint)
t
Output (actual)
Integral time = max
Const. Input min 2%
increase K
P
Up to
oscillation
Increase T
N
to 200%
Reduce K
P
to
50%
Reduce T
N
Up to
oscillation
t
oscillations
Siemens Ltda. 2009. All rights reserved.
SINAMICS S120 Date: 21.07.2009
Step-forced response / setpoint jump
terminology of step-forced response :
X(t) step response
T
U
delay time
T
g
compensation time
T
An
rise time
T
Aus
settling time
V
m
overshoot amplitude
d tolerance band
t
overshoot
max. 20 - 40 %
T
U
T
An
T
Aus
V
m
x
t
0
T
g
d
t
Output (actual)
1 integral time T
N
max
(1000ms)
2 input jump
3 free current
t
Output (actual)
t
Output (actual)
Increase K
P
Reduce K
P
1K
P
= optimal
2T
N
reduce
for max. 20-40%
overshoot
Kp Tn
sluggish
dynamic
t
Output (actual)
overshoot
Max. 20-40%
T
an