2 s120 commissioning

Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009

Preparations for commissioning

supply 1

3

4

2

5

1. Component wiring2. Rules for wiring with

DRIVE-CLiQ3. Activating online operation

via PROFIBUS 4. STARTER commissioning

tool5. CU320 has the right

CompactFlash Card


Preparation 1: wiring (example)

• Main switch• Line fuses• SITOP with fuses• 24VDC for drive components and EP• DRIVE-CLiQ wiring• Line contactor with DI to CU320• Line reactor or reactor + filter• Cables to motors and encoders• Grounding

example:CU320 with ALM, 2 Motor module with Motor,2 Motor encoders, 1 external encoder over 3 SMI


Preparation 1: wiring Line Module

Active Line Module

„Infeed operation“DRIVE-CLiQ wiring: ALM > CU320 > Motor Module

ALM.p863.0 = drive_02.p864drive_03.p864

Smart Line Module

„Infeed operation“HW-wiring: SLM X21:1 (DO) >> TB30 X481:1 (DI0)

TB30.r4022.0 = drive_02.p864drive_03.p864

By using a SLM without DRIVE-CLiQconnection you have to connects and parameterize the I/O terminals.


Sensor Module SMC/SMEoder DRIVE-CLiQ Motor

Preparation 2: Rules for wiring with DRIVE-CLiQObligatory rules:

Maximum length of DRIVE-CLiQ-Cable:• MOTION-CONNECT 500: 70m• MOTION-CONNECT 800: 100m

Maximum length of DRIVE-CLiQ-Cable:• MOTION-CONNECT 500: 70m• MOTION-CONNECT 800: 100m

X500 X500 X500

Double

X500

X500

X2

X11

2

SMx1 an Port 2SMx2 an Port 3

Optional rules:


Preparation 3: Activating online operation via PROFIBUS• As Start-up tool, the current STARTER

is installed. • The communication from the

STARTER to the CU320 takes place over PROIBUS under observance of the construction-guidelines.

• The PG/PC interface is with the system-function „PG/PC interface puts in “, to furnish,

• For the CU320 interface, the address is to be put in merely.


Preparation 3: Set PG/PC Interface

Used Interface:PROFIBUS(no PROFIBUS-DP Slave)

• PG/PC is the only master?• 12 Mbit/s• DP or User-Defined with

NetPro

• Test > O.K.• Read Bus Nodes: 0 + 4 + ...


Preparation 4: SINAMICS Firmware and STARTER Software

current FW-version

SINAMICS:V02.05.00.00

current SW-version

STARTER/SCOUT:V4.1.2.4


Memory places

V02.01.01

HDHD RAMRAM

RAM to ROM copy,Save Parameter

SINAMICS CUPG / PC

Load in to the PGsave projectReboot,

Parameter reset

Load to target deviceOpen project

OnlineOffline

IDCIDC


Structure of the CompactFlash Card S120

1 userparameter file

For example:PS xx00= GeneralPS xx01= Object 1: CUPS xx02= Object 2/3: DrivePS xx03= Object 4: TB30PS xx99= General

n savedparameter files+

V02.01.01

System data

User data

License

FW for components

GSD data

CU loader

The following is saved on the CompactFlash Card:• The firmware of the CU and the components• The user parameters (PF1: each DO =1 file)• Additional parameter files for factory reset


Save and reset parameters

A) Use IconsLoad project to target system• all Project data to target system

drive 1, drive 2, SIMOTION

• With/without RAM t0 ROM copy:

Download• Project-part of the marked device

A upload to PGB download to target systemC restore factory settings (p976=1)D copy RAM to ROM

A B C D


Meaning of the Icons in the Project Navigator (ONLINE)

gn - gn

rd - rd

rd. - gn

w - w


Topology and Compare of Components


Servo: Closed-loop control

M

Motor

G

sensorSpeed

- nist

nsoll

Position

- xist

xsoll

Act. current

- Iist

Isoll PWM

32

IUIVIW

Iq

IdMotor-model

Iq

IdωM

ϕM

KV...Gain KP... GainTN... Integral Time

KP... GainTN.. Integral Time

Position controler

Torque precontrol

Speed precontrolSpeed controller Current controller

Gating unitEncoder

Rotor pos.


Optimizing PI-controller with method Ziegler-Nichols

controlled system

PI-controllercorrecting variable

setpoint Actual value

KP... GainTN…Integral time

Input (setpoint)

t

Output (actual)

Integral time = max

Const. Input min 2%

increase KP Up to oscillation

Increase TN to 200%

Reduce KP to 50%

Reduce TN Up to oscillation

t

oscillations


Step-forced response / setpoint jump

terminology of step-forced response :

• X(t) step response• TU delay time• Tg compensation time• TAn rise time• TAus settling time• Vm overshoot amplitude• d tolerance band

t

overshootmax. 20 - 40 %

TU

TAnTAus

Vm

x

t0

Tg

d

t

Output (actual)

1 integral time TN max (1000ms)

2 input jump3 free current

t

Output (actual)

t

Output (actual)

Increase KP

Reduce KP

1KP = optimal2TN reduce

for max. 20-40% overshoot

Kp Tn

sluggish

dynamict

Output (actual)

overshootMax. 20-40%

Tan

2 s120 commissioning

Education

2 s120 commissioning