___________________ Preface Fundamental safety 1 ___________________ instructions SINAMICS S120 Commissioning with Startdrive Commissioning Manual Startdrive commissioning 2 ___________________ tool 3 ___________________ Fundamentals 4 ___________________ Commissioning 5 ___________________ Diagnostics A ___________________ Appendix Valid for: Firmware version 4.8, Startdrive V14 (IH3), 07/2016 6SL3097-4AA10-0BP0 Legal information Warning notice system This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger. DANGER indicates that death or severe personal injury will result if proper precautions are not taken. WARNING indicates that death or severe personal injury may result if proper precautions are not taken. CAUTION indicates that minor personal injury can result if proper precautions are not taken. NOTICE indicates that property damage can result if proper precautions are not taken. If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage. Qualified Personnel The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems. Proper use of Siemens products 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. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed. Trademarks All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner. Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions. Siemens AG Division Digital Factory Postfach 48 48 90026 NÜRNBERG GERMANY Document order number: 6SL3097-4AA10-0BP0 Ⓟ 11/2016 Subject to change Copyright © Siemens AG 2016. All rights reserved Preface SINAMICS documentation The SINAMICS documentation is organized in the following categories: ● General documentation/catalogs ● User documentation ● Manufacturer/service documentation Additional information You can find information on the following topics at the following address (http://w3.siemens.com/mcms/mc-solutions/en/motion-control/support/technicaldocumentation/Pages/technical-documentation.aspx): ● Ordering documentation/overview of documentation ● Additional links to download documents ● Using documentation online (find and search in manuals/information) Please send any questions about the technical documentation (e.g. suggestions for improvement, corrections) to the following e-mail address (mailto:[email protected]). Siemens MySupport/Documentation At the following address (http://www.siemens.com/mdm), you can find information on how to create your own individual documentation based on Siemens' content, and adapt it for your own machine documentation. Training At the following address (http://www.siemens.com/sitrain), you can find information about SITRAIN (Siemens training on products, systems and solutions for automation and drives). FAQs You can find Frequently Asked Questions in the Service&Support pages under Product Support (https://support.industry.siemens.com/cs/de/en/ps/faq). SINAMICS You can find information about SINAMICS at the following address (http://www.siemens.com/sinamics). Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 5 Preface Usage phases and their documents/tools (as an example) Table 1 Usage phases and the available documents/tools Usage phase Document/tool Orientation SINAMICS S Sales Documentation Planning/configuration • SIZER Engineering Tool • Configuration Manuals, Motors Deciding/ordering Installation/assembly Commissioning Usage/operation SINAMICS S120 catalogs • SINAMICS S120 and SIMOTICS (Catalog D 21.4) • SINAMICS Inverters for Single-Axis Drives and SIMOTICS Motors (Catalog D 31) • SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62) • SINAMICS S120 Manual for Control Units and Additional System Components • SINAMICS S120 Manual for Booksize Power Units • SINAMICS S120 Manual for Booksize Power Units C/D Type • SINAMICS S120 Manual for Chassis Power Units, Air-cooled • SINAMICS S120 Manual for Chassis Power Units, Liquid-cooled • SINAMICS S120 Manual for AC Drives • SINAMICS S120 Manual Combi • SINAMICS S120M Manual Distributed Drive Technology • SINAMICS HLA System Manual Hydraulic Drive • STARTER Commissioning Tool • SINAMICS S120 Getting Started with STARTER • SINAMICS S120 Commissioning Manual with STARTER • SINAMICS S120 CANopen Commissioning Manual • SINAMICS S120 Function Manual Drive Functions • SINAMICS S120 Safety Integrated Function Manual • SINAMICS S120/S150 List Manual • SINAMICS HLA System Manual Hydraulic Drive • Startdrive commissioning tool1) • SINAMICS S120 Getting Started with Startdrive2) • SINAMICS S120 Commissioning Manual with Startdrive1) • SINAMICS S120 Commissioning Manual with STARTER • SINAMICS S120/S150 List Manual • SINAMICS HLA System Manual Hydraulic Drive • SINAMICS S120 Commissioning Manual with Startdrive1) Commissioning with Startdrive 6 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Preface Usage phase Document/tool Maintenance/servicing • SINAMICS S120 Commissioning Manual with STARTER • SINAMICS S120/S150 List Manual • SINAMICS S120 Commissioning Manual with Startdrive1) • SINAMICS S120/S150 List Manual References 1) available as of Startdrive V14 release 2) available as of Startdrive V14 SP1 release Target group This documentation is intended for machine manufacturers, commissioning engineers, and service personnel who use the SINAMICS drive system. Benefits This manual provides all of the information, procedures and operator actions required for the particular usage phase. Standard scope The scope of the functionality described in this document can differ from that of the drive system that is actually supplied. ● Other functions not described in this documentation might be able to be executed in the drive system. However, no claim can be made regarding the availability of these functions when the equipment is first supplied or in the event of service. ● The documentation can also contain descriptions of functions that are not available in a particular product version of the drive system. The functionality of the supplied drive system should only be taken from the ordering documentation. ● Extensions or changes made by the machine manufacturer must be documented by the machine manufacturer. For reasons of clarity, this documentation does not contain all of the detailed information on all of the product types, and cannot take into consideration every conceivable type of installation, operation and service/maintenance. Technical Support Country-specific telephone numbers for technical support are provided in the Internet at the following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact" area. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 7 Preface Relevant directives and standards You can obtain an up-to-date list of currently certified components on request from your local Siemens office. If you have any questions relating to certifications that have not yet been completed, please ask your Siemens contact person. Certificates for download The certificates can be downloaded from the Internet: Certificates (https://support.industry.siemens.com/cs/ww/de/ps/13206/cert) EC Declaration of Conformity You can find the EC Declaration of Conformity for the relevant directives as well as the relevant certificates, prototype test certificates, manufacturers declarations and test certificates for functions relating to functional safety ("Safety Integrated") on the Internet at the following address (https://support.industry.siemens.com/cs/ww/en/ps/13231/cert). The following directives and standards are relevant for SINAMICS S devices: European low-voltage directive SINAMICS S devices fulfil the requirements stipulated in the Low-Voltage Directive 2014/35/EU, insofar as they are covered by the application area of this directive. European machinery directive SINAMICS S devices fulfil the requirements stipulated in the Low-Voltage Directive 2006/42/EU, insofar as they are covered by the application area of this directive. However, the use of the SINAMICS S devices in a typical machine application has been fully assessed for compliance with the main regulations in this directive concerning health and safety. European EMC Directive SINAMICS S devices comply with the EMC Directive 2014/30/EU. EMC requirements for South Korea SINAMICS S devices with the KC marking on the rating plate satisfy the EMC requirements for South Korea. Specification for semiconductor process equipment voltage drop immunity SINAMICS S devices meet the requirements of standard SEMI F47-0706. Eurasian conformity SINAMICS S comply with the requirements of the Russia/Belarus/Kazakhstan customs union (EAC). North American market SINAMICS S devices provided with one of the test symbols displayed fulfil the requirements stipulated for the North American market as a component of drive applications. Commissioning with Startdrive 8 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Preface You can find the relevant certificates on the Internet pages of the certifiers: ● For products with UL certificate (http://database.ul.com/cgibin/XYV/template/LISEXT/1FRAME/index.html) ● For products with TÜV SÜD certificate (https://www.tuevsued.de/industry_and_consumer_products/certificates) Possible test symbols Australia and New Zealand (RCM formerly C-Tick) SINAMICS S devices showing the test symbols fulfil the EMC requirements for Australia and New Zealand. Quality systems Siemens AG employs a quality management system that meets the requirements of ISO 9001 and ISO 14001. Not relevant standards China Compulsory Certification SINAMICS S devices do not fall in the area of validity of the China Compulsory Certification (CCC). EMC limit values in South Korea The EMC limit values to be observed for Korea correspond to the limit values of the EMC product standard for variable-speed electric drives EN 61800-3 of category C2 or the limit value class A, Group 1 to KN11. By implementing appropriate additional measures, the limit values according to category C2 or limit value class A, Group 1, are observed. Further, additional measures may be required, such as using an additional radio interference suppression filter (EMC filter). The measures for EMC-compliant design of the system are described in detail in this manual respectively in the EMC Installation Guideline Configuration Manual. The final statement regarding compliance with the standard is given by the respective label attached to the individual unit. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 9 Preface Ensuring reliable operation The manual describes a desired state which, if maintained, ensures the required level of operational reliability and compliance with EMC limit values. Should there be any deviation from the requirements in the manual, appropriate actions (e.g. measurements) must be taken to check/prove that the required level of operational reliability and compliance with EMC limit values are ensured. Spare parts Spare parts are available on the Internet at the following address (https://www.automation.siemens.com/sow?sap-language=EN). Product maintenance The components are subject to continuous further development within the scope of product maintenance (improvements to robustness, discontinuations of components, etc). These further developments are "spare parts-compatible" and do not change the article number. In the scope of such spare parts-compatible further developments, connector positions are sometimes changed slightly. This does not cause any problems with proper use of the components. Please take this fact into consideration in special installation situations (e.g. allow sufficient clearance for the cable length). Use of third-party products This document contains recommendations relating to third-party products. Siemens accepts the fundamental suitability of these third-party products. You can use equivalent products from other manufacturers. Siemens does not accept any warranty for the properties of third-party products. Commissioning with Startdrive 10 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Preface Ground symbols Table 2 Symbols Symbol Meaning Connection for protective conductor (PE) Ground (e.g. M 24 V) Connection for function potential bonding Notation The following notation and abbreviations are used in this documentation: Notation for faults and alarms (examples): • F12345 Fault 12345 • A67890 Alarm 67890 • C23456 Safety message Notation for parameters (examples): • p0918 Adjustable parameter 918 • r1024 Display parameter 1024 • p1070[1] Adjustable parameter 1070, index 1 • p2098[1].3 Adjustable parameter 2098, index 1 bit 3 • p0099[0...3] Adjustable parameter 99, indices 0 to 3 • r0945[2](3) Display parameter 945, index 2 of drive object 3 • p0795.4 Adjustable parameter 795, bit 4 Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 11 Preface Commissioning with Startdrive 12 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Table of contents Preface ................................................................................................................................................... 5 1 2 3 Fundamental safety instructions ............................................................................................................ 17 1.1 General safety instructions .....................................................................................................17 1.2 Handling electrostatic sensitive devices (ESD) ......................................................................22 1.3 Industrial security ....................................................................................................................23 1.4 Residual risks of power drive systems....................................................................................24 Startdrive commissioning tool ................................................................................................................ 27 2.1 Overview .................................................................................................................................27 2.2 2.2.1 2.2.2 Structure of the user interface ................................................................................................28 Project view for parameterizing the drive................................................................................28 Project navigation ...................................................................................................................29 2.3 2.3.1 2.3.2 2.3.3 2.3.4 2.3.5 2.3.6 User interface - parameterization ...........................................................................................30 Modules in the hardware catalog ............................................................................................30 Device view .............................................................................................................................32 Parameterization editor ...........................................................................................................34 Function view ..........................................................................................................................35 Parameter view .......................................................................................................................36 Inspector window ....................................................................................................................38 2.4 2.4.1 2.4.2 User interface - trace function .................................................................................................40 Configuration ...........................................................................................................................40 Curve diagram ........................................................................................................................42 2.5 Drive control panel ..................................................................................................................43 2.6 Online and diagnostics............................................................................................................44 Fundamentals ....................................................................................................................................... 45 3.1 Requirements for commissioning ...........................................................................................45 3.2 Safety instructions for commissioning ....................................................................................46 3.3 Check lists when commissioning SINAMICS S ......................................................................47 3.4 3.4.1 3.4.2 BICO interconnections ............................................................................................................48 Binectors, Connectors.............................................................................................................48 Interconnect BICO inputs ........................................................................................................50 3.5 Permanently save the settings ................................................................................................52 Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 13 Table of contents 4 Commissioning ..................................................................................................................................... 53 4.1 Call Startdrive......................................................................................................................... 53 4.2 Commissioning workflow ....................................................................................................... 54 4.3 4.3.1 4.3.2 4.3.3 4.3.3.1 4.3.4 4.3.4.1 4.3.4.2 4.3.4.3 4.3.4.4 4.3.5 4.3.6 4.3.7 4.3.7.1 4.3.7.2 4.3.7.3 4.3.8 4.3.8.1 4.3.8.2 Creating a project ................................................................................................................... 55 Creating a new project or opening a project .......................................................................... 55 Recommended order of creation ........................................................................................... 59 Inserting a drive...................................................................................................................... 60 Inserting a drive offline ........................................................................................................... 60 Inserting an infeed unit ........................................................................................................... 64 Inserting a space holder for an infeed unit ............................................................................. 64 Specifying the infeed unit space holder ................................................................................. 66 Editing components in the device view .................................................................................. 68 Editing a DRIVE-CLiQ connection ......................................................................................... 70 Inserting a motor module ....................................................................................................... 72 Inserting a motor .................................................................................................................... 75 Inserting measuring systems ................................................................................................. 78 Overview ................................................................................................................................ 78 Specifying the encoder evaluation ......................................................................................... 83 Encoder system connection ................................................................................................... 84 Inserting additional system components ................................................................................ 86 Adding a Terminal Module ..................................................................................................... 86 Adding a Terminal Board ....................................................................................................... 88 4.4 4.4.1 4.4.2 4.4.3 4.4.3.1 4.4.3.2 4.4.3.3 4.4.3.4 4.4.3.5 4.4.3.6 4.4.3.7 Establishing an online connection to the drive....................................................................... 90 Overview ................................................................................................................................ 90 Connection via standard Ethernet interface ........................................................................... 92 Online connection via PROFINET interface .......................................................................... 94 Using the PROFINET IO interface ......................................................................................... 94 Online access via PROFINET................................................................................................ 95 Assigning an IP address ........................................................................................................ 96 Assigning PROFINET device names ..................................................................................... 98 Comparing IP addresses ....................................................................................................... 99 Setting the PG/ PC interface ................................................................................................ 100 Restoring factory settings .................................................................................................... 103 4.5 4.5.1 4.5.2 Commissioning a drive ......................................................................................................... 105 Using the control panel ........................................................................................................ 105 Traversing the drive with speed specification ...................................................................... 108 4.6 4.6.1 4.6.1.1 4.6.2 4.6.2.1 4.6.2.2 4.6.2.3 4.6.2.4 4.6.3 4.6.3.1 4.6.3.2 4.6.3.3 4.6.3.4 Basic parameterization of the drive objects ......................................................................... 109 Control Unit .......................................................................................................................... 109 Web server ........................................................................................................................... 109 Infeed unit ............................................................................................................................ 113 Overview .............................................................................................................................. 113 Function modules ................................................................................................................. 114 Line data / operating mode .................................................................................................. 115 Enable logic .......................................................................................................................... 117 Drive axes ............................................................................................................................ 118 Overview .............................................................................................................................. 118 Function modules ................................................................................................................. 119 Control mode........................................................................................................................ 120 Important parameters ........................................................................................................... 121 Commissioning with Startdrive 14 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Table of contents 5 4.6.3.5 4.6.3.6 4.6.4 4.6.4.1 4.6.4.2 Sampling times/pulse frequency ...........................................................................................122 Enable logic ..........................................................................................................................125 Important optimization steps .................................................................................................127 Auto Servo Tuning ................................................................................................................127 Stationary/rotating measurement ..........................................................................................133 4.7 Loading the project to the target device................................................................................136 Diagnostics ......................................................................................................................................... 137 5.1 Overview ...............................................................................................................................137 5.2 5.2.1 5.2.1.1 5.2.2 5.2.2.1 5.2.2.2 5.2.2.3 5.2.2.4 5.2.2.5 5.2.2.6 5.2.2.7 5.2.3 5.2.3.1 5.2.3.2 5.2.3.3 5.2.3.4 5.2.4 5.2.4.1 5.2.4.2 5.2.4.3 Diagnostics using LEDs ........................................................................................................138 Control Units .........................................................................................................................138 LED states of a CU320-2PN .................................................................................................138 Power units ...........................................................................................................................142 Safety instructions for diagnostic LEDs of the power units...................................................142 Active Line Module booksize ................................................................................................142 Basic Line Module booksize .................................................................................................143 Smart Line Modules booksize 5 kW and 10 kW ...................................................................144 Smart Line Modules booksize 16 kW to 55 kW ....................................................................144 Single Motor Module / Double Motor Module / Power Module .............................................145 Braking Module in booksize format .......................................................................................146 Additional modules................................................................................................................146 Control Supply Module..........................................................................................................146 Sensor Module Cabinet SMC10 / SMC20 ............................................................................147 Sensor Module Cabinet SMC30 ...........................................................................................147 SMC40 Sensor Module Cabinet (only for direct measuring systems) ..................................148 Terminal Modules .................................................................................................................149 Terminal Module TM15 .........................................................................................................149 Terminal Module TM31 .........................................................................................................150 Terminal Module TM41 .........................................................................................................151 5.3 5.3.1 5.3.2 5.3.2.1 5.3.2.2 5.3.2.3 5.3.2.4 5.3.2.5 5.3.2.6 5.3.2.7 5.3.2.8 5.3.2.9 5.3.2.10 5.3.3 5.3.3.1 5.3.3.2 5.3.4 5.3.4.1 5.3.4.2 5.3.4.3 5.3.4.4 Diagnostics via Startdrive .....................................................................................................152 Device diagnostics ................................................................................................................152 Trace function .......................................................................................................................155 Overview ...............................................................................................................................155 Creating or calling a trace .....................................................................................................158 Configuring a trace................................................................................................................160 Transferring the trace configuration to the device ................................................................163 Activating/deactivating the trace recording ...........................................................................164 Displaying the trace recording ..............................................................................................165 Saving measurements in the project ....................................................................................165 Exporting and importing measurements ...............................................................................166 Transferring the trace configuration from the drive to the project .........................................167 Deleting a trace configuration ...............................................................................................167 Online diagnostics.................................................................................................................168 Calling online diagnostics .....................................................................................................168 Online access status .............................................................................................................169 Diagnostics information for the infeed unit ...........................................................................170 Calling the screen form .........................................................................................................170 Missing enables ....................................................................................................................170 Displaying control/status words ............................................................................................171 Status parameters .................................................................................................................172 Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 15 Table of contents A 5.3.5 5.3.5.1 5.3.5.2 5.3.5.3 5.3.5.4 Diagnostics information for drive axes ................................................................................. 172 Calling the screen form ........................................................................................................ 172 Missing enables ................................................................................................................... 172 Displaying control/status words ........................................................................................... 173 Status parameters ................................................................................................................ 174 5.4 5.4.1 5.4.2 5.4.3 5.4.4 5.4.5 5.4.6 Fault and alarm messages ................................................................................................... 175 General information about faults and alarms ....................................................................... 175 Buffer for faults and alarms .................................................................................................. 176 Configuring messages ......................................................................................................... 180 Propagation of faults ............................................................................................................ 182 Alarm classes ....................................................................................................................... 183 Function diagrams and parameters ..................................................................................... 185 Appendix .............................................................................................................................................187 A.1 List of abbreviations ............................................................................................................. 187 A.2 Documentation overview ...................................................................................................... 197 A.3 A.3.1 A.3.1.1 A.3.2 A.3.2.1 A.3.2.2 A.3.2.3 A.3.3 A.3.4 Shortcut menus and icons in Startdrive ............................................................................... 198 Function calls project view ................................................................................................... 198 Project navigation................................................................................................................. 198 Trace function calls .............................................................................................................. 199 Project navigation................................................................................................................. 199 Toolbar ................................................................................................................................. 201 Curve diagram...................................................................................................................... 202 BICO interconnections ......................................................................................................... 204 Special elements in the screen forms .................................................................................. 204 A.4 A.4.1 A.4.2 A.4.3 A.4.3.1 A.4.3.2 A.4.3.3 A.4.3.4 A.4.3.5 A.4.4 A.4.4.1 A.4.4.2 A.4.4.3 A.4.5 A.4.5.1 System rules, sampling times and DRIVE-CLiQ wiring ....................................................... 205 Overview of system limits and system utilization ................................................................. 205 System rules ........................................................................................................................ 206 Rules on the sampling times ................................................................................................ 207 Rules when setting the sampling times ............................................................................... 207 Default settings for the sampling times ................................................................................ 208 Setting the pulse frequency ................................................................................................. 209 Setting sampling times ......................................................................................................... 210 Overview of important parameters ....................................................................................... 211 Rules for wiring with DRIVE-CLiQ ....................................................................................... 211 Binding DRIVE-CLiQ interconnection rules ......................................................................... 212 Recommended interconnection rules .................................................................................. 214 Modular machine concept: Offline correction of the reference topology ............................. 216 Notes on the number of controllable drives ......................................................................... 219 Number of drives depending on the control mode and cycle times ..................................... 219 Index ...................................................................................................................................................221 Commissioning with Startdrive 16 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Fundamental safety instructions 1.1 1 General safety instructions DANGER Danger to life due to live parts and other energy sources Death or serious injury can result when live parts are touched. • Only work on electrical devices when you are qualified for this job. • Always observe the country-specific safety rules. Generally, six steps apply when establishing safety: 1. Prepare for shutdown and notify all those who will be affected by the procedure. 2. Disconnect the machine from the supply. – Switch off the machine. – Wait until the discharge time specified on the warning labels has elapsed. – Check that it really is in a no-voltage condition, from phase conductor to phase conductor and phase conductor to protective conductor. – Check whether the existing auxiliary supply circuits are de-energized. – Ensure that the motors cannot move. 3. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or water. 4. Isolate or neutralize all hazardous energy sources by closing switches, grounding or short-circuiting or closing valves, for example. 5. Secure the energy sources against switching on again. 6. Ensure that the correct machine is completely interlocked. After you have completed the work, restore the operational readiness in the inverse sequence. WARNING Danger to life through a hazardous voltage when connecting an unsuitable power supply 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. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 17 Fundamental safety instructions 1.1 General safety instructions WARNING Danger to life when live parts are touched on damaged devices Improper handling of devices can cause damage. For damaged devices, hazardous voltages can be present at the enclosure or at exposed components; if touched, this can result in death or severe injury. • Ensure compliance with the limit values specified in the technical data during transport, storage and operation. • Do not use any damaged devices. WARNING Danger to life through electric shock due to unconnected cable shields Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected cable shields. • As a minimum, connect cable shields and the conductors of power cables that are not used (e.g. brake cores) at one end at the grounded housing potential. WARNING Danger to life due to electric shock when not grounded For missing or incorrectly implemented protective conductor connection for devices with protection class I, high voltages can be present at open, exposed parts, which when touched, can result in death or severe injury. • Ground the device in compliance with the applicable regulations. WARNING Danger to life due to electric shock when opening plug connections in operation When opening plug connections in operation, arcs can result in severe injury or death. • Only open plug connections when the equipment is in a no-voltage state, unless it has been explicitly stated that they can be opened in operation. Commissioning with Startdrive 18 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Fundamental safety instructions 1.1 General safety instructions WARNING Danger to life through electric shock due to the residual charge of the power component capacitors Because of the capacitors, a hazardous voltage is present for up to 5 minutes after the power supply has been switched off. Contact with live parts can result in death or serious injury. • Wait for 5 minutes before you check that the unit really is in a no-voltage condition and start work. NOTICE Material damage due to loose power connections Insufficient tightening torques or vibrations can result in loose electrical connections. This can result in damage due to fire, device defects or malfunctions. • Tighten all power connections with the specified tightening torques, e.g. line supply connection, motor connection, DC link connections. • Check all power connections at regular intervals. This applies in particular after transport. WARNING Danger to life due to fire spreading if housing is inadequate Fire and smoke development can cause severe personal injury or material damage. • 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. WARNING Danger to life from electromagnetic fields Electromagnetic fields (EMF) are generated by the operation of electrical power equipment, such as transformers, converters, or motors. People with pacemakers or implants are at particular risk in the immediate vicinity of this equipment. • If you have a heart pacemaker or implant, maintain a minimum distance of 2 m from electrical power equipment. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 19 Fundamental safety instructions 1.1 General safety instructions WARNING Danger to life through unexpected movement of machines when using mobile wireless devices or mobile phones Using mobile wireless devices or mobile phones with a transmit power > 1 W closer than approx. 2 m to the components may cause the devices to malfunction, influence the functional safety of machines therefore putting people at risk or causing material damage. • Switch the wireless devices or mobile phones off in the immediate vicinity of the components. WARNING Danger to life due to the motor catching fire in the event of insulation overload There is higher stress on the motor insulation through a ground fault in an IT system. If the insulation fails, it is possible that death or severe injury can occur as a result of smoke and fire. • Use a monitoring device that signals an insulation fault. • Correct the fault as quickly as possible so the motor insulation is not overloaded. WARNING Danger to life due to fire if overheating occurs because of insufficient ventilation clearances Inadequate ventilation clearances can cause overheating of components with subsequent fire and smoke. This can cause severe injury or even death. This can also result in increased downtime and reduced service lives for devices/systems. • Ensure compliance with the specified minimum clearance as ventilation clearance for the respective component. WARNING Danger of an accident occurring due to missing or illegible warning labels Missing or illegible warning labels can result in accidents involving death or serious injury. • 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. Commissioning with Startdrive 20 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Fundamental safety instructions 1.1 General safety instructions NOTICE Device damage caused by incorrect voltage/insulation tests Incorrect voltage/insulation tests can damage the device. • Before carrying out a voltage/insulation check of the system/machine, disconnect the devices as all converters and motors have been subject to a high voltage test by the manufacturer, and therefore it is not necessary to perform an additional test within the system/machine. WARNING Danger to life when safety functions are inactive Safety functions that are inactive or that have not been adjusted accordingly can cause operational faults on machines that could lead to serious injury or death. • Observe the information in the appropriate product documentation before commissioning. • Carry out a safety inspection for functions relevant to safety on the entire system, including all safety-related components. • Ensure that the safety functions used in your drives and automation tasks are adjusted and activated through appropriate parameterizing. • Perform a function test. • Only put your plant into live operation once you have guaranteed that the functions relevant to safety are running correctly. Note Important safety notices for Safety Integrated functions If you want to use Safety Integrated functions, you must observe the safety notices in the Safety Integrated manuals. WARNING Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization 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). Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 21 Fundamental safety instructions 1.2 Handling electrostatic sensitive devices (ESD) 1.2 Handling electrostatic sensitive devices (ESD) Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules or devices that may be damaged by either electric fields or electrostatic discharge. NOTICE Damage through electric fields or electrostatic discharge Electric fields or electrostatic discharge can cause malfunctions through damaged individual components, integrated circuits, modules or devices. • Only pack, store, transport and send electronic components, modules or devices in their original packaging or in other suitable materials, e.g conductive foam rubber of aluminum foil. • Only touch components, modules and devices when you are grounded by one of the following methods: – Wearing an ESD wrist strap – 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). Commissioning with Startdrive 22 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Fundamental safety instructions 1.3 Industrial security 1.3 Industrial security Note Industrial security Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial security concept. Siemens products and solutions only represent one component of such a concept. The customer is responsible for preventing unauthorized access to its plants, systems, machines and networks. Systems, machines and components should only be connected to the enterprise network or the internet if and to the extent necessary and with appropriate security measures (e.g. use of firewalls and network segmentation) in place. Additionally, Siemens’ guidance on appropriate security measures should be taken into account. For more information about industrial security, please visit: Industrial security (http://www.siemens.com/industrialsecurity). Siemens’ products and solutions undergo continuous development to make them more secure. Siemens strongly recommends to apply product updates as soon as available and to always use the latest product versions. Use of product versions that are no longer supported, and failure to apply latest updates may increase customer’s exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed at: Industrial security (http://www.siemens.com/industrialsecurity). WARNING Danger to life as a result of unsafe operating states resulting from software manipulation Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating states in your system that may lead to death, serious injury, and property damage. • Keep the software up to date. • Incorporate the automation and drive components into a holistic, state-of-the-art industrial security concept for the installation or machine. • Make sure that you include all installed products into the holistic industrial security concept. • Protect files stored on exchangeable storage media from malicious software by with suitable protection measures, e.g. virus scanners. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 23 Fundamental safety instructions 1.4 Residual risks of power drive systems 1.4 Residual risks of power drive systems When assessing the machine- or system-related risk in accordance with the respective local regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer must take into account the following residual risks emanating from the control and drive components of a drive system: 1. Unintentional movements of driven machine or system components during commissioning, operation, maintenance, and repairs caused by, for example, – Hardware and/or software errors in the sensors, control system, actuators, and cables and connections – Response times of the control system and of the drive – Operation and/or environmental conditions outside the specification – Condensation/conductive contamination – Parameterization, programming, cabling, and installation errors – Use of wireless devices/mobile phones in the immediate vicinity of electronic components – External influences/damage – X-ray, ionizing radiation and cosmic radiation 2. Unusually high temperatures, including open flames, as well as emissions of light, noise, particles, gases, etc., can occur inside and outside the components under fault conditions caused by, for example: – Component failure – Software errors – Operation and/or environmental conditions outside the specification – External influences/damage 3. Hazardous shock voltages caused by, for example: – Component failure – Influence during electrostatic charging – Induction of voltages in moving motors – Operation and/or environmental conditions outside the specification – Condensation/conductive contamination – External influences/damage 4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a risk to people with a pacemaker, implants or metal replacement joints, etc., if they are too close Commissioning with Startdrive 24 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Fundamental safety instructions 1.4 Residual risks of power drive systems 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 6. Influence of network-connected communication systems, e.g. ripple-control transmitters or data communication via the network For more information about the residual risks of the drive system components, see the relevant sections in the technical user documentation. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 25 Fundamental safety instructions 1.4 Residual risks of power drive systems Commissioning with Startdrive 26 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Startdrive commissioning tool 2.1 2 Overview The Startdrive integrated engineering tool is available for the configuration and parameter assignment of drives in the TIA Portal. You can perform the following tasks, for example, with Startdrive: ● You create projects for drive-specific solutions. ● You insert drives in the project as single drives or link the drives to higher-level controllers. ● You configure drives by entering the power units, motors and encoders used. ● You assign parameters to the drives by specifying command sources, setpoint sources and control type. ● You extend the parameter assignment with drive-specific functions such as the free function blocks and a technology controller. ● You go online on the drive and test the parameter assignment via the drive control panel. ● You perform diagnostics when an error occurs. User interface Startdrive is integrated seamlessly in the TIA Portal. The graphic user interface provides support during the configuration and parameter assignment: ● In the hardware configuration, you select the drive, infeed, Motor Modules, motors and sensors. ● Use the "Parameterization editor" to optimally adapt the drive according to the drive task. ● Insert specific components, such as Power Modules, in the "Device configuration". ● In the "Network view", network the drive with a higher-level controller and assign parameters for the communication. ● In online mode, test the drive with the drive control panel and load the parameter assignment to the drive. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 27 Startdrive commissioning tool 2.2 Structure of the user interface 2.2 Structure of the user interface 2.2.1 Project view for parameterizing the drive The following figure shows an example of the components of the project view: ① ② ③ ④ Project navigator Is used to display and edit components and project data. Detail view Shows the details of an element selected in the project navigation Working area Is used to configure and parameterize a drive. Inspector window Shows properties and parameters of an object selected in the working area. Figure 2-1 Overview of Startdrive user interface Commissioning with Startdrive 28 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Startdrive commissioning tool 2.2 Structure of the user interface 2.2.2 Project navigation Description The project navigation is used to display and edit components and project data. After being inserted, drives are displayed as follows in the project navigation: Figure 2-2 Example: Project navigation Entry Description Devices & Networks Opens the network view of the drive. Online & Diagnostics (Page 44) Opens the "Online & Diagnostics" working area, with which you can diagnose the online access, acknowledge alarms or view the message history. Parameter (Page 34) Opens the parameterizing editor to parameterize the drive component from the function view or the parameter view. as subpoint for every drive component Traces (Page 40) Opens the trace with which you can record signals. See also Function calls project view (Page 198) Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 29 Startdrive commissioning tool 2.3 User interface - parameterization 2.3 User interface - parameterization 2.3.1 Modules in the hardware catalog As soon as the device configuration is active, a hardware catalog can be displayed/hidden at the right-hand edge of the program window. The device configuration automatically becomes active as soon as a drive device was inserted. The required SINAMICS modules can be transferred from the hardware catalog into a project and specified. For instance, you can insert an infeed unit from the hardware catalog (see Chapter "Inserting a space holder for an infeed unit (Page 64)"). Commissioning with Startdrive 30 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Startdrive commissioning tool 2.3 User interface - parameterization The SINAMICS modules are arranged as follows in the hardware catalog: ① ② ③ ④ Control Units; available Control Units of the SINAMICS CU320-2 type Active, Basic and Smart Line Modules Single Motor Modules and Double Motor Modules Motors The motors are sorted according to motor type and article number, and are displayed with a core article number. ⑤ ⑥ Drive CLiQ motors, induction motors, synchronous motors Measuring systems (various encoders) Supplementary system components (Terminal Boards, Terminal Modules, etc.) Figure 2-3 SINAMICS hardware components Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 31 Startdrive commissioning tool 2.3 User interface - parameterization 2.3.2 Device view Configure the drive line-up in the "Device view". You insert components and edit the DRIVECLiQ connections. You can call the device view by double-clicking the "Device configuration" entry in the project navigation. The device overview provides a tabular overview of all configured components and their data. Commissioning with Startdrive 32 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Startdrive commissioning tool 2.3 User interface - parameterization Overview of device view The following figure shows an overview of the device view. ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ Control Unit DRIVE-CLiQ interface DRIVE-CLiQ connection Infeed Slot for option modules Motor Encoder Bus interface, PROFINET in this case Motor Module Zoom, enlarge and reduce the graphic display Figure 2-4 Device view Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 33 Startdrive commissioning tool 2.3 User interface - parameterization 2.3.3 Parameterization editor The parameterizing editor comprises 2 tabs, under which you can parameterize the drive: ● In the function view, you parameterize the drive using a graphic user interface. The individual screen forms are based on the function diagrams – and include the parameters required. ● All the drive parameters are listed in the parameter view, so that the drive can be completely parameterized there. Structure of the parameterization editor The following figure shows the structure of the parameterization editor: ① ② ③ Secondary navigation For the selected tab, you navigate here through the individual thematically sorted topics. Function view tab Here, using a graphic user interface, you parameterize the drive. The masks are derived from the respective function diagrams. Parameter view tab Here, you parameterize the drive using the settings that you make directly at the particular parameter. Figure 2-5 Parameterizing editor Commissioning with Startdrive 34 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Startdrive commissioning tool 2.3 User interface - parameterization 2.3.4 Function view You parameterize the drive using a graphical user interface in the "Function view". The individual masks are based on function diagrams and contain the required parameters. Note All parameters You can find all parameters of the drive in the "Parameter view (Page 36)". Experts can then comprehensively parameterize the drive. Structure of the masks The following figure shows an example of a mask structure: ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ Button to retentively save data Button to restore the factory settings Secondary navigation Button to activate safety processing Button to save safety processing Fields for entering parameters / interconnecting BICO signals Display parameters Button to display the parameterizing dialogs Figure 2-6 Function view (example) Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 35 Startdrive commissioning tool 2.3 User interface - parameterization 2.3.5 Parameter view The "Parameter view" (expert list) provides a clearly organized display of the parameters available for the device. Note Locked parameters No parameters with the padlock icon can be changed OFFLINE. To enter these parameters offline, use the appropriate masks and dialogs in the hardware configuration that you find in the device view. Parameter display The fields of the individual parameters are displayed in the list in color as follows: Editing level Offline color Online color Read only Gray Pale orange Read/write White Orange Commissioning with Startdrive 36 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Startdrive commissioning tool 2.3 User interface - parameterization Structure of the parameter view The following figure shows the structure of the parameter view: ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ⑪ Drop-down list to restrict the parameter views: • Display standard parameters • Display extended parameters • Display service parameters (password required) Parameter number Parameter name Button to start a CSV export Button to retentively save the parameters (Copy RAM to ROM) Button to restore the factory settings Value of the parameter Unit Data set; currently displayed data set of the parameter Minimum value Maximum value Figure 2-7 Parameter list Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 37 Startdrive commissioning tool 2.3 User interface - parameterization 2.3.6 Inspector window Properties and parameters of the selected object are displayed in the inspector window. You can edit these properties and parameters. For example, you can specify the unspecified S120 drive objects inserted in the device view. Structure The information and parameters in the inspector window are subdivided into various information types, which are displayed as main tab ① in the inspector window: ● Properties ● Info ● Diagnostics Figure 2-8 Inspector window Commissioning with Startdrive 38 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Startdrive commissioning tool 2.3 User interface - parameterization Subdivision of the "Properties" area For each information type, there are additional subareas that can be displayed via secondary tabs ②. The most important information type for SINAMICS S120 drives is the "Properties" area. The following secondary tabs are displayed in this area: ● General Display of the properties and settings of the drive device or the module. Here you can enter the settings on the user interface. The secondary navigation is located in the lefthand part of the inspector window. Information and parameters are arranged there in the groups. When you click on the arrow icon at the left next to the group names, if subgroups exist then you can open the group. If you select a group or a subgroup, then the appropriate information and parameters are displayed in the right-hand part of the inspector window, where they can also be edited. For S120 drives, mainly the drive objects used are specified (e.g. an infeed unit) using this subarea. ● I/O variables Displaying I/O variables of the PLC. You can assign names to the variables, assign the variables user-defined variable tables from a drop-down list - and allocate comments to variables. The I/O variables are also listed in the PLC variable table. ● System constants Display of the constants required by the system using the hardware identifiers of the modules. The system constants are also listed in the PLC variable table. ● Texts Display of the reference language and the specification of the text source for project texts. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 39 Startdrive commissioning tool 2.4 User interface - trace function 2.4 User interface - trace function 2.4.1 Configuration Display areas The user interface of the trace function comprises several areas. The following diagram shows the structure of the trace user interface in Startdrive as example: Commissioning with Startdrive 40 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Startdrive commissioning tool 2.4 User interface - trace function Project navigator Management and creation of the trace and measurements directly in the project tree and via context menu commands. Working area ① Trace toolbar Icons for managing the trace in the project and device: • Activation/deactivation of installed traces • Deletion of installed traces • Transferring trace configurations and measurements between the device and project • Exporting trace configurations and measurements • Switchover between offline and online display ② Status display of the trace Display of the current status of the recording. The status is displayed only in online mode. ③ Configuration tab Device-specific configuration of the trace duration, trigger condition and signal selection. ④ Diagram tab Display of the recorded values as a curve diagram and the signal sources from the displayed measurement. "Trace" tab Display of the measurement cursor data ⑤ and snapshots. Inspector window Display of general information regarding the trace configuration Figure 2-9 Trace interface See also Trace function calls (Page 199) Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 41 Startdrive commissioning tool 2.4 User interface - trace function 2.4.2 Curve diagram The curve diagram displays the selected signals of a recording. Binary signals are shown in the lower diagram as bit track. You can adapt the display of the signals in the signal table and with the toolbar of the curve diagram. Setting options and displays in the curve diagram The following diagram shows the display in Startdrive as example: Figure 2-10 Overview of ChartView The Y scale in the diagram applies to the selected (highlighted in gray) signal in the legend. The legend can be moved with the mouse. See also Trace function calls (Page 199) Commissioning with Startdrive 42 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Startdrive commissioning tool 2.5 Drive control panel 2.5 Drive control panel The drive control panel (see Chapter "Using the control panel (Page 105)") is used to control and monitor individual drives. You traverse drives with the control panel by specifying values. Depending on the operating mode, these are, for example, speed setpoints. The following figure shows the various components of the control panel: ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ Activate/deactivate master control Switch infeed on and off Set drive enable Select operating mode Drive ON/OFF Control drive Drive status Actual values Figure 2-11 Control panel Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 43 Startdrive commissioning tool 2.6 Online and diagnostics 2.6 Online and diagnostics In the "Online & Diagnostics" working area (see Chapter "Online diagnostics (Page 168)"), you work in the online mode and view, for example, the drive alarms or the fault, warning or message history. Structure of the online diagnostics The following figure shows the structure of the working area: ① ② ③ Online access Secondary navigation Working area for online access and diagnostics Commissioning with Startdrive 44 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 3 Fundamentals 3.1 Requirements for commissioning The following are necessary for commissioning a SINAMICS S drive system: ● A programming device (PG/PC) ● Startdrive commissioning tool ● A communication interface, e.g. PROFINET, Ethernet ● Completely wired-up drive line-up (see the SINAMICS S120 Manual) A configuration example with booksize components and PROFINET communication is shown in the following diagram: Figure 3-1 Component configuration (example) Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 45 Fundamentals 3.2 Safety instructions for commissioning 3.2 Safety instructions for commissioning WARNING Danger to life if the fundamental safety instructions and residual risks are not carefully observed The non-observance of the fundamental safety instructions and residual risks stated in Chapter 1 can result in accidents with severe injuries or death. • Adhere to the fundamental safety instructions. • When assessing the risk, take into account residual risks. WARNING Danger to life as a result of motor movement during motor data identification Motor data identification causes movements of the drive, which can result in death, serious injury, or damage to property. • Ensure that nobody is in the danger zone and that the mechanical parts can move freely. • Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY STOP or EMERGENCY OFF). WARNING Risk of death if the safety instructions and residual risks are not carefully observed If the safety instructions and residual risks are not observed in the associated hardware documentation, accidents involving severe injuries or death can occur. • Observe the safety instructions provided in the hardware documentation. • When assessing the risk, take into account residual risks. Note Please observe the installation guidelines and safety instructions in the SINAMICS S120 Equipment Manuals. Commissioning with Startdrive 46 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Fundamentals 3.3 Check lists when commissioning SINAMICS S 3.3 Check lists when commissioning SINAMICS S Checklist for commissioning booksize power units The following checklist must be carefully observed. Read the safety instructions in the manuals before starting any work. Table 3- 1 Checklist for commissioning (booksize) Check OK Are the environmental conditions in the permissible range? Is the component firmly attached to the fixing points provided? Is the specified air flow for cooling the devices ensured? Have the ventilation clearances for the components been observed? Is the memory card correctly inserted in the Control Unit? Are all necessary components of the configured drive line-up available, installed and connected? Do the temperature monitoring circuits fulfill the specifications of protective separation? Have the DRIVE-CLiQ topology rules been observed? Have the line-side and motor-side power cables been dimensioned and routed in accordance with the environmental and routing conditions? Have the maximum permitted cable lengths between the frequency converter and the motor (depending on the type of cables used) been observed? Have the power cables been properly connected to the component terminals with the specified torque? Have all of the remaining screws been tightened to the specified torque? Has all wiring work been successfully completed? Are all connectors correctly plugged in and screwed in place? Have all the covers for the DC link been closed and latched into place? Have the shield supports been correctly connected through a large surface area? Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 47 Fundamentals 3.4 BICO interconnections 3.4 BICO interconnections 3.4.1 Binectors, Connectors Description Each drive unit contains a large number of connectable input and output variables and internal control variables. BICO technology (Binector Connector technology) allows the drive to be adapted to a wide variety of requirements. These parameters are identified accordingly in the parameter list or in the function diagrams. Note Further information Detailed information on BICO technology and BICO connections can be found in Section "Basics of the drive system" in the SINAMICS S120 Drive Functions Function Manual. In Startdrive for S120, the parameterization is possible via: ● Parameter view ● Function view of a mask Commissioning with Startdrive 48 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Fundamentals 3.4 BICO interconnections Binectors, BI: Binector input, BO: Binector output A binector is a unitless digital (binary) signal that can assume a value of 0 or 1. Binectors are subdivided into binector inputs (signal sink) and binector outputs (signal source). Binectors Abbreviation Symbol BI Name Description Binector input Can be connected with a binector output as source. (signal sink) Binector output BO Can be used as a source for a binector input. (signal source) Connectors, CI: Connector input, CO: Connector output A connector is a digital signal, e.g. in the 32-bit format. It can be used to emulate words (16 bits), double words (32 bits), or analog signals. Connectors are subdivided into connector inputs (signal sink) and connector outputs (signal source). Connectors Abbreviation Symbol CI Name Description Connector input Can be connected with a connector output as source. (signal sink) Connector output CO Can be used as a source for a connector input. (signal source) Multiple connections Several interconnections can be set simultaneously for a parameter, which, however, for reasons of space, cannot be displayed in the interconnections field. Clicking on the icon next to the interconnection field opens a list, which shows all of the active interconnections of the parameter. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 49 Fundamentals 3.4 BICO interconnections 3.4.2 Interconnect BICO inputs Use a connection dialog to connect binector or connector inputs. Connecting a signal To make a connection, proceed as follows: 1. Click the binector or connector symbol of the signal that you want to connect. A connection dialog for the selection of the possible parameters opens. The drive object for which you want to make a connection is displayed automatically in the "Drive object" drop-down list on the right. Figure 3-2 BICO interconnection dialog Commissioning with Startdrive 50 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Fundamentals 3.4 BICO interconnections The last set signal source is displayed in the "Selected source" field. If a connection was not available previously, the value 0 is displayed. 2. Select the parameter that you want to connect. If connectable bits of the parameter are available, they are displayed in a drop-down list. Figure 3-3 BICO dialog: Parameter bits opened 3. Select the parameter bit that you want to connect. 4. Confirm with OK. The connection dialog closes. Result The binector or connector input is connected to the selected parameter (bit). Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 51 Fundamentals 3.5 Permanently save the settings 3.5 Permanently save the settings Saving the configuration In Startdrive, settings are predominantly made using screen forms. The complete project must be saved in order that the settings made are permanently active. 1. Click on "Save project" in the toolbar. Or 2. Select menu "Project > Save" or "Project > Save as". Commissioning with Startdrive 52 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 4 Commissioning 4.1 Call Startdrive Note The following procedure is based on the Windows 7 operating system. Operation can deviate slightly for other operating systems Call the Startdrive application 1. Click on the Startdrive icon of your user interface. Startdrive opens. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 53 Commissioning 4.2 Commissioning workflow 4.2 Commissioning workflow The following steps are required when commissioning a drive: 1. Create a project with Startdrive. 2. Establish an online connection between Startdrive and the target device. 3. Commission the drive at the control panel 4. Carry out a basic parameterization of the drive device 5. Optional: Load the project to the target device. 6. Result: the motor turns. Commissioning with Startdrive 54 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project 4.3 Creating a project 4.3.1 Creating a new project or opening a project For projects, the choice is yours: ● You create a completely new project (see "Create new project"). ● You open an existing project, and subsequently change the project configuration (see "Open existing project"). Precondition You have opened the Startdrive in the TIA Portal (Page 53)application. Creating a new project You can create new projects once the Startdrive application has been opened in the TIA Portal. 1. Click on "Create new project" in the secondary navigation in the Portal view of Startdrive. The entry fields for the basic project data are displayed to the right in the detailed view. Figure 4-1 Entering project data 2. Enter the project data here: Project name Startdrive automatically counts each new project. Path The simpler the archive path for the project, the faster the project can be loaded. Author The login code for the person entering the data is preassigned. Comment You can save brief project information here. 3. Click on "Create" to save basic project data. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 55 Commissioning 4.3 Creating a project The new project is created and simultaneously opened. Possible next steps are displayed in the detailed view. Figure 4-2 Getting Started Commissioning with Startdrive 56 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project Opening an existing project If you wish to change the data of an existing project, then you can load this project at any time. 1. Click on "Open existing project" in the secondary navigation in the Portal view of Startdrive. A selection of the projects last used is displayed to the right in the detailed view. Figure 4-3 Opening an existing project 2. Select the required project from the list, and then click on "Open". - or - Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 57 Commissioning 4.3 Creating a project Click on "Browse", double-click on the required project in your directory structure, select project file "*.ap14". Figure 4-4 Opening an existing project from the directory Then click on "Open". Result The selected project opens. If another project was previously displayed, then it is now closed. ● If you have created a new project, the next possible steps for the project that has been opened are now displayed in the detailed review (see the description in the following Chapters). ● If you have opened an existing project, the interconnected modules of this project are displayed in the device view. You can specify existing modules differently, or remove existing modules and insert new modules instead. Commissioning with Startdrive 58 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project 4.3.2 Recommended order of creation After a new project has been created, the required components must be inserted into the device configuration – and in most cases, also specified. If an optimum sequence is maintained when inserting the components, then the inserted components are also automatically wired. Recommended order: 1. Drive 2. Infeed unit 3. Motor Module 4. Motor 5. Encoder (measuring system) 6. Supplementary system components (Terminal Modules, Terminal Board) If this sequence is not complied with (e.g. because the infeed unit is only subsequently added), then it is possible that Startdrive does not automatically wire the components. In this case, you must manually establish the wiring in the device view (see Chapter "Editing a DRIVE-CLiQ connection (Page 70)"). Note For several motors, when creating the motor, an encoder not specified in the device view is simultaneously created. In this case, a separate encoder no longer has to be created. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 59 Commissioning 4.3 Creating a project 4.3.3 Inserting a drive 4.3.3.1 Inserting a drive offline Requirement You have created a project (Page 55) or have opened an existing project. Inserting the drive via the Portal view Insert new devices (drives) either in the Portal or the project view. Proceed as follows to insert devices in the Portal view: 1. In the navigation, click on "Devices & networks". 2. Click "Add new device" in the secondary navigation. The data for the new device to be added is displayed in the detailed view to the right. 3. Click on "Drives" to display the drives available. Commissioning with Startdrive 60 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project 4. Select the drive from the list, and if required enter a different device name in the input field at the top left (default: "Drive device_x"). 5. Double-click the required drive. Figure 4-5 Adding a drive device Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 61 Commissioning 4.3 Creating a project If the "Open device view" option is activated, then the drive is immediately created in the device view. Figure 4-6 Inserting a drive device Commissioning with Startdrive 62 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project Inserting a drive via the Portal view Proceed as follows to insert new devices (drives) in the project view: 1. Double-click "Add new device" in the project navigation. The dialog box with the same name opens. 2. Click on "Drives" to display the drives available. 3. Select the drive from the list. Figure 4-7 Dialog: Add new device 4. When required, enter a different device name in the input field at the top left, and then click on "OK". If the "Open device view" option is activated, then the drive is immediately created in the device view. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 63 Commissioning 4.3 Creating a project Inserting a device in the network view Alternatively, you can insert a device in the network view. 1. Open the network view in the project view. 2. Drag and drop the device from the hardware catalog to the network view. Result The drive has been inserted. 4.3.4 Inserting an infeed unit 4.3.4.1 Inserting a space holder for an infeed unit Precondition ● A project has been created. ● A control module (drive) has been inserted in the device configuration. Note Sequence Generally, the infeed unit is inserted in the configuration immediately after the drive in the device view. In this case, the infeed unit is also automatically wired to the drive. You can also insert an infeed unit at a later point in time (for example, after the Motor Module). The infeed unit is then no longer automatically wired. In this case, you must manually wire the "infeed unit" component with the other components (see Chapter "Editing a DRIVE-CLiQ connection (Page 70)"). Note Handling components in the device view is subsequently explained using an infeed unit as example. The procedure is identical for all other components. Commissioning with Startdrive 64 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project Inserting an infeed unit You insert an infeed unit via the hardware catalog 1. Open "Line Modules" in the hardware catalog. Active Line Modules, Basic Line Modules and Smart Line Modules can be selected. 2. Select the unspecified infeed unit in the hardware catalog. Figure 4-8 Selecting an infeed unit 3. Drag the unspecified infeed unit into the device view. Figure 4-9 Infeed unit inserted Generally, the DRIVE-CLiQ connection is automatically established. The unspecified infeed unit must now be specified in more detail. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 65 Commissioning 4.3 Creating a project 4.3.4.2 Specifying the infeed unit space holder Up until now, only an unspecified component envelope (space holder) exists. This component envelope must now be specified in more detail by using an article number so that the components in the device view correspond to what you have installed in your actual drive system. Based on the color of the component envelope you can identify as to whether a component has been specified or not specified: ● White = component is not specified ● Dark gray = component is specified Assigning the correct variant to the placeholder (specifying) To specify, proceed as follows: 1. Click in the inner white area of the unspecified component envelope. Figure 4-10 Unspecified module The area is shown as selected. 2. Open the inspector window if it has still not been opened or displayed. Commissioning with Startdrive 66 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project 3. In the secondary navigation of the inspector window, select "Line Module - Selection – ALM" A list of the Line Modules available is displayed to the right in "Line Module - Selection". Figure 4-11 Line Module - Selection 4. Select the Line Module based on the Article No. The infeed unit is displayed in the device view as specified (the area now has a dark color). The data is displayed accordingly in the device overview. Figure 4-12 Specified module Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 67 Commissioning 4.3 Creating a project Data of the selected infeed unit is assigned to the unspecified infeed unit. The white area turns dark gray. As default setting, a DRIVE-CLiQ connection is established between interfaces X100 and X200. Result The infeed unit is inserted and specified. 4.3.4.3 Editing components in the device view Editing components The various components are displayed graphically in the device view. The device view provides the following editing options: ● Moving the component ● Deleting the component The editing options are subsequently described using an infeed unit as example. These are also applicable for other components. Moving a component Move components to the left or right in order to create space for an additional component. 1. Click in the gray border. 2. With the left mouse key pressed, drag the module to the left or right. Figure 4-13 Moving a DRIVE-CLiQ component (e.g. to the right) Commissioning with Startdrive 68 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project Deleting the component Delete the components that you no longer require. 1. Right-click in the gray border. A shortcut menu opens. Figure 4-14 Deleting a DRIVE-CLiQ component 2. To delete the DRIVE-CLiQ component, select "Delete" from the shortcut menu. The component is deleted from the editor. Note You can undo the delete operation using shortcut key <Ctrl>+<Z>. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 69 Commissioning 4.3 Creating a project 4.3.4.4 Editing a DRIVE-CLiQ connection DRIVE-CLiQ connections Blue lines are used to visualize the DRIVE-CLiQ connections between the various components. The connections must be created in accordance with the real wiring in the offline project. When creating a component, the connections are drawn with the default settings. You must manually correct the connections in the device view if your real wiring deviates from this. Working with DRIVE-CLiQ connections is explained using an infeed unit as example. The procedure is identical for all other components. Deleting a Drive-CLiQ connection Delete a DRIVE-CLiQ connection if you no longer require it. 1. Right click on the DRIVE-CLiQ connection. A shortcut menu is opened. Figure 4-15 Deleting a Drive-CLiQ connection 2. To remove the DRIVE-CLiQ component, select "Delete" from the shortcut menu. The connection is deleted. Commissioning with Startdrive 70 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project Drawing the DRIVE-CLiQ connection A DRIVE-CLiQ connection is drawn between two DRIVE-CLiQ ports. 1. Left-click the output port and keep the mouse button pressed. Figure 4-16 Drawing the DRIVE-CLiQ connection 2. Drag the blue line displayed to the target port. A connection is established between the two ports. See also System rules, sampling times and DRIVE-CLiQ wiring (Page 205) Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 71 Commissioning 4.3 Creating a project 4.3.5 Inserting a motor module Requirement ● A project has been created. ● A control module (drive) has been inserted in the device configuration. ● An infeed unit is inserted. In case of doubt, you can also add the infeed unit at a later point in time. However, in this case, you must manually wire the "infeed unit" component with the other components. Inserting and specifying a Motor Module Using the hardware catalog, you insert a Motor Module in an unspecified form. 1. Open the "Motor Modules" entry in the hardware catalog. A selection can be made from the following Motor Modules: – Single Motor Modules – Double Motor Modules 2. Select the required, unspecified Motor Module in the device overview. Figure 4-17 Motor Module selected Ensure that the module supports the required control mode when making your selection. Commissioning with Startdrive 72 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project 3. Drag the unspecified Motor Module into the device view. Figure 4-18 Motor Module inserted The DRIVE-CLiQ connection is automatically established. 4. Click on the Motor Module in the device view. Ensure that you click in the white area of the Motor Module. 5. Open the inspector window if it has still not been opened or displayed. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 73 Commissioning 4.3 Creating a project 6. In the secondary navigation of the inspector window, select "Motor Module - Selection SMM" Figure 4-19 Motor Module specified 7. Select your Motor Module in the list based on the article number. The data of the selected Motor Module is assigned to the unspecified Motor Module. The white area turns dark gray. Result The infeed unit is inserted and specified. Commissioning with Startdrive 74 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project 4.3.6 Inserting a motor Requirement ● A project has been created. ● A control module (drive) has been inserted in the device configuration. ● A Motor Module is inserted. ● An infeed unit is inserted. In case of doubt, you can also add the infeed unit at a later point in time. However, in this case, you must manually wire the "infeed unit" component with the other components. ● An encoder is inserted (optional). If you have already inserted an encoder, then the encoder is used as second encoder. Inserting and specifying a motor You can insert motors in unspecified form via the hardware catalog. 1. Open the "Motors" entry in the hardware catalog. The following motor types are available for selection: – DRIVE-CLiQ motors – Induction motors – Synchronous motors 2. Select the unspecified motor in the device overview. Figure 4-20 Motor selected Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 75 Commissioning 4.3 Creating a project 3. Drag the unspecified motor into the lower area of the Motor Module. Figure 4-21 Motor inserted 4. Click on the unspecified motor in the device view. 5. Open the inspector window if it has still not been opened or displayed. Commissioning with Startdrive 76 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project 6. In the secondary navigation of the inspector window, select "Motor data selection..." 7. Based on the article number, select a motor with the appropriate motor encoder from the list. Figure 4-22 Motor specified The data of the selected motor are assigned to the unspecified motor. The white area turns dark gray. Further, a Sensor Module Cabinet (SMC) - encoder evaluation and an encoder are inserted. Result The motor is inserted and specified. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 77 Commissioning 4.3 Creating a project 4.3.7 Inserting measuring systems 4.3.7.1 Overview Definition For encoders, a distinction is made between 2 basic measuring system types: ● Motor encoder is normally mounted on the motor shaft so that motor motion (angle of rotation, rotor position etc.) can be directly measured. Motor encoders supply the speed actual value that is incorporated in the closed-loop control (closed-loop speed and current control), so that for fast controllers, the speed actual value must also be supplied as quickly enough. This is the reason that high quality encoders must be used for motor encoders. – Siemens motors that have already been configured are created in the device view with the matching encoder and the encoder evaluation. – DRIVE-CLiQ motors are inserted together with an encoder. The drive and encoder parameters are transferred when you then load the configuration to the drive (download). The correct motor and encoder configuration is available after an upload. ● Machine encoders are installed in the machine. Using machine encoders, for example, you synchronize the speed of a belt to another belt, or you determine the position of a workpiece. Basic, mounted encoders can be used in this case as these values are normally not required in a fast speed controller or current controller cycle. Available measuring systems (encoder) The following encoder types are supported in Startdrive: ● DRIVE-CLiQ encoder These encoders are parameterized when downloading - and after an upload, are correctly displayed. ● SIN/COS encoders Incremental encoders, which supply a sinusoidal/cosinusoidal type signal, are also available with SSI protocol. ● HTL/TTL encoders Incremental encoders, which supply a square wave pattern, are also available with SSI protocol. ● ENDAT 2.1 Absolute encoders, which are controlled via the ENDAT 2.1 protocol. ● SSI encoder Absolute encoders, which are controlled via the SSI protocol. ● Resolvers Rotary position encoders. Commissioning with Startdrive 78 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project More detailed information on the encoders is provided in the Startdrive online help. Note Encoders from the hardware catalog All of the encoders, which are listed in the hardware catalog, no longer have to be parameterized, as they are already preassigned the appropriate settings. For user-defined encoders (third-party encoders), the parameters must be entered as subsequently described. Requirement ● A project has been created. ● A control module (drive) has been inserted in the device configuration. ● An infeed unit is inserted. In case of doubt, you can also add the infeed unit at a later point in time. However, in this case, you must manually wire the "infeed unit" component with the other components. ● A Motor Module is inserted. ● A motor is inserted (optional). Utilizing this procedure, you insert the encoder after the motor (seeRecommended order of creation (Page 59)). Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 79 Commissioning 4.3 Creating a project Inserting and specifying an encoder Using the hardware catalog, you insert an encoder in an unspecified form. 1. Open "Measuring systems" in the hardware catalog. One of the following measuring systems can be selected: – DRIVE-CLiQ encoder – SIN/COS encoder – SSI encoder – SIN/COS + SSI encoder – HTL/TTL encoder – HTL/TTL + SSI encoder – EnDat 2.1 encoder – Resolver 2. Select the unspecified encoder in the device overview. Figure 4-23 Encoder selected Commissioning with Startdrive 80 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project 3. Drag the unspecified encoder into the lower area of the Motor Module. Figure 4-24 Encoder inserted An encoder and a Sensor Module are created. 4. Click on the unspecified encoder in the device view. 5. Open the inspector window if it has still not been opened or displayed. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 81 Commissioning 4.3 Creating a project 6. In the secondary navigation of the inspector window, select "Encoder data selection..." Figure 4-25 Encoder specified 7. Select the desired encoder in the "Encoder selection..." list. The data of the selected encoder are assigned to the unspecified encoder. The white area turns dark gray. Further, a Sensor Module - encoder evaluation is inserted Result The encoder is inserted and specified. Adding additional encoders If you require additional encoders for your device configuration, then you can configure these in the same way. These encoders are then normally used as machine encoders. Commissioning with Startdrive 82 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project 4.3.7.2 Specifying the encoder evaluation Requirement You have already specified an encoder. The unspecified encoder evaluation is displayed. Specifying the encoder evaluation Various Sensor Modules are available for the encoder evaluation. Different types are offered for selection depending on the encoder. 1. Click the unspecified encoder evaluation. Figure 4-26 Selecting an encoder evaluation Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 83 Commissioning 4.3 Creating a project The Sensor Modules that are available are listed in the inspector window. Figure 4-27 Encoder evaluation specified 2. Select your Sensor Module. Result The Sensor Module has been specified. 4.3.7.3 Encoder system connection Description The Sensor Modules evaluate the signals from the connected motor encoders or external encoders and convert the signals so that they can be evaluated by the Control Unit. The encoder system can only be connected to SINAMICS via DRIVE-CLiQ. The following rule applies: Motor encoders are connected to the associated Motor Module, external encoders are connected to the Control Unit. In conjunction with motor encoders, the motor temperature can also be evaluated using Sensor Modules. Sensor Modules Cabinet (SMC) are intended for internal cabinet installation. Commissioning with Startdrive 84 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project Assignment of measuring system to Sensor Modules SMC Measuring systems SME SMC10 SMC20 SMC30 SMC401) SME20 SME25 SME120 Resolver Yes - - - - - Incremental encoder sin/cos (1Vpp) with zero pulse - Yes - - Yes - Yes Incremental encoder sin/cos (1Vpp) without zero pulse - Yes - - Yes Yes Yes EnDat absolute encoder - Yes - Yes - Yes Incremental Encoder TTL/HTL - - Yes - - - SSI absolute encoder2) - - Yes - - - Temperature evaluation Yes Yes Yes - - - 1) Only for direct measuring systems. 2) Only as of article number 6SL3055-0AA00-5CA1 SME125 Yes Yes Yes (galvanically isolated) Yes (galvanically isolated) Additional information You can find additional information about the Sensor Modules in the "Control Units and Additional System Components" manual and in the Startdrive online help. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 85 Commissioning 4.3 Creating a project 4.3.8 Inserting additional system components 4.3.8.1 Adding a Terminal Module Requirement You have already inserted a Control Unit. Adding Terminal Modules With Terminal Modules, you can expand the interfaces of the Control Unit (CU). They are connected to the Control Unit via DRIVE-CLiQ. Terminal Modules do not have to be specified any further. 1. Open "Additional system components > Terminal Modules" in the hardware catalog. The following Terminal Modules can be selected: – Terminal Module TM15 – Terminal Module TM31 – Terminal Module TM41 2. Select the unspecified Terminal Module in the device overview. 3. Drag the unspecified Terminal Module into the device view. Commissioning with Startdrive 86 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project The DRIVE-CLiQ connections are drawn automatically. Figure 4-28 Terminal Module Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 87 Commissioning 4.3 Creating a project 4.3.8.2 Adding a Terminal Board Requirement You have already inserted a Control Unit. Adding a Terminal Board The TB30 Terminal Board allows you to expand the interfaces of the Control Unit (CU). The Terminal Board is inserted into the option slot of the Control Unit. The Terminal Board does not have to be specified any further. 1. Open "Additional system components > Terminal Boards" in the hardware catalog. "Terminal Board TB30" is displayed. 2. Select the unspecified Terminal Board TB30 in the device overview. 3. Drag the unspecified Terminal Board into the device view. Commissioning with Startdrive 88 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.3 Creating a project The DRIVE-CLiQ connections are drawn automatically. Figure 4-29 Terminal Board Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 89 Commissioning 4.4 Establishing an online connection to the drive 4.4 Establishing an online connection to the drive 4.4.1 Overview 2 interfaces are available for CU320-2 PN Control Units, via which you can go online with the drive. Interfaces for the online connection You first connect your PC to the appropriate Control Unit interface. IP addresses of the CU (hardware) ● Ethernet commissioning interface X127: For X127, an IP address and a subnet mask have already been assigned on the Control Unit in the factory: – IP address: 169.254.11.22 – Subnet mask: 255.255.0.0 Note Adhere to setup and Industrial Security guidelines - cell protection concept Only local access (point-to-point connection) is permissible for this interface. ● PROFINET interface X150: For X150, an IP address and a subnet mask have already been assigned on the Control Unit in the factory: – IP address: 0.0.0.0 – Subnet mask: 0.0.0.0 Note Adhere to setup and Industrial Security guidelines - cell protection concept In accordance with the Defense in Depth concept, PROFINET must be isolated from the remaining plant/system network (see also Chapter "Industrial Security (Page 23)"). Access to cables and possibly open connections must be implemented in a protected fashion, for example, in a control cabinet. Commissioning with Startdrive 90 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.4 Establishing an online connection to the drive IP addresses in the project A CU320-2 PN is created with the following IP addresses in a project in TIA Portal: ● Ethernet commissioning interface X127: The addresses correspond to the addresses that have already been assigned in the drive. – IP address: 169.254.11.22 – Subnet mask: 255.255.0.0 ● PROFINET interface X150: The following addresses are assigned for X150: – IP address: 192.168.0.1 (example) – Subnet mask: 255.255.255.0 PROFINET addresses lie in the area of the PROFINET subnet of a SIMATIC S7 PLC control, so that you can network the drive with a control system without having to adapt the subnet mask and IP address. Figure 4-30 CU320-2 PN interfaces Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 91 Commissioning 4.4 Establishing an online connection to the drive Selecting the preferred PG/PC interface If you prefer to use a specific network interface of your PG/PC to establish an online connection, you can preset this interface. 1. Select the "Options > Settings" menu. The settings of the TIA Portal are displayed. 2. Select the "Online and diagnostics" entry in the area navigation. 3. In the "Preset connection path for online access" area, specify the type of the PG/PC interface as well as the interface itself. 4. Enable the option "Display dialog for setting the default connection path for the online access". 4.4.2 Connection via standard Ethernet interface Requirement You have created a project in the TIA Portal and inserted a CU320-2 PN. The devices are cabled via the Ethernet commissioning interface X127 - therefore facilitating an online connection. As the Ethernet commissioning interface has already been assigned an IP address, you can go online directly. If you are not using a new project, and devices have already been created, in the project, check the IP address of the interface in the inspector window at "Properties > General > Ethernet addresses" and the IP address assigned to the device. The addresses and subnet masks must be identical. Quick search via "Online access" In order to obtain a fast overview, you can start a search in "Online access" under the required interface. If the wiring to your drive is error-free and you have wired the correct drive (LED flashing for checking), the drive is displayed with the appropriate IP address. Figure 4-31 Online access Commissioning with Startdrive 92 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.4 Establishing an online connection to the drive Going online If you have found the drive at "Online access", establish an online connection. The first time you establish a connection, you must set the "PG/PC interface" and "Connection to interface/subnet" parameters: 1. Click the "Go online" button. The "Go online" dialog box opens. Figure 4-32 Go online 2. If a correctly configured interface has still not been set, then select "Type of the PG/PC interface" in the drop-down list. 3. Select "PG/PC interface" of your PC in the drop-down list. 4. Select the required "Connection to interface/subnet" from the drop-down list. For Ethernet/IE, this is X127 of the CU320-2 PN. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 93 Commissioning 4.4 Establishing an online connection to the drive 5. Select one of the following search options in the "Select target device" drop-down list: – Show devices with the same addresses – Show all compatible nodes – Displaying accessible nodes 6. In order to search for the drive device with the set parameters, then click on "Start search". The devices that are found are displayed in the table of results. 7. Select your drive device from the table. 8. To establish an online connection to the drive device, click on "Connect". Result An online connection has been established between the PG/PC and the drive unit. The settings are used automatically the next time you go online and the "Go online" dialog is no longer displayed. 4.4.3 Online connection via PROFINET interface 4.4.3.1 Using the PROFINET IO interface Establishing an online connection between the PG/PC and the drive unit via a PROFINET interface The PROFINET interface of the CU320-2 PN is the X150. The drive and PG/PC must be located in the same subnet in order to establish an online connection. Correspondingly, you must select the IP address and subnet mask. To establish an online connection between a PG/PC and an individual drive, proceed as follows: 1. Search for a device using the online access 2. Assign the device an IP address and device name. 3. Adapt the IP address and subnet mask of the configured device in the project. 4. Compare the assigned interface data with the configured interface data. Commissioning with Startdrive 94 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.4 Establishing an online connection to the drive 4.4.3.2 Online access via PROFINET Use online access Get the TIA Portal to search for the drive via the online access of your computer. Requirement ● You have inserted a CU320-2 PN Control Unit. ● There is a connection between the Ethernet interface of your PG/PC and the PROFINET interface of your drive (X150). Procedure via "Online access" To search for a drive, proceed as follows: 1. Open the "Online access" entry in the project navigator. 2. Select the network interface of your computer. 3. Double click on "Update accessible devices". The drive is displayed in the project navigator. Figure 4-33 PROFINET online access Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 95 Commissioning 4.4 Establishing an online connection to the drive If the communication parameters are at their factory settings (IP address 0.0.0.0 and no device name), then the default device names of the TIA Portal ("Node" in this case) and the MAC address are displayed. If you want to go online on the device, you must assign an IP address and a device name. 4. Select the drive, and if necessary assign an IP address and device name, see also "Assigning an IP address (Page 96)" and "Assigning PROFINET device names (Page 98)". Figure 4-34 PROFINET with IP address The drive is displayed with the device name (in this case, drive_1) and the IP address. If you cannot assign an IP address and device name, you may have to check the IP address of your PG/PC. This must also lie in the same address range as the address of the drive, see also "Setting the PG/ PC interface (Page 100)". Result You have found the device in the PROFINET subnet and assigned an IP address and a device name. Now establish an online connection. 4.4.3.3 Assigning an IP address Adapting the IP address in the drive Before you can go online on a drive via PROFINET, you must assign the PROFINET interface of the drive a suitable IP address. ● When supplied, the PROFINET interface of the drive has no IP address. ● If a cyclic connection already exists from SINAMICS to the controller, it is no longer possible to assign an IP address. The PROFINET interface has already been assigned an IP address and subnet mask in the project: ● IP address: 192.168.0.1 ● Subnet mask: 255.255.255.0 The IP address and subnet mask lie in the subnet of an S71500 control, which simplifies networking the control system and drive. Commissioning with Startdrive 96 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.4 Establishing an online connection to the drive Requirement An online connection to the drive exists, and you have made a search for the drives under Online access in the appropriate interface with "Update accessible devices". The device is displayed. Procedure To assign an IP address, proceed as follows: 1. Double-click "Online & Diagnostics" under "Online access" in the project navigator. 2. Double-click the "Functions" entry in the secondary navigation of the working area. 3. Double-click the "Assign IP address" entry. Figure 4-35 Assigning an IP address 4. Enter an IP address that matches your project. 5. Enter an appropriate subnet mask. 6. Click on "Assign IP address" 7. Update the display at "Online access". The IP address is now displayed. The MAC address is read out automatically. Result The IP address has been assigned to the drive. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 97 Commissioning 4.4 Establishing an online connection to the drive 4.4.3.4 Assigning PROFINET device names Assigning a name In addition to the IP address, the drive must also be assigned a device name for operation in a PROFINET subnet. The name must comply with the DNS name syntax; for detailed information, review the TIA Portal online help. ● The drive does not have a device name in the delivered state. ● If the drive already has a name, perform "Restore factory settings". The name is deleted. Requirement An online connection has been established to the device. "Online access" procedure To assign a name, proceed as follows: 1. Double-click "Online & Diagnostics" under "Online access" in the project navigator. 2. Double-click the "Functions" entry in the secondary navigation of the working area. 3. Double-click the "Assign PROFINET device name" entry in the secondary navigation. Figure 4-36 Assigning names 4. Enter a device name in the "PROFINET device name" field. 5. Click "Assign name" to assign a name to the drive. 6. Update the interface at "Online access". The name is now displayed. Result The name has been assigned to the drive. Commissioning with Startdrive 98 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.4 Establishing an online connection to the drive 4.4.3.5 Comparing IP addresses IP address and the subnet mask in the project After you have assigned an IP address to the drive, check the IP address and subnet mask set in the project. An online connection can only be established when the settings in the project and in the device are identical. To compare the address, proceed as follows: 1. Search for the drive at "Online access" and "Update accessible devices". The drive is displayed with IP address and subnet mask. 2. Switch to the device view. 3. Select the PROFINET interface. 4. In the Inspector window, select "Properties " > "General". 5. Click "Ethernet addresses". The properties of the interface are displayed. 6. Compare the IP address and subnet mask with the settings under "Online access". Figure 4-37 IP address in the project If both settings are the same, you can establish an online connection. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 99 Commissioning 4.4 Establishing an online connection to the drive 4.4.3.6 Setting the PG/ PC interface The PROFINET communication between the drive and the PG/PC is performed via an Ethernet interface. For PROFINET communication, the IP address and the subnet mask of the PG/PC interface must lie within the number range of the PROFINET subnet. If you have not already adapted the IP address and subnet mask of the PG/PC interface, then you can proceed as follows. Note Assigning a temporary IP address If you search for the device via "Accessible devices" or go online for the first time, the PG/PC can automatically be assigned a temporary IP address in the subnet. Assigning the PG/PC interface The following procedure describes the process for the "Ethernet" interface type by using the "Online access" function. To assign the interfaces, proceed as follows: 1. Navigate to the appropriate interface in the project navigator under "Online access". 2. Select the context menu "Properties". 3. In the next step, select the subnet and apply the setting with "OK" where applicable. Figure 4-38 Assigning a subnet Commissioning with Startdrive 100 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.4 Establishing an online connection to the drive Adding an IP address in the subnet 1. Click in the toolbar on button . The "Select devices for setting up the online connection" dialog box opens. Figure 4-39 Selecting a device for online connection 2. Select the device and click "Connect" to confirm. 3. Assign an IP address to the PG/PC within the subnet of the drive unit. If you have not already done so, it is now possible to temporarily assign a suitable IP address from the subnet of the device via Windows Control Panel. Figure 4-40 Assigning an IP address Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 101 Commissioning 4.4 Establishing an online connection to the drive 4. Click "Yes" to assign the IP address. Figure 4-41 IP address added 5. Confirm with "Yes". The interface has been assigned the IP address within the PROFINET subnet. Result ● You have assigned the PG/PC interface. ● The TIA Portal has assigned an IP address within a project. ● The online connection has been established. Commissioning with Startdrive 102 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.4 Establishing an online connection to the drive Displaying and deleting temporary IP addresses You can display and also delete all temporarily assigned addresses. 1. Navigate in the project navigator under "Online access" to the appropriate interface. 2. In the shortcut menu, click "Properties". 3. Under Configuration, select the "IE-PG Access" item. Figure 4-42 4.4.3.7 Displaying and deleting temporary IP addresses Restoring factory settings Restoring factory settings If problems occur during the commissioning via PROFINET, it is recommended that the IP settings of the drive be restored to the factory settings. This provides a defined basis for an error-free commissioning. Requirement An online connection has been established to the drive. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 103 Commissioning 4.4 Establishing an online connection to the drive Procedure To restore the factory settings, proceed as follows: 1. Open the "Online & diagnostics" entry at "Online access". 2. Open the entry "Functions" in the secondary navigation. 3. Double-click the "Restore factory settings" entry in the secondary navigation. The dialog box with the current settings is displayed. Figure 4-43 Restoring factory settings 4. Click the "Reset" button. The drive communication settings are reset to the factory settings. 5. Go offline and then establish an online connection again. The factory settings of the IP address and the device name are now displayed at "Online access". Result The communication settings show the factory settings again. Note After the reset, it makes sense to then assign an IP address and a device name to the drive, also refer to Chapter "Assigning an IP address (Page 96)" and "Assigning PROFINET device names (Page 98)". Commissioning with Startdrive 104 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.5 Commissioning a drive 4.5 Commissioning a drive 4.5.1 Using the control panel From the drive control panel (see also the overview in Chapter "Drive control panel (Page 43)") operate the drive and test the settings that have already been made. WARNING Risk of death if the safety instructions for the drive control panel are not carefully complied with The safety shutdowns from the higher-level controller have no effect with this function. The "Stop with space bar" function is not guaranteed in all operating states. Incorrect operation by untrained personnel – without taking into account the appropriate safety instructions – can therefore result in death or severe injury. • Make sure that this function is only used for commissioning, diagnostic and service purposes. • Make sure that this function is only used by trained and authorized skilled personnel. • Make sure that a hardware device is always available for the EMERGENCY OFF circuit. Note Drive reacts immediately Although all enables are removed before returning the master control, the setpoints and commands still come from the original parameterized sources after the master control is returned. Precondition ● Startdrive is in the online mode (Page 90). Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 105 Commissioning 4.5 Commissioning a drive Calling the control panel 1. In the project navigation, select menu "Drive device_x > Drive axis_x > Commissioning". 2. In the commissioning secondary navigation, select the "Control panel" menu. If there is no online connection, Startdrive attempts to establish a connection. When an online connection has been established, the bar in the header area is shown in color. The control elements are grayed-out apart from the "Activate" button. The remaining controls only become active after you have activated the drive control panel and set the appropriate enable signals. Figure 4-44 Drive control panel Activating the drive control panel If you activate the drive control panel, then you fetch the master control for the drive. The drive control panel can only be activated for one drive. Proceed as follows to activate the drive control panel: 1. Click the "Activate" button at "Master control". The "Activate master control" message window opens. 2. Read the warning carefully and check the value for the monitoring time. The monitoring time specifies the time during which the connection from the PG/PC to the drive is monitored. The minimum value is 1000 ms. 3. Click the "Continue" button to confirm the monitoring time. The message window closes. The drive control panel is then active. Commissioning with Startdrive 106 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.5 Commissioning a drive Activating the infeed If an infeed is available in your drive, then the infeed must also be activated. If it is not activated, no further drive release can be set. 1. Click on the "1" icon under "Infeed" to switch on the infeed unit. Deactivating the drive control panel If you deactivate the drive control panel, then you relinquish the master control. The drive control panel cannot be deactivated as long as the drive has not been switched off (button "0"). Proceed as follows to return the drive control panel: 1. Click the "Deactivate" button at "Master control". The gray user interface of the drive control panel indicates that the master control is deactivated. Setting the enable Proceed as follows to set the enable signals necessary for the drive control panel: 1. Click the "Set" button at "Drive enables". Additional areas of the drive control panel become active. 2. Click the "Acknowledge faults" button to acknowledge the currently pending faults. 3. If you no longer require the enables, click the "Reset" button at "Drive enables". Result You can now start to move the drive using the drive control panel. Enables and faults are displayed at "Drive status". In addition to "Active fault", the currently pending fault is displayed. Additional commissioning functions Other commissioning functions are helpful for the drive axes: ● Automatic controller optimization (Page 127) ● Stationary/rotating measurement (Page 133) Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 107 Commissioning 4.5 Commissioning a drive 4.5.2 Traversing the drive with speed specification After you have set the drive enables, specify the operating mode and switch the motor on. Selecting the operating mode To traverse the drive via a speed specification, proceed as follows: 1. Select the "Speed specification" entry in the "Operating mode" drop-down list. 2. Click on the "1" icon under "Switch on" to switch on the drive. Specifying the setpoint To specify the setpoint, proceed as follows: 1. Enter a speed setpoint in the "Speed" field with which the motor is to turn. The motor does not accelerate directly when the speed is specified, rather only when you click on the "Backward" or "Forward" buttons. 2. To rotate the motor backwards, click the "Backward" button. 3. To rotate the motor forward, click the "Forward" button. 4. Click the "Jog forward" button to inch the motor forwards. 5. Click the "Jog backward" button to inch the motor backward. Stopping the drive 1. Click the "Stop" button to stop the drive. Viewing actual values of the drive The current values of various parameters are displayed at "Actual values". Commissioning with Startdrive 108 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects 4.6 Basic parameterization of the drive objects 4.6.1 Control Unit 4.6.1.1 Web server The web server provides information on a SINAMICS device via its web pages. Access is via an Internet browser. The information on the web pages is shown in German or English. For information about message texts, drive object states and parameter names, there is a language selection which allows the display to be switched over to the required language (German, English, Chinese, Italian, French, Spanish). You configure the web server using a screen form. Calling the screen form 1. In the project navigation, select menu "Drive control > Parameter". The corresponding detailed view is displayed at the right. 2. In the secondary navigation, call menu "Basic parameterization > Web server". The detailed view is updated. The settings become active for the web server. Figure 4-45 Web server configuration Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 109 Commissioning 4.6 Basic parameterization of the drive objects Deactivating the web server The web server is activated as default setting in the configuration. When required, you can deactivate the web server as follows: 1. In the configuration dialog, deactivate the "Activate" option. 2. Then save the project to accept the settings. Restricting web server access to just secure connections Using the default configuration of the web server, you can access the SINAMICS frequency converter via an HTTP connection or via the encrypted HTTPS connection. Using the configuration, access can be restricted so that only a secure HTTPS connection is possible. NOTICE Using non-encrypted connections (HTTP) When using the HTTP protocol, the login data is also sent unencrypted. This facilitates password theft attacks, for example, and can lead to data manipulation by unauthorized parties and thus ultimately to damages. • Limit access to secure connections so that all data is transferred encrypted. The configuration option provided to limit connections to HTTPS can only be changed when the web server is active. ● in the Startdrive configuration dialog ● in the web server prior to commissioning for the first time ● via parameter p8986 Procedure: 1. In the configuration dialog, activate option "Only permit access via https". Figure 4-46 https access Commissioning with Startdrive 110 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects Releasing users You can release "SINAMICS" and "Administrator" users with their specific rights. You can also specify as to whether password protection should be active for the "SINAMICS" user. Default settings: ● SINAMICS: Password protection We recommend that you change the password. This must comprise at least 8 characters. ● Administrator: Password protection (password is preset). A password with at least 8 characters must be assigned. If a password has not been assigned, the following warning appears when attempting to login "A09000: Web server security: Administrator password not set". The "Administrator" user has the full rights as standard. However, only restricted access rights apply for the standard "SINAMICS" user. Note Secure passwords SINAMICS specifies almost no password rules for the assignment of passwords. The only rule is that at least 8 characters are used. You can therefore assign any passwords without restriction. Startdrive does not make any checks for illegal characters or passwords which have already been used. Therefore, as the user, you are responsible for the required password security. Use a sufficiently long password (10 characters). Use special characters and avoid passwords which you have already used elsewhere. Please note that if the Windows language settings are changed, errors can occur when subsequently checking the password. If you use language-specific special characters, you must ensure that the same language setting is active on the computer for subsequent entry of the password. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 111 Commissioning 4.6 Basic parameterization of the drive objects To enable a user and activate a password, proceed as follows: 1. Activate option "Enable SINAMICS user" or "Enable administrator user". You can also activate both users. 2. Click on "Specify password". The "Set password" dialog box opens. Figure 4-47 Setting the password 3. Enter the new password (max. 10 characters) in the "New password" field. Pay attention to upper and lower case. 4. Repeat the password in the "Confirm password" field. For security reasons, the password entries displayed in the input fields are encrypted. 5. Click "OK" to confirm the input in the password dialog. If both password entries were identical, the input dialog box is closed. If both entries do not match, the input dialog box remains open and an error message is displayed. At the same time, the two entries in the input dialog are cleared. In this case, you must enter the password again in the two input fields. The password is queried once when the corresponding web page is subsequently called. 6. Then save the project to accept the settings. Commissioning with Startdrive 112 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects 4.6.2 Infeed unit 4.6.2.1 Overview Infeed units (Line Modules) Line Modules contain the central line infeed for the DC link. Various Line Modules can be selected to address the various application profiles: ● Basic Line Modules (BLM) ● Smart Line Modules (SLM) ● Active Line Modules (ALM) Basic parameterization of the infeed unit You can carry out basic parameterization for the following infeed data: ● Function modules ● Line data/operating mode ● Enable logic Calling the screen form 1. In the project navigation, select menu "Infeed_x > Parameter". The corresponding detailed view is displayed at the right. 2. In the secondary navigation, call menu "Basic parameterization > xxx" (xxx stands for the name of the particular detailed screen form). The detailed view is updated. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 113 Commissioning 4.6 Basic parameterization of the drive objects 4.6.2.2 Function modules For the infeed, you can activate function modules as required. The function modules that can be activated are listed in the "Function modules" screen form. Figure 4-48 Function modules for infeed units The function modules that can be used are presorted in 2 areas: ● Frequently used function modules ● Additional function modules The display of the function modules that can be activated is dynamic and depends on the selected infeed and the configuration of said infeed. Activating function modules 1. Activate the required function module by clicking on the option. Repeat this for all additional function modules that you wish to activate. 2. Save the project to backup the settings. Commissioning with Startdrive 114 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects 4.6.2.3 Line data / operating mode You set the most important parameters for the operation of an infeed in the function view of the "Line data / operating mode" mask. The corresponding parameters are displayed depending on the infeed type. Figure 4-49 Line data/operating mode Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 115 Commissioning 4.6 Basic parameterization of the drive objects Setting the line data and operating mode The selection of the operating mode is displayed if you enter an operating voltage exceeding 415 Vrms (ALM). The parameters are assigned default values when creating the device. 1. Enter a value for the device supply voltage in the "Device supply voltage" field (p0210). For a value exceeding 415 V, parameters for selecting the operating mode are displayed (only ALM). The following parameter data is determined automatically from the specified operating voltage (ALM and SLM only) and displayed in the appropriate field: – "Infeed DC-link voltage setpoint" (p3510) – "DC-link voltage maximum steady-state" (p0280) 2. To activate the line/DC link identification, in the drop-down list "Supply/DC link identification", select option "On". If the line supply / DC-link identification has already been performed once, then the value is preset to "OFF" (ALM and SLM only). Selecting the operating mode The operating mode depends on the motor voltage. Example: The DC-link voltage must be lower in the USA. For this reason, you can switch the mode of an Active Line Module in order to be able to use it as a Smart Line Module (Smart Mode). You can set the operating mode in this screen form for operating voltages greater than 415 Vrms (ALM). 1. Set one of the two operating modes: – "Vdc non-regulated (Smart Mode)" In Smart Mode, the regenerative capability is maintained, but this results in a lower DC-link voltage compared to Active Mode. The DC-link voltage depends on the current supply voltage. – "Vdc regulated (Active Mode)" In Active Mode, the DC-link voltage is regulated to a settable setpoint (p3510) to produce a sinusoidal supply current (cos φ = 1). The size of the reactive current is also regulated and can be set specifically. Commissioning with Startdrive 116 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects 4.6.2.4 Enable logic You can connect several signal sources for the enables in the function view of the "Enable logic" mask. Figure 4-50 Enable logic Procedure 1. Interconnect the signal source via "p0840" for "OFF1 (low active)". 2. Interconnect the 1st signal source via "p0844" for "Instantaneous off (OFF2) signal source 1". 3. Interconnect the 2nd signal source via "p0845" for "Instantaneous off (OFF2) signal source 2". 4. Interconnect the signal source via "p0852" for "Enable operation". Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 117 Commissioning 4.6 Basic parameterization of the drive objects 4.6.3 Drive axes 4.6.3.1 Overview Basic parameterization of the drive axes You can carry out basic parameterization for the following data of the drive axis/axes: ● Function modules ● Control mode ● Important parameters ● Sampling times/pulse frequency ● Enable logic Calling the screen form 1. In the project navigation, select menu "Drive axis_x > Parameter". The corresponding detailed view is displayed at the right. 2. In the secondary navigation, call menu "Basic parameterization > xxx" (xxx stands for the name of the particular detailed screen form). The detailed view is updated. Commissioning with Startdrive 118 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects 4.6.3.2 Function modules For the drive axis used, you can activate function modules as required. The function modules that can be activated are listed in the "Function modules" screen form. Figure 4-51 Function modules - for drive axes The function modules that can be used are presorted in 2 areas: ● Frequently used function modules ● Additional function modules The display of the function modules that can be activated is dynamic and depends on the selected drive axis and the configuration of this drive axis. Activating function modules 1. Activate the required function module by clicking on the option. Repeat this for all additional function modules that you wish to activate. Note When the "basic positioner" function module is activated, then the function module "position control" is automatically activated as well. 2. Save the project to backup the settings. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 119 Commissioning 4.6 Basic parameterization of the drive objects 4.6.3.3 Control mode Control types Speed control (with and without encoder) and torque control are available for servocontrolled drives. Figure 4-52 Control mode ● Speed control The speed control of a variable-speed drive has the task of following the speed according to a specified setpoint (reference variable) as precisely as possible and without overshoot. ● Torque control With torque control, the torque is the reference value and the actual torque value should follow the torque setpoint with as little ripple as possible and without delay. Selecting the control type 1. Select one of the following control types (p1300) in the drop-down list: – Speed control with encoder – Speed control without encoder – Torque control with encoder If you have selected a control type with encoder, this encoder is now shown in the diagram. Commissioning with Startdrive 120 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects 4.6.3.4 Important parameters Description You define the basic properties of the drive control using the important parameters. Figure 4-53 Important parameters Parameters Designation Description p1121 Ramp-down time Ramp-down time which the drive requires to decelerate from maximum speed (p1082) to standstill. p1135 OFF3 ramp-down time The OFF3 ramp-down time sets the ramp-down time from maximum speed down to standstill for the OFF3 command. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 121 Commissioning 4.6 Basic parameterization of the drive objects 4.6.3.5 Sampling times/pulse frequency As of a limit of 800 Hz, it is recommended that you enter the sampling times and the pulse frequency for the drive. The setting is made using the following screen form: Figure 4-54 Sampling times/pulse frequency Commissioning with Startdrive 122 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects Setting the defaults The sampling times are preset via parameter p0112. 1. Select one of the following defaults via the drop-down list (p0112): – [0] Expert – [1] xLow – [2] Low – [3] Standard – [4] High – [5] xHigh The designation of the defaults refer to the desired output frequency and control dynamic response. If a particularly high output frequency or control dynamic response is required, "xHigh" would be the correct default. The selected default affects the following control loops: – p0115[0]: Sampling times for internal control loops, current controller – p0115[1]: Sampling times for internal control loops, speed controller – p0115[2]: Sampling times for internal control loops, flux controller – p0115[3]: Sampling times for internal control loops, setpoint channel – p0115[4]: Sampling times for internal control loops, position controller – p0115[5]: Sampling times for internal control loops, positioning – p0115[6]: Sampling times for internal control loops, technology controller The display of the parameter values set for p0115 changes depending on the default setting made. Note If the sampling times of the current controller and speed controller are changed (see also p0115), it is recommended that the controller settings are recalculated via p0340 = 4 after the commissioning (p0010 = 0). Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 123 Commissioning 4.6 Basic parameterization of the drive objects Entering the sampling times manually If you have set "Expert" in p0112, you can manually configure each of the following sampling times for the following control loops (p0115): ● p0115[0]: Sampling times for internal control loops, current controller ● p0115[1]: Sampling times for internal control loops, speed controller ● p0115[2]: Sampling times for internal control loops, flux controller ● p0115[3]: Sampling times for internal control loops, setpoint channel ● p0115[4]: Sampling times for internal control loops, position controller ● p0115[5]: Sampling times for internal control loops, positioning ● p0115[6]: Sampling times for internal control loops, technology controller Note You cannot set the values arbitrarily. The rules when setting the sampling times are listed in Chapter: Rules on the sampling times (Page 207). Enter the sampling times for the internal control loops. Setting the pulse frequency Set the pulse frequency via p1800. Commissioning with Startdrive 124 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects 4.6.3.6 Enable logic If telegrams were connected during commissioning, these interconnections are displayed here and an additional specification is not required. If no telegrams were specified previously, then you must connect the required signal sources via the enable logic. Figure 4-55 Enable logic Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 125 Commissioning 4.6 Basic parameterization of the drive objects Connecting signal sources 1. Connect the signal source for the "Infeed operation" (p0864) command. 2. Interconnect the signal source for command "OFF1 (low active)" (p0840). This command corresponds to control word 1 bit 1 (STW1.1) in the PROFIdrive profile. 3. Interconnect the 1st signal source for command "OFF2 (low active) signal source 1 " (p0844). This command corresponds to control word 1 bit 1 (STW1.1) in the PROFIdrive profile. 4. Interconnect the 2nd signal source for command "OFF2 (low active) signal source 2 " (p0845). 5. Interconnect the 1st signal source for the "No quick stop/quick stop (OFF3) signal source 1" command (p0848). This command corresponds to control word 1 bit 2 (STW1.2) in the PROFIdrive profile. 6. Interconnect the 2nd signal source for the "No quick stop/quick stop (OFF3) signal source 2" command (p0849). This command corresponds to control word 1 bit 2 (STW1.2) in the PROFIdrive profile. 7. Interconnect the signal source for the "Enable operation" command (p0852). This command corresponds to control word 1 bit 3 (STW1.3) in the PROFIdrive profile. Commissioning with Startdrive 126 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects 4.6.4 Important optimization steps 4.6.4.1 Auto Servo Tuning Using the "Automatic control optimization" function (Auto Servo Tuning = AST), controller data of the speed controller loop (Kp, Tn, current setpoint filter) can be optimized. Figure 4-56 Automatic controller optimization Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 127 Commissioning 4.6 Basic parameterization of the drive objects The following settings can be made as input parameters for the optimization. ● Measured signals – Amplitude Enter the amplitude of the measuring signal excitation as a percentage of the rated torque. As a rule, the drive can be optimized well with the amplitude presetting. In specific cases, it may be necessary to increase or decrease the amplitude. However, a value that is too high or too low may mean that the control loop cannot be optimally calculated. This can lead to unstable control loops. Therefore, it is always recommended to test the drive after the optimization. – Offset Enter the speed offset as a percentage of the rated speed. The offset compensates for non-linear frictional effects. When setting the offset, ensure that any existing path limitations can be maintained during the measurement. ● Objective of the optimization The following optimization types are available: – Robust (e.g. for spindles) – Moderate (e.g. for speed-controlled axes) – Strict (e.g. for highly dynamic axes) The speed controller amplification and the reset time are determined on the basis of the setting which is suitable for the particular application. Notes and restrictions ● Loss of focus A loss of focus on the "Auto Servo Tuning" mask automatically results in the measurements being aborted. Make sure that you do not operate any other programs or press any buttons while a servo tuning is running. ● Behavior of the basic positioner during AST The basic positioner is (temporarily) deactivated internally during the Auto Servo Tuning (AST). ● Optimization with basic settings You can also optimize with the basic settings of AST. In this case, you do not make any manual settings and start the optimization measurements with the basic settings. ● AST is only possible for single axes The Auto Servo Tuning can only optimize single axes. In order to perform Auto Servo Tuning, you have to isolate a machine axis from a control context, so that the machine axis can be operated independently of other axes. Commissioning with Startdrive 128 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects Requirements: ● Startdrive is in online mode. ● Operation has been enabled. ● The speed controller is active. ● Operation with encoder has been set. ● No measuring function is active. Assume control priority You require master control over the selected drive for Auto Servo Tuning. Master control has to be activated before the optimization measurements are started. 1. Click the "Activate" button at "Master control". The "Activate master control" message window opens. 2. Read the warning carefully and check the value for the monitoring time. The monitoring time specifies the time during which the connection from the PC to the drive is monitored cyclically. The minimum value is 1000 ms. 3. Click the "Continue" button to confirm the monitoring time. The message window closes. The "Auto Servo Tuning" mask then becomes active. Making the optimization settings You can make the optimization settings before or after activating the master control: 1. Click the "Measured signals" button. The "Measured signals" dialog opens: 2. Enter the required values in this dialog: – Amplitude – Offset Note Offset settings For axes that do not turn endlessly, you are responsible for observing any existing axial stroke limitations during the measurement. The larger the offset, the longer the distance traveled. The axis should be measured within its specific working range. If required, you can reject the values that have just been recorded and display the old values again via the "Reset values" button. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 129 Commissioning 4.6 Basic parameterization of the drive objects 3. Confirm your entries with "OK". The "Measured signals" dialog closes. You can then specify the optimization type. 4. Select the desired optimization type in the "Optimization objective" drop-down list. – Robust (default setting) – Moderate – Tight Performing optimization measurements After you have made the optimization settings, you can start the measurements. Note Enabling the "Start" button Certain operations can prevent the enabling of the "Start" button to start the optimization measurements. The reasons for the prevented enabling are displayed in the messages in the inspector window. Typical reasons for a prevented enabling are: • The drive is turning • The drive optimization is already active • The trace recorder is not available Commissioning with Startdrive 130 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects 1. Click the "Start" button at the top right in the "Auto Servo Tuning" mask. The following 4 consecutive measurements are now started to automatically optimize the controller: – Measurement 1 turns the axis at the offset speed in the positive direction, overlaid by measuring signals with a frequency of 4000 Hz. – Measurement 2 turns the axis at the offset speed in the negative direction, overlaid by measuring signals with a frequency of 4000 Hz. – Measurement 3 turns the axis at the offset speed in the positive direction, overlaid by measuring signals with a frequency of 500 Hz. – Measurement 4 turns the axis at the offset speed in the negative direction, overlaid by measuring signals with a frequency of 500 Hz. The "Progress" field shows the progress of the measurements in %. The calculated controller data is then listed in the table. – The "Active value" column displays the current parameter values of the drive. – The "Calculated value" column displays the optimized parameter values with which the drive is to be operated later. Figure 4-57 Table of AST values Note Canceling the measurements You can cancel active measurements at any time via the "Cancel" button. However, the cancellation is not performed during the measuring process, but rather between two measurements. The cancellation can therefore take some time. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 131 Commissioning 4.6 Basic parameterization of the drive objects Accepting, checking and saving optimized values in the drive 1. Click the "Accept calculated values" button. The optimized values are taken into the drive and saved there in the RAM. In the table, the values from the "Calculated value" column are transferred to the "Active value" column. 2. Perform the stability test for the axis via the "Drive control panel (Page 105)". – Check the drive at various speeds. – Test the command and disturbance behaviors of the drive by suitable speed and torque step responses. The step responses can be recorded with the aid of the integrated trace functionality. 3. When the optimized values have been checked and are correct, copy RAM to ROM to permanently save the values. – If the optimized values are not correct, correct the optimization settings and repeat the optimization measurements. You can then deactivate the master control. 4. Click the "Deactivate" button at "Master control". The grayed-out user interface of the Auto Servo Tuning shows that the master control has been deactivated. Commissioning with Startdrive 132 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects 4.6.4.2 Stationary/rotating measurement Motor identification (MotID) provides a means of determining motor data (of third-party motors, for example). To improve control properties of the motor, the MotID should be performed. The main motor identification components are the stationary and rotating measurements. Measurement type Selecting the measurement type (for experts) Configuration Entering the configuration data and starting the measurement Status Indicates measurement progress Measurement result Displays the measurement results of the MotID. The measurement results can be corrected or accepted. Figure 4-58 Stationary/rotating measurement Note If a power on or a warm restart is performed when the motor data identification is selected, then the motor data identification request is lost. A requested motor data identification must be reselected manually after powering up. Note As long as a rotating measurement has been selected and is running, you cannot perform any upload, download, RAM to ROM or reset to the factory settings. NOTICE Damage to the device as a result of incorrectly selected rated current and/or maximum current values Incorrect rated current or maximum current data can destroy the motor! • Check that the current values that have been entered are correct. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 133 Commissioning 4.6 Basic parameterization of the drive objects Preconditions ● Startdrive is in the online mode. Assume control priority You require master control for the selected drive to perform the motor identification. Master control has to be activated before the optimization measurements are started. 1. Click the "Activate" button at "Master control". The "Activate master control" message window opens. 2. Carefully read the warning note and check the value of the monitoring time. The monitoring time specifies the time that the connection between the PC and drive is cyclically monitored. The minimum value is 1000 ms. 3. Click on "Continue" to confirm the monitoring time. The message window is closed. The "Stationary/rotating measurement" screen form is then active. Configuring motor identification The measurements available are displayed in the "Measurement type" setting area. Already when the screen form is opened, a check is made to determine whether a measurement is already active and, if so, it is displayed. If no measurement is selected, a check is made as to which measurement has already been performed and then used as recommendation. Note Detailed notes regarding the motor identification In "Chapter 4.12 Motor identification" in the Function Manual Drive Functions, you will find detailed information about motor data identification for various motor types. Note Expert settings We only recommend that experienced users manually select the measurement type from the list. This means that when required, individual measurements can be repeated. Commissioning with Startdrive 134 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Commissioning 4.6 Basic parameterization of the drive objects After performing the basic parameterization and subsequent download, the "Stationary measurement" measurement type is active as the "Calculation of motor/control parameters" has already been performed. 1. Click on the "1" icon in the "Infeed " area to switch on the infeed unit. 2. To set the drive enable signals, click on "Set" in the "Drive enables" area. 3. Click on the "1" icon in the "Switch on" area to switch on the motor. 4. Click on "Start" in the "Measurement" area to start the measurement. A status display at the center of the screen form shows how the measurement is progressing (r0047). The measurement ends automatically, and the message appears that the drive is in the switch-on inhibited state. After the measurement, the new parameter values are displayed in the results table. You can view and check the new values. 5. Check the values that have been determined to ensure that they are plausible. 6. You can accept the values if they are OK. To do this, click on "Accept values". Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 135 Commissioning 4.7 Loading the project to the target device 4.7 Loading the project to the target device This function loads the actual project from the PG/PC into the Control Unit. A consistency check is first made for the project. If inconsistencies are detected, then the corresponding messages are output. You must resolve the inconsistencies before loading. If the data is consistent, then it will be transferred into the work memory of the Control Unit. In order to execute this function in the online mode, the following operator actions are alternatively available: 1. Select the drive device and call the menu "Online> Load to device". Or 2. Click on the icon (Load to device) in the toolbar. Commissioning with Startdrive 136 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 5 Diagnostics 5.1 Overview This chapter describes the following diagnostic features of the SINAMICS S120 drive system: ● Diagnostics via LEDs – Control Units – Power units – Additional modules – Terminal Modules ● Diagnostics via Startdrive – Device diagnostics – Trace function – Online diagnostics – Diagnostics information about the infeed unit – Diagnostics information for drive axis/axes ● Fault and alarm messages Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 137 Diagnostics 5.2 Diagnostics using LEDs 5.2 Diagnostics using LEDs 5.2.1 Control Units 5.2.1.1 LED states of a CU320-2PN The various states of the CU320-2 PN Control Unit when powering up and in operation are displayed using LEDs on the Control Unit. The duration of the individual statuses varies. Table 5- 1 LEDs LED Function RDY Ready COM PROFIdrive cyclic operation via PROFINET (PN) OPT OPTION ● If an error occurs, the booting procedure is terminated and the cause is indicated accordingly via the LEDs. ● Once the unit has successfully booted up, all the LEDs are switched off briefly. ● Once the unit has booted up, the LEDs are controlled via the loaded software. Commissioning with Startdrive 138 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.2 Diagnostics using LEDs Control Unit 320-2 when the powering up Table 5- 2 Load software LED State Comment RDY COM OPT Red Orange Orange Reset Red Red Off BIOS loaded – Red Flashing light 2 Hz Red Off BIOS error • Error occurred while loading the BIOS Red Flashing light 2 Hz Red Flashing light 2 Hz Off File error • Memory card not inserted or faulty • Software on memory card not present or corrupted Table 5- 3 Hardware reset RDY LED lights up red, all other LEDs light up orange Firmware LED State Comment RDY COM OPT Orange Off Off Red Orange Flashing light Off Firmware loading RDY LED lights up red, COM LED flashes orange without fixed flash frequency Red Off Off Firmware loaded – Red flashing light 0.5 Hz Red flashing light 0.5 Hz Off Firmware loaded Firmware-Firmware/Project download completed. Waiting for POWER ON. Off Red Off Firmware checked (no CRC error) Red flashing light 0.5 Hz Red flashing light 0.5 Hz Off Firmware checked (CRC error) Alternating Initializing Running – – CRC invalid See the table below Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 139 Diagnostics 5.2 Diagnostics using LEDs Control Unit 320-2 in operation Table 5- 4 CU320-2 PN Control Unit – description of the LEDs after powering up LED Color State Description, cause Remedy RDY (READY) – OFF Electronic power supply is missing or outside permissible tolerance range. Check the power supply. Green Continuous light The component is ready for operation and cyclic DRIVE-CLiQ communication is taking place. – Flashing light 0.5 Hz Commissioning/reset – Flashing light 2 Hz Writing to the memory card – Red Flashing light 2 Hz General errors Check parameterization / configuration data Red/ green Flashing light 0.5 Hz Control Unit is ready for operation. However, there are no software licenses. Obtain licenses. Orange Flashing light 0.5 Hz Updating the firmware of the DRIVE-CLiQ components – Flashing light 2 Hz DRIVE-CLiQ component firmware update complete. Wait for POWER ON for the components in question. Turn POWER ON for the components in question Green/ orange or red/ orange Flashing light 2 Hz Component detection via LED is activated (p0124[0]). – Green/ orange or red/ orange Flashing light 1 Hz Green Flashing light: Note: Both options depend on the LED status when component recognition is activated via p0124[0] = 1. CU detection via DCP flashing. – Note: Both options depend on the LED status when component recognition is activated via DCP. PROFIenergy energy saving mode is active. – Switch-on/off ratio: 500 ms on 3000 ms off Commissioning with Startdrive 140 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.2 Diagnostics using LEDs LED Color State Description, cause Remedy COM PROFIdrive cyclic operation – Off Cyclic communication has not (yet) taken place. – Note: PROFIdrive is ready for communication when the Control Unit is ready (see LED RDY). Green Continuous light Cyclic communication is taking place. – Flashing light 0.5 Hz Full cyclic communication has not yet taken place. – Possible causes: Red OPT (OPTION) – • The controller is not transferring any setpoints. • During isochronous operation, no global control (GC) or a faulty global control (GC) is transferred by the controller. • Only possible for CU320-2 PN: "Shared Device" is selected (p8929=2) and only one controller connected. Flashing light 0.5 Hz Bus error, incorrect parameter assignment/configuration Adapt configuration between master/controller and CU. Flashing light 2 Hz Cyclic bus communication has been interrupted or could not be established Remove fault. Off Electronic power supply is missing or outside permissible tolerance range. Check power supply and/or component Component is not ready. Option board not installed or no associated drive object has been created. Green Continuous light Option board is ready. – Flashing light 0.5 Hz Depends on the option board used. – Red Flashing light 2 Hz This component has at least one fault. The Option Board is not ready (e.g. after switching on). Remedy and acknowledge fault. RDY and COM Red Flashing light 2 Hz Bus error, communication has been interrupted Remove fault. RDY and OPT Orange Flashing light 0.5 Hz Firmware update in progress for connected Option Board CBE20 – Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 141 Diagnostics 5.2 Diagnostics using LEDs 5.2.2 Power units 5.2.2.1 Safety instructions for diagnostic LEDs of the power units WARNING Danger to life if the fundamental safety instructions and residual risks are not carefully observed The non-observance of the fundamental safety instructions and residual risks stated in Chapter 1 can result in accidents with severe injuries or death. • Adhere to the fundamental safety instructions. • When assessing the risk, take into account residual risks. WARNING Danger to life when live parts of the DC link are touched Irrespective of the status of the "DC LINK" LED, hazardous DC link voltages can be present. This means that the touching of live parts can result in death or serious injury. • Observe the warning information on the component. 5.2.2.2 Table 5- 5 Active Line Module booksize Meaning of the LEDs on the Active Line Module State Description, cause Remedy – Ready DC link Off Off Electronic power supply is missing or outside permissible tolerance range. Green Off The component is ready for operation and cyclic DRIVE-CLiQ – communication is taking place. Orange The component is ready for operation and cyclic DRIVE-CLiQ – communication is taking place. The DC link voltage is present. Red The component is ready for operation and cyclic DRIVE-CLiQ Check the line voltage communication is taking place. The DC link voltage is too high. Orange Orange DRIVE-CLiQ communication is being established. – Red – At least one fault is present in this component. Remedy and acknowledge fault Note: LED is controlled irrespective of the corresponding messages being reconfigured. Commissioning with Startdrive 142 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.2 Diagnostics using LEDs State Description, cause Remedy – Firmware is being downloaded. – Green / red flashing light 2 Hz – Firmware download is complete. Wait for POWER ON. Carry out a POWER ON Green / orange – Component detection via LED is activated (p0124). – Ready DC link Green / red flashing light 0.5 Hz Note: or Both options depend on the LED status when module recognition is activated via p0124 = 1. Red / orange 5.2.2.3 Basic Line Module booksize Table 5- 6 Meaning of the LEDs on the Basic Line Module State Description, cause Remedy – Ready DC link Off Off Electronic power supply is missing or outside permissible tolerance range. Green Off The component is ready for operation and cyclic DRIVE-CLiQ – communication is taking place. Orange The component is ready for operation and cyclic DRIVE-CLiQ – communication is taking place. The DC link voltage is present. Red The component is ready for operation and cyclic DRIVE-CLiQ Check the line voltage. communication is taking place. The DC link voltage is too high. Orange Orange DRIVE-CLiQ communication is being established. – Red – At least one fault is present in this component. Remedy and acknowledge fault. Note: LED is controlled irrespective of the corresponding messages being reconfigured. Green / red flashing light 0.5 Hz – Firmware is being downloaded. – Green / red flashing light 2 Hz – Firmware download is complete. Wait for POWER ON. Carry out a POWER ON Green / orange – Component detection via LED is activated (p0124). – or Red / orange flashing light Note: Both options depend on the LED status when module recognition is activated via p0124 = 1. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 143 Diagnostics 5.2 Diagnostics using LEDs 5.2.2.4 Table 5- 7 Smart Line Modules booksize 5 kW and 10 kW Meaning of the LEDs at the Smart Line Modules 5 kW and 10 kW LED Color State Description, cause Remedy READY – Off Electronic power supply is missing or outside permissible tolerance range. – Green Continuous light Component is ready to operate. – Yellow Continuous light Pre-charging not completed. Bypass relay dropped out EP terminals not supplied with 24 VDC. – Red Continuous light Overtemperature Overcurrent Diagnose fault (via output terminals) and acknowledge it (via input terminal) – Off Electronic power supply is missing or outside permissible tolerance range. – Yellow Continuous light DC link voltage within permissible tolerance range. – Red Continuous light DC link voltage outside permissible tolerance range. Line supply fault. Check the line voltage. DC LINK 5.2.2.5 Table 5- 8 Smart Line Modules booksize 16 kW to 55 kW Meaning of the LEDs at the Smart Line Modules ≥ 16 kW State Description, cause Remedy Ready DC link Off Off Electronic power supply is missing or outside permissible tolerance range. – Green Off The component is ready for operation and cyclic DRIVECLiQ communication is taking place. – Orange The component is ready for operation and cyclic DRIVECLiQ communication is taking place. The DC link voltage is present. – Red The component is ready for operation and cyclic DRIVECLiQ communication is taking place. The DC link voltage is too high. Check the line voltage Orange Orange DRIVE-CLiQ communication is being established. – Red – At least one fault is present in this component. Remedy and acknowledge fault Note: LED is controlled irrespective of the corresponding messages being reconfigured. Commissioning with Startdrive 144 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.2 Diagnostics using LEDs State Description, cause Remedy – Firmware is being downloaded. – Green / red flashing light 2 Hz – Firmware download is complete. Wait for POWER ON. Carry out a POWER ON Green / orange – Component detection via LED is activated (p0124). – Ready DC link Green / red flashing light 0.5 Hz Note: or Both options depend on the LED status when module recognition is activated via p0124 = 1. Red / orange flashing light 5.2.2.6 Single Motor Module / Double Motor Module / Power Module Table 5- 9 Meaning of the LEDs on the Motor Module State Description, cause Remedy Ready DC link Off Off Electronic power supply is missing or outside permissible tolerance range. – Green Off The component is ready for operation and cyclic DRIVECLiQ communication is taking place. – Orange The component is ready for operation and cyclic DRIVECLiQ communication is taking place. The DC link voltage is present. – Red The component is ready for operation and cyclic DRIVECLiQ communication is taking place. The DC link voltage is too high. Check the line voltage Orange Orange DRIVE-CLiQ communication is being established. – Red – At least one fault is present in this component. Remedy and acknowledge fault Note: LED is controlled irrespective of the corresponding messages being reconfigured. Green / red flashing light 0.5 Hz – Firmware is being downloaded. – Green / red flashing light 2 Hz – Firmware download is complete. Wait for POWER ON. Carry out a POWER ON Green / orange – Component detection via LED is activated (p0124). – or Red / orange Note: Both options depend on the LED status when module recognition is activated via p0124 = 1. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 145 Diagnostics 5.2 Diagnostics using LEDs 5.2.2.7 Table 5- 10 Braking Module in booksize format Meaning of the LEDs on the Braking Module booksize LED Color State Description, cause Remedy READY – Off Electronic power supply is missing or outside permissible tolerance range. – Green Continuous light Component is ready to operate. – Red Continuous light Enable signal missing (input terminal) Overtemperature Overcurrent trip I2t monitoring responded Ground fault/short circuit Diagnose fault (via output terminals) and acknowledge it (via input terminal) Component deactivated via terminal. Note: In the event of an overtemperature, the error cannot be acknowledged until after a cooling down time. DC LINK – Off There is no DC link voltage or the electronic power supply is missing or outside permissible tolerance range. Component not active. – Green Flashing light Component active (DC link discharge via braking resistor in progress). – 5.2.3 Additional modules 5.2.3.1 Control Supply Module Table 5- 11 Control Supply Module – description of the LEDs LED Color State Description, cause Remedy READY – off Electronic power supply is missing or outside permissible tolerance range. – Green Continuous light Component is ready to operate. – – off Electronic power supply is missing or outside permissible tolerance range. – Orange Continuous light DC link voltage within permissible tolerance range. – Red Continuous light DC link voltage outside permissible tolerance range. – DC LINK Commissioning with Startdrive 146 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.2 Diagnostics using LEDs 5.2.3.2 Table 5- 12 Sensor Module Cabinet SMC10 / SMC20 Sensor Module Cabinet 10/20 (SMC10/SMC20) – description of the LEDs LED Color State Description, cause Remedy RDY READY – off Electronic power supply is missing or outside permissible tolerance range. – Green Continuous light The component is ready for operation and cyclic DRIVECLiQ communication is taking place. – Orange Continuous light DRIVE-CLiQ communication is being established. – Red Continuous light At least one fault is present in this component. Remedy and acknowledge fault Note: LED is controlled irrespective of the corresponding messages being reconfigured. Green/ red Green/ orange Flashing light 0.5 Hz Firmware is being downloaded. – Flashing light 2 Hz Firmware download is complete. Wait for POWER ON Carry out a POWER ON Flashing light Component recognition via LED is activated (p0144). – or Red/ orange 5.2.3.3 Table 5- 13 Note: Both options depend on the LED status when module recognition is activated via p0144 = 1. Sensor Module Cabinet SMC30 Meaning of LEDs on the Sensor Module Cabinet SMC30 LED Color Status Description, cause Remedy RDY READY – Off The electronics power supply is missing or outside the permissible tolerance range. – Green Continuous light The component is ready for operation. Cyclic DRIVE-CLiQ communication is taking place. – Orange Continuous light DRIVE-CLiQ communication is being established. – Red Continuous light This component has at least one fault. Remedy and acknowledge fault Note: LED is controlled irrespective of the corresponding messages being reconfigured. Green/ red Flashing light 0.5 Hz Firmware is being downloaded. – Green/ red Flashing light 2 Hz Firmware download is complete. The system waits for POWER ON. Carry out a POWER ON Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 147 Diagnostics 5.2 Diagnostics using LEDs LED Color Status Description, cause Remedy Green/ orange Flashing light Component recognition via LED is activated1). – or Red/ orange OUT > 5 V 1) Note: Both options depend on the LED status when component recognition is activated. – Off The electronic power supply is missing or outside permissible tolerance range. Power supply ≤ 5 V. – Orange Continuous light The electronics power supply for the encoder system is available. Power supply > 5 V – The parameters for activating component recognition using LEDs can be taken from the following reference: Reference: /LH1/ SINAMICS S120/S150 List Manual 5.2.3.4 Table 5- 14 SMC40 Sensor Module Cabinet (only for direct measuring systems) Meaning of the LEDs on the Sensor Module Cabinet-Mounted SMC40 LED Color Status Description, cause Remedy RDY READY – Off The electronics power supply is missing or outside the permissible tolerance range. – Green Continuous light The component is ready for operation. Cyclic DRIVE-CLiQ communication is taking place. – Orange Continuous light DRIVE-CLiQ communication is being established. – Red Continuous light This component has at least one fault. Remove and acknowledge the fault. Note: LED is controlled irrespective of the corresponding messages being reconfigured. Green/ red Flashing light 2 Hz Firmware download is complete. The system waits for POWER ON. Carry out a POWER ON. Green/ orange Flashing light Component recognition via LED is activated1). – or Red/ orange 1) Note: Both options depend on the LED status when component recognition is activated. The parameter for activating component recognition can be taken from the following reference: Reference: /LH1/ SINAMICS S120/S150 List Manual Each channel has a multifunction LED. Commissioning with Startdrive 148 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.2 Diagnostics using LEDs 5.2.4 Terminal Modules 5.2.4.1 Terminal Module TM15 Table 5- 15 Meanings of the LEDs on the Terminal Module TM15 LED READY Color Status Remedy Off The electronics power supply is missing or outside the permissible tolerance range. – Green Continuous light The component is ready for operation. Cyclic DRIVE-CLiQ communication is taking place. – Orange Continuous light DRIVE-CLiQ communication is being established. – Red Continuous light This component has at least one fault. Green/ red Flashing light 0.5 Hz Firmware is being downloaded. – Flashing light 2 Hz Firmware download is complete. The system waits for POWER ON. Carry out a POWER ON. Flashing light Component recognition via LED is activated1). – Green/ orange or Red/ orange 1) Description, cause - Remove and acknowledge the Note: The LED is activated irrespective of whether the correspond- fault. ing messages have been reconfigured. Note: Both options depend on the LED status when component recognition is activated. The parameters for activating component recognition using LEDs can be taken from the following reference: Reference: /LH1/ SINAMICS S120/S150 List Manual Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 149 Diagnostics 5.2 Diagnostics using LEDs 5.2.4.2 Table 5- 16 Terminal Module TM31 Meanings of the LEDs on the Terminal Module TM31 LED READY Color Description, cause Remedy Off The electronics power supply is missing or outside the permissible tolerance range. Green Continuous light The component is ready for operation. Cyclic DRIVE-CLiQ – communication is taking place. Orange Continuous light DRIVE-CLiQ communication is being established. – Red Continuous light This component has at least one fault. Remove and acknowledge the fault. Flashing light 0.5 Hz Firmware is being downloaded. – Flashing light 2 Hz Firmware download is complete. The system waits for POWER ON. Carry out a POWER ON. Flashing light Component recognition via LED is activated1). – Green/ red Green/ orange or Red/ orange 1) Status - – Note: The LED is activated irrespective of whether the corresponding messages have been reconfigured. Note: Both options depend on the LED status when component recognition is activated. The parameters for activating component recognition using LEDs can be taken from the following reference: Reference: /LH1/ SINAMICS S120/S150 List Manual Commissioning with Startdrive 150 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.2 Diagnostics using LEDs 5.2.4.3 Table 5- 17 Terminal Module TM41 Meaning of the LEDs on the Terminal Module TM41 LED READY Color Status The electronics power supply is missing or outside the permissible tolerance range. Green Continuous light The component is ready for operation. Cyclic DRIVE-CLiQ – communication is taking place. Orange Continuous light DRIVE-CLiQ communication is being established. – Red Continuous light This component has at least one fault. Remove and acknowledge the fault. Flashing light 0.5 Hz Firmware is being downloaded. – Flashing light 2 Hz Firmware download is complete. The system waits for POWER ON. Carry out a POWER ON. Flashing light Component recognition via LED is activated1). – Green/ orange or Red/ orange 1) Remedy Off Green/ red Z pulses Description, cause - Note: The LED is activated irrespective of whether the corresponding messages have been reconfigured. – Note: Both options depend on the LED status when component recognition is activated. – Off The zero mark was found and the system waits for the zero mark output. OR The component is switched off. – Red Continuous light The zero mark has not been released, or the zero mark search is running. – Green Continuous light The system stops at the zero mark. – Flashing light The zero mark is output at each virtual revolution. – The parameters for activating component recognition using LEDs can be taken from the following reference: Reference: /LH1/ SINAMICS S120/S150 List Manual Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 151 Diagnostics 5.3 Diagnostics via Startdrive 5.3 Diagnostics via Startdrive 5.3.1 Device diagnostics Display of alarms and faults If the device outputs faults or alarms, or if maintenance is required, then the appropriate messages are displayed in Startdrive using icons. The icons have different colors according to the seriousness of the situation. The colored icons are displayed in the following areas of the TIA Portal: ● Project navigator ● Device view ● Device overview Example: Figure 5-1 Diagnostics icon in the Startdrive/TIA Portal Commissioning with Startdrive 152 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.3 Diagnostics via Startdrive The following table lists the possible icon colors with their significance. For more information on this topic, refer to the online help in the TIA Portal, which you can call up using the icon tooltips. Icon color Meaning OK = no fault active or maintenance is required Maintenance required Alarm or request for maintenance Communication error or topological error No diagnostic capability Display messages Proceed as follows to display messages, which are assigned to an icon: 1. Double click the icon. The "Display message" tab is moved into the foreground of the Inspector window. All pending messages are displayed there. Errors in the DRIVE-CLiQ connections of the drive lineup All DRIVE-CLiQ components of the drive lineup are displayed in the device view. If the DRIVE-CLiQ connections of the offline configuration differ from the actual wiring, then these errors are displayed in the device view. The DRIVE-CLiQ connections are aligned online (reference-actual). If you call the tooltip of an incorrectly interconnected port, then you are provided with a description of the error cause (reference-actual alignment). You must either change the connections (wiring) at the device, or in the device view. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 153 Diagnostics 5.3 Diagnostics via Startdrive In the example below, the interconnection at Servo_03 was changed from X201 to X200 at the device. DRIVE-CLiQ without error DRIVE-CLiQ with error Commissioning with Startdrive 154 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.3 Diagnostics via Startdrive 5.3.2 Trace function 5.3.2.1 Overview Definition Using the trace function, you can record the variables of a drive, and then subsequently evaluate the traces. For example, variables include drive parameters or system and user variables of a CPU. The maximum recording time is limited by the memory size. A maximum of 8 individual channels can be recorded (refer to "Number of individual traces"). The recordings are directly saved to the drive, and when required, can be read out and permanently saved using the engineering system (ES). As a consequence, the trace function is suitable for monitoring high-speed operations. The recorded values are overwritten when the trace function is reactivated. Active recordings from the axis control panel are displayed as traces in the drive in the "Traces" system folder. In the curve diagram of the axis control panel – or from the PID – recordings can be added to the measurements using the shortcut menu. The signals to be recorded, the recording time and the trigger conditions are defined in the trace configuration. Table 5- 18 Trace terminology Term Icon (Trace) recording Meaning Settings for the signals to be recorded and the recording conditions are defined in the trace configuration. Trace configuration - A trace is being recorded in the device. One recording exists in the drive for each trace configuration. Each new recording overwrites an existing recording. A recording in the drive is lost after each switchoff/switch-on operation, however, the measurement can be permanently saved in the project. Trace in the device A trace in the drive comprises a trace configuration and optionally, one recording. Measurement A measurement always comprises one trace configuration and the associated recording. The recording of a measurement can also be viewed offline. Measurement on the device (memory card) Measurements are archived in the folder which are saved in the device (e.g. on the memory card). Trace configuration with the same name in the drive and in the project. Generally, for a trace configuration in the drive, there is also a trace configuration of the same name in the PG project. These measurements are retentive and can only be deleted by the user. The measurements in the device can be imported into the folder via drag and drop and thus be saved in the project as measurement. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 155 Diagnostics 5.3 Diagnostics via Startdrive Principle of operation of the trace function ① ② ③ ④ ⑤ The signals to be recorded, the recording time and the trigger conditions are defined in the trace configuration. If an online connection exists, you transfer the complete trace configuration from the PG to the device. If the trace configuration is activated, then the recording is carried out independent of the PG. The recording is started in the device as soon as the trigger condition has been fulfilled. When you save the measurement, then the measurement is saved to the opened PG project. Saving the measurement is independent of when the measurement was actually made. After the measurement has been saved in the PG, it can be displayed and evaluated there. From the PG, you can export the measurement data as file - and subsequently import it again. Figure 5-2 Principle of operation Commissioning with Startdrive 156 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.3 Diagnostics via Startdrive Data archive The trace toolbar and the curve diagram also allow the trace configuration and the analysis of the recording/measurement to be transferred. The data archive is schematically shown in the following diagram: Note Saving the trace configuration and measurement You save the trace configuration and measurement together with the project in Startdrive. If you close the project without saving it, then the trace configurations and the measurements transferred into the project are rejected. Until the project is closed, the trace can be closed and re-opened without any data being lost. Number of traces An unlimited number of recordings cannot be made in Startdrive for SINAMICS S120 as a result of the restricted memory capacity: ● 2 traces can be recorded for each drive. ● A maximum of 8 signals can be recorded for each trace recording. – 1...4 signals for a minimum recording cycle of 0.125 ms – 5...8 signals for a minimum recording cycle of 4.0 ms Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 157 Diagnostics 5.3 Diagnostics via Startdrive Additional information The most important functions and settings for the trace function are explained in the following chapters. Further, you can obtain detailed information about the trace function in the Startdrive online help. You can find an overview of the most important user interface elements of the trace function in Chapter "User interface - trace function (Page 40)". 5.3.2.2 Creating or calling a trace Traces in the form of trace configurations can be created in the project navigation. Trace configurations that have been saved can be called and modified. The following instructions describe how you create a trace configuration under the system folder "Traces" - and how you display a trace configuration that has been saved. Requirement A drive has been configured that supports the trace function. Creating a new trace Proceed as follows to create a trace: 1. Double-click the "Add new trace" entry. A new empty trace configuration is created for the drive. You must then configure the details (see Chapter "Configuring a trace (Page 160)"). Figure 5-3 Calling a new trace Commissioning with Startdrive 158 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.3 Diagnostics via Startdrive Displaying a saved trace configuration or an appropriate curve diagram Proceed as follows to display a saved trace configuration: 1. In the project navigation, double-click on the appropriate icon ( trace configuration, a trace in the drive or a measurement. offline/ online) the The "Configuration" or "Diagram" tab is opened in the working area. Figure 5-4 Calling the trace dialog 2. If necessary, click on the "Configuration" tab to display it. - or 3. If, instead of the trace configuration, you wish to display the curve diagram, then click on the "Diagram" tab. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 159 Diagnostics 5.3 Diagnostics via Startdrive 5.3.2.3 Configuring a trace With a double-click an (empty) trace configuration is created and selected in the project navigation. Configuring the trace comprises 2 subareas: ● Selecting and configuring signals ● Configuring recording conditions Note Durability of trace data The trace configuration is persistently saved. The data is kept even when switching off and switching on. Trace signals that have been recorded are not automatically saved, and are therefore lost when the system is switched off. As a consequence, trace recordings can be manually saved in the project (see Chapter "Saving measurements in the project (Page 165)") - or exported in a file structure (see Chapter "Exporting and importing measurements (Page 166)"). Selecting and configuring signals Proceed as follows to configure signals that are to be recorded: 1. Click on the first empty cell in the "Name" column. Figure 5-5 Configuring trace signals 2. Select a signal. The following options are available: – In the "Name" column, click on the icon and select a parameter. – Enter the parameter name in the "Name" column - or part of the name in the cell. The field shows the possible parameters in the drop-down list. – The "Address" column shows the parameter number. A color is recommended in the "Color" column. 3. If you wish to assign another color to the signal, from the drop-down list select another color in the "Color" column. Commissioning with Startdrive 160 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.3 Diagnostics via Startdrive 4. Click in the "Comment" column and enter a comment for the signal. Initially the parameter name is shown after inserting a parameter. This can be changed. 5. Repeat the procedure from step 1 until all of the signals to be recorded have been entered into the table. You can configure a maximum of 8 signals for each trace. Configuring recording conditions Select the required trigger condition in the "trigger mode" field in the drop-down list. Figure 5-6 Configuring trace recording conditions Configuring the recording conditions depends on the selected trigger condition: Trigger condition: Start recording immediately 1. Enter the recording time under "Recording duration". The possible total duration is displayed to the right. Activate the option "Recording duration = max. recording duration" if you wish to set the total duration. 2. Enter a recording cycle under "Cycle" The possible cycle settings depend on the number of signals. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 161 Diagnostics 5.3 Diagnostics via Startdrive Trigger condition: Trigger on variable 1. Select a trigger parameter from the "Trigger variable" field. The following options are available: – Click on the icon for the trigger parameter and select a parameter. – Enter the name or the parameter number into the input field for the trigger parameter. After setting the trigger parameter, generally an additional "Event" drop-down list is displayed. The following settings are possible here: Rising signal The recording starts if the falling value of the trigger reaches or exceeds the configured value. After activating the trace, at least 2 cycles are required in order to identify the signal edge. Falling signal The recording starts if the falling value of the trigger reaches or falls below the configured value. After activating the trace, at least 2 cycles are required in order to identify the signal edge. Within the tolerance band Recording starts as soon as the value of the trigger lies within the configured value range. Outside the tolerance band Recording starts as soon as the value of the trigger lies outside the configured value range. 2. Select the required event in the "Event" drop-down list. Depending on the selected event, additional settings may be required (input fields to the right of the curve diagram). Make these specific event settings. 3. In order to record a time period before the trigger event, enter a value greater than 0 in the input field for the pre-trigger. 4. Enter the recording time under "Recording duration". The possible total duration is displayed to the right. Activate the option "Recording duration = max. recording duration" if you wish to set the total duration. 5. Enter a recording cycle under "Cycle" The possible cycle settings depend on the number of signals. Trigger condition: Trigger on fault 1. In order to record a time period before the trigger event, enter a value greater than 0 in the input field for the pre-trigger. 2. Enter the recording time under "Recording duration". The possible total duration is displayed to the right. Activate the option "Recording duration = max. recording duration" if you wish to set the total duration. 3. Enter a recording cycle under "Cycle" The possible cycle settings depend on the number of signals. Commissioning with Startdrive 162 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.3 Diagnostics via Startdrive Trigger condition: Trigger on alarm 1. In order to record a time period before the trigger event, enter a value greater than 0 in the input field for the pre-trigger. 2. Enter the recording time under "Recording duration". The possible total duration is displayed to the right. Activate the option "Recording duration = max. recording duration" if you wish to set the total duration. 3. Enter a recording cycle under "Cycle" The possible cycle settings depend on the number of signals. Additional information Additional information on handling the trace function and the configuration and evaluation of the trace is provided in the Startdrive online help. 5.3.2.4 Transferring the trace configuration to the device Requirement ● A valid trace configuration is provided in the "Traces" system folder. ● The maximum number of traces has still not been reached. Procedure Proceed as follows to transfer a trace configuration to the drive: 1. Open a valid trace configuration in the working area. 2. Click on icon . The "Go online" dialog is displayed if an online connection to the drive has not been active up until now. Here, make the settings for the online connection (also see Chapter "Establishing an online connection to the drive (Page 90)") and click on "Connect". Result The trace configuration is transferred to the drive. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 163 Diagnostics 5.3 Diagnostics via Startdrive 5.3.2.5 Activating/deactivating the trace recording Requirement ● An online connection has been established to the drive. ● A trace is saved in the drive. ● The trace configuration in the drive is displayed in the working area (see Chapter "Creating or calling a trace (Page 158)"). ● The icon to monitor the displayed trace is activated. Activating the trace recording Proceed as follows to activate the trace recording in the drive: 1. Click on icon . The trace is activated in the drive and starts the recording corresponding to the configured trigger condition. The current status of the recording is displayed in the status display of the trace. Note When a recording is restarted, the previously recorded values are lost. To save the values that have been recorded, save the measurement in the project (see Chapter "Saving measurements in the project (Page 165)"), before you reactivate the recording. Deactivating the trace recording Proceed as follows to exit the activated trace recording in the drive: 1. Click on icon . The trace is deactivated in the drive. The status display of the trace changes to "Inactive". Commissioning with Startdrive 164 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.3 Diagnostics via Startdrive 5.3.2.6 Displaying the trace recording Requirement ● An online connection has been established to the drive. ● A recorded trace is saved in the drive. Or: ● A measurement is in the "Measurements" system folder. Procedure To display the recording, proceed as follows: 1. Select a trace in the drive. 2. Double-click the selected trace. 3. If required, activate the icon for monitoring. Or: 1. In the "Measurements" system folder, select a measurement . 2. Double-click the selected measurement. Result The recording is displayed in the "Diagram" tab. 5.3.2.7 Saving measurements in the project Requirement ● An online connection has been established to the drive. ● A recorded trace is saved in the drive. ● The data of the trace in the drive must of been displayed at least once in the curve diagram. For display, the recorded data are loaded from the drive. Procedure To save a recording in the project, proceed as follows: 1. Open the trace in the drive with the recorded data (see Chapter "Creating or calling a trace (Page 158)"). 2. Ensure that the actual data from the drive are loaded by activating icon 3. After activating icon . wait until all data have been loaded and displayed. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 165 Diagnostics 5.3 Diagnostics via Startdrive 4. Click on icon . The measurement is added to the "measurement" system folder. 5. Save the project in Startdrive. 5.3.2.8 Exporting and importing measurements Requirement At least one measurement is in the "Measurements" system folder for export. Exporting measurements To export a measurement, proceed as follows: 1. Display the measurement in the working area (see Chapter "Creating or calling a trace (Page 158)"). 2. Click on icon to export the selected measurement. The "Save as..." dialog box opens. 3. Select a folder, file name and possibly a file type to save the measurement. 4. Click the "Save" button. Importing measurements To import a measurement, proceed as follows: 1. Select the "Measurements" system folder and select "Import measurement" from the shortcut menu. The "Open" dialog box is opened. 2. Select the file of the "*.ttrecx" file type with the measurement to be imported. 3. Click the "Open" button. Commissioning with Startdrive 166 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.3 Diagnostics via Startdrive 5.3.2.9 Transferring the trace configuration from the drive to the project Requirement ● An online connection has been established to the drive. ● A trace is saved in the drive. Procedure Proceed as follows to transfer a trace configuration to the project: 1. Open a trace in the drive (see Chapter "Creating or calling a trace (Page 158)"). 2. If required, activate the icon 3. Click on icon for monitoring. to transfer the trace configuration from the drive into the project. Result The configuration is transferred as new trace configuration into the "Traces" system folder. A trace configuration with the same name in the system folder is overwritten. 5.3.2.10 Deleting a trace configuration Requirement ● An online connection has been established to the drive. ● A trace is saved in the drive. Procedure Proceed as follows to delete a trace configuration in the drive: 1. Open a trace configuration in the drive (see Chapter "Creating or calling a trace (Page 158)"). 2. If required, activate the icon 3. Click on icon for monitoring. to delete the selected trace configuration. A confirmation prompt opens. 4. To confirm the deletion, in the query, click on "Yes". Or 1. In the project navigation, select one or several trace configurations in the drive / . 2. Call the "Delete" shortcut menu to delete the trace configurations in the drive. A confirmation prompt opens. 3. To confirm the deletion, in the query, click on "Yes". Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 167 Diagnostics 5.3 Diagnostics via Startdrive 5.3.3 Online diagnostics 5.3.3.1 Calling online diagnostics Precondition The online connection to the drive device must be activated. Calling the diagnostics area 1. For the required drive device, double-click in the project navigation on "Online & Diagnostics". The "Online & Diagnostics" working area opens. Figure 5-7 Online & Diagnostics working area 2. In the secondary navigation, click on the diagnostics entry whose detailed information you wish to display. The requested detailed diagnostics is displayed in the working area to the right. Commissioning with Startdrive 168 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.3 Diagnostics via Startdrive 5.3.3.2 Online access status Description The "Online access" diagnostics indicates the current status of the online connection of the drive device. The required information is provided here to establish an online connection when problems occur. Status display The status of the online connection is displayed here: ● An online connection is represented by a solid green line. ● An interrupted connection is represented by a gray line with interruption symbol. "LED flashing" can be used to identify the device in the hardware configuration. This function is only possible when the connected device supports "LED flashing" (refer to the device description). Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 169 Diagnostics 5.3 Diagnostics via Startdrive 5.3.4 Diagnostics information for the infeed unit 5.3.4.1 Calling the screen form You can call up the screen form to display diagnostics information for an infeed unit as follows: 1. In the project navigation, select menu "Infeed_x > Parameter". The corresponding detailed view is displayed at the right. 2. In the secondary navigation, call menu "Diagnostics > xxx" (xxx stands for the name of the particular detailed screen form) The detailed view is updated. 5.3.4.2 Missing enables Definition The infeed does not change to the "Operation" state until all the enables are present. In the "Missing enables" mask, the LEDs in the function view indicate which enables are still missing. A red LED indicates that the appropriate enable signals are missing. The bits of the missing enables (r0046) are displayed in the mask. Figure 5-8 Display: missing inputs Commissioning with Startdrive 170 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.3 Diagnostics via Startdrive 5.3.4.3 Displaying control/status words Definition The control and status words are displayed in the function view for diagnostic purposes in the "Control/status words" mask. The screen form comprises 2 parts located next to one another in which a group of control and status words can be displayed using a drop-down list. Figure 5-9 Control words and status words The following groups can be displayed: ● Control word sequence control infeed (r0898) ● Status word sequence control infeed (r0899) ● Control word, faults/alarms (r2138) ● Status word, faults/alarms 1 (r2139) ● Status word, faults/alarms 2 (r2135) ● Infeed status word (r3405) Selecting a group of control and status words 1. In one of the 2 drop-down lists, select the required group of control and status words. The corresponding display and interconnection fields are displayed on the side of the mask on which you made the setting in the drop-down list. An illuminated LED display means that the appropriate bit of the control or status word is set. 2. If you want to display the values of several groups next to one another, set the other desired groups in the other two drop-down lists Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 171 Diagnostics 5.3 Diagnostics via Startdrive 5.3.4.4 Status parameters The status parameters with the associated numeric values are displayed in the function view in the "Status parameters" mask: Column Meaning of the instruction Number Number of the parameter. Parameter text Entire parameter text in long form. Value Numeric value of the parameter. Unit Unit of the parameter. 5.3.5 Diagnostics information for drive axes 5.3.5.1 Calling the screen form You can call up the screen form to display diagnostics information for a drive axis as follows: 1. In the project navigation, select menu "Drive axis_x > Parameter". The corresponding detailed view is displayed at the right. 2. In the secondary navigation, call menu "Diagnostics > xxx" (xxx stands for the name of the particular detailed screen form) The detailed view is updated. 5.3.5.2 Missing enables Definition The drive axis only changes to the "Operation" state if all of the enable signals are available. In the "Missing enables" mask, the LEDs in the function view indicate which enables are still missing. A red LED indicates that the appropriate enable signals are missing. The bits of the missing enables (r0046) are displayed in the mask. Figure 5-10 Missing enable signals for a drive axis Commissioning with Startdrive 172 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.3 Diagnostics via Startdrive 5.3.5.3 Displaying control/status words Definition The control and status words are displayed in the function view for diagnostic purposes in the "Control/status words" mask. The screen form comprises 2 parts located next to one another in which a group of control and status words can be displayed using a drop-down list. Figure 5-11 Control/status words for a drive axis The following groups can be displayed: ● Control word, sequence control (r0898) ● Control word, faults/alarms (r2138) ● Control word, speed controller (r1406) ● Status word, sequence control (r0899) ● Status word, faults/alarms 1 (r2139) ● Status word, faults/alarms 2 (r2135) ● Status word, speed controller (r1407) ● Status word, monitoring functions1 (r2197) ● Status word, monitoring functions 2 (r2198) ● Status word, monitoring functions 3 (r2199) ● Status word, current controller (r1408) ● Status word, closed-loop control (r0056) Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 173 Diagnostics 5.3 Diagnostics via Startdrive Selecting a group of control and status words 1. In one of the 2 drop-down lists, select the required group of control and status words. The corresponding display and interconnection fields are displayed on the side of the mask on which you made the setting in the drop-down list. An illuminated LED display means that the appropriate bit of the control or status word is set. 2. If you want to display the values of several groups next to one another, set the other desired groups in the other two drop-down lists 5.3.5.4 Status parameters In the function view, status parameters with the associated numerical values are displayed in the "Status parameters" screen form: Column Meaning of the instruction Number Number of the parameter. Parameter text Entire parameter text in long form. Value Numeric value of the parameter. Unit Unit of the parameter. Commissioning with Startdrive 174 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.4 Fault and alarm messages 5.4 Fault and alarm messages 5.4.1 General information about faults and alarms The errors and states detected by the individual components of the drive system are indicated by messages. The messages are categorized into faults and alarms. Note The individual faults and alarms are described in Chapter "Faults and alarms" in the SINAMICS S120/S150 List Manual. Function diagrams for the fault buffer, alarm buffer, fault trigger and fault configuration are also contained in the Section "Function diagrams" - "Faults and alarms". Properties of faults and alarms ● Faults (code F01234) – Are identified by Fxxxxx. – Can lead to a fault reaction. – Must be acknowledged once the cause has been remedied. – Status via Control Unit and LED RDY. – Status via PROFIdrive status signal ZSW1.3 (fault active). – Entry in the fault buffer. ● Alarms (code A56789) – Are identified by Axxxxx. – Have no further effect on the drive. – The alarms are automatically reset once the cause has been remedied. No acknowledgement is required. – Status via PROFIdrive status signal ZSW1.7 (alarm active). – Entry in the alarm buffer. ● General properties of faults and alarms – Can be configured (e.g. change fault to alarm, fault reaction). – Triggering on selected messages possible. – Initiation of messages possible via an external signal. – Contains the component number for identifying the SINAMICS component involved – Contains diagnostic information on the message involved Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 175 Diagnostics 5.4 Fault and alarm messages Acknowledging faults The list of faults and alarms specifies how each fault is acknowledged after the cause has been remedied. ● Acknowledgement of faults by "POWER ON" – Switch the drive on/off (POWER ON) – Press the RESET button on the Control Unit ● Acknowledgement of faults by "IMMEDIATE" – Via a PROFIdrive control signal: STW1.7 (reset fault memory): 0/1 edge Set STW1.0 (ON/OFF1) = "0" and "1" – Via external input signal Binector input and interconnection with digital input p2103 = "Requested signal source" p2104 = "Requested signal source" p2105 = "Requested signal source" Across all of the drive objects (DO) of a Control Unit p2102 = "Requested signal source" ● Acknowledge faults with "PULSE INHIBIT" – The fault can only be acknowledged with a pulse inhibit (r0899.11 = 0). – The same possibilities are available for acknowledging as described under acknowledge IMMEDIATELY. Note The drive can only resume operation after all active faults have been acknowledged. 5.4.2 Buffer for faults and alarms Note A fault and alarm buffer is provided for each drive. The drive and device-specific messages are entered in these buffers. The contents of the fault buffer are saved to non-volatile memory when the Control Unit is powered down, i.e. the fault buffer history is still available when the unit is powered up again. Commissioning with Startdrive 176 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.4 Fault and alarm messages Note The entry in the fault/alarm buffer is made after a delay. For this reason, the fault/alarm buffer should not be read until a change in the buffer is also recognized (r0944, r2121) after "Fault active"/"Alarm active" is output. Fault buffer Faults which occur are entered in the fault buffer as follows: Figure 5-12 Structure of the fault buffer Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 177 Diagnostics 5.4 Fault and alarm messages Properties of the fault buffer: ● A new fault incident encompasses one or more faults and is entered in "Current fault incident". ● The entries are arranged in the buffer according to the time at which they occurred. ● If a new fault incident occurs, the fault buffer is reorganized. The history is recorded in "Acknowledged fault incident" 1 to 7. ● If the cause of at least one fault in "Current fault incident" is remedied and acknowledged, the fault buffer is reorganized. Faults that have not been remedied remain in "Current fault incident". ● If "Current fault incident" contains eight faults and a new fault occurs, the fault in the parameters in index 7 is overwritten by the new fault. ● r0944 is incremented each time the fault buffer changes. ● A fault value (r0949) can be output for a fault. The fault value is used to diagnose the fault more accurately; please refer to the fault description for details of the meaning. Clear fault buffer ● Delete fault buffer for all drive objects: p2147 = 1 --> p2147 = 0 is automatically set after execution. ● Delete fault buffer for a specific drive object: p0952 = 0 --> The parameter belongs to the specified drive object. The fault buffer contents are automatically deleted for the following events: ● Restore factory setting (p0009 = 30 and p0976 = 1). ● Change drive object type ● Upgrade firmware to later version. Commissioning with Startdrive 178 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.4 Fault and alarm messages Alarm buffer, alarm history An alarm in the alarm buffer comprises the alarm code, the alarm value and the alarm time (received, resolved). The alarm history occupies the last indices ([8...63]) of the parameter. Figure 5-13 Structure of alarm buffer Alarms that occur are entered in the alarm buffer as follows: A maximum of 64 alarms are displayed in the alarm buffer: ● Index 0 ... 6: The first 7 alarms are displayed. ● Index 7: The most recent alarm is displayed. A maximum of 56 alarms are displayed in the alarm history: ● Index 8: The most recent alarm is displayed. ● Index 9 .. 63: The first 55 alarms are displayed. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 179 Diagnostics 5.4 Fault and alarm messages Properties of the alarm buffer/alarm history: ● The alarms in the alarm buffer are arranged from 7 to 0 according to the time that they occurred. In the alarm history, this is from 8 to 63. ● If 8 alarms have been entered into the alarm buffer, and a new alarm is received, then the alarms that have been resolved are transferred into the alarm history. ● r2121 is incremented each time the alarm buffer changes. ● An alarm value (r2124) can be output for an alarm. The alarm value is used to diagnose the alarm more accurately; please refer to the alarm description for details of the meaning. Deleting the alarm buffer, index [0...7]: ● The alarm buffer index [0...7] is reset as follows: p2111 = 0 5.4.3 Configuring messages The properties of the faults and alarms in the drive system are permanently defined. For several messages, in a specific scope defined by the drive system, the properties can be changed as follows: Change message type (example) Select message Set message type p2118[5] = 1001 p2119[5] = 1: Fault (F) = 2: Alarm (A) = 3: No message (N) Change fault reaction (example) Select message Set fault response p2100[3] = 1002 p2101[3] = 0: None = 1: OFF1 = 2: OFF2 = 3: OFF3 = 4: STOP1 (available soon) = 5: STOP2 = 6: IASC/DC brake Internal armature short-circuit braking or DC brake = 7: ENCODER (p0491) Change acknowledgement (example) Select message Set acknowledgement p2126[4] = 1003 p2127[4] = 1: POWER ON = 2: IMMEDIATELY = 3: PULSE INHIBIT Commissioning with Startdrive 180 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.4 Fault and alarm messages 19 message types per drive object can be changed. Note If BICO interconnections exist between drive objects, all interconnected objects must be configured. Example: The TM31 has BICO interconnections with drive 1 and 2 and F35207 is to be reconfigured as an alarm. • p2118[n] = 35207 and p2119[n] = 2 • These settings are required for for TM31, drive 1 and drive 2. Note Only those messages which are listed in the indexed parameters can be changed as desired. All other message settings retain their factory settings or are reset to the factory settings. Examples: • In the case of messages listed via p2128[0...19], the message type can be changed. The factory setting is set for all other messages. • The fault response of fault F12345 has been changed via p2100[n]. The factory settings should be restored (p2100[n] = 0). Triggering on messages (example) Select message Trigger signal p2128[0] = 1001 BO: r2129.0 or p2128[1] = 1002 BO: r2129.1 Note The value from CO: r2129 can be used as group trigger. CO: r2129 = 0 No selected message has been output. CO: r2129 > 0 Group trigger. At least one selected message has been output. The individual binector outputs BO: r2129 should be investigated. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 181 Diagnostics 5.4 Fault and alarm messages External triggering messages If the appropriate binector input is interconnected with an input signal, fault 1, 2 or 3 or alarm 1, 2 or 3 can be triggered via an external input signal. Once an external fault (1 to 3) has been triggered on the Control Unit drive object, this fault is also present on all associated drive objects. If one of these external faults is triggered on a different drive object, it is only present on that particular drive object. BI: p2106 ––> External fault 1 ––> F07860(A) BI: p2107 ––> External fault 2 ––> F07861(A) BI: p2108 ––> External fault 3 ––> F07862(A) BI: p2112 ––> External alarm 1 ––> A07850(F) BI: p2116 ––> External alarm 2 ––> A07851(F) BI: p2117 ––> External alarm 3 ––> A07852(F) Note An external fault or alarm is triggered by a 1/0 signal. An external fault and alarm do not usually mean that an internal drive message has been generated. The cause of an external fault and warning should, therefore, be remedied outside the drive. 5.4.4 Propagation of faults In the case of faults that are, for example, triggered by the Control Unit or a Terminal Module, central functions of the drive are also often affected. As a result of propagation, faults that are triggered by one drive object are therefore transferred to other drive objects. This response also applies to the faults that are set in a DCC chart on the Control Unit using a DCC block. Commissioning with Startdrive 182 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.4 Fault and alarm messages There are the following types of propagation: ● BICO The fault is propagated to all active drive objects with closed-loop control functions (infeed, drive) to which there is a BICO interconnection. ● DRIVE The fault is propagated to all active drive objects with closed-loop control functions. ● GLOBAL The fault is propagated to all active drive objects. ● LOCAL The behavior of this propagation type is dependent on parameter p3116. – With binector input p3116 = 0 (factory setting) the following applies: The fault is propagated to the first active drive object with closed-loop control functions. – With binector input p3116 = 1 signal, the following applies: The fault is not propagated. 5.4.5 Alarm classes The function permits higher-level control (SIMATIC, SIMOTION, SINUMERIK, etc.) to have different control reactions to alarm messages from the drive. The new statuses act as alarms for the drive, therefore there is NO immediate reaction from the drive (like for the former level "alarm"). Information on alarm classes are described in status word ZSW2 at bit positions bit 5/6 (for SINAMICS) or bit 11/12 (SIMODRIVE 611) (see also "ZSW2" in Chapter "Cyclic communication" for PROFIdrive communication in the SINAMICS S120 Function Manual Drive Functions). ZSW2: Valid for SINAMICS Interface Mode p2038 = 0 (function diagram 2454) Bit 5 - 6 Alarm classes alarms = 0: Alarm (former alarm level) = 1: Alarm class A alarms = 2: Alarm class B alarms = 3: Alarm class C alarms Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 183 Diagnostics 5.4 Fault and alarm messages ZSW2: Valid for SIMODRIVE 611 Interface Mode p2038 = 1 (function diagram 2453) Bit 11 - 12 Alarm classes alarms = 0: Alarm (former alarm level) = 1: Alarm class A alarms = 2: Alarm class B alarms = 3: Alarm class C alarms These attributes for differentiating the alarms are assigned to the appropriate alarm numbers. The reaction to the existing alarm classes in the alarm is defined by the user program in the higher-level control. Explanations of the alarm classes ● Alarm class A: Drive operation currently not limited – E.g. alarm when measurement systems inactive – No limitation on current movement – Prevent possible switching to the defective measuring system ● Alarm class B: Time-limited operation – E.g. prewarning temperature: Without further action the drive may need to be switched off – After a timer stage -> additional fault – After exceeding a switch-off threshold -> additional fault ● Alarm class C: Functionally limited operation – E.g. reduced voltage/current/torque/speed limits (i2t) – E.g. continue with reduced accuracy / resolution – E.g. continue without encoder Commissioning with Startdrive 184 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Diagnostics 5.4 Fault and alarm messages 5.4.6 Function diagrams and parameters Overview of important function diagrams (see SINAMICS S120/S150 List Manual) • 8050 Diagnosis - Overview • 8060 Diagnostics - fault buffer • 8065 Diagnostics - alarm buffer • 8070 Diagnostics - faults/alarms trigger word (r2129) • 8075 Diagnostics - faults/alarms configuration • 8134 Diagnostics - measuring sockets (T0, T1, T2) Overview of important parameters (see SINAMICS S120/S150 List Manual) • r0944 CO: Counter for fault buffer changes • p0952 Fault cases, counter • p2038 IF1 PROFIdrive STW/ZSW interface mode • p2100[0...19] Changing the fault reaction, fault number • r2139.0...15 CO/BO: Status word, faults/alarms 1 • p3116 BI: Suppress automatic acknowledgment • r3120[0...63] Component fault • r3121[0...63] Component alarm • r3122[0...63] Diagnostic attribute fault • r3123[0...63] Diagnostic attribute alarm Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 185 Diagnostics 5.4 Fault and alarm messages Commissioning with Startdrive 186 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.1 A List of abbreviations Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 187 Appendix A.1 List of abbreviations Commissioning with Startdrive 188 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.1 List of abbreviations Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 189 Appendix A.1 List of abbreviations Commissioning with Startdrive 190 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.1 List of abbreviations Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 191 Appendix A.1 List of abbreviations Commissioning with Startdrive 192 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.1 List of abbreviations Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 193 Appendix A.1 List of abbreviations Commissioning with Startdrive 194 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.1 List of abbreviations Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 195 Appendix A.1 List of abbreviations Commissioning with Startdrive 196 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.2 Documentation overview A.2 Documentation overview Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 197 Appendix A.3 Shortcut menus and icons in Startdrive A.3 Shortcut menus and icons in Startdrive A.3.1 Function calls project view A.3.1.1 Project navigation Shortcut menu The shortcut menu of a drive in the project navigator contains the following entries: Menu item Icon (button) in the toolbar Description Open - Opens the drive device view. Parameters - Opens the parameter view in the working area. Cut Cuts the selected content and copies it to the clipboard. Copy Copies the content to the clipboard. Paste Inserts the clipboard content into the project navigation. Delete - Deletes the selected content from the project navigation. Rename - Permits a designation to be changed. Go to topology view - Opens the topology view for drives that are networked via PROFINET. Go to network view - Opens the network view. Download to device Loads the data from the project into the drive (only when online). Upload from device (software) Loads the data from the device into the project (only when online). Compile - Compiles existing programs. Go online Establishes an online connection to the drive. Go offline Disconnects the online connection - the drive goes offline. Online & diagnostics - Browsing a project Properties Opens the Online & diagnostics editor; if the drive is not online, Startdrive tries to establish an online connection. Opens a search screen form You can browse for individual information about the active project using this screen form. - Opens the Properties dialog box of the drive. There, for example you set bus parameters. Commissioning with Startdrive 198 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.3 Shortcut menus and icons in Startdrive A.3.2 Trace function calls A.3.2.1 Project navigation Trace configuration, traces in the device and measurements are located in the folder. "Traces" Double clicking on an icon opens the appropriate "Diagram" or "Configuration" tab in the working area. Icons in the "Traces" folder The following table explains the icons in folder Icon "Traces": Description Add new trace By double-clicking on the icon you can insert a new trace configuration. Trace (offline configuration) Double-click the icon to open the "Configuration" tab. Trace (online in the device) The icon is only displayed if there is no offline trace configuration with the same name for a trace in the device itself. Double-click the icon to open the "Diagram" tab. Trace configuration having the same name as the trace in the device When icon is deactivated, then the trace configuration from the project is displayed. The trace corresponds to a trace configuration. When icon is activated, then the trace configuration from the device is displayed. The trace corresponds to an installed trace. Double-click the icon to open the "Diagram" tab. "Measurements" system folder Measurement (offline) By double-clicking on the icon, you open the "Diagram" tab Status When there is an online connection, the status is displayed in the right-hand column of the project tree. The status is also displayed as tooltip above the respective icon. The following table shows the meaning of the icons: Icon Description Online and offline configuration are identical Online and offline configuration are different Configuration only exists online Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 199 Appendix A.3 Shortcut menus and icons in Startdrive Shortcut menu commands The following table shows the shortcut menu commands for the system folder "Traces": Shortcut menu Description Add group Inserts a new folder. Add new trace Adds a new trace configuration and opens the "Configuration" tab. Import trace configuration Imports a trace configuration from a file. The following table shows the shortcut menu commands for the system folder "Measurements": Shortcut menu Description Add group Inserts a new folder. Import measurement Imports a measurement from a file with file extension "*.ttrecx". File extension "*.ttrec" is supported for compatibility reasons to V12 - however, it does not contain any information about the device family. The following table lists the shortcut menu commands for trace configuration device / and measurements : Shortcut menu Trace configuration , traces in the Installed Meas- Description trace urement Copy x - x Copies the trace configuration of the selected objects into the clipboard. Insert x - x Inserts the clipboard contents. Delete x x x Deletes the selected objects from the project tree or from the device. Rename x x x Selects the object and allows the name to be overwritten. Export trace configuration x - - Exports a trace configuration as file with file extension "*.ttcfgx". File extension "*.ttcfg" is supported for compatibility reasons to V12 - however, it does not contain any information about the device family. Export measurement - - x Exports a measurement as file with file extension "*.ttrecx" or "*.csv". File extension "*.ttrec" is supported for compatibility reasons to V12 - however, it does not contain any information about the device family. Trace configurations can be copied across devices. Several objects can be selected. Commissioning with Startdrive 200 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.3 Shortcut menus and icons in Startdrive A.3.2.2 Toolbar Tools to handle traces are available - and can be selected using the appropriate icons. The following table shows the functions of the icons: Icon Description Transfer the selected trace configuration to the device The selected trace configuration is transferred to the device. Transfer the selected trace configuration from the device The selected trace configuration is transferred from the device into the project. Observe on/off Change of the display between online and offline. Note If monitoring and automatic scaling are simultaneously activated, no actions can be undone anymore using the "Undo" button. Note The first time a trace is started in the device, the display in the curve diagram is automatically preset to scaling. For a repeated start of the recording, note that changed settings of the scaling are retained. To monitor the recording, manually re-activate the automatic scaling, if applicable. Activate the recording If recording a trace in the device is repeated, then the settings relevant for the display (curve diagram and signal table) are also kept for the new recording. Note When a recording is restarted, the previously recorded values are lost. To save the values that have been recorded, save the measurement in the project before you reactivate the recording. Deactivate the trace Delete the trace in the device Deletes the selected trace from the device. Transfer the selected measurement from the device into the project The measurement is added to the "measurement" system folder. Note In order to be able to save the installed trace data as a measurement, it must first have been displayed once in the curve diagram. The recording data is loaded from the device when displayed. If necessary wait until the display is updated, as only the displayed data is transferred to the project in all cases. Export trace configuration Exports a trace configuration as file with file extension ".ttcfgx". File extension ".ttcfg" is supported for compatibility reasons to V12 - however, it does not contain any information about the device family. Export measurement Exports a measurement as file with file extension ".ttrecx" or ".csv". File extension ".ttrec" is supported for compatibility reasons to V12 - however, it does not contain any information about the device family. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 201 Appendix A.3 Shortcut menus and icons in Startdrive Icon Description Exporting a measurement using the settings of the current view Exports a measurement as file with file extension "*.ttrecx" or "*.csv". File extension "*ttrec" is supported for compatibility reasons to V12 - however, it does not contain any information about the device family. Importing a measurement (only for higher-level measurements) Imports a measurement from a file with file extension "*.ttrecx". File extension "*ttrec" is supported for compatibility reasons to V12 - however, it does not contain any information about the device family. Selecting a measurement (only for higher-level measurements) The drop-down list contains the imported measurements. Select the desired measurement for displaying the configuration. A.3.2.3 Curve diagram Shortcut menu commands The following table shows the shortcut menu commands in the curve diagram: Shortcut menu Description Save diagram as image: Exports the actual display as bitmap. Copy graphic to clipboard Copies the current display to the clipboard. Center measuring cursors Positions the activated measurement cursors at a central point in the current display. Toolbar of the curve diagram Tools are available for adapting the display using icons. The following table shows the functions of the icons: Icon Description Undo zoom Undoes the zoom function executed last. If several zoom functions have been executed, they can be undone step-by-step. Redo zoom Redoes the last undone zoom function. If several zoom functions have been undone, they can be redone step-by-step. Standard view Uses the current view as standard for this recording. If the trace recording is displayed again at a later time, then the standard view is restored. Move view Moving the display with the left mouse key pressed. Zoom selection Selects an arbitrary range with the left mouse key pressed. The display is scaled to the range selection. Commissioning with Startdrive 202 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.3 Shortcut menus and icons in Startdrive Icon Description Vertical zoom selection Selects an vertical range with the left mouse key pressed. The display is scaled to the range selection. Horizontal zoom selection Selects a horizontal range with the left mouse key pressed. The display is scaled to the range selection. Display all Scale the display of the available data so that the entire time range and all values are displayed. Note When activating a zoom function, the dynamic progress display of a running trace is kept. You activate the progress display using this button. Zoom in Enlargement of the display. The ranges of the time axis and value axis are reduced every time the button is clicked. The curves are displayed larger. Zoom out Reduction of the display. The ranges of the time axis and value axis are increased every time the button is clicked. The curves are displayed smaller. Automatic scaling Scaling of the display so that all values are displayed for the currently displayed time range. If signal groups are parameterized in the signal table, then for each signal group, the minimum and maximum values of the Y scale are determined. As a consequence, the automatic scaling is always applied to the signal group, and not to the individual signals of the signal group. Arrange in tracks Signals are arranged below one another without any overlap. Unit changeover of the time axis Units are changed over between time and cycles. Display samples The samples are displayed as small circles on the curves. Display vertical measurement cursors The vertical measurement cursor is displayed. The vertical position of the two measurement cursors can be moved using the mouse. The associated measured values and the difference of the measurement cursors corresponding to the position are shown in the signal table. Display horizontal measurement cursors Display of the horizontal measurement cursors. The horizontal position of the two measurement cursors can be moved with the mouse. Display chart legend Showing or hiding of the legend in the curve diagram and the bit track labels. Align the chart legend to the left Display of the legend and the bit track labels on the left side of the curve diagram. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 203 Appendix A.3 Shortcut menus and icons in Startdrive Icon Description Align the chart legend to the right Display of the legend and the bit track labels on the right side of the curve diagram. Change background color Changeover between various background colors. A.3.3 BICO interconnections The following icons are used for BICO interconnections: Icon Meaning Allows the BICO interconnection of a binector input. The interconnection dialog is opened by clicking on the icon. Allows the BICO interconnection of a binector output. The interconnection dialog is opened by clicking on the icon. Allows the BICO interconnection of a connector input. The interconnection dialog is opened by clicking on the icon. Allows the BICO interconnection of a connector output. The interconnection dialog is opened by clicking on the icon. Clicking on the icon next to the interconnection field allows a list of all of the active interconnections of the parameter to be opened/displayed. A.3.4 Special elements in the screen forms User interface elements are used in the Startdrive screen forms, which deviate from a standard Windows operation. A brief list with explanation is provided below: Element (icon, button, etc.) Explanation Changeover switch in position 1. Position 0 can be selected with a mouse click. Changeover switch in position 0. Position 1 can be selected with a mouse click. Changeover switch in position x. Position y can be selected with a mouse click. Changeover switch in position y. Position x can be selected with a mouse click. Commissioning with Startdrive 204 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring A.4 System rules, sampling times and DRIVE-CLiQ wiring A.4.1 Overview of system limits and system utilization The number and type of controlled axes, infeeds and Terminal Modules as well as the additionally activated functions can be scaled by configuring the firmware. The software and control functions available in the system are executed cyclically with different sampling times (p0115, p0799, p4099). These sampling times are automatically pre-assigned when configuring the drive (see Section Default setting (Page 208)). They can be subsequently adapted by the user. The number of controllable drives, infeeds and Terminal Modules that can be operated with the selected Control Unit depends on some system rules, the set sampling times, the control mode and the activated additional functions. There are also still dependencies and rules for the components used and the selected DRIVE-CLiQ wiring. The existing rules are described in greater detail in the following sub-sections. After this there are notes on the number of controllable drives and some example topologies. The following standard quantity structures are operable with standard clock cycles: ● 12 V/f control axes with 500 µs ● 6 vector axes with 500 µs ● 6 servo axes with 125 μs ● 3 vector axes with 250 μs ● 3 servo axes with 62.5 μs ● 1 servo axis with 31.25 μs (single-axis module) Consequently, the conversion of an axis from 125 µs to 62.5 µs normally leads to the loss of an axis. This rule can also be used for the clock-cycle mixing to achieve a general estimate of the quantity structure. Especially for demanding configurations, drives with high dynamic response or a large number of axes with additional utilization of special functions for example, a check using the SIZER engineering tool is recommended. The SIZER engineering tool calculates the feasibility of the project. Finally, the utilization flag in r9976 indicates whether a topology is operable. If the utilization exceeds 100%, this is indicated with fault F01054. In this case, one or more axes must be dispensed with or the function scope reduced. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 205 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring A.4.2 System rules A maximum of 24 drive objects (DOs) can be connected to one Control Unit. Control Units ● The CU320-2 Control Unit is a multi-axis control module for operating Infeed Modules and Motor Modules in the booksize format. Sensor Modules can also be connected. Motor Modules/control modes For the CU320-2 Control Unit the following applies: ● The CU320-2 Control Unit is a multi-axis control module for operating Motor Modules in the booksize format. ● For multi-axis modules, each axis counts individually (one Double Motor Module = two Motor Modules). ● Mixed operation of control types: The following are permitted: – Mixed operation of servo control and V/f control. The following applies when connecting Motor Modules in parallel: ● It is not permissible to connect Motor Modules in parallel. Line Modules For the CU320-2 Control Unit the following applies: ● Only one drive object of the Smart Line Module (SLM), Basic Line Module (BLM) and Active Line Module (ALM) types is permitted in each case. ● Mixed operation of an Active Line Module with a Smart Line Module (SLM) or with a Basic Line Module (BLM) is not permitted. ● Mixed operation of a drive object of the Smart Line Module (SLM) type with a drive object of the Basic Line Module (BLM) type is permitted. ● Two further Voltage Sensing Modules can be operated with the "network transformer" function module for Active Line Modules (ALM). The following applies to parallel connection of Line Modules: ● Parallel connection is permitted for Infeed Modules in the chassis format and for Active Line Modules (ALM) from the 120 kW performance class for the booksize format. ● A maximum of four Infeed Modules are permitted within a parallel connection. ● In booksize format, a maximum of two Active Line Modules (ALM) from the 120 kW performance class are permitted within a parallel connection. ● The operation of Infeed Modules with different performance values is not permitted within a parallel connection. Commissioning with Startdrive 206 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring ● An active Voltage Sensing Module (VSM) must be assigned to each Active Line Module (ALM) in the parallel connection. A violation of this rule causes alarm F05061 to be issued. ● When using Smart Line Modules (SLM) an active Voltage Sensing Module (VSM) must be assigned to at least one Smart Line Module (SLM) in the parallel connection. A violation of this rule causes fault F05061 to be issued. A.4.3 Rules on the sampling times A.4.3.1 Rules when setting the sampling times The following rules apply when setting the sampling times: General rules ● There are a maximum 2 possible cycle levels on the Control Unit, where the lowest sampling times are not integer multiples with respect to one another. All sampling times set must be an integer multiple of the smallest sampling time from one of these two cycle levels. This setting is permitted. Additional sampling times must be integer multiples of 250 µs or 455 µs. Terminal Board, Control Unit ● For the digital and analog inputs/outputs of these components the minimum sampling time (p0799, p4099, p0115) set must be 125 µs. Pulse frequencies and current controller sampling times: ● The current controller sampling times of the drives and infeeds must be synchronous to the set pulse frequency of the power unit (see also p1800 in the SINAMICS S120/S150 Lists Manual). Any increase in the pulse frequency requires a reduction in the sampling times and increases the derating in the power unit. Line Modules ● For Active Line Modules (ALM) and Smart Line Modules (SLM) in booksize format the only current controller sampling time which can be set is 125 µs or 250 µs. ● For Basic Line Modules (BLM), the only current controller sampling time that can be set is 250 µs (booksize format). Motor Modules ● For Single Motor Modules in booksize format, a current controller sampling time of minimum 31.25 µs can be set (31.25 µs ≤ p0115[0] ≤ 500 µs). ● For Double Motor Modules in booksize format, a current controller sampling time of minimum 62.5 µs can be set (62.5 µs ≤ p0115[0] ≤ 500 µs). Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 207 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring Servo control ● A current controller sampling time between 31.25 µs and 250 µs can be set for servo drives (31.25 µs ≤ p0115[0] ≤ 250 µs). ● The fastest sampling time of a drive object in the servo control mode is obtained as follows: – Ti = 31.25 µs: Exactly one drive object in servo control – Ti = 62.5 µs: Max. 3 drive objects in servo control – Ti = 125 µs: Max. 6 drive objects in servo control Safety functions ● Only Single Motor Modules are permitted for servo axes with a current controller cycle TIReg ≤ 62.5 μs with the "Safety sensorless" functionality. A.4.3.2 Default settings for the sampling times The sampling times of the functions are pre-assigned automatically when the drive is configured. These default settings are based on the selected mode (vector/servo control) and the activated functions. If isochronous mode is to be possible with a controller, before the automatic configuration, parameter p0092 must be set to "1" in order that the sampling times are appropriately preset. If isochronous operation is not possible due to incorrect sampling time settings, an appropriate message will be output (A01223, A01224). If the application requires a change of the preset sampling times, they can be set using parameters p0112 and p0113 or directly using p0115, p0799 and p4099. Note Recommendation Only appropriately qualified experts should change the sampling times set as default values. Commissioning with Startdrive 208 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring When commissioning for the first time, the current controller sampling times (p0115[0]) are automatically preset with factory setting values: Table A- 1 Factory settings Construction type Number p0112 p0115[0] p1800 1 2 (Low) 250 µs - 1 2 (Low) 250 µs - 1 4 (High) 250 µs - 1 ... 6 3 (Standard) 125 µs 4 kHz Active Infeed Booksize Smart Infeed Booksize Basic Infeed Booksize SERVO Booksize A.4.3.3 Setting the pulse frequency The sampling times for the following functions are set by selecting the appropriate values in p0112 for the closed-loop control configuration in µs and are copied to p0115[0...6] depending on the performance levels required: ● Current controller (p0115[0]) ● Speed controller (p0115[1]) ● Flux controller (p0115[2]) ● Setpoint channel (p0115[3]) ● Position controller (p0115[4]) ● Positioner (p0115[5]) ● Technology controller (p0115[6]) The performance levels range from xLow to xHigh. Details of how to set the sampling times are given in the SINAMICS S120/S150 List Manual. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 209 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring Setting the pulse frequency using the commissioning tool in online operation Enter the minimum pulse frequency in p0113. For isochronous operation (p0092 = 1), you can only set the parameter so that a resulting current controller cycle with an integer multiple of 125 μs is obtained. The required pulse frequency can be set after commissioning (p0009 = p0010 = 0) in p1800. Table A- 2 Pulse frequency for isochronous operation Control type Servo control p0115[0] p0113 Current controller cycle / µs Pulse frequency / kHz 250 2 125 4 When commissioning is exited (p0009 = p0010 = 0), the effective pulse frequency (p1800) is appropriately pre-assigned, depending on p0113, and can be subsequently modified. A.4.3.4 Setting sampling times If sampling times are required which cannot be set using p0112 > 1, you can directly set the sampling times in expert mode using p0115. If p0115 is changed online, then the values of higher indices are automatically adapted. Note Do not change the sampling times when the commissioning tool is in the offline mode, because in this case if there is an incorrect parameterization, the project download is canceled. Making and checking settings 1. Activate in the expert list of the Control Unit the drive base configuration with p0009 = 3. 2. In the expert list of the drive object, activate the expert mode with p0112 = 0. 3. Specify the current controller cycle for the drive object as follows: p0115[0] = current controller cycle. For the current controller cycle, only use values from "Number of drives depending on the control mode and cycle times (Page 219)". 4. Close in the expert list of the Control Unit the cycle setting with p0009 = 0. A startup is then performed. The speed controller cycle and flux controller cycle are adapted automatically so that they remain an integer multiple of the current controller cycle. 5. Then check the maximum speed p1082, the set pulse frequency p1800 and start an automatic calculation of the controller data (p0340 = 4). Commissioning with Startdrive 210 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring A.4.3.5 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) A.4.4 • p0009 Device commissioning parameter filter • p0092 Isochronous mode, pre-assignment/check • p0097 Select drive object type • r0110 [0...2] Basic sampling times • p0112 Sampling times pre-setting p0115 • p0113 Pulse frequency minimum selection • r0114[0...9] Pulse frequency minimum recommended • p0115[0...6] Sampling times for internal control loops • r0116[0...1] Drive object cycle recommended • p0118 Current controller computing dead time • p0340[0...n] Automatic calculation of motor/control parameters • p0799 CU inputs/outputs, sampling time • p1082[0...n] Maximum velocity • p1800 Pulse frequency setpoint • p4099 Inputs/outputs sampling time • r9780 SI monitoring cycle (Control Unit) • r9880 SI monitoring cycle (Motor Module) • r9976[0...7] System utilization Rules for wiring with DRIVE-CLiQ Rules apply for wiring components with DRIVE-CLiQ. A distinction is made between binding DRIVE-CLiQ rules, which must be unconditionally observed and recommended rules, which should then be maintained so that the topology, generated offline in the commissioning tool, no longer has to be changed. The maximum number of DRIVE-CLiQ components and the possible wiring type depend on the following factors: ● The binding DRIVE-CLiQ wiring rules ● The number and type of activated drives and functions on the Control Unit in question ● The computing power of the Control Unit in question ● The set processing and communication cycles Below you will find the binding wiring rules and some other recommendations as well as a few sample topologies for DRIVE-CLiQ wiring. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 211 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring The components used in these examples can be removed, replaced with others or supplemented. If components are replaced by another type or additional components are added, then the SIZER configuring tool should be used to check this topology. If the actual topology does not match the topology created offline using the commissioning tool, the offline topology must be changed accordingly before it is downloaded. A.4.4.1 Binding DRIVE-CLiQ interconnection rules The following generally binding DRIVE-CLiQ rules must be observed to ensure safe operation of the drive. ● Only one Control Unit is permitted in the role of DRIVE-CLiQ master in a DRIVE-CLiQ topology. ● A maximum of 14 DRIVE-CLiQ nodes can be connected to a Control Unit port on a DRIVE-CLiQ line. Note One Double Motor Module corresponds to 2 DRIVE-CLiQ nodes. This also applies to Double Motor Modules, at which just one drive is configured. ● Ring wiring or double wiring of components is not permitted. ● Drive topologies with DRIVE-CLiQ components that are not supported (by the type and the firmware version of the Control Unit) are not permitted. ● The sampling times (p0115[0] and p4099) of all components that are connected to a DRIVE-CLiQ line must be divisible by one another with an integer result, or all the sampling times set for the components must be an integer multiple of a common "base cycle". – Example 1: A Line Module with 250 µs and a Motor Module with 125 µs can be operated together on a DRIVE-CLiQ line ("base cycle": 125 µs) – Example 2: A Line Module with 250 µs and a Motor Module with 375 µs can be operated together on a DRIVE-CLiQ line ("base cycle": 125 µs) If the current controller sampling time Ti at one drive object has to be changed in a sampling time that does not match the other drive objects in the DRIVE-CLiQ line, the following solutions are available: – Insert the modified drive object into a separate DRIVE-CLiQ line. Note here that a total of 2 cycle levels are permissible on a Control Unit. – Modify the current controller sampling times and/or the sampling times of the inputs/outputs of the other drive objects similarly so they match the modified sampling time again. Commissioning with Startdrive 212 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring Rules and instructions for avoiding overloads In general any overload must be avoided of a DRIVE-CLiQ line and the components connected to it through too many components with small sampling times. The following rules and instruction apply for this: ● A DRIVE-CLiQ line with components with a sampling time of Ti = 31.25 μs may only be connected with components that are permitted for this sampling time. The following components are permitted: – Single Motor Modules in booksize format – Sensor Modules SMC20, SMI20, SMI24, SME20, SME25, SME120 and SME125 – High-frequency damping modules (HF damping modules) – Additional DRIVE-CLiQ lines must be used for additional components. ● With current controller sampling times 31.25 µs and 62.5 µs the axes to the DRIVE-CLiQ connections must be distributed as follows: – DRIVE-CLiQ socket X100: Infeed, axes 2, 4, 6, ... – DRIVE-CLiQ socket X101: Axes 1, 3, 5, ... ● For a current controller cycle of 31.25 μs, a filter module should be directly connected to a DRIVE-CLiQ socket of the Control Unit. ● A maximum of 4 Motor Modules with Safety Extended Functions may be operated on one DRIVE-CLiQ line (for current controller cycle TIReg = 125 μs on all axes). No further DRIVE-CLiQ components other than a Line Module and Sensor Modules may be connected to this DRIVE-CLiQ line. Exception: For SINAMICS S120M, a maximum of 6 S120M with Safety Extended Functions can be operated on one DRIVE-CLiQ line. The following applies for the CU Link and the CX32 and NX10/NX15 Control Units: ● In a topology with CU Link, the SINUMERIK NCU is DRIVE-CLiQ master for the NX and the SIMOTION D4xx is master for the CX32. ● The CX32 or NX10/NX15 Control Units are master for the subordinate components. ● The connection to the Control Unit is obtained from the PROFIBUS address of the CX/NX (10 → X100, 11 → X101, 12 → X102, 13 → X103, 14 → X104, 15 → X105). ● It is not permitted to combine SIMOTION Master Control Units and SINUMERIK Slave Control Units. ● It is not permitted to combine SINUMERIK Master Control Units and SIMOTION Slave Control Units. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 213 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring A.4.4.2 Recommended interconnection rules The following recommended rules should be observed for the DRIVE-CLiQ wiring: General ● The following applies to all DRIVE-CLiQ components with the exception of the Control Unit: The DRIVE-CLiQ sockets Xx00 are DRIVE-CLiQ inputs (Uplink), the other DRIVECLiQ sockets are outputs (Downlink). – The DRIVE-CLiQ cable from the Control Unit should be connected to DRIVE-CLiQ socket X200 on the first booksize power unit. – The DRIVE-CLiQ connections between the power units should each be connected from the DRIVE-CLiQ sockets X201 to X200 and/or X401 to X400 on the follow-on component. Line Modules ● An individual Line Module should be connected directly to the Control Unit (recommended DRIVE-CLiQ socket: X100). – Several Line Modules should be connected in series. Motor Modules ● No more than 6 Motor Modules should be connected to a DRIVE-CLiQ line on the Control Unit (including with vector, V/f control). ● Motor Modules should be connected directly to the Control Unit in vector control. – If the DRIVE-CLiQ socket X100 is already assigned to a Line Module, the DRIVECLiQ socket X101 should be used. – Several Motor Modules should be connected in a line. – If there is already a Line Module present at X100, the Motor Module should be connected in line to socket X201 of the Line Module. – Several Motor Modules should be connected in a line. ● In servo control Motor Modules should be connected to a DRIVE-CLiQ line together with the Line Module. – Several Motor Modules should be connected in a line. – If there is already a Line Module present, the first Motor Module should be connected in line to socket X201 of the Line Module. – If there is no Line Module present, the first Motor Module should be connected directly to the Control Unit (recommended DRIVE-CLiQ socket: X100). ● If the Motor Modules need to be distributed across two DRIVE-CLiQ lines (e.g. on account of the specified current controller sampling times), the next higher DRIVE-CLiQ socket on the Control Unit should be used. ● Only one end node should be connected to free DRIVE-CLiQ sockets within a DRIVECLiQ line (e.g. Motor Modules wired in a line), for example, one Sensor Module, without routing to additional components. Commissioning with Startdrive 214 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring Encoder, Sensor Modules ● The motor encoder or Sensor Module should be connected to the associated Motor Module. Connecting the motor encoder via DRIVE-CLiQ: – Single Motor Module Booksize to terminal X202 – Double Motor Module Booksize motor X1 to terminal X202 and motor X2 to terminal X203 ● If possible, Sensor Modules of direct measuring systems should not be connected to the DRIVE-CLiQ line of Motor Modules, but rather to free DRIVE-CLiQ sockets of the Control Unit. Note This restriction does not apply to star-type connections for the Motor Modules. Voltage Sensing Modules ● The Voltage Sensing Module (VSM) should be connected to the DRIVE-CLiQ socket X202 (booksize format) of the associated Line Module/Motor Module. – If the DRIVE-CLiQ socket X202/X402 is not available, a free DRIVE-CLiQ socket on the Line Module/Motor Module should be selected. Figure A-1 Example of a topology with VSM for booksize components Terminal Modules ● Terminal Modules should be connected to DRIVE-CLiQ socket X103 of the Control Unit in series. ● If possible, Terminal Modules should not be connected to the DRIVE-CLiQ line of Motor Modules, but rather to free DRIVE-CLiQ sockets of the Control Unit. Note This restriction does not apply to star-type connections for the Motor Modules. Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 215 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring A.4.4.3 Modular machine concept: Offline correction of the reference topology The topology is based on a modular machine concept. The machine concept is created offline in the Startdrive commissioning tool in the maximum version as reference topology. The maximum version is the maximum expansion of a particular machine type. In the maximum version, all the machine components that can be used are pre-configured in the reference topology. Deactivating components / handling non-existent components In a lower expansion stage of the machine, you must mark drive objects and encoders that are not used in the Startdrive topology. To do this, for the corresponding drive objects and encoder, set parameter p0105 or p0145 = 2 (deactivate component and does not exist). Components set to the value "2" in a project generated offline must never be inserted in the actual topology at all. If a component fails, the sub-topology can also be used to allow a machine to continue to operate until the spare part is available. In this case, however, no BICO source must be interconnected from this drive object to other drive objects. Example of a sub-topology The starting point is a machine created offline in the Startdrive commissioning tool. "Drive 1" was not implemented for this machine. 1. You can remove drive object "Drive 1" "offline" from the reference topology using p0105 = 2. 2. Change over the DRIVE-CLiQ cable from the Control Unit directly to "Drive 2". Commissioning with Startdrive 216 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring 3. Transfer the project with "Download to drive unit". 4. Then execute a "Copy RAM to ROM". Figure A-2 Example of a sub-topology Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 217 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring Note Incorrect SI status display If a drive in a Safety Integrated drive line-up is deactivated using p0105, then r9774 is not correctly output. The signals of a deactivated drive are no longer updated. Activating/deactivating components Drive objects can be activated/deactivated using parameter p0105 and encoders with p0145[0...n] in the Expert list in the same way. If a component is not required at certain times, then for the component, change parameter p0105 or p0145 from "1" to "0". The deactivated components remain inserted, however, they are deactivated. Errors are not displayed from deactivated components. Overview of important parameters (see SINAMICS S120/S150 List Manual) • p0105 Activating/deactivating drive object • r0106 Drive object active/inactive • p0125 Activate/deactivate power unit component • r0126 Power unit components active/inactive • p0145[0...n] Enable/disable sensor interface • r0146 Sensor interface active/inactive • p9495 BICO behavior to de-activated drive objects • p9496 BICO behavior when activating drive objects • r9498[0...29] BICO BI/CI parameters to de-activated drive objects • r9499[0...29] BICO BO/CO parameters to de-activated drive objects • r9774.0...31 CO/BO: SI Status (group STO) Commissioning with Startdrive 218 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring A.4.5 Notes on the number of controllable drives A.4.5.1 Number of drives depending on the control mode and cycle times The number of axes that can be operated with a Control Unit depends on the cycle times and the control mode. The number of usable axes and the associated cycle times for each control type are listed below. The other available remaining computation times are available for options (e.g. DCC). Cycle times for servo control This following table lists the number of axes that can be operated with a Control Unit in the servo control mode. The number of axes is also dependent on the cycle times of the controller: Table A- 3 Sampling time setting for servo control Cycle times [µs] Current controller 1) Number Speed controller Axes Infeed Motor/dir. measuring systems TM1)/TB 125 125 6 1 [250 μs] 6/6 3 [2000 μs] 62.5 62.5 3 1 [250 μs] 3/3 3 [2000 μs] 31.251) 31.251) 1 1 [250 μs] 1/1 3 [2000 μs] At the cycle level 31.25 µs, you can also create the following objects: Sensor Module External (SME) and SMC20 that support the current firmware and hardware. These can be recognized from the Article end number ... 3. No additional axis can be operated in this cycle level. Adjustable pulse frequencies and current controller cycles for servo control The pulse frequencies that can be set depending on the selected current controller cycle are shown in r0114. Because of the integrating current measurement, pulse frequencies that are a multiple of half the current controller sampling frequency should be preferred. Otherwise, the current is not measured synchronous to the pulse frequency and a fluctuating actual current value results. This causes disturbance in the control circuits and higher losses in the motor (such as pulse frequency 5.333 kHz and current controller cycle 62.5 μs). Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 219 Appendix A.4 System rules, sampling times and DRIVE-CLiQ wiring The recommended settings are marked with XX in the Table; all other possible settings are marked with X. Table A- 4 Pulse frequency [kHz] Pulse frequencies and current controller cycles for servo control Current controller cycle [µs] 250.0 187.5 150.0 125.0 100.0 93.75 75.0 62.5 50.0 37.5 31.25 X - - X - - - X - - XX 13.333 - - X - - - X - - XX - 12.0 X - - - - - - - - - - 10.666 - X - - - X - - - - X 10.0 - - - - X - - - XX - - 8.888 - - - - - - - - - X - 8.0 X - - X - - - XX - - X 6.666 - - X - - - XX - X X - 6.4 - - - - - - - - - - X 5.333 - X - - - XX - X - X - 5.0 - - - - XX - - - X - - 4.444 - - - - - - X - - - - 4.0 X - - XX - - - X - - - 3.555 - - - - - X - - - - - 3.333 - - XX - X - X - - - - 3.2 - - - - - - - X - - - 2.666 - XX - X - - - - - - - 2.5 - - - - X - - - - - - 2.222 - - X - - - - - - - - 16.0 2.133 - - - - - X - - - - - XX - - X X - - - - - - 1.777 - X - - - - - - - - - 1.666 - - X - - - - - - - - 1.6 - - - X - - - - - - - 1.333 - X X - - - - - - - - 2.0 Commissioning with Startdrive 220 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Index A C Acknowledgment, 176 Activating the web server, 109 Active Line Module, 113 Alarm buffer, 179 Alarm classes Alarms, 183 Alarm history, 179 Alarm value, 179 Alarms, 175 Alarm buffer, 179 Alarm classes, 183 Alarm history, 179 Configuring, 180 ALM, 113 Changeover switch Position 0, 204 Position 1, 204 Commissioning Checklist booksize, 47 Creating a Startdrive project, 55 Creation sequence of the components, 59 Deleting a Drive-CLiQ connection, 70 Editing/moving/deleting components, 68 Inserting a motor, 75 Inserting a Motor Module, 72 Inserting an encoder, 79 Inserting an infeed unit, 64, 66 Inserting the drive offline, 60 Loading the project to the drive device, 136 Newly creating a Drive-CLiQ connection, 70 Opening a Startdrive project, 55 Preconditions for commissioning, 45 Specifying a component, 66 Configuration Saving, 52 Connector, 49 Input, 48 Output, 48 Control Servo, 120 Control panel, 43 Speed specification, 108 Control Unit CU320-2 DP LEDs during booting, 139 Control words, 171, 173 CU320-2 DP Control Unit LEDs after powering up, 141 CU320-2 PN Control Unit LEDs after powering up, 141 LEDs when powering up, 139 B Basic Line Module, 113 Basic parameter assignment Control (servo), 120 Enable logic (servo)", 125 Function modules (servo), 114 Important parameters (servo), 121 Line data / operating mode, 115 Sampling times / pulse frequency (servo), 122 Basic parameterization Enable logic, 117 Function modules (servo), 119 Web server, 109 BICO icons Binector input, 204 Binector output, 204 Connector input, 204 Connector output, 204 Multiple interconnection, 204 Binector, 49 Input, 48 Output, 48 BLM, 113 Booksize Booksize power unit, 47 Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 221 Index D Device diagnostics, 152 Diagnostics, 38, 137 Control/status words (drive axis), 173 Control/status words (infeed), 171 Device diagnostics, 152 DRIVE-CLiQ wiring, 153 Missing enables, 170, 172 Online diagnostics, 168 Status parameters, 172, 174 Trace function, 155 Diagnostics using LEDs CU320-2 DP Control Unit, 141 CU320-2 PN Control Unit, 141 Sensor Module Cabinet 10, 147 Diagnostics via LEDs Active Line Modules, 142 Basic Line Modules, 143 Braking Module Booksize, 146 Control Supply Module, 146 Motor Modules, 145 Sensor Module Cabinet 20, 147 Sensor Module Cabinet SMC30, 147 Sensor Module Cabinet SMC40, 148 Smart Line Modules 16 kW and higher, 144 Smart Line Modules 5 kW and 10 kW, 144 Terminal Module TM15, 149 Terminal Module TM31, 150 Terminal Module TM41, 151 Drive Inserting offline, 60 Drive axis Diagnostics control and status words, 173 Diagnostics/missing enables, 172 Drive control panel, 43 Release, 105 DRIVE-CLiQ Display faults in wiring, 153 Wiring rules, 211 Drives Assign device name, 98 Assigning an IP address, 96 E Enable logic Servo, 125 Encoder Inserting, 79 Overview, 78 Encoder evaluation, 83 Encoder system connection SMC, 84 SME, 84 F Fault buffer, 177 Fault value, 177 Faults, 175 Acknowledge, 176 Configuring, 180 Fault buffer, 177 Faults and alarms Forwarding, 182 Propagation, 182 Function modules Servo, 114, 119 I Important parameters Servo, 121 Infeed Basic parameter assignment, 115 Diagnostics control and status words, 171 Diagnostics/missing enables, 170 Infeed unit Inserting, 64, 66 Infeed units, 113 Info, 38 Inspector window, 38 L LEDs Active Line Modules, 142 Basic Line Modules, 143 Braking Module Booksize, 146 CU320-2 DP Control Unit, 141 CU320-2 PN Control Unit, 141 Motor Modules, 145 On the Control Supply Module, 146 On the Sensor Module Cabinet 10, 147 On the Sensor Module Cabinet 20, 147 Sensor Module Cabinet SMC30, 147 Sensor Module Cabinet SMC40, 148 Smart Line Modules 16 kW and higher, 144 Smart Line Modules 5 kW and 10 kW, 144 Terminal Module TM15, 149 Terminal Module TM31, 150 Terminal Module TM41, 151 Commissioning with Startdrive 222 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 Index Line Modules, 113 M Measurement, 155 Measuring system Insert, 79 Overview, 78 Messages, 175 Configuring, 180 External triggering, 182 Trigger on, 181 Motor Inserting, 75 Motor Module Inserting, 72 N Number of controllable drives Notes, 219 O Online Connecting, 100 Online & diagnostics, 100 Online & Diagnostics, 44 Online access, 44, 100 Online connection Overview, 90 With Ethernet interface, 92 With PROFINET interface, 94 Online diagnostics, 168 Status online access, 169 P PG/PC interface Setting, 100 Power unit Inserting, 72 Preparing for commissioning, 45 PROFINET Restoring factory settings, 103 Project Saving, 52 Propagation type, 183 Properties, 38 Pulse frequency Servo, 122 Setting, 209 R Ramp-up with partial topology, 216 Recording, 155 S Sampling times, 205 Servo, 122 Setting, 210 Saving Configuration, 52 Settings Saving, 52 SLM, 113 Smart Line Module, 113 Startdrive, 27 BICO connection, 48 Binector, 48 Calling, 53 Connector, 48 Creating a project, 55 Device view, 32 Function view, 35 Interconnect BICO input, 50 Interconnect BICO output, 50 Modules in the the hardware catalog, 31 Online & Diagnostics, 44 Open project, 55 Parameter view, 36 Parameterization editor, 34 Project navigation, 29 Project navigation trace, 199 Project view, 28 Structure of the trace user interface, 40 Trace, 199 Trace curve diagram, 42 Trace toolbar, 201 Startdrive commissioning tool, 27 Status words, 171, 173 System sampling times, 205 Servo control, 219 Commissioning with Startdrive Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0 223 Index T Terminal Board Insert, 88 Terminal Module Insert, 86 Trace Activating the recording, 164 Bit track, 42 Configuration, 155 Configuring, 160 Configuring the trigger conditions, 160 Creating a configuration, 158 Curve diagram, 42 Data archive, 157 Delete configuration, 167 Displaying a configuration, 158 Displaying the recording, 165 Exiting the recording, 164 Exporting measurements, 166 Importing measurement, 166 Measurement, 155, 157 Measurements on the card, 155 Recording, 155 Recording conditions, 160 Save the measurement in the project, 165 Signal selection, 160 Status, 199 Structure of the toolbar, 201 Structure of the user interface, 40 Trace configuration, 157 Transferring the configuration from the drive to the project, 167 Transferring the configuration to the drive, 163 W Wiring rules DRIVE-CLiQ, 211 Commissioning with Startdrive 224 Commissioning Manual, (IH3), 07/2016, 6SL3097-4AA10-0BP0
