615 - 6SC611 MCU 172A Manual PDF
615 - 6SC611 MCU 172A Manual PDF
615 - 6SC611 MCU 172A Manual PDF
Single-Axis
Positioning Control
MCU 172A
Foreword
If you require additional information or should any special problems arise, please enquire
for further information to your nearest Siemens branch office.
The contents of this Documentation are not part of any earlier or existing agreement,
commitment or legal undertaking, nor are they intended as an amendment thereto. All
responsibilities on the part of Siemens shall result only from the respective Purchase
Contract, which also contains the complete and solely binding warranty regulations. The
warranty provisions laid down by the Contract shall neither be extended, nor restricted by
this Documentation.
BERO, SIMATIC, SIMODRIVE, SINEC, SINUMERIK, STEP are registered trademarks of Siemens.
The remaining names and designations used in this Documentation may also be trademarks, the use
of which by any third parties for their own purposes may violate the rights of the copyright holders.
1 Foreword
1.1 The Purpose of this Documentation
Range of validity This Manual is valid for the MCU 172A Single-Axis Positioning Control in
conjunction with firmware version V3.x.
Purpose of this This Manual covers nearly all standard applications of the MCU172A Single-
Manual Axis Positioning Control in conjunction with SIMODRIVE and SIMATIC.
Information on special applications is to be found in the product-specific
documentation on SIMODRIVE and SIMATIC S7.
Required background If special knowledge is required for any part of this Documentation, it is
knowledge mentioned in the beginning of the respective Chapter. The present
Documentation on the MCU 172A Single-Axis Positioning Control is fully
subjected to the general safety standards, the VDE standards, and the national
guidelines and instructions.
Guide Section 1.5 Structure of this Manual can be considered as a guide through this
Manual. This Section will tell you in which chapter of this Manual you will
find information on configuring, commissioning, scope of functions, operation
& monitoring, and service.
Aids to orientation The indexes of the individual Chapter, as well as the index of the entire Manual
in the Appendix can be used for your orientation. A contents overview in the
beginning of each Chapter provides you with information on the topics
contained in the respective Chapter. In addition, each main chapter contains a
table of contents.
Changes to the last The structure of the Manual has been kept without changes. Compared with the
edition last edition, the contents of the Manual has been added by the function
extensions for version 4.x. This concerns the following pages:
Register 5 / pages 1-10
Register 7 / 1-4; 2-3; 3-11; 5-11
Register 8 / 4-13; 4-25; 5-2; 5-12
Register 9 / 5-11; 5-12; 5-15; 5-16; 6-10; 6-11 bis 6- 14; 6-17; 7-33 bis 7-39
Register 10 / 5-5
Register 11 / 4-19
Register 13 / 2-27
Register 14 / 4-8; 4-9; 4-16
Online helps The Registers 7, 8, 9 and 13 of this Manual are supplied as HLP files with the
software MCU-PIT. Fast access to the most important topics of this Manual is
thus provided.
Qualified All persons engaged with the erection, installation, commissioning or operation
Personnel of the product must be trained accordingly. In particular, the personnel must be
familiar with all safety notes contained in this Manual. Siemens offers training
courses providing the required knowledge.
Use as prescribed The product may only be used for applications prescribed by the Manual.
Commissioning and operation of the product must be carried out in accordance
with the instructions in this Manual. Any devices or components from other
manufacturers may only be connected or installed if recommended or permitted
by SIEMENS.
In order to classify any hazards more clearly, various pictograms have been
used in this Manual, which represent different danger categories. The following
contains a list of these pictograms with their meaning.
This symbol warns you of possible danger to people. Follow the information
shown next to the symbol. Inattention might cause personal injuries or loss of
life.
When operating electrical devices, the parts of these devices are necessarily
under hazardous voltage. Touching these parts can endanger your life or health.
Follow therefore the warning notes provided next to this symbol.
This symbol makes you aware of electronic modules which could be damaged
by electrostatic discharging. Provide for equipotential bonding before you
touch such a module.
Note:
This symbol draws your attention to an important topic which will help you to
avoid any adverse effects to the production process.
Overview
Service Configuring
MCU
and
Environment
Operation
and Commissioning
Monitoring
Scope of Functions
System network Integration of the MCU 172 A via P/K-bus, MPI, PROFIBUS-DP
concept e.g. with:
(networking) SIMATIC S7
SINUMERIK 810D / 840D
Elements for operating and monitoring
Encoders Selection
Incremental encoder (5 V) 2 3
Absolute-value encoder
Cables
Notes 14
Operating / PU/PC 10
monitoring / Operator panel PP031 11
service devices
SINUMERIK UOP
Networking / PLC 11
interfaces MPI-network configuration / interface 10
PC user interface (MPI)
Cables PU/PC - MCU (MPI)
Interface modules IM360 / IM361 9
Lines MCU - MCU, MCU - S7
Closed-loop control interface 4
Hardware Preconditions 8
Assembly and connection 4
Rules, standards, etc.
Installation of pulse converter
Installation/ interfaces 10 11
Grounding
Interference elimination
Register
1.5.4 Scope of Functions
2
Overview Axis positioning
SIMATIC S7
7
Firmware User interface
Control signals
Acknowledgment signals
Message signals
Operating modes 14
Closed-loop position control / motion functions
Digital inputs/outputs / PLC functions 9
SIMATIC S7
8
Software MCU-PIT
Start-up (parameterization) 5
Motor, encoder
SIMODRIVE-power unit / modules
Optimization
Frequency response
Machine data
Service (status, hints)
Current operating data
Editing
NC programs
NC machine data
Tool offsets
Control functions
Machine control panel
Drive / axis
Hardware PU/PC 2
Machine control panel PP 031 11
Operator panel OP 031
8
Software / PU / PC MS-DOS
Microsoft Windows
STEP 7
Standard function blocks for
technology functions (SIMATIC S7)
MCU-PIT
Resources Hardware: PU 8
PC
Machine control panel OP 031
Software: MS-DOS
Microsoft Windows
STEP 7
MCU-PIT
UOP (Unit Operator Panel)
14
Start-up Commissioning sequence
LED on MCU
13
Error messages Positioning control
SIMODRIVE
Intelligent I/O blocks
Unit Operator Panel
14 5
Machine data Encoders
SIMODRIVE 611
Motor
Positioning control
Interfaces
2
Training courses Service and configuring course for MCU
cc:
Mr. Brune AUT E 211 Erl F80
Mr. Engeldinger AUT 97 Nbg.-M
Mr. Kaiser AUT 97 Nbg.-M
Mr. Stepper AUT 97 Nbg.-M
Mr. Vorbeck AUT GVA KA Nbg.-M
As far as the design of the safety notes is concerned, I suggest to provide them with new pictograms. By
now, only the general attention sign (DIN 30600, No. 1008) had been used. A graduation of the hazards
had only been performed in accordance with the American classification (using the signal words
CAUTION, WARNING and DANGER).
Using the new pictograms, the reader can immediately differentiate the kind of impending hazard -
whether the health or life of persons are in danger or material property. Furthermore, special hazards, such
as caused by electric shock, can immediately be recognized.
The aim of the new design is to draw the readers attention more quickly to important safety notes to
ensure that they are followed.
H. Pppl, AUT 97
1
How to Design the Safety Notes
Marking The safety notes are clearly marked both by pictograms and the signal words
CAUTION, WARNING, and DANGER so that they can immediately be
noticed (conspicuous marking is required according to DIN 8418 and DIN
66055). The pictograms are justified to the right in the marginalia column, and
the related text is arranged on the right next to the pictogram. The signal words
are bold typed above the text.
Pictograms The safety notes are graduated by the kind and severity of the impending
danger. The pictograms and signal words are selected according to this
graduation.
The Prevent material damage pictogram is intended to make you aware of the
fact that material damage may result.
Design acc. to DIN 11042.
The Information pictogram is intended to make you aware of the fact that the
normal operation can be affected (design acc. to SN 13390).
If any special notes are required, the warning triangle (acc. to DIN 4844) can
contain an appropriate standardized symbol instead of the "i".
2
How to Design the Safety Notes
In accordance with this graduation, the signal word above the safety notes is
selected. The signal words are necessary, as the major part of the products is
also exported to the USA.
Warning
Skipping the hardware monitoring functions may result in positioning errors
which may damage your machine. For this reason, the hardware monitoring
functions should only be skipped for testing purposes.
3
How to Design the Safety Notes
Selection Table
4
How to Design the Safety Notes
Qualified Previous documentation normally used the following text on this topic:
personnel
Persons who are familiar with the erection, installation, commissioning and
operation of the product and have a qualification according to their job, i.e.
persons who are
qualified, instructed or permitted to switch on/off, ground and mark circuits
and devices in accordance with the relevant safety standards.
qualified or instructed in servicing and using appropriate safety equipment in
accordance with the relevant safety standards.
are trained in first aid.
5
Introduction 1
SIMODRIVE 611
Functions of the
Single-Axis Positioning Part 3
Positioning Control
MCU 172A
Further Questions 4
Description
Technical Data 5
Appendix 6
If you require additional information or should any special problems arise, please inquire
for further information to your nearest Siemens branch office.
The contents of this Documentation are not part of any earlier or existing agreement,
commitment or legal undertaking, nor are they intended as an amendment thereto. All
responsibilities on the part of Siemens shall result only from the respective Purchase
Contract, which also contains the complete and solely binding warranty regulations. The
warranty provisions laid down by the Contract shall neither be extended, nor restricted by
this Documentation.
The remaining names and designations used in this Documentation may also be trademarks, the use
of which by any third parties for their own purposes may violate the rights of the copyright holders.
1 Introduction
Guide This description gives you a first insight into the structure and functionality of
the MCU (Motion Control Unit). In addition this description will help you to
decide how to use the MCU for your application. Please read this description,
in order to get an idea of the technology of the MCU, before proceeding to the
other chapters of this MCU manual.
The manual is structured by topic and contains all information you need for
handling the MCU. You will find the answers to your questions in the
respective chapters of this manual.
This description is part of the manual, but is also available as a separate leaflet.
For the ordering data of further MCU documentation, please see the survey on
the cover page of this leaflet.
Further You will find information further to that contained in this leaflet or manual, in
information the standard documentation on the following Siemens products:
SIMATIC S7
SINUMERIK 840D
PROFIBUS-DP
SIMATIC HMI
SIMODRIVE 611
1FK6-motors
1FT6-motors
Single-axis MCU ("Motion Control Unit") means "positioning control for one axis". The
positioning control functionality of the MCU is accommodated in a slide-in module without a case
of its own, provided for use in any power module of the SIMODRIVE 611
drive series . Through insertion of the MCU module the power module
becomes a single-axis positioning control.
Fig. 1-1 The MCU as a slide-in module for the SIMODRIVE 611 power module
New and yet well The Motion Control Unit is a new digital single-axis positioning control for
proven decentralized applications in connection with SIMATIC S7 technology.
Regarding the structures of the MCU, there is no directly comparable product
in the SIMATIC S5 world. The MCU was developed using both proven
positioning functions and new standards such as SIMATIC S7 and digital drive
technology.
Three in one The MCU is the synthesis of three well-known standards in one unit:
SIMATIC-CPU: functionality of the Programmable Logic Controller with
S7-300-CPU
Positioning functionality: functionality of an S7 peripheral module for
closed-loop controlled positioning
SIMODRIVE 611: digital drive control for standard motors type 1FK6 /
1FT6
Fig. 1-2 Integration of SIMATIC S7, positioning and SIMODRIVE 611 control in the MCU
MCU in the In the Siemens system world of automation technology, the MCU covers the
SIMATIC S7 range of decentralized single-axis positioning applications. Depending on the
system world job and the requirement profile, the solution route shows either a system
solution with conventionel technology e. g. S7-300 and FM 354 or
- optically set-off a system solution with MCU and integrated SIMODRIVE
technology.
Tasks Positioning /
Measuring Counting
movements
MCU in system In the modular system for transfer lines Transline 2000, the MCU is an
soltions integral component, together with the SIMATIC S7 and NC technology
SINUMERIK 810D and 840D. This overall system Transline 2000 is based on
a uniform concept regarding operation and observation, communication,
control technique, periphery as well as motors and encoders.
PROFIBUS-DP
Decentralized control The main field of application of the MCU is the decentralized control of
of individual axes independent individual axes.
decentralized control
The MCU is also well suited for tasks requiring PLC functions, in addition to
positioning. The combination of drive and I/O components saves space and
costs regarding structure and wiring.
It minimizes the With the completely digital concept, the system can be commissioned much
expenditure of time more quickly than with analog technology. In addition, safe diagnostics up to
the drive are possible, considerably improving the availability.
As exclusively standards are integrated in the MCU, the planning and training
expenditure is greatly reduced. Thanks to the integration, interfaces, e.g.
between control and drive, are omitted, wich saves planning and wiring
expenditure.
It improves the The digital technology enables higher accelerations, higher KV factors, etc.
dynamics
Through the commissioning functions integrated in MCU-PIT, the dynamics of
the entire system can be optimized.
It increases The MCU can be plugged in any power module of the SIMODRIVE 611
the flexibility series. Mains connection is effected at choice via an open-loop supply module
or a controlled supply/re-supply module of the SIMODRIVE 611 device series.
You can connect peripheral equipment via the S7 periphery bus. The MCU can
be extended by 3 racks with 8 peripheral modules each from the S7 series.
It saves training The available software packages MCU-PIT, STEP 7 and SIMOPRO are in the
Windows standard, so that an intuitive and easy operation is offered.
The traversing programs are written in the NC language, similar to DIN 66025.
This language is known in many branches of technology.
Operation The MCU can be operated via visualisation systems, such as OP's with MPI
interface. The user can either use standard displays or configure user-specific
displays.
Decentralized The MCU is particularly well suited for decentralized positioning tasks.
Global data Via the service "Global Data", cyclical data are exchanged. In this way MCU's
can easily communicate with each other in a standard manner.
Networking The MCU possesses an integrated multipoint interface MPI through which it
can be networked. The connection to the network with the PROFIBUS-DP is at
present effected via the communication processor CP 342-5.
Degree of protection The MCU can be plugged in all power modules of the SIMODRIVE 611
series. In this case, the structure attains the protection IP20. If you want to use
the MCU as a standalone unit and the environmental conditions require an
encapsulation of the entire control unit, you can also use the MCU in the
Protected Power Unit (PPU)in protection IP65. For further details, please see
catalog NC60.
IP20
IP65
HIGRAPH/STEP7
EBF software package
on OP 031 with MMC 10X
PG 740 and PP 031
P1 P2 P3 P4 P5 P6
MPI
M CU
M CU
E/R module
E/R module
3x400 V ~ 3x400 V ~
Fig. 2-2 Overall structure for one or two axes without periphery
Mains supply The direct-voltage intermediate circuit is provided by the mains supply
modules modules. These are offered as open-loop supplies for typical MCU applications
with low power, or as closed-loop supply/re-supply modules. The latter
resupply power into the mains during braking operation. This is useful in case
of higher powers because a braking resistance converting kinetic energy into
heat would generate much heat. Via the so-called device bus, the mains supply
modules also guarantee the electronic power supplies of the MCU modules and
the connected encoders.
SIMODRIVEpower The power module supplies the connected motor via the power line with
module closed-loop controlled sinusoidal current. The power module is selected via the
MCU module. The range of SIMODRIVE 611 power modules are available
graduated according to requirements.
Motor The MCU is designed for the motors of series 1FT6 and 1FK6. The 1FT6 and
1FK6 motors are synchronous motors excited by permanent magnets and
distinguish themselves by high dynamics.
Motor encoder The MCU slide-in module interprets the optical sine/cosine encoder installed in
the 1FK6 or 1FT6 motor. The signals generated for rotor position, speed and
position actual value are locally processed on the MCU module. The motor
encoder, also called indirect encoder, is connected with the MCU via the
encoder line.
Direct measuring In addition to the encoder, which is integrated in the motor, a second, direct
system position decoding system can be connected to the MCU. With it, the position
actual value can be acquired directly on the mechanics, either incrementally or
absolutely.
MPI Operation is effected via the S7 standard MPI interface. By means of an MPI
cable, the MCU is connected with the device for operation and observation
and/or with the device for parameterization. One differentiates between devices
serving for mere operation and devices with which parameterization and
commissioning are also possible. Furthermore, a communication between
several S7 CPU's is possible with the help of the MPI service "Global Data."
Operator Panels Standard masks are available for the operator panels OP 031. The OP 031 is
with MMC10x used together with a PC-based MMC100 or MMC102 computer in connection
and EBF with the software application EBF (unit operator panel).
The EBF software can carry out, in addition to the visualization of an MCU
module, other operation and observation tasks, such as:
Machine operation with plant survey display
HIGRAPH diagnostics
For the control of the machine, a standard machine control panel PP 031 Push
Button Panel, adapted to the OP 031, can be connected via the MPI interface.
The operating elements can be modified according to the customer's specific
requirements.
OP5 ... OP45 As a SIMATIC S7 with CPU 314 functionality is integrated in the MCU, you
can connect all OP's to the MCU for visualization. The OP's to the MCU for
visualization. The OP's are configured via ProTool.
Filter modules Pursuant to the law on EMC according to EN 50081-2, filter modules are
available in the SIMODRIVE 611 system. In addition to the use of these filter
modules, an essential prerequisite for keeping the limit values is a structure of
the switchboard which is in compliance with the EMC rules. Please observe the
assembly and connection instructions in the manual "assembly and
connection".
Expansion with To explain the connection possibilities, the figure shows the maximum
peripheral units periphery of an MCU:
Slot 2 3 4 5 6 7 8 9 10 11
Rack 3 PS IM
24V 8 x periphery
Signal modules (SM)
Device bus
Rack 2 PS IM NE-module
E/R module
8 x periphery
M CU
24V
Signal modules (SM)
Rack 1 PS IM Mains
24V 8 x periphery
Signal modules (SM)
In addition, each rack contains the IM361 interface module and to the right of
it, the peripheral modules required for the individual application.
Front panel with The following picture of the front panel of the MCU shows the further
connection connection possibilities in detail:
possibilities
LED's
(RUN, Stop, Force, SF,
DIAG, FLTD 611D)
Direct measuring system
Reset
Operating-mode
3 test hubs PWM-outputs selector switch
B1 Indicator contact
FR ground startup dissable
4 outputs Kl. 663
e.g. RW, VW Enable P24
4 inputs
e.g. ext. start
Memory card
SIMODRIVE device bus PCMCIA
(not necessary
for operation)
MPI The MPI interface serves for the communication of the MCU with other users,
such as:
Programming device PG 740
Operating panel OP 031
S7-300 or further MCU's
The latter is possible with the MPI service "Global Data". This service enables
a simple data exchange between 2 SIMATIC S7 CPU's, each S7 CPU being
able to manage up to 4 GD areas.
Measuring system The indirect measuring system is an encoder integrated in the motor. In
addition, a direct encoder for position decoding can be connected.
LEDs The LED's display the status of the integrated S7 CPU, positioning and drive
Reset control. With the reset push-button, errors of the positioning control, such as
Selector switch operator , machine and data errors, can be acknowledged. With the mode
selector switch you select the operating mode of the CPU, e.g. RUN, STOP.
Do not confuse this with the operating modes of the positioning control, e.g.
set-up, control.
Test hubs The test hubs serve for recording measuring values, with which the (inherent)
dynamics of the systems can be determined (see MCU function generator and
DAU output in the "Description of functions, positioning with MCU").
Terminals The terminal block serves for connecting enable functions or messages and of
the 4 highspeed inputs and outputs, with which the MCU can externally be
influenced, for example by an external start signal.
PCMCIA The PCMCIA memory card serves for updating the module software. The
update is effected by means of a PCMCIA card. During operation, no
PCMCIA card is needed.
Configuration of the With STEP 7, you configure the system, e.g. rack location and MPI user
system number. In general, the default values can be accepted.
Create and transfer With PIT-EDIT, the necessary data blocks can be created. The default values
data blocks can be used. When inputting the drive machine data, it will normally be
sufficient to input motor type and power module number. This can also be
effected off-line, i.e. without a direct connection with the MCU via the MPI
interface.
When editing in on-line operation, existing data can be read out from the
MCU. When the MCU runs up, various data blocks are generated to which
corresponding standard values are pre-assigned. Communication with the
MCU is established via the MPI user number assigned in STEP 7. The data are
transferred to the MCU with the PIT-EDIT software.
Traverse axis The axis can be traversed directly via PIT-CONTROL, e.g.:
via an NC program,
with individual blocks,
by a certain distance, in the incremental traversing operating mode,
or in the set-up mode.
Measuring the It is in addition possible, but not necessary, to measure the dynamics of the
dynamics of the entire system by means of the commissioning functions. For this purpose, move
entire system the system periodically, e.g. according to a square function, and measure the
dynamic reaction of the system, e.g. oscillations or differences between
nominal and actual values.
Optimizing controller The controller parameters can be optimized according to the measurement of
parameters the dynamics.
For a detailed description of these functions and the individual operating steps,
please refer to the corresponding chapters of the documentation.
Data saving The data on the MCU can be saved in the on-board FLASH EPROM:
Data to the SIMATIC S7 with STEP 7 only in CPU stop
Positioning data with PIT-EDIT
Drive data with PIT-EDIT
You can also operate the MCU via an OP. This possibility is recommendable if
you operate the MCU without PG/PC of if certain functions of the MCU-PIT
software shall not be available to the operator. Corresponding standard masks
are offered for OP 031 (EBF) and OP7/OP17.
Definition Positioning means: Moving a load within a certain time to a defined position,
taking into account all acting forces and moments.
Survey of the The MCU can position feed and rotary axes. In addition, it offers the following
positioning structure/functionality:
functions
Control and acknowledgment signals
Operating-mode control
High-speed digital inputs/outputs
Settings/functions valid for several operating modes
Software limit switch
Diagnostics and error messages
Survey Do not confuse the operating modes of the positioning part (set-up, control, ...)
with the operating modes of the PLC (run, stop, ...)!
The operating modes of the positioning part, according to which you can
traverse the axis, are as follows:
Survey For fast process signals four digital inputs and 4 digital outputs are available, to
which the following functions can be assigned via machine data:
Highspeed inputs Through the concept of highspeed inputs, it is possible to automate machines
for process signals requiring very short signal or response times. Via machine data, you can assign
certain functions to the inputs. The inputs are interrupt inputs, with which a
reaction to a process takes place without any delay.
External Start In installations with positioning processes having a traversing time of, for
example, less than 100 ms and positioning processes following each other at
very short intervals, it is not possible to start the positioning axes via the
SIMATIC input. For these and similar cases, the highspeed inputs of the MCU
can be used. The axis is in this case started, as an alternative to the start signal,
on the SIMATIC interface (inclusive OR).
External When executing a traversing program, the blocks are processed one by one "on
block change the fly". That means that for a block change, the axis has to perform several
checks. These checks are not made at the programmed end point, but earlier, at
the braking point.
The braking point depends on the traversing velocity and the braking value
stored in the machine data. The braking point will only be changed when these
parameters are changed.
W orkpiece
Through the "external block change" function, the axis executes the next block.
The actual value is maintained, and the grinding operation starts, adapted to the
varying blank diameter. Grinding is effected in optimized time, there are no
additional program changes due to the changed diameter of blank or wheel.
Flying actual-value In belt installations, workpieces are identified via light barriers. The following
setting positioning process places the workpiece into working position. The light-
barrier pulse causes an external block change with flying actual-value setting.
In this way, a backlash or slipping of the conveyor belt can be compensated.
a W orking
Filling
s2 s1
Light barrier
Flying measuring, Via the functions "flying measuring" and "length measuring", the axis can carry
length measuring out measuring tasks.
With the function "length measuring", the distance between the positive and the
negative edge of the highspeed "measuring" input is calculated.
Workpiece Probe
Table
Nominal depth 10,000
Position-controller Roll feed axes require a fine positioning of the sheet steel for the cutting or
blocking pressing operation via positioning pins. For this purpose, the feed roll has to be
lifted. When this process is initiated, the control loop of the roll feed axis must
stop working. Therefore, the position controller must be blocked. In addition,
the pulses of the drive are blocked. As this function has to take place very
quickly, a highspeed input of the MCU is used.
Table 3-2 Description of the functions valid for several operating modes
Jerk limitation Certain positioning tasks, e.g. transport of oscillatory materials, require a
particularly smooth (jerkfree) velocity curve. This will also spare the
mechanical system and in general improve the lifetime of your machine.
By means of a jerk filter, you can define both the acceleration and the
deceleration as a ramp function.
The jerk filter is parameterized through a time indication (jerk time), which
defines how long the jerk shall be active.
Override / By means of the function "override/time override", you can influence the
time override behaviour of the traversing motion. The override is a pure velocity override,
i.e. it influences the velocity curve in percent. The function "time override"
additionally influences the defined acceleration and deceleration ramps.
Acceleration You can easily adapt the system to changing physical conditions by influencing
correction the acceleration behaviour of the axis in percent.
The axis offers the possibility to effect this adaption via the G-functions G30 to
G39 in the traversing program. Therefore, the system can even be applied when
the mechanical conditions are subject to great variations.
Software limit You can limit the traversing range of the axes by means of software limit
switches switches to avoid collisions. The positions for the software limit switches are
stored in machine data. The limit switches are input related to the defined
coordinate system and are, therefore, in an absolute relation to the machine
actual-value system. Monitoring is effected automatically from the moment
synchronism starts.
The system controls these internal software limit switches upon each traversing
motion and, if necessary, the motion is interrupted. The axis stops at the
software limit switch.
Rotary axis The MCU offers the possibility to change from feed axes over to rotary-axis
operation. The corresponding settings are made via machine data. The
distances are programmed in degrees and the traversing motions, in
degrees/min.
The actual-value counter of the axis is reset after one revolution of the rotary
axis, so that the system allows an absolute as well as an incremental angular-
degree programming.
Table of incremental In the incremental operating mode, you can effect individual positionings of
dimensions relative distances. Positioning is in such cases effected at the parameterized set-
up speed. Up to 100 nominal values can be stored on the MCU in a table of
incremental dimensions.
Remaining-time To optimize the relative motion between press and roll feed, you can determine
measuring the ratio between positioning time and feed-angle time.
Switchover Once you have parameterized both measuring systems, you can quickly switch
indirect/direct over from one measuring system to the other during standstill of the axis.
measuring system
3.7 Programming
The block with the lowest block number is automatically the program start, the
block with the highest block number is the program end. A program is
executed in ascending order of the block numbers.
Block structure The individual pieces of information of a traversing block are called program
words. A program word contains program, geometry or technology information
and consists of an address character and a sequence of numbers with or without
sign.
/ N G1 G2 G3 X/t F M1 M2 M3 D P L
G-functions With the G-functions, the type of movement is determined and offsets are
called. The G-functions are divided into G-groups according to their meaning.
Each G-group contains a turnon state or a basic position, i.e. this G-function is
active without being selected.
The M-functions are output via the acknowledgment signals in the instance
data block. Machine data determine whether the output takes place time-
controlled, reset-controlled, before, during, after the traversing motion or a
highspeed output.
Tool offset The tool offset provides the possibility to use an existing machining program
even after a change of the tool dimensions. Normally, programming refers to
the tool zero point. Through wear or exchange of the tool, the position of the
tool tip may change. You can compensate this change through the tool offset,
without having to change anything in the machining program
The MCU possesses an internal tool offset store in which you can store up to
20 different offset blocks, consisting of absolute/additive length and wear
values. Each offset block is addressed with a D-number.
Example of During machining, tool wear DV occurs. This wear is taken into account in
tool offset comparison with the new tool in absolute terms. Any further occurring wear
can be considered additively. It is, however, also possible to consider any
additional wear in absolute terms. The tool offset is additively composed of the
tool length offset DL and the tool length wear DV.
D
L
D D
V V
Error messages are subdivided into data errors, operator errors and traversing
errors. In MCU-PIT, they are displayed with text and time of occurrence. Via
the help function you get a detailed description of the error with possible
causes and instructions how to eliminate the error.
Survey With the commissioning functions, the system is traversed periodically, e.g.
according to a square function, and the dynamic reaction of the system, e.g.
oscillations or differences between nominal and actual values, is measured in
the speed and current control loop. In this way, it is possible to measure the
dynamics of the entire system and to optimize the controller parameters
accordingly.
4 Further Questions
Table of contents 4.1 Which PLC functions does the integrated S7-CPU offer?.......4-2
4.2 In which way are data saved? .................................................4-6
4.3 Which networking possibilities does the MCU offer? ..............4-7
4.4 Which possibilities does the SIMODRIVE 611offer?..............4-8
4.5 In which way are data exchanged between MCU's
by means of "Global Data?".....................................................4-9
4.6 What has to be observed when configuring? ..........................4-9
4.7 Which training help is available? ...........................................4-11
Instance DB In the SIMATIC S7, each function block is assigned a data block with the
same number, e.g. FB1 is assigned the DB1. In the instance DB, all values of
the parameters, e.g. control and acknowledgment signals, actual values, error
messages, are stored and can be supplied by the user program.
Program structure STEP 7 has a program structure that enables a structured programming.
Programming is effected at different levels:
DB
OB FB/SFB FC/SFC
(cyclic
processing)
Instance DB
FB/SFB FC/SFC
Instance DB
DB
For a detailed explanation of the philosophy and procedure, please refer to the
tutorial von STEP 7.
FB Function Blocks OB's can call soubroutines: Function Blocks (FB) or Function Calls (FC).
FC Function Calls
SFB System Function Blocks (SFB) and System Function Calls (SFC) are pre-
System Function fabricated subroutines. FB's and FC's can, in turn, internally call other
Blocks / FB's/FC's, etc.
SFC
Input parameters are given to the subroutine, defining which values shall be
System Function
utilized, and output parameters, defining where the results shall be written. In
Calls our case, the input parameters are the control signals and settings, and the
output parameters are the acknowledgment signals and other display data.
This procedure serves for better clarity, but also allows a flexible use of
prefabricated functions.
DB Data Blocks/ In addition to the program blocks (OB, FB, FC, SFB, SFC) there are Data
Blocks (DB) or System Data Blocks (SDB), containing the relevant data. In
SDB
our case these are e.g. machine data, nominal-value parameters, tool offsets
System Data Blocks
and traversing programs. The data blocks of the positioning part have numbers
over 1000 and can, therefore, neither be read nor written by the user program.
The communication between the S7 part of the MCU and the positioning part
is also effected via a data block, namely the instance DB. Here, current actual
values are stored, which can be read from the user program. Furthermore,
control signals are set in the instance DB, which are transferred to the
positioning part of the MCU by means of the below-mentioned FC/FB.
For operation and observation, e.g. with an OP device, actual v alues can be
read either from the instance DB or from the system-data block SDB DB1000.
Technology functions The communication between positioning part and S7 part is programmed by
of ther MCU means of the technology function, consisting of three standard blocks.
Cooperation of The following block diagram will help you to better understand the cooperation
the components of the individual components and the role of the technology blocks in them:
Cyclic
program
processing
The instance
DB is accessed
from all blocks FC RESTART
Module
Instance DB FB OP_MCU
FC CONTROL
As you see, you can traverse the axis by calling FB OP_MCU and FC
CONTROL in the main program (OB1) with the corresponding parameters,
above all through NC program selection and start.
Sample programs The blocks and their parameters are explained in detail in the manual
"Description of functions, S7 environment". This manual also contains sample
programs.
FEPROM A FEPROM is integrated in the MCU for saving user data. All DB's can be
saved: NC machine data, drive machine data, nominal-value parameters, tool
offsets, traversing programs. The saving of these data can be triggered via
MCU-PIT, separately for positioning and drive data. In addition, PLC data,
such as OB's, FB's, FC's, and DB's can be saved on this FEPROM via STEP 7.
DB Flags, counters, timers, and DB areas can also be saved in a special data block
in case of voltage failure. You can freely parameterize via the STEP 7 software
which data shall be saved. Please refer to the corresponding chapter or the
SIMATIC S7 manual.
Internal clock Like the SIMATIC S7, the MCU possesses an integrated internal clock.
PROFIBUS-DP In addition to the communication with MPI, the MCU can also be networked
via PROFIBUS-DP. PROFIBUS-DP is a field bus for decentralized periphery
(DP), working according to the process field bus DP standard (DIN E 19 245,
part 3). It is applied for fast cyclic communication of small data quantities.
PROFIBUS-DP also allows devices of other manufacturers.
PG OP PC
M CU
E /R
M o du l
CP342-5
SIMATIC
S7-300
SIMATIC
S7-300
SIMATIC
S7-300
SIMATIC
S7-300
S7-CPU
Master
Slave
MCU
E/R
module SINUMERIK
840D
E /R
M o du l
PROFIBUS-DP
Overview The Siemens SIMODRIVE 611 is a converter system with digital control, with
which economic drive systems can be realized, and, if desired, also high
requirements concerning dynamics, speed regulating range and radial running
accuracy are fulfilled.
Modular design Thanks to the modular design of the converter system, drive configurations
with almost any number of axes or main spindles can flexibly be realized. The
modules needed are determined according to the required intermediate-circuit
power and the size of the motors.
Heat reduction For the power modules, different types of heat reduction are available, e.g.
internal and external heat reduction. For detailed information, please refer to
the SIMODRIVE 611 documentation.
Global Data (GD) The Global Data (GD) are a communication mechanism which is effected via
MPI and causes the cyclic exchange of up to 22 bytes. Per program cycle, a
user can receive up to 4 GD packages, i.e. up to 4 simultaneous GD areas are
possible. In each of these areas, senders and receivers can be fixed.
Synchronizing With the Global Data, it is possible to synchronize two MCU's, e.g. through
simultaneous triggering of traversing programs or traversing blocks. A
combined or coordinated traversing of the axes is possible. Further functions,
such as synchronism and interpolation of several axes can be solved with the
SINUMERIK 840D/SIMODRIVE 611 technology.
Ordering numbers For ordering numbers for the MCU, please refer to the catalogs of
SIMATIC S7 (ST 71) and SINUMERIK (NC 60).
Which supply module With smaller motor powers (1 to approx. 14 Nm at 3000 rpm), the open-loop
do I need? supply module UE 5/10 kW may be used. A module UE 10/25 kW and
supply/re-supply modules closed-loop with higher capacities are also available.
Which power modules The motor has to be selected according to the power needed for the positioning
and motors can I use? task. The MCU is designed for core types series 1FT6 and 1FK6. Then, you
choose the corresponding power module. In principle, all power module of the
SIMODRIVE 611 series can be applied. The supply module depends on the
power module to be supplied. The SIMOPRO software enables a simple, user-
prompted selection of these components.
Which accessories Siemens offers a comprehensive choice of accessories. Please refer to the
can I use? catalogs, e.g. NC-Z, or contact your Siemens agency .
Which clutches can I To avoid oscillation problems, please observe the instructions for the driven
use? clutches in the "Configuring instructions, selection of the 1FT6/1FK6 motors".
Documentation The overview on the cover page gives you a detailed list of the available
documentation.
Description The training course is meant for programmers, planning engineers and service
experts of machine manufacturers and end users. The participants are imparted
the necessary know-how for handling and commissioning of the positioning
control MCU.
5 Technical Data
Motors 1FT6 Standstill torques from 1 Nm to max. 140 Nm for nominal speeds from
1500 rpm to 6000 rpm
Protection class IP64 to IP67
Motors 1FK6 Standstill torques from 1.1 Nm to max. 36 Nm for nominal speeds from
3000 rpm to 6000 rpm
Degree of protection IP64
STEP 7 / HIGRAPH / Can run on PG 720 / PG 740 or upgraded PG 730 / PG 770 or industry
MCU-PIT standard with MicrosoftWindows 95 TM
Link of PG to MCU via MPI
Transmission rate: 187.5 kBaud
6 Appendix
6.1 Abbreviations
A Output
AC Alternating current
AD Drive data
AF Automatic following block
AG Automation device
AI Analog input
AKKU Accumulator
AO Analog output
ASCII American Standard Code for Information Interchange
AWL Instruction list
AWP User program
BA Operating mode
BCD Binary coded decimals
BD Operating data
BG Module
B&B Operation and observation
EC European Communities
CP Communication processor
CPU Central processing unit
D Tool offset number
DAU Digital-analog converter
DB Data block
DB-SS Interface data block
DC Direct current
DIN Deutsche Industrie-Norm: German industrial standard
DI Digital input
DO Digital output
DP Decentralized periphery
DPR Dual-port RAM
DS Data record
E Input
EBF Unit operator panel
EEC Electrostatically endangered components
EMC Electromagnetic compatibility
EPROM Erasable programmable read only memory:
a memory which can only be erased by UV rays
E/R Closed-loop supply / re-supply module
F Feed
FB Function block
FC Function call: function block in the PLC
FEPROM Flash EPROM: a memory which can be read and written
B
Backlash compensation, 3-8
Bloc structure, 3-10
block change
external, 3-4
C
Clock
internal, 4-6
closed speed regulator
Characteristic frequency, 5-1
Closed-loop control time, 5-1
clutches, 4-10
Commissioning functions, 3-13
communication, 4-4
Communication module, 4-7
compensation Backlash, 3-8
configuring, 4-9
contact plan method, 4-2
Control signals, 3-2
Controller dynamics, 5-1
controller parameters, 3-13
counters, 5-2
Course, 4-11
CP 342-5, 4-7
D
Data Blocks, 4-4
data exchanged, 4-9
Data saving, 4-6
Diagnostics, 3-13
Digita inputs/outputs, 3-4
Dimensions, 5-2
DIN 66025, 3-10
E K
encoders, 4-10 KOP, 4-2
error messages, 3-13
L
F
length measuring, 3-6
feed axes and rotary axes, 3-2 loader memory, 5-2
feed module, 4-9
FEPROM, 4-6
flags, 5-2 M
Flying measuring, 3-7
Follow -up mode, 3-7 main memory, 5-2
Function Blocks, 4-3 MCU-PIT, 5-2
Function Calls, 4-3 measuring
function generator, 3-13 flying, 3-6
function plan method, 4-2 measuring functions, 3-13
functions Measuring system, 5-2
valid for several operating modes, 3-7 Switchover, 3-9
FUP, 4-2 M-functions, 3-11
Further Questions, 4-1 Montiorings, 5-2
motor, 4-9
1FK6, 5-1
1FT6, 5-1
G
motor speed max., 5-1
G-functions, 3-11
Global Data, 4-9
Gobal Data, 4-9 N
networking, 4-7; 5-2
number of loops, 3-10
H
HIGRAPH, 4-2
O
Operating modes, 3-3
I
Ordering numbers, 4-9
Inputs, 5-2 organization blocks, 4-3
digital, 3-4 oscillographs, 3-13
inputs/outputs, 5-2 outputs, 5-2
Instance DB, 3-2 digital, 3-4
instance-DB, 4-4 Override, 3-8
Instruction set, 4-2
STEP 7, 4-2
Internal clock, 4-6 P
interrupt inputs, 3-4
Parking axis, 3-7
PCMCIA-Karte, 4-6
PLC functions, 4-2
J
pogramming language, 4-2
Jerk limitation, 3-8 Position-controller blocking, 3-6
Jerk time, 5-1 Positioning
Positioning, 3-2
Positioning functions, 3-2
R
Radial run our, 5-1
Remaining-time measuring, 3-9
Roll feed, 3-9
rotary axes, 3-2
Rotary axis, 3-9
S
S7-CPU, 4-2
Sample programs, 4-5
settings
valid for several operating modes, 3-7
SIMATIC S7, 5-2
SIMODRIVE 611, 4-8; 5-1
Simulation mode, 3-7
Software-limit swithes, 3-8
speed regulator
Startup time, 5-1
Start
extern, 3-4
STEP 7, 4-2
instruction set, 4-2
System Data Blocks, 4-4
System Function Blocks (SFB), 4-4
System Function Calls (SFC), 4-4
system of protection, 5-2
T
Table of incremental dimensions, 3-9
Teach In, 3-7
Technical Data, 5-1
Technology functions, 3-2; 4-4
time override, 3-8
timers, 5-2
tool offset, 3-12
tool offset store, 3-12
Training, 4-11
Transmission, 5-2
Traversing range, 5-1
Traversing speed, 5-1
Your Siemens agency will give you further information on catalogs, leaflets and training. The following
list shows you the documentation available for the different tasks:
Catalog
Product Brief
Description
Choice of
1FT6/1FK6 motors
Choice of
SIMODRIVE comp.
Assembly and
connection
Positioning with
MCU
MCU-PIT
S7 environment
Pocket Reference
necessary recommendable
Catalogs NC 60.1, ST 70 and ST 71 give you a survey on all SIMODRIVE and SIMATIC S7 products.
In the catalogs, you will also find the necessary ordering numbers. The ordering numbers of the docu-
mentation are contained in the respective Docu-Directory and in the Info-Pool system. The data
processing procedure Info Pool is permanently being updated, so that you will find there information not
yet included in the current leaflet directory.
The training center offers courses for SIMATIC, SINUMERIK and SIMODRIVE. The MCU configuring
and service course impart both practical and theoretical knowledge. In Catalog IT 5, you find a survey
of the courses offered.
Contents of the MCU documentation
Planning Guide
Product Brief Description
1FT6/1FK6
This manual, designed in attractive This manual gives you the answers on, This manual informs you in detail about
colours, gives you concise information e.g., the following questions: the motors. You select the desired motor
on: and configure your machine with it:
How do I use the MCU?
Application range Which functions does the position- General
Structure ing, S7 and drive parts offer? Description of the motors
Operation Which possibilities of communica- Ordering designations
Entire system tion and operation does the MCU Technical data and
Handling/planning have? characteristic curves
Technical data complete this survey on How do I parameterize and Dimensional drawings
the MCU. commission the MCU?
Configuring 2
User Manual
Encoders
If you require additional information or should any special problems arise, please inquire
for further information to your nearest Siemens branch office.
The contents of this Documentation are not part of any earlier or existing agreement,
commitment or legal undertaking, nor are they intended as an amendment thereto. All
responsibilities on the part of Siemens shall result only from the respective Purchase
Contract, which also contains the complete and solely binding warranty regulations. The
warranty provisions laid down by the Contract shall neither be extended, nor restricted by
this Documentation.
The remaining names and designations used in this Documentation may also be trademarks, the use
of which by any third parties for their own purposes may violate the rights of the copyright holders.
1 Scope of Functions
1.1 Introduction
Tasks Electronic controls require external information regarding the current status of
the units to be controlled.
To position and monitor controlled axis drives, the following information
(actual values) is required:
motor speed,
rotor position, and
axis position.
Definition: Measuring of the actual value of the rotary movement of rotary axes, or of the
Direct measuring translatory movement of linear axes directly at the mechanical unit to be
controlled.
Definition: Measuring of the actual value of the rotary movement of rotary axes, or of the
Indirect measuring translatory movement of linear axes indirectly via mechanical intermediate
elements, such as ball spindle, gearbox, clutches.
Motor speed/ For the controlling of the motor speed/rotor position, highest dynamic
Rotor position characteristics are required. For this reason, it is absolutely necessary to use a
motor encoder (built-in type).
Axis position For the controlling of the axis position, either direct or indirect position
measurement can be used; indirect position measurement of the MCU can be
realized by means of the built-in encoder for motor speed/rotor position, or a
built-on encoder can be used.
Incremental encoder It is possible to connect incremental encoders for position measurement with
principle MCU sin/cos voltage signals. The difference signals A A , B B must provide a
peak voltage of 1 Vss, and the zero-pulse track a peak voltage of 0.5 .... 1 Vss.
These signals must be compatible to those of ERN 1387 (see Section 2.2.1).
Required signals The incremental encoders to be used must provide two sinus voltage signals A
and B offset by 90 degrees, with their negation and with a zero pulse including
its negation. In any case, the commutation signal is provided by the built-in
encoder in the 1FT6-/1FK6 motor.
Note:
At a frequency of 350 kHz, the signal amplitude must be > 60 % of the nominal
amplitude. The phase offset amount shall deviate from the ideal value of 90
between the tracks A and B only by < 30 .
Signal characteristic
on clockwise rotation A-A
B-B
0
Fig. 1-1 Signal characteristic on clockwise rotation
Required signal For the signal values required see 2.2.5. EnDat absolute-value encoders do not
values require a zero pulse, and this is therefore not transmitted.
1.5.1 Description
The 1FT6/1FK6 motors are equipped with a built-in, thermoresistor-based
temperature sensor . The resistance changes proportionally to the temperature
change of the winding.
Motor protection The sensor lines (+temp. -temp.) are lead to the MCU via the encoder line of
the built-in encoder (see Sections 3.1.1 and 3.1.3).
The evaluation is carried out in 2 steps:
prewarning
shutdown
The MCU responses when the temperature limits set in the machine data are
reached.
Additional protection Due to the thermal coupling time of the sensor, high overloads occurring for a
short moment require additional protection measures. If the overload (4 x I0)
lasts longer than 4 sec, an additional protection should be provided.
Warning!
If the user wishes to carry out an additional high-voltage test, the line ends of
the temperature sensors must be short-circuited prior to testing. Supplying the
test voltage directly to the temperature sensor would destroy the sensor.
CAUTION:
The integrated temperature sensor protects the servomotors from overload up
to 4 x I0 60 K
Moreover, a protection by the I2t monitoring of the inverter is provided if I0
motor I nim inverter
Overload protection When using servomotors (axis heights 36 and 48), the temperature sensor
limits protects only up to 2 I0 60 K.
For thermally critical loads, e. g. high overload on standstill of the motor, no
sufficient protection is provided. To provide sufficient protection, a thermal
overcurrent relay must be connected.
Specifications of the The integrated temperature sensor KTY84 has the following specifications
KTY84 when used in conjunction with 1FT6/1FK6 motors:
Temperature- The temperature thresholds are set in the following machine data:
thresholds
MD Value/Description Unit
1602 0 ... 120 C
Motor temperature warning threshold
1603 0 ... 240 s
Motor temperature alarm timer
1607 0 ... 200 C
Motor temperature shutdown limit
1608 0 ... 2.. C
Fixed temperature
MD1607 The value can be below the value set in MD1602; however, usually, it is
higher.
If this temperature limit is reached (for example, before the time set in
MD1003 is elapsed), the following happens:
The drive is stopped by means of the generator.
error message 30613
MD1608 Entering a value > 0 makes the temperature measurement and thus MD1602,
1603, 1607 ineffective. The entered value imitates the motor temperature. This
makes sense if the temperature sensor is defective. The motor control does not
work without providing the motor temperature.
Hiding the error The following bits can be used to hide error messages:
message
No. of Hidden
MD Value/Description
Error Message
2 Configuring
Built-in - Generally, speed control and position measurement always require an indirect
motor encoder encoder (built-in encoder).
This is ensured by configuring the 1FT6/1FK6 motors released for work with
the MCU.
Selection of the direct In order to rule out any inaccuracies due to the transmission elements (casing,
measuring system threaded spindle etc. ), a measuring system for acquiring the position directly at
the workpiece can be configured. Depending on the number of produced ma-
chines, either a rotary or a linear measuring system can be used.
Length of lines The max. permissible length of the lines between encoder (built-in or build-on
encoder) and the MCU amounts to 40m.
Built-in Table
MCU increm. Built-on
encoder Motor increm.
1)
1FT6/1FK6 encoder
Machine axis
or
2)
Absolute linear scale
Built-in Table
MCU increm. Built-on
encoder 1) Motor absolute
2)
1FT6/1FK6 encoder
Machine axis
or
Built-in Table
MCU absolute- Built-on
value Motor increm.
encoder 2) 1FT6/1FK6 encoder 1)
Machine axis
or
Evaluation: incremental
Connection: by plug
Adjustment: When adjusting the motor, it is driven in clockwise direction, viewed from the
drive side. The encoder is turned such that the passage through zero of the
motor e.m.f. UUY (UUY: phase voltage of U phase to artificial neutral point)
with a rising positive edge coincides with the reference signal of the encoder.
After adjusting, a 6pole motor provides signals having the following charac-
teristic (the reference signal is represented by the wider curve):
e.m.f. U
U-Y
Signal sequence Signal sequence and assignment at positive direction of rotation (clockwise
rotation, viewed from the drive side); C-D signals with ERN 1387 only:
U [V]
360 mech.
360 el. =
2048
0
45 el.
R
0
U [V]
C
R
0
Note:
When changing the encoder, the position of the encoder system must be ad-
justed to the motor e.m.f. (not in case of 1 PH motors).
Connection: by plug
Adjustment One passage through zero of the e.m.f. UUY (U phase to neutral point) with a
rising positive edge within one revolution must coincide with the falling edge
of the MSB (Most Significant Bit) position word.
U [V] MSB
e.m.f. U U-Y
Note:
When changing the encoder, the position of the encoder system must be ad-
justed to the motor e.m.f.
Note:
The reduced maximum operating temperature of the EQN 1325 in comparison
with the ERN 1387 results in a reduced nominal motor torque (see Technical
Specifications of the motors).
Built-on incremental When using motors of the 1FT6 or 1FK6 series, a built-in encoder is in any
encoder rotary case provided so that actual values are available at least for speed control and
rotor position measuring. In this case, a built-on encoder has to provide only
the actual position values. Installing of a built-on encoder makes only sense for
direct position measuring, i.e. without intermediate gear to the encoder.
For direct position measuring, the optoelectronic built-on rotary encoder SI-
MODRIVE Sensor (1 Vss) can be used.
00 no 1 zero pulse
Signal sequence The Fig. below shows the signal sequence of the SIMODRIVE Sensor at posi-
tive direction of rotation (clockwise rotation, viewed from the drive side).
A-A
B-B
0
0-0
0
Specifications of the
Incremental signals Difference signals acc. to the EIA Standard
SIMODRIVE Sensor Pulses (periods)/revolution RS 485
Signal voltages 1,000, 1,024, 2,500, 5,000 1)
Accuracy 1 Vss
60 at 1,000 periods/ revolution
30 at 2500 periods/ revolution
Voltage supply 15 at 5000 periods/ revolution
Limit frequency 3 dB DC 5 V 5 %/ max. 130 mA
Light source 200 kHz
LED
Max. mechanical speed
Vibration (10 to 2,000 Hz) 12,000 min-1
Shock (6 ms) 200 m/s2 to IEC 68-2-6
2000 m/s2 to IEC 68-2-29
Weight
Degree of protection 0.25 kg
without wave input
with wave input IP65
IP64
Operating temperature
Storage temperature between 0 and + 80 C
between -25 and + 80 C
Built-on incremental The linear scale LS 186 of Heidenhain Co. can be used for direct translatory
encoder, translatory position measuring.
Signal sequence LS
186
360 mech.
360 el. =
2048
A-A
0
B-B
0
45 el.
0-0
0
Specifications of the
Incremental signals
LS 186 Pulses (periods) 1 per 20 m
Signal voltages 1 Vss
Accuracy, absolute 3 to 5m/m
Repeating accuracy between 0.5 and 1m
Reference marks that can be selected
by solenoids; all scale lengths (25 50 mm
steps) min. 140mm, max. 3040 mm
Max. traversing speed 120/ min
Voltage supply DC 5 V 5 %/ < 150 mA
Light source LED
Built-on absolute- The optical built-on EnDat absolute-value encoder (multi-turn encoder of
value encoder, rotary Heidenhain Co.) can be configured irrespective of the used 1FT6/1FK6 mo-
ROQ 425 tors.
Note:
If the encoder built-in in the 1FT6 motor is an absolute-value encoder, only an
incremental encoder can be used as external encoder.
The ROQ 425 provides the required position values (signals) for position con-
trol. Approaching to the reference point is not necessary.
ROQ 425 signals Compatible to those of the EQN 1325, see Section 2.2.2
Specifications of the Absolute-value encoder signals Difference signals acc. to the EIA Standard
ROQ 425 Measuring range RS 485
Accuracy 4,096 revolutions
30 angle seconds
Incremental signals
Pulses (periods)/ revolution Difference signals acc. to the EIA Standard
Signal voltages RS 485
Accuracy, absolute 2,048
= 1 Vss for A A , B B
Voltage supply 20 angle seconds
Light source
Max. mechanical speed DC 5 V 5 %/ 300 mA
Vibration (55 to 2,000 Hz) LED
Shock (6 ms) 6,000 min-1
Start-up torque at 20C 100 m/s2 /DIN ICE 68-2-6
Weight 1,000 m/s2 /DIN ICE 68-2-27
Degree of protection acc. to DIN 0.025 Nm
40050 0.5 kg
at the wave input
without wave input IP64
Operating temperature IP67
Storage temperature between -20 and + 80 C (measuring point -
Heidenhain)
between -30 and +80 C
Note:
Unit system raster Further machine data can only be defined if the unit system raster is set.
(USR) MD7
MD Designation Entry Value Unit
7 Unit system for linear 1 10-3 mm USR
and rotary axes 2 10-4 inch
3 10-4 degrees
4 10-2 degrees
Note:
The unit system raster (MD7) must match with the indicated unit system raster
of the other DBs. If you inadvertently should not have adhered to this note,
carry out the following sequence of operations:
1. Delete all data blocks on the MCU which do not correspond to the unit
system.
2. Change the unit system in the machine data.
3. Modify the remaining data blocks on the PU.
4. Reload the data blocks to the MCU.
Axis distance to be Generally, the following applies to rotary encoders with linear and rotary axes:
traversed/
encoder revolutions Distance Distance traversed by the linear / rotary axis
s = =
Encoder revolutions 1 x encoder revolution
Distance
s =
Graduation cycle
A summary of the machine data to be used for the encoders (with an informa-
tion on designation, limit value etc.) is to be found in Section 3.3.
The following flow diagrams can be considered either as a sequential unit, but
it is also possible to carry out selective jumps:
Flow diagram:
built-in encoder - MD (must always be processed)
indirect position measurement (IM), linear axis
indirect position measurement (IM), rotary axis
direct position measurement (DM), linear axis with linear scale
direct position measurement (DM), linear axis with rotary encoder
direct position measurement, rotary axis
Built-
in incremental Yes MD 1011, bit 3 = 0 / OFF
encoder (motor
encoder) ?
No
MD 1011, bit 3 = 1 / ON
EnDat absolute-value enc. MD 1021 = 4,096 (display)
MD 1022 = 8192 (display)
Use
built-in en- Yes
coder for indirect
position meas.
(IM) ?
Yes
Rotary axis ? 1
No
Indirect 1
position measure- MD8 = 1 / rotary axis
MD60 bit 0 = 1 / yes
ment, bit 1 = 0 / no
rotary axis Indirect position meas. (IM) MD13 = 2048 = MD1005
rotary axis MD1790 = 1 (display)
Yes
Incremental encoder MD10 = 1 / incremental encoder
?
No
Calculation of distance/
see Section 2.3.1
encoder revolutions
No
-2
MD7 = 4 / 10 degree
Unit system raster Yes
(USR) 10 -2 degree MD11, 12 see 7/1.2
?
No
MD7 = 1 / 10 mm-3
Unit system raster
(MSR) 10 -3 mm MD11, 12 see 7/1.2
Indirect 2
MD8 = 0 / linear axis
position measure- MD60 bit 0 = 1 / yes
ment, linear axis MD60 bit 1 = 0 / no
Indirect position meass. (IM)
MD13 = 2048 = MD1005
linear axis
MD1790 = 0 (display)
Yes
Incremental encoder MD10 = 1 / incremental encoder
?
No
MD7 = 1 / 10 -3
mm
Unit system raster Yes MD11, 12 see 7/1.2
(USR) 10 -3 mm
No
MD7 = 2 / 10 -4
inch
Unit system raster (USR) MD11, 12 see 7/1.2
10 -4inch
Direct
position measurement 3
No
No
6
No
MD14 = 4096
Multi-turn resolution
MD1031 = entered automatically
-2
MD9 = X00 at USR: 10 degree
-4
= X0000 at USR: 10 degree
End of rotary axis at MCU-PIT:
after x degree -2
MD9 = X.00 at USR: 10 degree
-4
MD9 = X.0000 at USR: 10 degree
The decimals can be unequal to 0.
Calculation of distance/
see Section 2.3.1
encoder rev.
-4
1) MD7 = 3 / 10 degree
Unit system raster -4
-4 1) Yes 2) MD7 = 2 / 10 inch
(USR) 10 degree
10 -4inch 2) MD55, 56 see 7/1.2
? -4
MD1007 = MD57 / 10 degree
No
-2
MD7 = 4 / 10 degree
Unit system raster
-2 Yes MD55, 56 see 7/1.2
(USR) 10 degree
? MD1007 = MD57
No
No
MD54 = 5 / EnDat encoder
MD1011 bit 3 = 0 / aus
EnDat absolute-value encoer MD1030 bit 3 =1
MD 1791=16 (display)
MD14 = 4096
Multi-turn resolution
MD1031 = 4096 (display)
MD7
Unit system raster (USR) MD55 see 7/1.2
10 -3mm/10 -4inch
MD56
No
MD54 = 5 / EnDat encoder
MD1030 bit 3 = 1 / on
EnDat absolute-value encoder MD1791=16 (display)
MD1031 = (display)
Meas. steps of absolute track
MD1032 = (display)
MD7 = 1 / 10 -3
mm
Unit system raster Yes
MD55/56 see 7/1.2
(USR) 10 -3 mm MD1007 = MD57
?
No
MD7 = 2 / 10 -4
inch
Unit system raster
MD55/56 see 7/1.2
10 -4inch
MD1007 = MD57
Indirect position measuring (built-in encoder) at a linear axis with gearbox and
spindle:
Table
Built-in
Motor Gearbox
encoder
Spindle
The unit of measurement for the distance can either be 10-3 mm or 10-4 inch, by
option; the selected unit system is indicated in MD7. The following example
assumes that USR = 10-3 mm.
Spindle revolutions
Given: Gear ratio SG =
Encoder revolutions
Distance [ mm ]
Spindle lead s s =
Spindle revolution
Distance
Sought: s =
Encoder revolutions
s = s s . SG
Example 1 20 mm
Given: SG = , ss =
136 rev.
20 mm mm
Sought: s= s = 0.1470588235294
136 rev. rev.
The machine data are entered by means of MCU-PIT in physical units, i.e. the
machine-internal unit system is considered internally.
MD11PIT = 147 10-3 = 0.147
MD12 PIT = 252645135 10 -3
= 252645.135
From software version MCU-PIT 3.0, the value in the menu "Encoder-related
data" can be entered directly: MD11/12=0.1470588235294
Denom. Numer.
Built-in Rotary
Motor Motor
encoder axis
The unit of measurement which can be used for the distance is either 10-2 de-
grees or 10-4 degrees, by option also 10-3 mm or 10-4 inch; the selected unit
system is indicated in MD7. The following example assumes that USR = 10-4
degrees.
s = 2.647058823529
The machine data are entered by means of MCU-PIT in physical units, i.e. the
machine-internal unit system is considered internally.
MD11PIT = 26470 10-4 = 2.647;
MD12 PIT = 2526451332 10 -4
= 252645.133
From software version MCU-PIT 3.0, the value in the menu "Encoder-related
data" can be entered directly: MD11/12=2.647058823529
Linear scale
Table
Motor Gearbox
Direct position measuring (built-on encoder) at a linear axis with gearbox and
spindle
Table
Gear-
Motor box Encoder
Spindle
The unit of measurement which can be used for the distance is either 10-3 mm
or 10-4 inch, by option; the selected unit system is indicated in MD7. The fol-
lowing example assumes that USR = 10-3 mm.
Distance [ mm ]
Given: Spindle lead ss = = 20 mm
Spindle revolutions
Distance
Sought: s =
Encoder revolution
Example s = ss
s = 20 mm (pay attention to the measuring gear (if any) between encoder
and spindle)
The unit of measurement which can be used for the distance is either 10-3 mm
or 10-4 inch, by option; the selected unit system is indicated in MD7. The fol-
lowing example assumes that USR = 10-2 mm.
Example Given: Rotary axis that can be rotated by 90 degrees between the limit
switches
Sought: distance per encoder revolution
Distance
s =
Encoder revolution
The machine data are entered by means of MCU-PIT in physical units, i.e. the
machine-internal unit system is considered internally, and the value can be en-
tered directly.
MD9PIT = 360.00 degrees
MD55PIT = 360.00 degrees
MD56PIT = 0.00 degrees
3 Commissioning
9
Signal PIN 1 8
A 5
A 2 10 12
6 7
B 8
11
B 1 3 6
0 3
0 4 4 5
5V 12
0V 10
5 V Sens 2
0 V Sens 11 View of plug side
Shield Casing of the connector or
flange socket
Cable connector The linear scale LS 186 is provided with a firmly attached special connector.
LS 186 For connection, a precut line (cable module) of a configurable length must be
ordered with Heidenhain Co. Towards the MCU, this cable module has a 12-
pole cable connector (see Table/Figure). The line leading further to the MCU
must be configured using the Siemens Catalogs NC Z and NC Z1.
Signal PIN
A 5 1 9 8
A 6
B 8 2 10 12 7
B 1
0 3 3 11 6
0 4 4 5
+5 V 12
0V 10
+5 V Sens 2
0 V Sens 11
free 9
free 7 View of the plug side
of the cable unit
(external thread)
Cable connector The rotary built-on encoder ROQ 425 has a fixed connection line of
ROQ 425 configurable length (see Catalog of Heidenhain Co.) provided with a 17-pole
connector.
Integrated encoder The integrated encoder in the motor is factory-adjusted. In case of repair and
when changing the encoder, the motor should be adjusted at an authorized
workshop.
EnDat absolute-value After attaching a motor provided with an EnDat absolute-value encoder or an
encoder EnDat absolute-value encoder as direct measuring system, the reference
between the absolute value of the encoder and the machine neutral must be
preset. This is to be done once by "Set reference point" and then saving the
machine data.
The machine data are entered either by means of MCU-PIT (optional) or into
the machine data block during the commissioning. The encoder machine data
have been selected, defined or calculated during the configuration (see Section
2.3).
MCU machine data are 2-digit, and drive machine data are 4-digit.
End of rotary axis Machine data MD 9 determine the value at which the MCU detects the end of
MD9 the rotary axis.
This value is the theoretically highest value that can be reached by the actual
value. When this value is reached, the actual-value display switches back to
"0".
However, the theoretically highest value is never displayed, as its physical
position is the same as that of the beginning of the rotary axis (0).
Example:
0
9 999
5 000
The value 10 000 is not displayed. The display always changes from 9 999 to
0.
Diagnostic alarms Diagnostic alarms are identified by setting the Faults that can be Hidden
respective bits in the diagnosis data record
(DS0/1).
MD
Error Description all 8.2 only
(MCU-PIT)
24008.0 Cable break incremental encoder
24008.1 Transmission error EnDat
absolute-value encoder MD
20.5
24008.2 Zero-mark error =0 MD 20.5 = 1
MD 20.4 = 0
24008.3 Voltage monitoring of encoder
01144 Unit system does not match with the USR of the DBs: NC, SW,
WK (see also F 01287, Section 3.4.1)
4 Index
C
G
Cable connector
Graduation cycle, 2-15
EQN 1325, 3-4
ERN 1387, 3-2
LS 186, 3-3
ROQ 425, 3-4 I
SIMODRIVE Sensor, 3-3 Incremental encoder
Commissioning, 3-1 ERN 1381, 2-4
Commutation signal ERN 1387, 2-4
fine adjustment, 3-5 SIMODRIVE Sensor, 2-8
Configuring, 2-1 Incremental encoder ERN 1381
specifications, 2-5
Incremental encoder ERN 1387
D specifications, 2-5
Incremental encoder principle
Data errors, 3-10
MCU, 1-2
Definition
Incremental encoders
direct measuring, 1-2
signals, 1-3
EnDat, 1-4
Incremental track, 1-2
indirect measuring, 1-2
Diagnostic alarms, 3-9
Distance to be traversed per encoder revolution,
2-14 L
Linear axis
parameterizing, indirect measuring system, 2-
E 22
parameterizing, linear scale, 2-24
Encoder revolutions, 2-14
parameterizing, rotary encoder, 2-25
Encoder supply, 1-5
Linear scale
data, 1-5
M R
Machine data, 2-14
Remote, 1-5
direct position measurement, 2-18
ROQ 425
linear axis, linear scale, 2-21
linear axis, rotary encoders, 2-20 Cable connector, 3-4
rotary axis, 2-19 signals, 2-12
indirect position measurement Specifications, 2-12
linear axis, 2-18 Rotary axis
rotary axis, 2-17 parameterizing, indirect measuring system, 2-
motor encoder, 2-16 23
temperature error, 1-7 parameterizing, rotary encoder, 2-26
Unit system raster (USR), 2-14 Rotor position, 1-2
MD7, 2-14 Run-up faults, 3-10
Measuring
axis position, 1-2
direct, 1-2 S
indirect, 1-2
motor speed, 1-2 Scope of Functions, 1-1
rotor position, 1-2 Selection
Motor motor, 2-2
built-in encoder, 2-2 motor/encoder combination, 2-3
overload protection, 1-6 Sense, 1-5
selection, 2-2 Signals
temperature error, 1-7 LS 186, 2-10
temperature sensor, 1-6; 1-7 ROQ 425, 2-12
temperature threshold, 1-7 SIMODRIVE Sensor, 2-8
Motor encoder, 2-16 SIMODRIVE error messages, 3-10
Motor protection, 1-6 SIMODRIVE Sensor, 2-8
Motor speed, 1-2 cable connector, 3-3
Motor temperature, 1-7 signals, 2-8
Motor/encoder combination Specifications, 2-9
direct measuring, 2-3 Specifications
indirect measuring, 2-3 absolute encoder EQN1325, 2-7
incremental encoder ERN 1381, 2-5
incremental encoder ERN 1387, 2-5
O LS 186, 2-11
ROQ 425, 2-12
Overload protection SIMODRIVE Sensor, 2-9
encoder supply, 1-5
motor, 1-6
T
P Temperature sensor, 1-6
motor, 1-7
Parameterizing Temperature threshold
linear axis Motor, 1-7
indirect measuring system, 2-22
U
Unit system raster (USR), 2-14
SIMODRIVE 611
Installation and connecting-up 3
MCU 172A
Single-axis positioning control Appendix 4
Planning Guide
Selection, Installation and Connection of
Should further information be required or should particular problems arise, which are not
covered sufficiently in this document, then the local Siemens sales office should be
contacted.
The contents of this Guide shall neither become part of nor modify any prior or existing
agreement, commitment or relationship. The sales contract contains the entire obligation
of Siemens. The warranty contained in the contract between the parties is the sole
warranty of Siemens. Any statements contained herein do not create new warranties nor
modify the existing warranty.
BERO, SIMATIC, SIMODRIVE, SINEC, SINUMERIK, STEP are Siemens product names.
The other names in this document could be registered trademarks. It may be illegal that third parties
use these names or designations.
1 Engineering motors
1.1.1.1 Definitions
Characteristics M
M0 (100 K)
4 Max. mechanical torque
(examples of the winding designs)
C F H K
M limit M limit
3 M limit
2
S3 (100 K)-25 %
S3 (100 K)-40 %
10 min
S3 (100 K)-60 %
S1 (100 K) 10 min
1
S1 (60 K)
10 min
Speed limits max n
Torque Various armature circuit designs are possible within a frame size. The AC
characteristics servomotors provide a torque characteristic which is constant up to approx.
2000 RPM, and above this, decreases, depending on the motor type. A high
overload capability is available over the complete speed control range.
The following limits are valid for all servomotor-drive converter module
combinations.
2
Dynamic limiting range, 200 ms
0
0 Speed
nrated [RPM]
Thermal limiting Corresponds to the S1 (100 K) characteristic in the diagrams. For intermittent
characteristic duty, the arithmetic average may not be exceeded.
25 %
S3-25 %
t
10 min. duty cycle
t
Fig. 1-3 Power-on duration for intermittent duty
Voltage limiting The motor counter EMF increases linearly with increasing speed. The
characteristics difference between the DC link voltage and the increasing motor EMF is
available to impress the current. This limits the magnitude of the current
which can be impressed at high speeds.
Warning
The voltage limiting characteristic of a motor with a 6000 RPM rated speed
lies far above that of the characteristic for the same motor type with a 2000
RPM rated speed. However, this motor requires a far higher current for the
same torque. Thus, it is practical to select the rated speed so that this does not
lie appreciably above the maximum speed required for the particular
application. The converter module rating can thus be minimized (current
rating).
Shift in the voltage In order to identify the motor limits at a lower DC link voltage, the voltage
limiting characteristic limiting characteristic shown must be shifted to the left for the particular
armature circuit. A lower DC link voltage is obtained, e. g. for operation from
an uncontrolled supply infeed.
For a DC link voltage of VDC link(new) a shift is obtained along the x axis
(speed) by a factor of: VDC link(new)/600 V
Example:
M [Nm]
490 V limiting characteristic
600 V limiting characteristic
Mlimit (P3)
S1 (100 K)
Mlimit (P4) 0.82 Therm. limiting characteristic
P2 P1
nrated n [RPM]
2460 3000
Fig. 1-4 Shift in the voltage limiting characteristic
The new limiting torque with the new limiting characteristic can be
calculated according to the following formula:
VDC link(new) 2 * k E * nrated / 1000
1FT6/1FK6: Mlimit(new ) = * Mlimit
600V 2 * k E * nrated / 1000
Stall torque M0 Thermal limiting torque when the motor is at a standstill, corresponding to a
winding temperature rise of 100 K or 60 K. It is available for an unlimited
time at n = 0. M0 is always greater than the rated torque Mrated.
Stall current I0 RMS motor phase current to generate the stall torque.
Rated torque Mrated Thermally permissible continuous torque at the motor rated speed.
Rated current Irated RMS motor phase current to generate the rated torque.
Rated output Prated The power which is available at rated speed and rated torque.
Limiting torque Mlimit Maximum torque, which is available at rated speed for acceleration.
Limiting current Ilimit Motor phase current to generate the limiting torque.
Max. current Imax This current limit is defined by the magnetic circuit. The magnetic material is
irreversibly demagnetized if this is even briefly exceeded.
Mechanical limiting The maximum permissible operating speed is nmax. It is either electrically
speed nmax (voltage limiting characteristic) or mechanically (centrifugal forces, bearing
stressing) defined. The lower of the values is specified in the list data.
Maximum torque Mmax Torque, which is generated at the maximum permissible current.
M Shaft heights
M0 63
36 71 100
48 80 132
4
I
1 2 3 4 5 6 7 I0
The individual characteristics of the 1FT6 and 1FK6 motors are combined in
typical shaft height ranges. The lefthand characteristic can be considered as
the best case and the righthand, as worst case.
Torque constant kT Quotient of the stall torque and stall current. kT = M0/I0. The constant is valid
up to approx. 2 * M0.
Note
When configuring the required rated- and accelerating currents this constant
is not valid (motor losses!). Further, the steady-state load and the friction
torque must also be included in the calculation.
Voltage constant kE Induced motor voltage at a speed of 1000 RPM. The phase-to-phase motor
terminal voltage is specified.
Mechanical time The mechanical time constant is obtained by the tangent along a theoretical
constant T mech ramp-up function through the origin.
Thermal time Defines the temperature rise of the motor housing when the motor load is
constant T th suddenly increased (step increase) up to the permissible S1 torque. The motor
reaches 63 % of its final temperature after Tth.
Thermal resistance Defines the power loss through the motor housing under rated operating
Rth conditions.
Braking resistance Ra opt corresponds to the resistance connected externally in series with the motor
Ra opt winding in each phase for armature short-circuit braking. If this resistance value
is specified as zero, then the optimum braking characteristics are achieved
without any external resistors, i. e. the terminals are directly short-circuited.
Braking torque Mb opt Mb opt corresponds to the average optimum braking torque, which is achieved
by adapting the resistance.
Tolerance data (Data specifications extending beyond these are subject to the measurement
accuracy)
Core types Core types are a part of the complete motor spectrum. Core types have shorter
delivery times, and are, to some extent, available ex-stock. The number of
options is restricted. The order designation is modified.
1FK6/1FT6 The motor types essentially differ by the shorter type of construction of the
1FK6 motor with respect to 1FT6 motors
Brushless-Servomotor H
SIEMENS 1FT6061-1AF71-4AG0
MADE IN GERMANY
Nr. E 1Q62 7603 01 001
M0 = 3.3/4.0 Nm l0(RMS) = 2.25/2.75 A 60/100 K
Mn = 3.50 Nm S1 3000 RPM Vi(RMS) = 282 V Y
(M = 3.75 Nm S1 1500 RPM Vi(RMS) = 141 V Y)
IEC 63 IMB5 IP 64 I.CL.F VDE 0530 PTC Therm.
Encoder nmax. 4200 RPM
Brake EBD ... 24 V/20 W
input voltage)
Serial number
1.1.2.1 Definitions
Type of construction 1FT/1FK motors are supplied in type of construction IMB5. They can be used
(acc. to IEC 34-7) in IM V1 or IM V3 types of construction without any special order
designation.
IM B5
IM B14
IM V1 IM V3
IM V18 IM V19
IM B5 IM B14
Degree of protection The complete 1FT6 motor is sealed using O rings. This conforms to degree of
1FT6 protection IP 67 for the housing.
(acc. to EN 60529)
The motor shaft sealing principle can be taken from the overview, Table 1-3.
All seals are manufactured from fluoride rubber (FPM).
Rotary shaft seal, DIN 3760 For gearbox mounting (for non-
IP 67 sealed gearboxes) to seal against oil.
(only for 1FT5 and 1FT6) To guarantee functional reliability,
it should be ensured that the sealing
lip is adequately cooled and
lubricated with gearbox oil.
Lifetime, 5000 hours
The following Table is intended to help you select the required degree of
protection. In addition to the theoretical DIN specifications, experience values
have also been taken into account. If in doubt, then the next higher degree of
protection should be selected.
Environment Fluids
General Water; oil, Penetrating oil;
shopfloor general cool- petroleum;
environment ing/lubricating aggressive
medium cooling/lubri-
(95% H2O; cating medium
5 % oil)
Dry IP 64 - -
Wet environment - IP64 (with oil as IP 67
cooling/lubri-
cating medium:
IP 67)
Mist - IP 65 IP 67
Spray - IP 65 IP 68*
Jet - IP 67 IP 68*
Splash; - IP 67 IP 68*
brief immersion,
continuous flooding
*: On request
IP 1st code (0-6): Protection against contact and the penetration
of foreign bodies
2nd code (0-8): Protection against the penetration of water (no
protection against oil)
The power losses are dissipated through radiation and natural convection. The
motor mounting must therefore guarantee sufficient heat dissipation.
For forced-ventilated motors, it is not permissible that the hot air is drawn-in
again.
Degree of protection:
The motor- and shaft-height specific design and how the separately-driven fan
is connected are described in the various motor sections.
Bearing design The bearings are sealed at both sides and are permanently lubricated. The
bearings are designed for a minimum ambient temperature of -15 C.
The specific designs can be taken from the motor data.
Note
We recommend that the bearings are replaced after approx. 20 000 operating
hours, however not later than 5 years.
Motor rotation It is not permissible to rotate the shaft at the motor non-drive end. If the
motor is to be manually rotated, this should be done at the mechanically most
accessible position (e. g. ball screw spindle).
Radial eccentricity, Table 1-5 Radial eccentricity of the shaft end to the housing axis (referred to
concentricity and cylindrical shaft ends)
axial eccentricity Shaft height Standard N Option R
(acc. to DIN 42955) 36 0.035 mm 0.018 mm
63 0.04 mm 0.021 mm
80 0.05 mm 0.025 mm
100 0.05 mm 0.025 mm
132 0.05 mm 0.025 mm
Table 1-6 Coaxiality- and axial eccentricity of the flange surface to the shaft axis
(referred to the centering diameter of the mounting flange)
Shaft height Standard N Option R
36 0.08 mm 0.04 mm
63 0.1 mm 0.05 mm
80 0.1 mm 0.05 mm
100 0.1 mm 0.05 mm
132 0.125 mm 0.063 mm
Noise The noise specifications are valid for non-ventilated motors when supplied
(acc. to DIN 45635) from a SIMODRIVE 611 PWM inverter, measured at a distance of 1m.
Vibration severity The specified values only refer to the motor itself. The overall system
(acc. to IEC 34-14) vibration characteristics can increase these values at the motor.
Speeds of 1800 RPM and 3600 RPM and the associated vibration severity
limit values are defined according to IEC 34-14. The speeds of 4500 RPM
and 6000 RPM and the specified vibration severity limit values are defined by
the motor manufacturer.
VRMS perm.
[mm/s]
4
3.5
3.0
3
Vibration severity grade
2.25
2.8
2 1.8 1.87
N
1.40
1.12 1.8
1.18
1 0.89
R 0.71 0.71
S 0.45
0
1800 3600 4500
0 1000 2000 3000 4000 5000 6000 7000 n [RPM]
Fig. 1-8 Vibration severity limit value characteristics for shaft heights 36 to 132
Shock stressing (acc. The maximum, briefly permissible radial acceleration values which do not
to DIN 40046, T7) negatively influence the drive, are specified in Table 1-8 (not when the motor
is operational; e. g. during transport):
Vibration stressing The maximum permissible limit values where the motors remain fully
functional are only valid for motors without brake.
Cantilever force The permissible cantilever forces are shown in the diagrams for the
stressing appropriate motors.
Fig. 1-9 Point of application of cantilever forces at the motor shaft end
Axial force stressing The permissible axial forces are shown in the diagrams for the appropriate
motors.
Caution
Axial forces are not permissible for motors with integrated holding brake!
When using, for example, helical gears as drive element, in addition to the
radial force, the motor bearings are also subject to an axial force. For axial
forces towards the motor, the bearing contact force can be exceeded, so that
the rotor can move according to the bearing axial play (up to 0.2 mm).
The permissible axial force of the 1FT6 drive is calculated, depending on the
mounting position, as follows:
IM B5/B14:
FA1 FA1 = FAD - FC
IM V1:
FA3 = FAD - FL - FC
FA4 = FAD+FL+FC
FA3 FA4
FA5 FA6
FA5 = FAD+FL - FC
IM V3:
Fig. 1-10 Permissible axial force corresponding to the mounting position for 1FT6
motors
FA = 0.35 * FQ
More precise information can be taken from the diagrams, taking into account
the mounting position.
1FK6 motor data are provided in Catalog NC60.1.
Effect of mounted By flanging the motor to the mounting surface, some of the motor power
components losses are dissipated via the motor flange.
M [Nm]
100 %
Approx. 85 %
non-thermally
to 95 %
insulated mounting
thermally-insulated
mounting
n [RPM]
without gearbox with gearbox
Gearboxes
The following motor options are recommended:
increased radial eccentricity (R) and flange tolerance
IP 67 (if gearbox oil is present at the motor flange)
Note
1FT nmot
Gearbox i=
motor
nA
nmot nA
M out 2 2
Mmot = ( + Mv ) Mv
i * G
2
K
n T
with MV=a*b* mot (1-G) *
60 R
phasew
Drive-out couplings After investigating various drive-out coupling systems for servomotors in
conjunction with SIMODRIVE converters, it was identified, that the cause of
vibration problems was in many cases due to drive-out couplings.
Holding brake Holding brakes are used to hold the axes, without play, at standstill, or in a
(option) no-tension condition. The permanent-magnet single-disk brake operates
according to the closed-circuit principle and is thus fail-safe.
Note
Axial forces are not permissible for motors equipped with holding brakes!
The holding brake is not an operating brake!
Approximately 2000 braking operations can be executed for emergency stops
or power failures (for Jexternal 3 Jmot), without significantly subjecting the
brake armature disks to wear.
Within any one shaft height slight deviations in the holding torques are
possible for motors with low stall torques.
1FT6 motors are longer if they have an integrated holding brake.
Warning
A coating appears on the brake assembly and armature disk if the holding
brake hasnt been used for a longer period of time. This can result in a
decrease in the holding torque.
Supply voltage: 24 V DC 10 %
The brake feeder cable must be provided with a free-wheeling diode or a
matched varistor to prevent overvoltages occurring when it is switched-off,
and to prevent it disturbing the system environment. (preferably a varistor, as
a free-wheeling diode extends the closing time)
A Graetz bridge with a 220 F/60 V capacitor is recommended to prevent
noise from the pulsating current after the pull-in point. Depending on the
connected load, the capacitor boosts the voltage, so that the transformer
secondary voltage can no longer be specified as fixed value. Five taps at the
transformer secondary, in 2 V steps, starting from an average secondary
voltage of 29 VRMS AC are used to select the correct voltage.
Supply C1 K1
~ V S1
R1
M
C1 - capacitor F - miniature circuit-breaker
K1 - contactor contact M - single-phase line transformer
S1 - holding brake V - rectifier
R1 - varistor (e. g. Q69-X3022 Siemens type 30 V)
Fig. 1-13 Recommended circuit for the external holding brake power supply
Note
The brake connecting cable is provided in the power cable. The insulation
between the power- and brake connection is designed for the basic insulation
(230 V).
Basic insulation must also be provided between the coil and contact of relay
K1 to protect the internal logic voltage (PELV; extra-low protective voltage).
The holding brake power supply may not be fed from the PELV supply (refer
to the recommended circuit).
Note
Armature short-circuit Transistor PWM converters cannot be electrically braked when the DC link
braking voltage is exceeded, or if the electronics fails. If the drive, which is coasting
down, represents a danger, the motor can be braked by short-circuiting the
armature. Armature short-circuit braking should be initiated in the traversing
range of the feed axis, at the latest, by the emergency limit switch.
When determining the coast down travel of the feed axis, the friction of the
mechanical system and the contactor switching times must be taken into
account. In order to prevent mechanical damage, mechanical shock absorbers
should be provided at the end of the absolute traversing range.
For servomotors with integrated holding brake, the holding brake can be
simultaneously de-energized, to generate an additional braking torque;
however this is applied with delay.
Caution
The drive converter pulses must first be cancelled and this actually
implemented, before an armature short-circuit contactor is closed. This
prevents the contactor contacts from being eroded and the PWM converter
being destroyed.
Warning
Operational braking must always be realized via the setpoint input. For
EMERGENCY OFF, braking should be initiated via terminal 64 at the
converter.
Brake resistors The servomotor braking torque in regenerative operation can be optimized by
short-circuiting the armature with an adapted external resistor circuit. The
external resistors available are listed in the tables with the motors.
Mbr Mbr
Mbr opt
Mbr RMS Mbr RMS
Mbr opt
nrated nrated 0
0
Speed n Speed n
Ibr Ibr
Ibr RMS Ibr RMS
nrated 0 nrated 0
Speed n Speed n
Speed n Speed n
nrated nrated
0
0
Coast-down time
Cost-down time
SIMODRIVE
Rbr
U V W
M
3 ~ 1FT6
1FK6
1.1.4 Connections
Pre-assembled cables reduce installation time and cost and increase the
operational reliability.
Caution
Servomotors are not suitable for direct online operation and must only be
operated with the associated SIMODRIVE 611 transistor PWM converters.
Please observe the rating plate data and adequately dimension the connecting
cables (tables are included in the Guide) and ensure that all of the cables are
strain relieved.
Note
Caution
Assignment The motor - cross-section - power connector assignments are listed in the
appropriate motor sections.
Caution
Servomotor SIMODRIVE
connector sizes 1; 1.5; 2; 3 conductor sleeves
acc. to DIN 46228
1/U U
2/V V
6/W W
Servomotor SIMODRIVE
connector sizes 1; 1.5; 2; 3 conductor sleeves
acc. to DIN 46228
1/U U
2/V V
6/W W
4/+ Br+
Screen
5/- Br-
Explanation 6FX2002- -0
Length
Type, cross-section, connector size
Connector
U - Brake
assignment 1 5
W
6
Connector size 1: 2 4
+ Brake
V
V
+ -
Connector size 1,5:
U W
+ -
Connector size 2:
U W
+ V -
Connector size 3: U W
Screening Screened cables are recommended. Unscreened cables can also be used for
standard applications (industrial networks). Screened cables must be used if
there are higher demands regarding the radio interference suppression level.
Note
Rotor position-, motor speed- and position data (for indirect position sensing)
as well as motor temperature are fed via the actual value cable.
In order that noise is not coupled-in, the actual value cable must be routed
separately away from the power cables, and the screen must be grounded at
both ends.
Pre-assembled actual value cables should be used to guarantee noise-free
operation.
Assignment The actual value cables used are described for the appropriate
encoders/transmitters.
Applications 1FT6 motors were developed, in conjunction with the SIMODRIVE drive
converter system, for applications on various machine tools, and even special-
purpose machines (general machine construction, wood, glass, presses,
packing- and transfer lines).
Warning
Characteristics Depending on the shaft height, 1FT6 motors have stall torques from 1.0 to
140 Nm at speeds from 1500 to 6000 RPM. They have a high overload
capability over the complete speed control range. The motors are optimized to
have a low torque ripple.
They can be mounted directly onto feed spindles and gearboxes with toothed
wheels or toothed belts.
Standards, The appropriate standards and regulations are directly assigned to the
regulations functional requirements.
Technical features The motors are designed for operation with a 600 V DC link voltage and
impressed sinusoidal currents.
Features Design
Motor type Permanent-magnet synchronous motor
AC servomotor
Type of construction IM B5 (IM V1, IM V3) (according to IEC 34-7 )
Degree of protection IP 64 (according to EN 60529)
Cooling Non-ventilated (according to IEC 34-6)
Thermal motor PTC thermistor (according to IEC 34-11) in the stator
protection winding
Shaft end Cylindrical; without keyway and without key (according to
DIN 748, Part 3); tolerance zone k6
Rating plate A second rating plate is provided for all motors
Radial eccentricity, Tolerance N (according to DIN 42955)
concentricity and axial
eccentricity
Vibration severity Grade N (according to IEC 34-14; DIN VDE 0530, Part 14)
Shock stressing Shaft height 36, shaft height 48: 100g; (according to
(briefly; radial DIN40046, T7)
not in operation] Shaft height 63: 50g
Shaft height 80 30 g
Shaft height 100 20 g
Shaft height 132 10 g
Vibration severity 1 g axial (20 Hz to 2 kHz)
3 g radial (20 Hz to 2 kHz)
Bearings Roller bearings with permanent grease lubrication
Bearing lifetime > 20000 h
Shaft height 36/48: Locating bearing on the non-drive side
Shaft height 63 to 132: Locating bearing on the drive side
Winding insulation Insulating material class F
according to DIN VDE 0530 - permits a winding
temperature rise of T = 105 K for an ambient temperature
of 40 C.
Magnetic materials Rare-earth materials
Electrical connection Connector for power and encoder/sensor signals
Connector socket for screened cables
Connector outlet direction can be selected
Encoder system Integrated optical encoder
Speed sensing
Rotor position sensing
Indirect position sensing
Technical data The motors listed here are core types of the 1FT6 series. The Planning Guide
SIMODRIVE AC motors for feed- and main spindle drive provides a detailed
motor list
Part 1: 6SN1197-0AA20-0APx motors.
Rated M0 Mrated Motor type Motor Rated Prated Conne Cross Cable type
speed 2) curren converter ctor section
1FT6... t current size 6FX2002-
I0
[RPM] [Nm] [Nm] [Nm] [A] [A] [kW] [mm2]
2000 27.0 23.0 23.0 AC7
102- 12.3 18 4.8 1.5 4x1.5 5 A21-10
50.0 38.0 38.0 AC7
105- 22.2 28 8.0 1.5 4x4 5 A41-10
3000 5.0 4.3 4.1 AF7
044- 3.35 3 2) 1.4 1 4x1.5 5 A01-10
4.0 3.5 3.3 AF7
061- 2.75 3 1.1 1 4x1.5 5 A01-10
6.0 4.6 4.4 AF7
062- 4.0 5 1.4 1 4x1.5 5 A01-10
9.5 7.0 6.7 AF7
064- 6.05 9 2.2 1 4x1.5 5 A01-10
13.7 10.3 9.8 AF7
082- 10.65 18 3.2 1.5 4x1.5 5 A21-10
20.0 14.7 14.0 AF7
084- 14.0 18 4.6 1.5 4x2.5 5 A31-10
27.0 18.5 17.6 AF7
086- 17.3 18 5.8 1.5 4x4 5 A41-10
4500 6.0 3.6 3.2 AH7
062- 5.75 9 1.7 1 4x1.5 5 A01-10
9.5 4.8 4.3 AH7
064- 9.05 9 1) 2.3 1 4x1.5 5 A01-10
13 8.5 7.7 AH7
082- 15.3 18 4 1.5 4x2.5 5 A31-10
6000 2.0 1.4 1.2 AK7
034- 2.6 3 0.9 1 4x1.5 5 A01-10
1) With the specified power module, the motor cannot be fully utilized for 100 K
winding temperature.
2) With absolute encoder EQN
Armature short-circuit The principle was explained in Section 1.1: General information. The
braking appropriate resistor values are listed here.
Brake resistors
An optimum braking time is achieved by appropriately dimensioning the
resistors. The braking torques obtained are listed in the tables. The data is
valid for braking from the rated speed. If braking is started at a different
speed, the braking time cannot be linearly interpolated. However, longer
braking times cannot occur.
The resistor rating must be adapted to the actual I2t load capability.
Table 1-13 Resistor braking for 1FT6 motors, shaft heights 36 and 48
Motor type External Average Max. RMS
brake braking braking braking
resistor torque torque current
Ropt Mbr RMS Mbr max Ibr RMS
[] [Nm] [Nm] [A]
1FT6034-1AK71 - 1.7 2.9 9.4
6.5 2.3 8.5
1FT6044-1AF71 - 5.9 9.2 11.3
5.1 7.4 10.2
Table 1-16 Resistor braking for 1FT6 motors, shaft height 100
Motor type External Average Max. RMS
brake braking braking braking
resistor torque torque current
Ropt Mbr RMS Mbr max Ibr RMS
[] [Nm] [Nm] [A]
1FT6102-1AC71 - 10.7 29 15
2.8 22 22
1FT6105-1AC71 - 16.5 50 42
1.7 40 38
Holding brake Refer to Section 1.1 for a function description: General information.
Holding brakes cannot be retrofitted!
Table 1-17 Technical data for holding brakes used with 1FT6 motors
Motor type Brake type Holding torque Dyn. DC Power Opening Closing Moment
torque current time time of
[W] [ms] [ms] inertia
[Nm] [Nm] [A] [10-4
20 C 120 C 120 C kgm2]
1FT603 EBD 0.15B 2.5 2.0 1.6 0.35 8.2 30 15 0.08
1FT604 EBD 0.4BA 6.5 5.0 3.5 0.8 19.3 30 15 1.06
1FT606 EBD 1.5B 22 19 10 0.7 17 130 20 3.6
1FT6081 EBD 1.2B 15 12 8.0 0.83 21 70 35 3.2
1FT6082
1FT6084 EBD 3.5 36.5 26.5 20 1.3 31.5 110 55 16.0
1FT6086
1FT610 EBD 4B 100 85 43 1.4 32 180 20 32.0
1FT613 EBD 8MF 200 140 70 3.3 78 160 70 75
Gearboxes
1FT6105 370 416 SP 210-M1 38 105 335 180 75 17 250 212 190 562 608
L15
L14 L13
F2 D4
D9
D1 D3 d
F
F4
l k=without brake/k1=with brake
K2=without brake/K3=with brake
Drive coupling Table 1-19 Assignment of the drive couplings to the motors
Shaft height ROTEX GS Torque which can be transferred with
type the 98 Sh-A-GS pinion
TKN [Nm] TKmax [Nm]
36 14 7.5 15
48 19/24 10 20
63 24/28 35 70
80 28/38 95 190
100 38/45 190 380
Other pinions may have to be used (e. g. Shore hardness 80 Sh-A). The
pinion must be optimized in conjunction with the actual mechanical system.
Warning
1.2.1.3 Interfaces
Power connection Various types of pre-assembled cables are available (refer to Technical data).
Cables and connector assignments are specified in Section 1.1.4:
Connections.
The complete program of accessories is provided in Catalog NC Z.
Note
Actual value cable The actual value cables used are described for the appropriate
encoders/sensors.
Order 1 F T 6 . . . - 1 A . 7 1 - . . . 0
designations Electric motor
core types
Synchronous motor
AC servomotor
Series
Frame size
Length
Core type code
Non-ventilated
Rated speed
C = 2000 RPM
F = 3000 RPM
K = 6000 RPM
Rotor weight Table 1-30 Force due to the rotor weight (FL), bearing contact force (FC)
Motor type FL [N] FC [N]
including brake and
encoder system
1FT6031 10 60
1FT6034 15
1FT6041 20 75
1FT6044 25
1FT6061 25 95
1FT6062 30
1FT6064 40
1FT6081 35 190
1FT6082 45
1FT6084 75
1FT6086 90
1FT6102 100 260
1FT6105 140
1FT6108 190
Cantilever force
1FT6034
FQAS [N]
700
n=1500 RPM
500
n=2000 RPM
400 n=3000 RPM
Axial force 1FT6034 Permissible axial force as a function of the cantilever force.
FQAS [N]
600
n=1000 RPM
200
100
0
50 100 150 200 250 300 350 400 F
ABS [N]
1000
n=1000 RPM
900
800
n=1500 RPM
700
n=2000 RPM
600
n=3000 RPM
300
0 5 10 15 20 25 30 35 40 x [mm]
Axial force 1FT6044 Permissible axial force as a function of the cantilever force.
FQAS [N]
800
n=1500 RPM
700 n=2000 RPM
n=4500 RPM
500
n=6000 RPM
400
n=8000 RPM
300
200
100
0
50 100 150 200 250 300 350 400 450 FAAS [N]
Cantilever force
FQAS [N]
1FT6061
1FT6062
1200
1FT6064
1100
1000
800
n=1500 RPM
700 n=2000 RPM
n=2000 RPM
n=3000 RPM
600
n=4500 RPM
n=6000 RPM
400
n=8000 RPM
200
0
100 200 300 400 500 600 700 800 900 1000 F [N]
AAS
Cantilever force
1FT6082 FQAS [N]
1FT6084
1FT6086 2200
2000
1800
n=1000 RPM
1600
n=1500 RPM
1400
n=2000 RPM
1200
n=3000 RPM
1000 n=4500 RPM
n=6000 RPM
800 n=8000 RPM
600
0 10 20 30 40 50 60 x [mm]
400
200
0
0 200 400 600 800 1000 12001400 1600 1800 FAAS [N]
Cantilever force
1FT6102 FQAS [N]
1FT6105
2400
2200
2000
n=1000 RPM
1800
FQAS [N]
n=1500 RPM
1500 n=2000 RPM
n=3000 RPM
n=4500 RPM
1000
n=6000 RPM
500
0
200 400 600 800 100012001400160018002000 FAAS [N]
Technical data Additional technical data and dimensions are provided in Catalog NC 60.1
and in the Planning Guide PJ 6SN1197-0AA20.
Applications 1FK6 motors were developed for use with the SIMODRIVE 611 drive
converter system for machine tools and various types of special-purpose
machines.
Warning
Characteristics Depending on the shaft height, 1FK6 motors have stall torques from 1.1 to 36
Nm at rated speeds from 3000 to 6000 RPM. They have a high overload
capability over the complete speed control range. The motors are flange- and
shaft-compatible to 1FT6 motors.
Standards, The appropriate standards and regulations are directly assigned to the
regulations functional requirements.
Features The motors are designed for operation with a 600 V DC link voltage and
impressed sinusoidal currents.
Note
Technical data
Table 1-33 Motor overview (100K values are specified in the table)
Rated M0 Mrated Motor type Motor Rated Pcalc Conne Cross Cable type
speed curren motor ctor section
t current size
I0
[RPM] [Nm] [Nm] 1FK6- [A] [A] [kW] [mm2] 6FX2002-
6000 1.1 0.8 032-6AK71 1.7 3 0.5 1 4 x 1.5
5 A01-1 0
6000 1.6 0.8 040-6AK71 2.8 3 0.5 1 4 x 1.5
5 A01-1 0
3000 3.2 2.6 042-6AF71 2.7 3 0.8 1 4 x 1.5
5 A01-1 0
3000 6.0 4.0 060-6AF71 4.3 5 1.3 1 4 x 1.5
5 A01-1 0
3000 11.0 6.0 063-6AF71 7.9 9 1.9 1 4 x 1.5
5 A01-1 0
3000 8.0 6.8 080-6AF71 5.4 9 2.1 1 4 x 1.5
5 A01-1 0
3000 16.0 10.5 083-6AF71 10.6 18 3.3 1 4 x 1.5
5 A01-1 0
3000 18.0 12.0 100-8AF71 12.2 18 3.8 1 4 x 2.5
5 A11-1 0
3000 27.0 15.5 101-8AF71 18 18 4.9 1.5 4x4
5 A41-1 0
3000 36.0 16.5 103-8AF71 23.0 28 5.2 1.5 4x6
5 A51-1 0
Without brake cable: without overall screen A
with overall screen C
With brake cable: without overall screen B
with overall screen D
Armature The principle was already explained in Section 1.1.3 Functions - expanded
short-circuit braking functionality.
The appropriate resistor values are now listed.
Braking resistors
Table 1-34 Resistor braking for 1FK6 motors, shaft heights 36 to 100
Motor type Ext. Average Max. RMS
braking braking braking braking
resistor torque torque current
Ropt Mbr RMS Mbr max Ibr RMS
[] [Nm] [Nm] [A]
1FK6032- K71 - 1.3 1.8 5.3
6 1.4 4.9
1FK6040- - 2.3 2.9 4.4
K71 4.1 2.4 4.2
1FK6042- F71 - 4.5 6.1 9.8
2.5 4.9 9.1
1FK6080- F71 - 4.9 9.8 12.4
5.1 7.9 11.2
1FK6083- F71 - 7.9 2.0 24.1
3.0 16.1 21.6
1FK6100- F71 - 12.3 28.6 36.2
1.9 23.0 32.0
1FK6101- F71 - 16.4 43.8 52.9
1.4 35.4 47.4
1FK6103- F71 - 25 67.1 80.9
0.9 54 72.5
Table 1-35 Technical data of the holding brakes used with 1FK6 motors
Motor type Brake type Holding torques Dyn. DC Power Opening Closing Moment of
[Nm] torque current time time inertia
[Nm] *) [A] [W] [ms]] *) [ms] *) [10-4 kgm2]
20 C *) 120 C 120 C ca.
1FK6032 EBD 0.13B 1.5 1.1 0.8 0.4 9.6 30 7.5 0.04
1FK604 EBD 0.3B 4.5 3.2 2.5 0.6 13.4 0.21
1FK606 EBD 0.8B 12 10 6.5 0.7 15.6 55 15 0.6
1FK608 EBD 1.4B 23 18 11 0.6 13.5 150 30 2.3
1FK6100 EBD 1.4B 23 18 11 0.6 13.5 150 30 2.3
1FK6101 EBD 3.8B 50 36 25 0.9 22.3 180 25 10.8
1FK6103
*) according to the type test
1.3.1.3 Interfaces
Power connection Various types of pre-assembled cables are available (refer to technical data).
You will find cable- and connector assignments in Section 1.1.4:
Connections.
The complete program of accessories is listed in Catalog NC Z.
Note
Actual value cables The actual value cables used are described for the appropriate
encoders/sensors.
Order designation 1 F K 6 . . . - . A . 7 1 - 3 . . .
Electric motor
Synchronous motor
AC servomotor
Series
Frame size
Length
No. of poles
Non-ventilated
Rated speed
F = 3000 RPM
K = 6000 RPM
18
F
16
14
12
S3-25%
10
S3-40%
8
S3-60%
6
4
S1 (100K)
2
S1 (60K)
0
0 600 1200 1800 2400 3000 3600 4200 4800
Fig. 1-31 Speed-torque diagram, 1FK6060
36
F
32
28
24
S3-25%
20
16 S3-40%
S3-60%
12
4 S1 (100K)
S1 (60K)
0
0 600 1200 1800 2400 3000 3600 4200 4800
Fig. 1-32 Speed-torque diagram, 1FK6063
18
F
16
14
S3-25%
12
10 S3-40%
S3-60%
8
6 S1 (100K)
2 S1 (60K)
0
0 500 1000 1500 2000 2500 3000 3500 4000
Fig. 1-33 Speed-torque diagram, 1FK6080
M [Nm]
90
80 F
70
60
50
S3-25%
40
30 S3-40%
S3-60%
20
S1 (100 K)
10
S1 (60 K)
0
020 .ds4 n [1/min]
1F K6101 0 500 1000 1500 2000 2500 3000 3500 4000
Cantilever force, Cantilever force FQ at a distance x from the shaft shoulder for a nominal
1FK6032 bearing lifetime of 20 000 hours.
Axial force, 1FK6032 Permissible axial force as a function of the cantilever force
FQAS [N]
600
n [RPM]
n=500
500
400 n=1000
n=1500
n=2000
300
n=3000
n=4500
n=6000
200
100
0
100 150 200 250 300 350 400 450 500 FAZ [N]
Cantilever force, Cantilever force FQ at a distance x from the shaft shoulder for a nominal
1FK6040 bearing lifetime of 20 000 hours.
FQAS [N]
1200
1100
1000
900
800
n=500 RPM
700 n=1000 RPM
n=1500 RPM
600 n=2000 RPM
Axial force, 1FK6040 Permissible axial force as a function of the cantilever force
FQAS [N]
n [RPM]
1000 n=500
800 n=1000
n=1500
600 n=2000
n=3000
n=4500
400
200
0
50 100 150 200 250 300 350 400 450 500 550
FAZ [N]
Cantilever force, Cantilever force FQ at a distance x from the shaft shoulder for a nominal
1FK6042 bearing lifetime of 20 000 hours.
FQAS [N]
1200
1100
n=500 RPM
n=1000 RPM
1000
900
800
400
0 5 10 15 20 25 30 35 40 x [mm]
Axial force, 1FK6042 Permissible axial force as a function of the cantilever force
FQAS [N]
1200
n [RPM] n=500
1000
n=1000
800 n=1500
n=2000
600 n=3000
n=4500
400
200
0
50 100 150 200 250 300 350 400 450 500 550
FAZ [N]
Cantilever force, Cantilever force FQ at a distance x from the shaft shoulder for a nominal
1FK6080 bearing lifetime of 20 000 hours.
FQAS [N]
2400
2200
2000
1600
n=1500 RPM
1200
n=2000 RPM
1000
n=3000 RPM
n=4500 RPM
800
0 10 20 30 40 50 60 x [mm]
Axial force, 1FK6080 Permissible axial force as a function of the cantilever force
n [RPM]
1600
n=1000
1400
n=1500
1200 n=2000
n=3000
1000
n=4500
800
600
400
200
0
200 400 600 800 1000 1200 1400 1600 1800 2000 FAZ [N]
Cantilever force, Cantilever force FQ at a distance x from the shaft shoulder for a nominal
1FK6083 bearing lifetime of 20 000 hours.
FQAS [N]
2400
2200
2000
n=500 RPM
1800
1600
n=1000 RPM
1400
n=1500 RPM
1200 n=2000 RPM
n=3000 RPM
1000
n=4500 RPM
800
0 10 20 30 40 50 60 x [mm]
Axial force, 1FK6083 Permissible axial force as a function of the cantilever force
FQAS [N]
n [RPM] n=500
2000
1750
n=1000
1500
n=1500
1250 n=2000
n=3000
1000 n=4500
750
500
250
0
200 400 600 800 1000 1200 1400 1600 1800 2000 FAZ [N]
Cantilever force, Cantilever force FQ at a distance x from the shaft shoulder for a nominal
1FK6100 bearing lifetime of 20 000 hours.
FQAS [N]
3500
3000
2500
n=500 RPM
2000
n=1000 RPM
1500 n=1500 RPM
n=2000 RPM
n=3000 RPM
1000 n=4500 RPM
500
0 10 20 30 40 50 60 70 80 x [mm]
Axial force, 1FK6100 Permissible axial force as a function of the cantilever force
FQAS [N]
n=500
n [RPM]
2000
1750
n=4500
1500 n=1500
n=2000
1250
n=3000
1000 n=4500
n=6000
750
500
250
0
200 400 600 800 1000 1200 1400 1600 1800 2000 FAZ [N]
Cantilever force, Cantilever force FQ at a distance x from the shaft shoulder for a nominal
1FK6101 bearing lifetime of 20 000 hours.
FQAS [N]
3500
3000
2500
n=500 RPM
2000
n=1000 RPM
1500 n=1500 RPM
n=2000 RPM
n=3000 RPM
1000 n=4500 RPM
500
0 10 20 30 40 50 60 70 80 x [mm]
Axial force, 1FK6101 Permissible axial force as a function of the cantilever force
FQAS [N]
n=500
n [RPM]
2000
n=1000
1750
n=1500
1500
n=2000
1250 n=3000
n=4500
1000
750
500
250
0
200 400 600 800 1000 1200 1400 1600 1800 2000 FAZ [N]
Cantilever force, Cantilever force FQ at a distance x from the shaft shoulder for a nominal
1FK6103 bearing lifetime of 20 000 hours.
FQAS [N]
3500
3000
2500
n=500 RPM
2000
n=1000 RPM
n=1500 RPM
1500 n=2000 RPM
n=3000 RPM
n=4500 RPM
1000
0 10 20 30 40 50 60 70 80 x [mm]
Axial force, 1FK6103 Permissible axial force as a function of the cantilever force
n [RPM]
2000
n=1000
1750
n=1500
1500
n=2000
1250 n=3000
n=4500
1000
750
500
250
0
200 400 600 800 1000 1200 1400 1600 1800 2000 FAZ [N]
Technical data Additional technical data and dimensions are provided in Catalog NC 60.1
and in the Planning Guide PJ 6SN1197-0AA20.
Procedure The procedure to configure a SIMODRIVE drive group has been sub-divided
into simple, basic steps.
Motor selection
Selecting the supply infeed
Selecting the power module (alternatively, the Protected Power Unit)
EMC measures (when required)
The SIMOPRO PC tool is also available to configure the 6SN series. Please
contact your local Siemens office for further information (e. g. Start-up
guides, SIMODRIVE 611 and SINUMERIK 840 C/D as well as detailed
ordering information).
The MCU 172A can be used for distributed positioning tasks in a single-axis
module, IP65 degree of protection with the designation PPU (Protected Power
Unit).
Drive group
Procedure In a drive group, the power supply of an NE module can supply a maximum
of three MCU axes. A monitoring module must be used for larger drive
groups. However, the required DC link power must be supplied from the NE
module.
Note The PPU description is provided in the Planning Guide 6SN1 197-0AA00
from Edition 12.94 onwards.
2.2.1 Specifications
Note
The components are insulated in accordance with DIN VDE 0160 / 05.88 and
DIN VDE 0110 / 01.89.
Overvoltage category III
Degree of pollution 2
Installation altitude up to max. 2000 m above sea level
Neutral point of the supply is directly grounded; the module housing is
grounded.
To additional loads
Supply point A
Fuses Supply point A
Communication reactor Fuses
NE module Transformer
(refer to text)
Communication reactor
NE module
Commutating reactor External commutating reactors are only required for I/R modules.
Supply point A In order to ensure perfect system functioning, the system fault level (SKsupply)
at the supply point must be 100 (30) x greater than the rated output Pn of the
connected NE module.
SKsupply = 100 x Pn (I/R module) SKsupply = 30 x Pn (UE module)
Supply types The equipment can be connected and operated from various supply types
according to VDE 0100 Part 300
1. Three-phase supplies with grounded neutral point
TN supplies (TN-C supplies, TN-S supply, TN-C-S supply)
Possible configurations:
Directly connected
Connected through an autotransformer
Connected through an isolating transformer
Supply
Supply
Isolating
transformer
1) The secondary neutral point of the auto-
transformer can be connected, if required
when fed from a TN-S supply.
Supply
Isolating
transformer
Fig. 2-6 TT supply with grounded neutral point and isolating transformer
Supply
Isolating
transformer
Note
In compliance with DIN VDE 0160 / 05.88, all SIMODRIVE units are subject to
a high-voltage test at the time of routine testing. If the electrical equipment of
industrial machines is subject to a high-voltage test, all connections must be
disconnected so that sensitive electronic components in the SIMODRIVE unit are
not damaged (in accordance with DIN VDE 0113 / 06.93, Part 1, Section 20.4).
In operation according to
DIN IEC 68-2-1
DIN IEC 68-2-2
DIN IEC 68-2-3
DIN VDE 0160, Section 5.2.1.3
SN 26556
Using the I/R modules, excess DC link power (e. g. during braking) can be
fed back into the supply. UE modules dissipate the braking energy in a pulsed
resistor.
Note
The uncontrolled infeed (UE module) is used to feed power into the DC link.
Further, the NE- and monitoring module also provide the power supply for
the operating functions of the connected modules.
For UE modules, when the motors brake, the energy of the axes, fed back into
the DC link, is converted into heat in the integrated brake resistor and
dissipated to the environment. When required, one or several pulsed resistor
modules can be used.
The NE module is located as the first module to the left in the drive group.
The pulsed resistor module is located in the drive group to the left of the
modules to be supplied.
Warning
After all of the voltages have been powered-down, a hazardous voltage level is
still present for approx. 4 minutes.
Table 2-4 Technical data, supply infeed modules, internal cooling (resistor braking)
Definition of the Pn, Ps6, Pmax Data is valid for the total, permitted voltage range of the I/R
powers modules.
Pn Continuous output of the NE module.
Ps6 Output for max. 4 min for an S6 duty cycle.
Pmax Peak output.
Refer to the following load duty diagrams for the duty cycle .
PV tot Total module power loss.
Cooling type All UE modules, monitoring modules as well as the pulsed resistor modules,
are non-ventilated.
Ps6 Ps6
P P 10 s
n n
4min
0,4 Pn 0,4 Pn
t t
10 min 60 ms
024.ds4
S6 load duty cycle with pre-loading Peak power load duty cycle with
condition pre-loading condition
P P
Pmax F*Pn
P P 10 s
n n 4s
0,2s
t t
10 s 10 s
Peak power load duty cycle with pre-loading condition Peak power load duty cycle without
pre-loading condition
F: For all NE modules up to Pn 80kW, F=1.6
De-rating dependent All of the technical data are valid for ambient temperatures up to max.
on the ambient 40C.
temperature
For ambient temperatures > 40C, the outputs must be linearly reduced. For a
maximum ambient temperature 55C: De-rating to 60% of the 40C value.
P
Pn
100%
0%
Current de-rating All of the specified load currents are valid up to an installation altitude of
dependent on the 1000 m. For installation altitudes > 1000 m, the load currents must be
installation altitude reduced according to the diagram below.
I
IN
100 %
80 %
60 %
40 %
20 %
0.12 s 0.12 s
Fig. 2-11 Load duty cycle for a pulsed resistor integrated in the 10 kW UE module and
PW module (pulsed-resistor module)
Pulsed-resistor E = J * [2 * * (n2-n1)/60] / 2;
module
The following conditions must be fulfilled: Pmax M * 2 * * n/60
For a single braking operation: E Emax (Emax = max. pulsed resistor
energy for one braking operation)
For periodic braking operation: Pn E * f.
Operation with internal pulsed resistor (as supplied), a jumper is located
between 1R and 2R.
Note
The following line fuses can be used: NH, D, DO gL according to VDE 0636,
VDE 0641
The fuses used must fulfill the conditions of the values in the table.
The table values must be compared with the values obtained from the current-
time characteristic of the fuse used. If the currents from the current-time
characteristic are always greater than the table values at the times specified in
the table, then this means that the fuse can be used.
The maximum fuse rating which can be used (Irated fuse), is specified by the
maximum conductor cross-section which can be connected at the terminals.
Power module,
internal cooling
Power
module
Order No.
Type plate/
Order No.
Warning
After all of the voltages have been powered-down, hazardous voltages are still
available for approx. 4 minutes.
Current de-rating All of the technical data are valid for ambient temperatures up to max. 40C.
dependent on the
ambient temperature For ambient temperatures > 40C, the currents for UE supply infeed must be
linearly reduced as for the UE supply infeed. For a maximum ambient
temperature of 55C: Current de-rating to 60% of the 40C value.
Current de-rating All of the specified load currents are valid up to an installation altitude of
dependent on the 1000m. For installation altitudes > 1000 m, the load currents should be
installation altitude reduced according to the diagrams for the UE supply infeed.
Current de-rating The current de-rating as a function of the clock frequency is defined in the
dependent on the Planning Guide SIMODRIVE 6SN1 197-0AA00.
clock frequency
Supplementary Refer to the Planning Guide SIMODRIVE 6SN1 197-0AA00 for the
components supplementary components required.
0.25 s
Fig. 2-13 Peak current load duty cycle with pre-load condition
2.65 s
Fig. 2-14 Peak current load duty cycle without pre-load condition
Warning
The cable cross-sections required in accordance with VDE 0113 can be taken
from Section 1.1.4.
The integrated digital axis control on the MCU board is designed for
operation with 1FT6/1FK6 motors.
General information The integrated SIMODRIVE 611 drive system includes the following function
units:
Speed- and position sensing
Speed controller
Current controller
Filter
Monitoring functions
The modules are centrally supplied with the electronics power supply via the
equipment bus system, whereby the NE unit provides the electronics power
supply for the DC link- and central electronics power supply.
Only the following interfaces are involved: Terminal 663, terminal AS1,
terminal AS2, terminal 9, BERO, ground, encoder, test sockets.
Closed-loop control The closed-loop control is completely digital. The closed-loop position- and
speed controllers operate as P- or PI controllers. The closed-loop current
control is realized in the fixed flux space-vector coordinate system (dq
system). The current controller (PI) evaluates the phase current actual values
iR and iS and calculates three-phase voltage values with the rotor position.
This results in pulse-width modulated control signals for the power
transistors.
Warning
The line contactor can be reliably opened by disconnecting the coil circuit
when a fault develops, via terminals NS1, NS2.
The connection between NS1, NS2 must be established before the enable
voltage is connected to terminal 48.
Note
The inverter of the axis is enabled when this terminal is energized. If the
terminal is de-energized when the motor is rotating, the inverter is inhibited
and the motor coasts-down unbraked.
This terminal has the highest priority for pulse inhibit and enable. The power
modules for all of the axes are enabled via this terminal. The enable and
inhibit functions act instantaneously (without any delay), and simultaneously
for all modules. The drives coast-down unbraked when this signal is
withdrawn.
The drive modules are enabled using terminal 64. The enable signal acts
instantaneously and simultaneously for all modules. When the signal is
withdrawn, the speed setpoint for all of the axes is set to zero. For the feed
modules, all of the controllers and module pulses are inhibited, for each
individual axis, after the individually set time stages have expired (these are
approximately set to 200 ms when the equipment is shipped).
T.112
T.48
T.64
T.63
Ready
T.72 ... 74
LED supplies
1 Electronics power supply faulted
2 Enable missing (terminals 63, 64)
3 Supply fault
4 5V fault
5 Equipment ready (DC link charged)
6 DC link overvoltage
Power
Pushbutton
module
contact
Supply
UE module
Pushbutton contact
NE module
Pulsed-resistor
Axis 1 Axis module
n
Auxiliary power
supply
Main switch
Procedure Set switch S1.2 in the UE module (if present, also in the monitoring module)
to ON = fault signal (the ready relay is then independent of terminal 63 and
terminal 64). When the ready relay drops-out during supply failures, a zero
setpoint is entered via terminal 64, and the axes can be braked down to
standstill. In this case, the auxiliary power supply, terminal P500 and
terminal M500 of connector X181 must be connected to the DC link terminals
P600 and M600 of the UE module. The electronics power supply for the
control is maintained as long as the auxiliary power supply can be
maintained.
When a UE module is used, the internal brake resistor can be used and still
remains active during power failures. If the internal brake resistor isnt
adequate (the braking energy is too high), then an additional pulsed resistor
module must also be used here.
Refer to the Section Technical data 2.3.3 when dimensioning and engineering
the pulsed-resistor module and the external pulsed resistor.
The energy content of the DC link which can be actually used is limited. At
the supply failure instant:
for UE modules: EDC link = 70 CZK - 14
The power is down during this 30 ms. However, the drives could be in a load
duty cycle by taking power from the DC link. The maximum power drawn
during the most unfavorable load duty cycle must be specified for this drawn
power.
The following is valid: Pmax drawn [W] * 0.03 s < EDC link .
If this condition is not fulfilled by the time that it has been identified that the
supply has failed, the DC link voltage may have fallen to < 290 V. At this
voltage level, the pulse enable for the axis is withdrawn and the drives coast
down.
Note
In order that the drive brakes to standstill in a controlled fashion when the
power fails, terminals 48 and 63 must be kept energized until the drive comes
to a complete standstill.
Note
The Start inhibit and Setting-up operation functions are not safety
functions in the sense of the Machinery Directive 89/392/EEC. They only
support the measures which have to be undertaken by the user himself.
The use of the start The start inhibit function prevents the drive unexpectedly starting from
inhibit function standstill. This circuit macro can be used in the Safe stop machine function.
However, the machine must have come to a complete standstill and this must
be ensured using the external machine control. The start inhibit interrupts the
power feed from the drive converter to the motor (motor rotation).
The start inhibit function neither provides electrical isolation nor does it
provide protection against electric shock.
The start inhibit function, when correctly used, must be connected to the line
contactor circuit or the EMERGENCY OFF circuit with the positively-driven
signaling contact AS1/AS2. The drive must be electrically isolated from the
supply if the start inhibit relay function is not plausible, when taking into
consideration the machine operating mode; e. g. via the line contactor in the
infeed module. The start inhibit and the thus associated operating mode may
only be used again after the fault has been rectified.
Mode of operation of The inverter power section controls the current through the individual motor
the start inhibit windings. The motors are fed with sinusoidal current.
A pulse generating logic circuit clocks the power transistors in a rotating field
pattern. An optocoupler to provide electrical isolation is located in every
transistor branch between the gating logic and the power section gating
amplifier.
The start inhibit acts individually for each module. The circuit uses a TV-
tested relay and acts on the input circuit of the optocoupler. A relay contact
interrupts the power supply for the optocoupler input so that it doesnt
transfer any signals. The pulse-generating logic is inhibited through an
additional electrically isolated arm. These two circuits are controlled in
parallel by the machine control via terminal 663 (motor start inhibit), for the
drive modules, or via terminal 112 (step-up controller start inhibit) for the
supply infeed modules. The status of the relay contact, located in the pulse
power supply circuit, is signaled to the external adaption circuit via a
positively-driven NC contact. The signaling contact is accessible at module
terminals AS1 and AS2, and the user can interlock it with the safety control.
The user must ensure that EMERGENCY OFF is initiated if the start inhibit
relay goes into a non-plausible condition.
Note
When the start inhibit is activated, the motor can no longer generate a torque.
Axes which are not self-locking (e. g. hanging axes) must be locked using a
mechanical brake.
Connecting-up the The start inhibit is controlled in the drive modules via terminal 663. The start
start inhibit inhibit relay is controlled using the internal 24 V enable voltage
(FR+terminal 9; FR-terminal 19). When the relay has dropped-out (terminal
663 open) the start inhibit relay activates the start inhibit function.
AS1/AS2 closed means that the Start inhibit is effective. Terminals AS1
and AS2 signal the start inhibit status (this is a floating signal).
Warning
The start inhibit relay has maximum pull-in and drop-out delay times of.
25 ms. The external wiring connected at terminal AS1/AS2 must short-circuit
proof, and have a two-channel configuration.
Application, mode of The infeed modules have a standard line contactor, integrated in the module
operation and itself. These contactors are dimensioned to be able to conduct and disconnect
connecting the line (interrupt) the maximum permissible peak current of the infeed module. The
contactor line contactors are electronically controlled via terminal 48. For safe, reliable
electrical isolation, the coil power supply must be interrupted in the direct line
contactor coil circuit, accessible externally (via terminals NS1 and NS2) using
electro-mechanical switching elements. Thus, the influence of the electronic
control has no effect when the unit is disconnected with electrical isolation.
The line contactor must always be de-energized via terminal 48 before the
NS1/NS2 connection is interrupted.
Sequence when using The drives must be shutdown before terminal 663 is energized, which
the start inhibit initiates the start inhibit. Otherwise, the motor coasts-down unbraked as
function the drive converter pulses are inhibited. The motor is not able to generate
a holding torque, so that mechanical transmission elements which are not
self-locking must be locked into position using a brake.
The speed setpoint input can be externally disconnected and a 0 speed
setpoint entered as an additional safety function.
If a fault condition develops, all of the drives, machine, system, must be
shutdown and disconnected.
In order that the power DC link is reliably isolated from the supply, it
should be ensured that all connections in parallel to the power infeed are
electrically isolated through switching contacts. In this case, possible user-
specific external connection between the electronics power supply and the
power DC link must be taken into account. To shutdown the drives in a
controlled fashion when the supply fails using the DC link power, there
could be a connection, for example, between terminals P500/M500 and
P600/M600.
This connection between the power supply and the power DC link must be
safely and reliably isolated and remain isolated, as otherwise the power
DC link could be charged-up via the auxiliary DC link power supply. It is
not permissible to have a connection between the power supply and the
power DC link if the drive is operated with a reduced DC link voltage.
When using a monitoring module, which is connected to the power DC
link via P500/M500, and also to the line supply, when a fault occurs,
either the connection between the supply and the monitoring module must
be interrupted or the connection between P500/M500 and the power DC
link must be reliably and safely isolated.
If a fault occurs when the start inhibit is activated, then this fault must be
removed, before the protective devices of the machine or system are moved
aside (i. e. personnel enter the hazardous zone). After the fault has been
removed, the start inhibit sequence must be repeated to ensure that it
functions correctly.
Only suitably qualified personnel may operate the drive with a reduced DC
link voltage; the safety devices, provided by the machine OEM, must also
always be activated. As the protective devices are cancelled in this
operating mode, and the axis start inhibits are de-activated, it may only be
selected using a lockable mode selector switch. The machining area may
only be accessed using a safety switch. Otherwise, all of the drives of the
machine and system must, in this case, be automatically isolated from the
supply. For hanging axes, it should be ensured that the axis is reliably
locked in place so that power cannot be fed into the DC link (regenerative
operation).
Checking the start The following checks must always be made when the equipment is first
inhibit commissioned and when possible must be repeated at certain intervals during
the plant lifetime.
A check should also be made after longer production standstills. In this
check, every individual axis drive as well as the NE module must be
checked.
It should be checked that the power module and motor match.
By removing the voltage at terminal 663, the axis drive pulses must be
inhibited. Further, the acknowledge contact of the start inhibit must close.
The drive then coasts down.
Disabling the protective devices, e. g. opening the protective doors while
the drive is running. If this represents an inadmissible hazard, a check can
be made as follows:
The signal line to door contact TK is disconnected while the drive is
running to investigate what happens. In this case, the line contactor must
isolate all of the drives of the machine and system from the supply.
All possible fault situations which could occur, must be individually
simulated in the signal lines between the acknowledge contacts and the
external control as well as the signal evaluation functions of this control.
The line contactor must isolate all of the drives of the machine and system
from the supply in all of these fault situations.
In the setting-up mode, connect voltage to terminal 112 (terminal 9). The
line contactor must then isolate all of the drives of the machine and system
from the supply.
For all of the test points, where the line contactor isolates the drives from
the supply, the connection between the power supply and the power DC
link must be instantaneously and reliably interrupted.
This connection is not permissible in the setting-up mode.
Comment The line contactor in the UE module is used when the drives of the machine
and system are to be isolated from the supply when a fault condition occurs.
In this case, the power DC link is isolated from the supply. The power supply
in the UE module always remains connected to the supply. All externally
wired bypass connections from the supply to the power DC link must also be
electrically isolated (refer to the text previously: Sequence when using the
start inhibit function).
When using an autotransformer in the setting-up mode, the user must monitor
the DC link voltage, and if a fault occurs, which results in an increase in the
DC link voltage, all of the drives of the machine and system must be isolated
from the supply.
In the setting-up mode, when a hanging axis drops, it is possible that the
motor can feed power into the DC link, even when the pulses are inhibited,
thus increasing the DC link voltage.
The application examples (Fig.) provided here are exclusively used to explain the
Start inhibit function, included in the SIMODRIVE 611 product, and the
Setting-up mode which is possible with some restrictions. The recommended
external circuitry used directly with the SIMODRIVE 611 is shown in the
following application examples. Machine controls and interlocking functions
extending beyond this are not taken into account in the application examples
illustrated here. The user must change, adapt or expand the circuit macros
explained here to adapt them to his individual machine type.
Note
The machine manufacturer (OEM) must always execute a hazard analysis and
risk evaluation for the complete machine and its safety control, according to the
EEC Machinery Directive and the Equipment Safety Law. The machine
manufacturer (OEM) or the sales/marketing party, resident in the EEC, or their
representative must ensure that the complete machine fully conforms to CE.
An excerpt of the circuit macro to protect two separate working zones, which
are equipped with one or two drive axes, is illustrated in the following
application examples.
The block diagram of the system to be protected is illustrated in the following
diagram.
Only switching contacts may be located between terminals NS1 and NS2.
These contacts must be floating.
The following explanations are valid for both application 1 (Fig.) and for
application example 2 (Fig.).
Note
2) The contactor drop-out time to brake the feed drive can be up to 200 ms.
3) Signals the emergency trip to the PLC.
4) If the machine may only be entered in the setting-up mode, contact S1
(key-actuated switch) must be additionally incorporated.
5) When using the safety switch by itself, it is not permissible that commands
may be issued which could initiate or result in a hazardous status (VDI
2854 3.3.6).
6) Key-actuated switch S1 is only required for setting-up operation with
reduced DC link voltage.
7) Redundancy according to the machine manufacturers fault analysis. Fault
analyses must always be made.
8) The number of times the machine can be powered-up is limited according
to the Planning Guide, Section 9.3.1.
9) The individual drives are switched via terminal 663.
10) Can be used to reduce the contactor deadtimes.
All contacts are illustrated in the quiescent setting.
In this case, the protective barrier is closed, TK1; TK2
The start inhibit is activated AS1/AS2
Key-actuated switch S1 has been used to select setting-up operation.
Application
example 1
EMERGENCY
OFF
Machine and drives
Safety button
(MCU axis 2)
Safety button
10)
(MCU axis 3)
T.9
(UE module)
ON
T.111
T.213
T.9 T.9
9)
T.663
T.64 T.48 T.63
UE module MCU board
Application
example 2
3)
EMERGENCY OFF
OFF
Machine and drives
Safety button
10) (MCU axis 1)
4)
5)
6) (MCU axis 2)
Safety button
4) 10)
(MCU axis 3)
5)
T.9 6)
Key-
actuated Setting-up operation
switch Standard operation
(UE module)
1)
START
Machine
OFF
Total
drive
ON
T.111
T.213
2)
7)
9)
T.64 T.48 T.63 T.663
UE module MCU board
Block diagram 1
T.663 T.663
T.63
Logic
T.64
Control
Power supply
Power
Logic con- Logic Logic
control troller control control
T.111
Power Power
Line
Pre- controller controller
contactor T.213 charging
contactor
T.9
Installation The modules should always be mounted on the bare metal of the rear cabinet
panel.
Connecting-up cable The screens of all the screened cables must be connected at the module
screens through the largest possible surface area.
The screens are connected at the top of the module. A screen plate can be
screwed to the existing threaded holes.
Connecting-up the In order to ensure a good connection between the front panel and the housing,
screen to the front the front panel screws must be correctly tightened-up.
panel
Additional measures All of the measures described here are only valid for supply networks which
are not compatible with VDE! In standard industrial supply networks, it is
guaranteed, without having to use any other measures, that the disturbance
and noise values remain below the permissible limits, thus ensuring
disturbance-free operation.
The drive converters are designed for use with industrial supply networks
according to VDE 0160. A ratio of PN/PK of 1/100 is assumed. Under this
assumption, the series reactor limits the supply voltage dips to permissible
values so that loads connected to this supply network can still operate.
Further, additional effective measures are included in the unit as standard in
order to prevent noise and disturbances influencing other equipment.
If a second reactor is still not sufficient to eliminate the noise, three capacitors
(10 F/450 V MKV) can be connected-up in a delta configuration in front of
the reactor. This particular measure can also result in resonance effects which
could increase the disturbances and therefore it must be carefully checked on
a system to system basis.
Note
Caution
SIMODRIVE 611 transistor PWM drive converters are designed for cabinet
mounting. Please refer to the dimension drawings for the mounting
dimensions and the position of the mounting points.
The mounting points of the modules, which can be mounted next to one
another, are always in a 50 mm grid pattern.
If several units are mounted one above the other, the hot, discharged air must
be kept away from the top transistor PWM converter or the unit should be de-
rated.
When mounting the units, it should be observed that the I/R module and the
UE module must be always be mounted to the left, and if required, should be
followed by one or several power modules with MCU. A monitoring module
must be provided after a maximum of 3 MCU modules.
It is not permissible to
connect the drive
converter through an
e.l.c.b.
Warning
In accordance with VDE 0160 Sections 5.5 and 6.5, it is not permissible to
operate drive converters having a B6 supply configuration from line supplies
where the only protection against indirect contact is an e.l.c.b.
EMC SIMDORIVE 611 drive converter systems have been designed in accordance
with the relevant standards, VDE 0160/05.88; VDE 0558. For operation with
industrial supply networks and in industrial environments. When used in
mixed environments (industrial and residential), additional external measures
may be required to fulfill the relevant EMC level. The EMC Law specifies the
requirements. The user is responsible in ensuring that the specified line
supply conditions at the point of installation are maintained.
Standards and The SIMODRIVE 611 drive converter system was designed and manufactured
regulations taking into account the following standards (excerpt of the most important):
DIN VDE 0100 Regulations for electrical power equipment
with voltages up to 1000 V
DIN VDE 0113/02.86;EN60204 Electrical equipment on industrial machines
DIN VDE 0558 Regulations for semiconductor drive
converters
DIN VDE 0106 Protection against dangerous currents
flowing through the human body
DIN VDE 0109 Air- and creepage distances
DIN VDE 0110 Insulation classes
DIN VDE 0160/05.88 Electric power systems with electronic
equipment
DIN 40050 IP degrees of protection
VBG 4 Accident prevention regulations Electrical
systems and equipment (German
Regulatory Body)
Power connections The motor outlets at the PWM drive converter can be directly connected at the
power modules. The terminals provided allow cable cross-sections according
to DIN VDE 0113 to be connected in accordance with the module currents.
The cable cross-section must be dimensioned according to the power module
used, the motor, the ambient conditions (temperature) and the protective
devices (refer to Section 1.1.4).
Note
Cable screens and conductors of power cables which are not used (e. g.
braking conductors) must be connected to PE potential in order to dissipate
charging effects caused by capacitive coupling.
Hazardous contact voltages could occur if this is not observed.
Encoder cables Encoder cables must be routed separately away from power cables and
contactor cables. Contactor coils without quenching elements can generate
electrical noise. Thus, it is recommended that the contactor coils are provided
with quenching or damping elements.
Connection diagram Refer to Section 3.3 for the connection diagram Connection diagram, NE
module and MCU
Note
Note Only insert and withdraw connectors when the equipment is in a no-voltage
condition.
Note
Integrated I/O There are 4 digital inputs and 4 digital outputs on the MCU board. The I/O
functions are selected with the machine data (refer to the function description
Positioning with MCU)
Connector designation: X431
X432
Connector type Phnix-Contact
Technical data
Digital outputs X432
Note
Technical data
Digital inputs X431
{
ansteuerung
48 3 M
111
Meldekontakt 213 B1 X431 AS1
BERO
Netzschtz 113 19 AS2
24V DC E24 663
9 9
X171 O1 I1
NS1 X432
NS2 O2 I2
Meldekontakt O3 I3
O4 I4
X172 AS1
AS2 Anlaufsperre
SPP 5V
EXT
UNIT
UZK>>
X181 M500 X151
P500 X351 MEMORY
2U1
1U1
2V1 Zwischenkreis P600
1V1
2W1 M600
1W1
U1 V1 W1 PE U2 V2 W2 PE1 PE 2
L1 M
L2 3 DMS G
L3
PE
Note
If a power contactor is used between the motor and MCU module, then it
must be ensured that this contactor is only switched in a no-current condition
(before de-energizing, the pulses must first be cancelled (terminal 663), and
then the contactor can be opened 40 ms later).
4 Appendix
A E
Ambient climatic conditions, 2-8 Effects of the mounting position, 1-18
Ambient conditions, 2-3 e.l.c.b.s, 3-3
Ambient temperature, 1-2 Electric time constant, 1-8
Armature short-circuit braking, 1-24; 1-33 EMC measures, 2-39
Axial eccentricity, 1-14 Encoder cables, 3-4
Axial force stressing, 1-16
Axial force diagrams, 1-48; 1-72 F
B Filter module, 2-41
Balancing, 1-15 G
Brake torque, 1-8
Brake resistor, 1-8; 1-25; 1-33; 1-58 Gearbox, 1-19
C I
Cantilever force stressing, 1-16 Inductance, 1-7
Cantilever force diagrams, 1-48; 1-72 Installing the PWM drive converters, 3-2
Coaxiality, 1-14 Integrated I/O, 3-7
Communications bus, 3-7 Interface overview MCU, 2-21
Communitating reactor, 2-4
Configuring steps, 2-2 L
Connection-up, 3-1
Connecting diagram, 3-4 Limiting torque, 1-6
NE module and MCU, 3-10 Limiting current, 1-6
Configuring Line contacts, 2-30
Motors, 1-1
Control interface, 3-5 M
Cooling-medium temperature, 1-2
Cooling type, 2-12 Maximum torque, 1-6
Core types, 1-8; 1-32 Maximum current, 1-6
Order designation, 1-37 MCU
Cross-sections, 1-26 Connection diagram, 3-10
Current de-rating, 2-13, 2-18 Mechanical limiting speed, 1-6
Mechanical time constant, 1-8
D Message functions, 2-11
Message system
DC link power, 2-3 Direct, 3-6
Degree of protection, 1-13
Indirect, 3-6
Digital outputs X432, 3-8
Monitoring module, 2-2
Digital inputs X431, 3-9
Drive couplings Mounting, 3-1
Assignment to the motors, 1-36 Motors
Drive enable T.64, 2-243 1FK6, standard version, 1-55
1FK, 1-54
Configuring, 1-1
W
Winding resistance, 1-7
Winding temperature rise, 1-2
Planning Guide
SIMODRIVE controller data 5
Drive machine data
Appendix 7
Should further information be required or should particular problems arise, which are not
covered sufficiently in this document, then the local Siemens sales office should be
contacted.
The contents of this Guide shall neither become part of nor modify any prior or existing
agreement, commitment or relationship. The sales contract contains the entire obligation
of Siemens. The warranty contained in the contract between the parties is the sole
warranty of Siemens. Any statements contained herein do not create new warranties nor
modify the existing warranty.
BERO, SIMATIC, SIMODRIVE, SINEC, SINUMERIK, STEP are Siemens product names.
The other names in this document could be registered trademarks. It may be illegal that third parties
use these names or designations.
In this This Section provides you with an overview of the drive-machine data to
Section be configured.
Classification The drive-machine data are in data block DB-AM (DB 1251) in the
of the drive- number range MD 1000 to MD 1799. They are sub-divided into
machine data
motor- and power module data,
monitoring- and limiting data,
message data,
measuring system data,
SIMODRIVE controller data and
status- and diagnostics data.
Generating Select your SIMODRIVE 611 D power module and your feed motor
drive-machine data using the MCU-PIT software package (parameterizing and start-up
tool). Using this information, the MCU-PIT calculates the
machine data for the motor (e. g. rated current, armature resistance
and moment of inertia),
machine data for the power module (rated- and limiting currents) as
well as the
control parameters of the SIMODRIVE section
and assigns the optimum pre-setting for the appropriate machine data.
Overview The following machine data are under the section Motor- and power
section data:
motor data,
power section data and
system data.
Motor data The following machine data contain the specific characteristic quantities
of the AC servomotors:
MD 1102 (motor code number)
MD 1103 (rated motor current)
MD 1104 (maximum motor current)
MD 1112 (motor pole pair number)
MD 1113 (torque constant)
MD 1114 (voltage constant)
MD 1115 (armature resistance)
MD 1116 (armature inductance)
MD 1117 (motor motor of inertia)
MD 1118 (motor standstill current)
MD 1146 (maximum motor speed)
MD 1400 (rated motor speed)
MD 1401 (speed for the maximum useful motor speed)
For SIMODRIVE 1FT6/1FK6 motors, these machine data are
automatically and optimally pre-assigned using the code number, stored
in MD 1102, when the motor MLFB is entered (machine readable
product designation = Order No.).
It is not practical to subsequently change these standard values.
Power section data The following machine data contains specific characteristic quantities of
the SIMODRIVE 611 D power module:
MD 1106 (power module code number)
MD 1107 (transistor limit current)
MD 1108 (power module limit current)
MD 1111 (rated power module current)
These machine data are automatically and optimally pre-assigned using
the code number stored in MD 1106 when the power module MLFB
(Order No.) is entered. It is not necessary to subsequently change these
standard values.
System data These machine data contain system parameters of the SIMODRIVE
section:
MD 1000 (current controller clock cycle)
MD 1001 (speed controller clock cycle)
MD 1002 (monitoring clock cycle)
MD 1100 (frequency, pulse-width modulation)
MD 1101 (computation deadtime, current control loop)
0 0 65 535 Power
On
Function:
When the MLFB of the 1FT6-/1FK6 motors is entered, the
corresponding motor code number is transferred to the drive. The user
does not have to enter any data (also refer to MD 1106). The following
motor data are automatically transferred by the motor code number
from an internal table:
rated motor current (MD 1103)
maximum motor current (MD 1104)
motor pole pair number (MD 1112)
torque constant (MD 1113)
voltage constant (MD 1114)
armature resistance (MD 1115)
armature inductance (MD 1116)
motor moment of inertia (MD 1117)
motor standstill (stall) current (MD 1118)
maximum motor speed (MD 1146)
rated motor speed (MD 1400)
maximum motor temperature (MD 1602)
Function:
Enter the rated motor current (RMS) when operated at the rated torque
and rated speed. Automatic parameterization with MD 1102 (motor
code number).
Function:
Enter the maximum permissible motor current (RMS value).
Automatic parameterization with MD 1102 (motor code number).
Note:
Do not reduce this machine data for reasons of safe monitoring and
limiting (refer to MD 1105).
The limiting current is entered when the motor is selected.The limiting
current is the current which can be impressed at rated speed. Thus, the
drive can operate with constant acceleration over the complete speed
range.
If a reduced torque at higher speed is adequate (reduced speed range
or jerk limiting), the current can be increased up to the peak current
(from the data sheet).
If the maximum motor current is increased, the torque limit
(MD 1230=MD 1104/MD 1118 * 100) and the power limit
(MD 1235=MD 1104/MD 1118 * 100) must be adapted.
This machine data is included in the controller calculation.
0 0 6 Power
On
Function:
Enter the motor pole pair number. Automatic parameterization with
MD 1102 (motor code number).
Function:
Enter the torque constant. Automatic parameterization with MD 1102
(motor code number). The torque constant is the quotion of the rated
torque/rated current (RMS) for permanent-magnet synchronous motors.
Function:
Enter the voltage constant. Automatic parameterization with MD 1102
(motor code number). The voltage constant is measured as induced
voltage (EMF) under no-load conditions at n = 1000 RPM as RMS value
of the motor terminals (phase-to-phase).
Function:
Enter the ohmic armature winding resistance (phase value). Automatic
parameterization with MD 1102 (motor code number).
Function:
Enter the armature three-phase inductance. Automatic parameterization
with MD 1102 (motor code number).
Function:
Enter the motor moment of inertia. Automatic parameterization with
MD 1102 (motor code number) for motors without holding brake.
Function:
Enter the motor stall current. Automatic parameterization with MD 1102
(motor code number). The machine data corresponds to the thermally
permissible continuous current when the motor is a standstill with an
overtemperature of 100 Kelvin.
Function:
Enter the maximum motor speed. Automatic parameterization with
MD 1102 (motor code number).
Function:
Enter the rated motor speed. Automatic parameterization with MD 1102
(motor code number).
Function:
This machine data defines the maximum operating speed of the motor.
It is used as reference value of the speed setpoint interface and for
MD 1405 (motor monitoring speed). The pre-assignment is calculated
with the rated motor speed using the calculate contr. MD.
Note:
Function:
When entering the MLFB of the SIMODRIVE power module, at the first
start-up, the corresponding power module code number is determined
on the MMC side. The user does not have to make an entry (also refer
to MD 1102). The following power module data are automatically
transferred by the power module code number from an internal table:
transistor limit current, power module (MD 1107)
thermal limit current, power module (MD 1108)
rated power module current (MD 1111)
Function:
Enter the maximum transistor limit current of the power module (peak
value). Automatic parameterization with MD 1106 (power module code
number).
Note:
The machine data is used as normalization basis of the current actual
value sensing and may not be changed after automatic pre-assignment.
Function:
Enter the maximum thermally permissible current (RMS current) of the
power module. Automatic parameterization with MD 1106 (power
module code number).
Note:
The machine data is used as the upper limit of the thermal load and
may not be changed after automatic pre-assignment.
Function:
Enter the maximum permissible continuous current (RMS value) of the
power module. Automatic parameterization with MD 1106 (power
module code number).
Note:
The machine data may no longer be changed after the automatic pre-
assignment.
4 2 4 31,25 Power
s On
Function:
The basic module clock cycle is derived from the current controller
clock cycle of the axis (current controller clock cycle = basic module
clock cycle). Possible input values are:
2 (for 62.5 s)
4 (for 125.0 s)
Note:
Intermediate values are not admissible (parameterization error). It is not
admissible to exceed the computation time in the level of the current
controller clock cycle; this will switch off the drive (system error).
4 2 16 31,25 Power
s On
Function:
The speed controller clock cycle is derived from the current controller
clock cycle of the axis (current controller clock cycle speed controller
clock cycle). Possible input values are:
2 (for 62.5 s)
4 (for 125.0 s)
8 (for 250.0 s)
16 (for 500.0 s)
Note:
Intermediate values are not admissible (parameterization error). It is not
admissible to exceed the computation time in the level of the speed
controller clock cycle; this will switch off sthe drive (system error).
Function:
The interrupt clock cycle is used for high-priority monitoring. When
setting the clock cycle it should be observed that the input value must
be a integral of 4 ms (parameterizing error): m 128 31,25 s (m = 1,
2, 3 ... 25).
The standard value 3200 corresponds to 100 ms.
Note:
It is not permissible that the computation time is exceeded at the
interrupt level as this would cause the drive to be shutdown.
Function:
Enter the frequency of the sampling signal (ATD) in the PWM inverter.
The standard assignment is configured by the drive configuration at
start-up.
Note:
For induction motor- and V/f operation, only 4 kHz and 8 kHz are
permissible.
62 0 124 s Power
On
Function:
The computation deadtime is the time between the start of a current
controller clock cycle (current setpoint input) and the activation of the
actuating voltage setpoints on the gating unit ASIC. The standard pre-
assignment is made at the first start-up, and with the calculate contr.
MD function using the particular configuration by entering MD 1102
(motor code number).
Function:
Enter the reduction factor for the maximum permissible motor current. The
maximum motor current (MD 1104) is the reference value for the percentage
data.
Function:
Enter the maximum permissible motor speed. Automatic parameterization
(initialization) using the calculate contr. MD function and the rated motor
speed (MD 1400) 120 %. If the speed actual value exceeds the set limit by
more than 2 percent, the motoring torque limit is internally set to zero thus
preventing further acceleration. The speed controller at limit monitoring
may respond depending on the setting (response threshold MD 1606 <
MD 1147 and response time MD 1605 short).
The standard pre-assignment is parameterized by the drive configuration at
start-up.
Note:
The minimum of the entered value and motor-dependent specified value are the
only values which are effective.
Function:
Enter the shutdown speed for pulse cancellation. If the absolute speed actual
value falls below the specified speed threshold when the controller enable is
withdrawn when powering-down, then the pulses are cancelled per software
and the drive is shutdown until it is enabled again using SERVO. The pulses
are also cancelled if the controller enable is withdrawn before the time set in
MD 1404 (timer stage for pulse cancellation) and the speed threshold has still
not been fallen below.
The standard pre-assignment is parameterized at start-up by the drive
configuration. A 0 means that the machine data has been de-activated. In this
case, the pulses are exclusively cancelled via MD 1404 (timer stage, pulse
cancellation).
The functionality of this machine data is required, to suppress overshoot when
zero speed is reached after controller enable has been withdrawn, must be
suppressed.
Controller enable
n
Case 1
MD 1403 = 0 t
n
Case 2
MD 1403 = X t
Function:
Enter the timer stage for pulse cancellation by the drive. Under fault conditions
(when braking regeneratively or controller inhibit), the gating pulses of the
power module transistors are cancelled by the drive after the selectable timer
stage time has expired. The pulses are cancelled earlier, if the speed threshold,
set in MD 1403 (shutdown speed, pulse cancellation) was fallen below prior to
this.
The standard pre-assignment is parameterized at start-up by the drive
configuration.
Function:
Percentage input of the maximum permissible speed setpoint as limit value for
the speed setpoint monitoring. MD 1401 is used as the reference value (speed
for the maximum useful motor speed). When the monitoring speed is exceeded,
a ZK3 message is output. The standard pre-assignment is parameterized using
the calculate contr. MD function when configuring the drive.
Function:
Enter the permissible thermal steady-state motor temperature. Automatic
parameterization with MD 1102 (motor code number). The motor temperature
is sensed using a temperature sensor and is evaluated in the drive. When the
alarm limit is reached, a signal is output to the SERVO (also refer to MD 1603
and MD 1607).
Function:
Enter the timer stage for the motor temperature alarm. When MD 1602 is
exceeded (motor temperature alarm threshold) a signal is output to the SERVO
and a time monitoring function is started. If the timer stage time expires and the
motor temperature still has not fallen below the temperature limit, the drive
initiates regenerative braking and cancels the transistor gating signals for the
individual axes after MD 1404 (timer stage, pulse cancellation) in conjunction
with MD 1403 (shutdown speed, pulse cancellation).
Note:
A time monitoring function which has already been started (the counter is
already running) is not influenced when the timer stage is changed. It only
becomes valid if the motor temperature lies below the alarm limit (MD 1602).
Function:
Enter the motor temperature shutdown limit. The motor temperature is sensed
using a temperature sensor and evaluated in the drive. When the shutdown limit
is reached, the motor is regeneratively braked, and a ZK1 signal is output to the
SERVO (also refer to MD 1602 and MD 1603).
Note:
The temperature monitoring functions (alarm + timer stage and
unconditional shutdown) are not subject to any mutual restrictions, i. e.
MD 1607 < MD 1602 is permissible. In this case, the drive is shutdown
without any prior alarm.
The temperature sensing accuracy lies in the range from 3...5 %.
0 0 200 C Immediate
Function:
Enter the fixed temperature. The temperature measurement is no longer
effective for a value greater than 0. The fixed temperature is used.
Note:
The motor temperature monitoring functions, set in MD 1602 (motor
temperature alarm threshold) and MD 1607 (shutdown limit, motor
temperature) are no longer effective.
Function:
Enter the DC link undervoltage alarm threshold. When this limit is fallen
below, a signal is input to SERVO (DC link OFF).
Function:
Enter the timer stage, speed controller at fixed stop. The speed controller
output (= torque setpoint) is monitored. If the output is at its limit for longer
than the time in the timer stage, and if the absolute actual speed is lower than
the value set in MD 1606 (threshold, speed controller at fixed stop), the ZK1
error signal speed controller at fixed stop is output and the motor pulses are
cancelled.
Note:
With the setting MD 1605 < MD 1404 (timer stage, pulse cancellation)
regenerative braking can be interrupted with the fault message speed
controller at fixed stop; the drive then coasts down.
Function:
Enter the speed threshold for the alarm speed controller at fixed stop (also
refer to MD 1605). The standard pre-assignment is parameterized by the drive
configuration at start up.
Function:
Enter the maximum motor speed. Automatic parameterization with MD 1102
(motor code number).
Function:
From drive software 1.00 to 2.00, with the combination of feed drives and main
spindle drives, the interface of the torque setpoints has been standardized to 8 x
standstill torque. In order to be compatible to earlier feed drive software for a
particular application, an adaption factor was inserted into the torque limit
value interface. This allows the previous normalization to be kept when
upgrading the feed drive software, and is determined as follows:
MD 1107
MD 1191 =
8 2 MD 1118
Note:
Do not change this value for the MCU.
Function:
Enter the maximum permissible torque referred to the normalized motor
torque. As the power is limited (MD 1235, MD 1236) in the upper speed
range, this machine data is only of importance in the lower speed range. The
pre-assignment is realized so that the accelerating torque is effective up to the
rated speed and then the power limiting function is activated.
The standard pre-assignment is realized using the calculate contr. MD
function.
The value is obtained as follows:
MD 1104
MD 1230 = 100 %
MD 1118
As the current limit (MD 1104) also limits the maximum torque which can be
specified, a higher torque limit can only result in more torque if the current
limit can also be increased.
Note:
If the motor is overloaded for a longer period of time, this can result in an
inadmissible temperature rise (the drive is shutdown as result of motor
overtemperature), and could also destroy the motor. MD 1104 and MD 1231 to
MD 1239 are the corresponding machine data.
Resulting
torque limit value
Power limit
Torque limit
MD 1230
nN
When selecting the M = M N*
2nd torque limit, n
reduction factor
MD 1231
In regenerative
operation, reduction
factor MD 1233
Speed
nN
Function:
When entering the 2nd torque limit value, this is a reduction factor referred to
the 1st torque limit value (MD 1230). It only becomes effective, if the 2nd
torque limit value is selected via the PLC control word (DS8) and the motor
speed exceeds the value set in MD 1232 with hysteresis (MD 1234).
Function:
Enter the changeover speed above which, it is possible to changeover to the
2nd torque limit value (MD 1231). A selectable hysteresis (MD 1234) is
effective at the changeover. The 2nd torque limit value is only effective, if the
motor speed exceeds the speed threshold with hysteresis and the 2nd torque
limit value was selected via the PLC control word (DS8).
Function:
Enter the torque limit when braking (regenerative torque limiting). It is referred
to the maximum torque when motoring. If the 2nd torque limit is active, the
reference value comprises machine data MD 1230 and MD 1231, otherwise
only MD 1230 (1st torque limit value).
Function:
Enter the hysteresis for the changeover speed set in MD 1232 (changeover
speed from Md1 to Md2).
Function:
Enter the maximum permissible power referred to the normalizing motor
power. The pre-assignment is realized for new start-ups or using the calculate
contr. MD function. The value is obtained as follows:
MD 1104
MD 1235 = 100 %
MD 1118
The pre-assignment is made, so that above the rated speed the following is
valid:
Motor_ speed
accelerating torque = constant
Rated_ speed
Note:
If the motor is overloaded for a longer period of time, this can result in an
inadmissible temperature rise (the drive is shutdown as result of motor
overtemperature), and could also destroy the motor. MD 1104, MD 1145 and
MD 1231 to MD 1239 are the corresponding machine data.
Function:
When entering the 2nd power limit, this is a reduction factor referred to the 1st
power limit (MD 1236). It only becomes effective, if the 2nd torque limit is
selected via the PLC control word (DS8) and the motor speed exceeds the
value set in MD 1232 (changeover speed from Md1 to Md2) with hysteresis
(MD 1234).
Function:
Enter the maximum regenerative power. The machine data allows the power,
fed back for the infeed/regenerative feedback module to be limited. Especially
when using an uncontrolled rectifier/regenerative feedback unit, an
appropriately lower value must be entered here.
Function:
Enter the torque limit for setting-up operation referred to the rated motor
torque. The machine data is not effective under normal operating conditions. In
setting-up operation, the maximum from the limit values in normal operation
and the value set in this machine data, act as torque limit value. Setting-up
operation is selected via terminal 112 of the rectifier/regenerative feedback
unit.
Function:
Enter the maximum motor speed for setting-up operation. For setting-up
operation, the absolute speed setpoint is limited to the specified value. If the
speed setpoint is limited to MD 1420, a ZK3 signal is additionally output.
2.5 Alarms
Function:
Enter the configuration for the power-on functionality referred to the
SIMODRIVE system 611 D. Bit 4 controls the ZK2 parameterizing error:
0 = ZK2 parameterizing errors are not supported (pre-setting).
A fault/error causes the drive to be shutdown (controller inhibit).
1 = ZK2 parameterizing errors are supported.
A fault/error results in an alarm message being displayed on the screen.
Function:
Power On alarms (ZK1 faults) of the SIMODRIVE 611 D system can be
suppressed using this machine data. The appropriate monitoring function is
active, if the associated bit = 0 (refer to the table).
All 611D monitoring functions are active as standard.
Note:
SIMODRIVE 611 D Power On alarms can only be acknowledged using
a hardware reset.
The power module could be destroyed if the Power On alarms are
suppressed.
When the Power On alarm is suppressed, the drive does not transfer the
appropriate ZK1 alarm (DB1000, DS1, No. 24008.4), however ZK2 alarms
(warnings) are transferred (e. g.: DB1000, DS36, No. 23002.15).
Function:
Reset alarms of the SIMODRIVE 611 D system can be disabled using this
machine data. The appropriate alarm is active, if the associated bit = 0 (refer to
the table). All 611D alarms are active as standard.
Note:
SIMODRIVE 611 D Reset alarms can be acknowledged using a software
reset.
The power module or motor could be destroyed if the Reset alarms are
suppressed.
Reset 611D alarms can be changed-over to 611D alarms using MD 1012 bit
4. In this case, suppression has no effect.
Function:
Input bit field to changeover the particular 611D Power On alarm (refer to
the table). Either the shutdown response, pulse inhibit (bit = 1) or controller
inhibit (bit = 0 nset = 0 regenerative braking) can be selected. The
controller inhibit is de-activated when pulse inhibit is selected. The standard
pre-assignment is parameterized at start-up by the drive configuration.
Note:
The alarms can be disabled or suppressed using MD 1600 (Power On alarms
which can be suppressed ). In this case, the alarms are not active.
Function:
Input bit field to changeover the particular 611D reset alarm (refer to the
table). Either the shutdown response, pulse inhibit (bit = 1) or controller inhibit
(bit = 0 nset = 0 regenerative braking) can be selected. The controller
inhibit is activated when the pulse inhibit is selected. The standard pre-
assignment is parameterized at start-up by the drive configuration.
Note:
611D messages/signals can be changed-over to reset alarms using MD 1012
bit 4 (function switch).
The alarms can be disabled or suppressed using MD 1601 (reset alarms
which can be suppressed). In this case, the alarms are inactive.
Function:
When a fixed DC link voltage is entered which is > 0 V, the DSP-internal DC
link measurement is de-activated, i. e. the MD 1701 (DC link voltage display)
is inactive (display: *). The voltage reference value is then included in the DC
link adaption instead of the measured value.
Note:
Emergency retraction is only possible with active DC link measurement (MD
1161 = 0). Emergency retraction is only possible, if the emergency retraction
enable = ON (DB1000, DS8, No. 20200.4).
Function:
Enter the response threshold of the DC link voltage, which, when fallen below,
only the DC link voltage is monitored, and no longer the motor temperature.
The normal functionality is re-established if the response threshold is exceeded
again.
Function:
Enter the shutdown threshold of the DC link voltage. When this is fallen below,
emergency retraction is initiated corresponding to MD 1636.
0 0 7 Immediate
Function:
The emergency retraction mode 4 (immediate emergency retraction with
subsequent regenerative braking) is set, when the MCU runs-up by transferring
MD 1636, if a terminal (I1 to I4) is assigned the emergency retraction
function. This operating mode can be changed in operation via the operator
control interface, but data saved in the onboard FEPROM is overwritten the
next time the system runs-up.
Under fault conditions, the axis travels at the emergency retraction speed
(MD 1639) and maintains this over the emergency retraction time (MD 1638).
After this, the axis brakes regeneratively. Under fault conditions, this response
is autonomous (without the MCU intervening).
A ZK2 bit is used to indicate that the autonomous emergency retraction
function is active (DS 36, status class 2, bit 2: Emergency
retraction/regenerative operation active).
Note:
The MCU must be reset after an emergency retraction (power-on reset or
software reset).
0 0 10 000 ms Immediate
Function:
Enter the time, where the emergency retraction speed (MD 1639) should be
entered as speed setpoint under fault conditions.
Function:
Enter the speed, which should be entered as speed setpoint for the emergency
retraction time (MD 1638) when a fault/error condition occurs. The
hexadecimal value 400 000 corresponds to the maximum operating speed of
the motor, specified in MD 1401.
3 Message data
Function:
Enter the configuration for power-on functionality referred to the SIMODRIVE
system 611 D. The standard values are highlighted in the value column. Value
table:
Function:
Enter the threshold speed for monitoring purposes. If the actual speed falls
below the absolute speed threshold which has been set, a signal is sent to the
SERVO.
MD 1418 Threshold speed nmin for the nact < nmin message
Standard value Lower input limit Upper input limit Units Effective
Function:
Enter the threshold speed for monitoring purposes. If the actual speed falls
below the absolute speed threshold which has been set, a signal is sent to the
SERVO.
Function:
Enter the response value for the tolerance bandwidth of the PLC status
messages nact = nmin and ramp-up completed . The nset = nact message
becomes active, if the speed actual value enters the tolerance bandwidth which
has been set around the speed setpoint, and remains within this bandwidth for
at least the delay time (MD 1427). If the tolerance bandwidth is exited, the
message immediately becomes inactive. The delay time is only used if the
ramp-function generator changes the edge, from active to passive.
The ramp-up completed message is simultaneously active with the nset =
nact message; however it is latched in the active setting up until the next
setpoint change, even if the speed actual value exits the tolerance bandwidth.
The ramp-up completed message becomes immediately inactive, if the
setpoint changes.
Function:
Enter the delay time where the nset = nact message should respond when it
leaves the tolerance bandwidth (MD 1426).
Function:
Enter the percentage setting for the threshold torque machine data. This
machine data defines the torque limit value where the ZK3 message Md<Mdx
should become inactive. The entered value refers to the actual torque- and
power limits.
The Md<Mdx message is latched into the active condition as long as the
ramp-up completed message is not active. If ramp-up completed is
active, then the delay time (MD 1429) must first expire, and then the
Md<Mdx message can become inactive.
Function:
Enter the delay time which must first expire before the Md<Mdx message can
become inactive after the ramp-up completed message. As long as the
ramp-up completed is not active, or the delay time has still not expired, the
Md<Mdx message is latched in the active condition.
Function:
Input bit field to control the variable message function. Value table:
Note:
Bit 1 is only effective, if the signal number 0 is selected in MD 1621 (signal
number, variable message function).
With the variable message function, a memory location from address area X or
address area Y in the data RAM is monitored against a threshold which can be
entered. A tolerance bandwidth can be set for this threshold, which is
calculated-in when scanning as to whether the threshold has been violated. This
message is realized via the operating message ZK3 (status class 3) with bit 5
and can be logically combined with a pull-in delay or drop-out delay. The
message function runs in a 4 ms clock cycle.
The quantity to be monitored can either be selected by entering a signal
number or a physical address, whereby the physical address is only relevant for
Siemens service work.
Diagram:
Threshold
Tolerance bandwidth
Signal ZK3
0 0 100 Immediate
Function:
Enter the signal number of the memory location which is to be monitored using
the variable message function. Value table:
Function:
Enter the address of the memory location which is to be monitored using the
variable message function.
Note:
This machine data is only effective if the signal number is set to 0 (refer to
MD 1621).
Function:
Enter the threshold for the address of the memory location, entered in
MD 1622 (address, variable message function), which is to be monitored via
the variable message function. The actual value to be checked is obtained
together with MD 1624 (hysteresis, variable message function).
Note:
The numerical value entered in MD 1623 is interpretted as a function of
MD 1620 (variable message function bits) without sign (bit 2 = 0) or with sign
(bit 2 = 1).
Function:
Enter the hysteresis (tolerance bandwidth) for the address of the memory
location entered in MD 1622 (address, variable message function) which is to
be monitored using the variable message function. The actual value to be
monitored is obtained together with MD 1623 (threshold, variable message
function).
Note:
The numerical value entered in MD 1624 is interpretted as a function of
MD 1620 (variable message function bits) without sign (bit 2 = 0) or with sign
(bit 2 = 1).
0 0 10 000 ms Immediate
Function:
Enter the pull-in delay time to set the signal if the threshold is exceeded (with
hysteresis).
Note:
A time monitoring function which is already running is influenced when
machine data MD 1625 and MD 1626 are changed (drop-out delay, variable
message function). The monitoring function is initialized with the newly
entered times.
0 0 10 000 ms Immediate
Function:
Enter the drop-out delay time to reset the message, if the threshold (with
hysteresis) if fallen below.
Note:
An already running time monitoring function is influenced when machine data
MD 1625 (pull-in delay, variable message function) and MD 1626 are
changed. The monitoring function is initialized with the newly-entered times.
Overview The following machine data include specific motor encoder parameters:
Function:
Enter the encoder increments per motor revolution of the motor measuring
system.
Note:
The indirect measuring system must always be configured.
Function:
Enter the encoder increments per revolution for a linear or a rotary direct
measuring system.
Note:
A 0 in the display indicates that a direct measuring system is not available.
Function:
This machine data is used to compensate phase errors. Phase errors can occur
between the A- and B tracks of raw signal encoders (e. g. ERN 1387). They are
noticeable as the speed actual value is more noisy, i. e. double the encoder
pulse frequency is superimposed on the actual value. Especially for toothed-
wheel encoders, phase errors can occur which can even effect the control
quality (acoustic).
Note:
This machine data is activated with bit 1 of the MD 1011 (configuration, actual
value sensing, motor measuring system).
Function:
Enter the configuration for actual value functions referred to the
SIMODRIVE 611 D system.
Value table:
Function:
Number of revolutions of the motor measuring system absolute value encoder
which can be displayed. The value can only be read (measuring range).
Function:
Number of measuring steps per mechanical revolution when the absolute
position value of the motor measuring system is serially transferred. The value
can only be read (resolution).
Function:
Enter the configuration for the actual value functions referred to the
SIMODRIVE 611 D system, direct measuring system.
Function:
Number of revolutions of the absolute encoder, direct measuring system which
can be represented. The value can only be read. (measuring range)
Function:
Number of measuring steps per revolution when the absolute position value,
direct measuring system is serially transferred. The value can only be read.
(resolution)
0 0 32 767 Immediate
Function:
This machine data shows the measuring circuit code number of the indirect
measuring system (motor). Value table:
0 0 32 767 Immediate
Function:
This machine data indicates the measuring circuit code number of the direct
measuring system if it is inserted. Value table:
Function:
Enter the P gain of the speed control loop in the lower speed range (n < lower
adaption speed MD 1411) or automatic parameterization (initialization via the
calculate contr. MD function. The gains in the lower speed range (MD 1407)
and in the upper speed range (MD 1408) are not mutually restricted.
Note:
Before entering a P gain of 0, the associated integral component (MD
1409) must be inactivated due to controller stability.
MD 1407 is active over the complete speed range when speed controller
adaption has been cancelled (MD 1413 = 0).
Function:
Enter the integral action time of the speed control loop in the lower speed
range (n < lower adaption speed- MD 1411) or automatic parameterization
(initialized via the calculate contr. MD function. The integral action times in
the lower speed range (MD 1409) and in the upper speed range (MD 1410) are
not mutually restricted.
Note:
When 0 is entered for the integral action time, the I component for the
speed range is disabled (the integral gain and the integrator contents are
deleted, i. e. torque jumps cannot be excluded (also refer to the
information in MD 1410).
When the speed controller adaption (MD 1413 = 0) is cancelled, MD 1409
is active over the complete speed range.
If the adaption is activated, the integral component should not be de-
activated for only one speed range (MD 1409 = 0 and MD 1410 0 or
vice versa) (otherwise a problem could develop due to torque jumps when
the integral value is reset at the transition from the adaption- to the
constant range).
Function:
The integrator of the speed controller loop is reduced to a low-pass 1st order
characteristic with the configured time constant via a weighted feedback.
Effect:
The output of the speed controller integrator is limited to a value proportional
to the setpoint-actual value difference (steady-state proportional behavior).
Applications:
Motion at zero position reference value and dominant stiction can be
suppressed (however a position reference value-actual value difference
remains).
Preventing tension for axes or spindles which are rigidly mechanically
coupled (synchronous spindle).
Note:
The integrator feedback becomes active above MD 1421 1.0.
0 0 2 Immediate
Function:
Enter the number of speed setpoint filters. Bandstop and low-pass filters
(PT2/PT1) can be selected which are set via the machine data type speed
setpoint filter (MD 1501).
Note:
If filter 1 is parameterized as bandstop filter, this can be switched via the
user program (control word 1, data set 8).
Before activating the filter, the filter type as well as the appropriate filter
machine data must be assigned.
Function:
Enter the configuration of the 2 speed setpoint filters. Bandstop and low-pass
filters can be selected (PT2 or PT1). The filter parameters which can be set are
entered in the associated machine data.
Applications:
The bandstop speed setpoint filter type is used to dampen axis-specific
resonant frequencies in the position control loop.
Note:
Before configuring the filter type, the appropriate filter machine data must be
assigned.
Function:
Enter the time constant for the speed setpoint filter 1 (PT1 low-pass). The filter
is de-activated when a 0 is entered.
Function:
Enter the time constant for the speed setpoint filter 2 (PT1 low-pass). The filter
is de-activated when a 0 is entered.
Function:
Enter the natural frequency for the speed setpoint filter 1 (PT2 low-pass). An
entry with a value < 10 Hz for the natural frequency of the low-pass filter
initializes the filter independently of the associated damping as proportional
element with gain 1. The filter is activated via MD 1500 (number of speed
setpoint filters) and MD 1501 (speed setpoint filter type).
Function:
Enter the damping for speed setpoint filter 1 (PT2 low-pass). The filter is
activated via MD 1500 (number of speed setpoint filters) and MD 1501 (speed
setpoint filter type).
Function:
Enter the natural frequency for speed setpoint filter 2 (PT2 low-pass). An entry
< 10 Hz for the natural frequency of the low-pass filter initializes the filter
independently of the associated damping as proportional element with gain 1.
The filter is activated via MD 1500 (number of speed setpoint filters) and
MD 1501 (speed setpoint filter type).
Function:
Enter the damping for speed setpoint filter 2 (PT2 low-pass). The filter is
activated via MD 1500 (number of speed setpoint filters) and MD 1501 (speed
setpoint filter type).
Function:
Enter the block frequency for speed setpoint filter 1 and parameterize as basic
bandstop filter. The filter is activated via MD 1500 (number of setpoint filters)
and MD 1501 (speed setpoint filter type). MD 1516/MD 1519 (bandwidth
numerator, speed setpoint filter) and MD 1520/MD 1521 (bandstop natural
frequency, speed setpoint filter) keep their standard values.
Formula:
1+s(2fbz / (2 fz ) 2 )+s 2 1 / (2fz ) 2
H(s) =
1+s(2fbn / (2fn ) 2 )+s 21 / (2fn ) 2
Enter:
fz = MD 1514/1517 block frequency, speed setpoint 1/speed setpoint 2
[Hz], (resonance position)
fbn = MD 1515/1518 bandwidth denominator, speed setpoint 1/speed setpoint 2
[Hz]
fbz = MD 1516/1519 bandwidth numerator, speed setpoint 1/speed setpoint 2
[Hz]
fn = MD 1520/1521 bandstop, natural frequency, speed setpoint 1/speed setp. 2
[%] percentage referred to MD 1514 or MD 1517
MD 1520 ( MD 1521)
fn = MD 1514 (MD 1517) [%]
100
Note:
When entering the block frequency, the upper value is limited due to the
sampling frequency of the control (MD 1001) (parameterizing error).
SYNTHESIS Polynomial
20.0
dB
fz = 900 Hz MD 1514/1517
fbn = 600 Hz MD 1515/1518
fbz = 0 Hz MD 1516/1519
(standard value)
fn = 100 % MD 1520/1521
(standard value)
-60.0
180
Phase
Deg
-180
5 Log Hz 4k
Function:
Enter the -3dB bandwidth for speed setpoint filter 1 (bandstop). The filter is
activated via MD 1500 (number of speed setpoint filters) and MD 1501 (speed
setpoint filter type).
Note:
When a 0 is entered for the bandwidth, the filter is parameterized as
proportional element with gain 1.
Function:
Enter the numerator bandwidth for the damped bandstop filter. The ratio
between the bandwidth numerator to the bandwidth denominator defines how
significantly the amplitude decreases at the block frequency. For fbz < fbn, the
amplitude is reduced. It is also conceivable that fbz > fbn, in which case the
amplitude would be increased. However, this is not realistic, as this would
result in a increase in the frequency characteristic and would therefore cause
the controller to oscillate.
For fbz = fbn, the amplitude remains constant over the complete frequency
range.
Formula:
1+s(2fbz / (2 fz ) 2 )+s 2 (1 / (2fz ) 2 ) 1+s(2( D z / 2 )fz )+s 2 1 / (2fz ) 2
1+s(2fbn / (2fz ) )+s (1 / (2f n ) )
2 2 2
1+s(2(D n / 2)fz )+s 21 / (2fn ) 2
Input:
fz block frequency MD 1514/1517
Dz damping, numerator
fbz = 2 Dz fz bandwidth, numerator MD 1515/1518
Dn = MD 1520/1521 damping, denominator
fbz = 2 Dn fn bandwidth, denominator MD 1516/1519
fn = 100 % BSP natural frequency MD 1520/1521 (standard value)
Note:
The value in MD 1516 (bandwidth numerator, speed setpoint filter 1) may only
be a maximum of twice that in MD 1515 (bandwidth, speed setpoint filter 1).
Example:
20.0
dB
fz = 900 Hz
fbn = 1800 Hz (Dn = 100 %)
fbz = 180 Hz (Dz = 10 %)
fn = 100 %
-60.0
180
Phase
Deg
-180
20.0
dB
fz = 900 Hz
fbn = 900 Hz (Dn = 50 %)
fbz = 180 Hz (Dz = 10 %)
fn = 100 %
-60.0
180
Phase
Deg
-180
1 Hz 10 Hz 100 Hz 1 kHz 10 kHz
20.0
dB
fz = 900 Hz
fbn = 1800 Hz (Dn = 100 %)
fbz = 36 Hz (Dz = 2 %)
fn = 100 %
-60.0
180
Phase
Deg
-180
1 Hz 10 Hz 100 Hz 1 kHz 10 kHz
Function:
The description of this machine data is identical with that for MD 1514.
Function:
Enter the 3dB bandwidth for speed setpoint filter 2 (bandstop). The filter is
activated via MD 1500 (number of speed setpoint filters) and MD 1501 (speed
setpoint filter type).
Note:
If 0 is entered for the bandwidth, the filter is parameterized as proportional
element with gain 1.
Function:
The description of this machine data is identical with that of MD 1516.
Function:
Enter the bandstop natural frequency to increase or decrease the amplitude
characteristic after the block frequency (MD 1514/MD 1517).
MD 1520 and MD 1521 are used to harmonize different axis dynamic
characteristics to provide a unified dynamic performance (low-pass). The
unified dynamic performance is oriented to the axis with the lowest resonant
frequency.
Formula:
1+s(2fbz / (2 fz ) 2 )+s 2 (1 / (2fz ) 2 ) 1+s(2( D z / 2 )fz )+s 2 1 / (2fz ) 2
1+s(2fbn / (2fn ) 2 )+s 2(1 / (2fn ) 2 ) 1+s(2(D n / 2)fz )+s 21 / (2fn ) 2
Input:
fz block frequency MD 1514/1517
Dz damping, numerator
fbz = 2 Dz fz bandwidth, numerator MD 1515/1518
Dn = MD 1520/1521 damping, denominator
fbz = 2 Dn fn bandwidth, denominator MD 1516/1519
Example:
10.0
dB fz = 54 Hz
Dz = 10 %
fn = 40 Hz
Dn = 70 %
-30.0
180
Phase
Deg
-180
0 Hz 1 Hz 10 Hz 100 Hz 1 kHz
20.0
dB fz = 900 Hz
fbn = 900 Hz (Dn = 50 %)
fbz = 180 Hz (Dz = 10 %)
fn = 100 %
-60.0
180
Phase
Deg
-180
1 Hz 10 Hz 100 Hz 1 kHz 10 kHz
Function:
The description of this machine data is identical with that of MD 1520.
Function:
Enter the P gain of the speed controller loop in the upper speed range (n >
upper adaption speed - MD 1412) or automatic parameterization (initialization)
using the calculate contr. MD function. The gains in the lower speed range
(MD 1407) and in the upper speed range (MD 1408) are not mutually
restricted.
Note:
Before entering a P gain of 0, the associated integral component
(MD 1410) must be de-activated due to controller stability.
MD 1408 is not active when speed controller adaption is cancelled
(MD 1413 = 0).
Function:
Enter the speed control loop integral action time in the upper speed range (n >
upper speed threshold MD 1412). The integral action times in the lower speed
range (MD 1409) and in the upper speed range (MD 1410) are not subject to
any mutual restriction.
Note:
When an integral action time of 0 is entered, this de-activates the integral
component for the range, which is greater than MD 1412 (adaption, upper
speed threshold) (also refer to the information in MD 1409).
MD 1410 is not active when speed adaption is cancelled
(MD 1413 = 0).
When the adaption is active, the integral component should not be de-
activated for one speed range (MD 1409 = 0 and MD 1410 0 or vice
versa) (problem: Torque jumps could occur when resetting the integral
value at the transition from the adaption- to the constant range).
Function:
Enter the lower speed threshold to adapt the speed controller machine data.
When the adaption is active, for speeds n < MD 1411, the controller data
MD 1407 and MD 1409 are active. A linear interpolation is made between the
two controller data sets in the adaption range MD 1411 < n < MD 1412.
K P , TN
MD 1410
T
N
Upper speed range
MD 1407 with constant
P gain/integral
Lower speed range action time
with constant
P gain/integral
action time
KP
MD 1408
Adaption range
MD 1409
n
MD 1411 MD 1412 MD 1401
Function:
Enter the upper speed threshold to adapt the speed controller machine data.
When adaption is active, for speeds n > MD 1412, controller data MD 1408
and MD 1410 are active. A linear interpolation is made between the two
controller data sets in the center range MD 1411 < n < MD 1412.
0 0 1 Immediate
Function:
This machine data can be used to adapt the speed controller machine data as a
function of the speed.
0: Adaption is not active. The settings of controller data MD 1407
and MD 1409 are valid over the complete speed range. Control
data MD 1408 and MD 1410 are not taken into account.
1: Adaption is active. For a description refer to machine data
MD 1411 and MD 1412.
Function:
Enter the natural frequency for the speed control loop reference model. The
filter is de-activated when a value < 10 Hz is entered (proportional element
with a gain of 1).
Function:
Enter the damping for the speed control loop reference model. It involves a
reference model (PT2) for the speed control loop for a PIR controller type. The
damping increases with increasing value (value which is entered).
Function:
Enter the balancing possibility for the reference model, speed control loop.
This machine data simulates the computation deadtime of the speed control
loop. The simulation is in this case calculated as an approximation of an
interrupted deadtime. Thus, the characteristics of the reference model can be
adapted to the loop characteristics of the P-control speed control loop.
Function:
Enter the proportional gain of the current controller or automatic
parameterization (initialization) via calculate contr. MD.
Function:
Enter the current controller integral action time or automatic
parameterization (initialization) via calculate contr. MD.
Note:
It is possible to disable the integral component by entering TN = 0.
1 0 4 Immediate
Function:
Enter the number of current setpoint filters. Bandstop and low-pass filters are
available which can be set via the machine data MD 1201 (current setpoint
filter type). Selecting the number of filters:
Note:
Before activating the filter, the filter type as well as the appropriate filter
machine data must be assigned.
dB 0.0
0,2
0,5
1,0
-60.0
Natural frequency
180
Phase
Deg
1,0
0,5
0,2
-180
1 Log 10 100 500 1k 10 kHz
Bandwidth
0.0
dB
-3.0
-60.0
Inhibit frequency
180
Phase
Deg
-180
1 Log 10 100 1k 10 kHz
dB 0.0
-60.0
Inhibit frequency
180
Phase
Deg
-180
1 Log 10 100 1k 10 kHz
dB 0.0
-5.0
-60.0
Inhibit frequency
180
Phase
Deg
-180
1 Log 10 100 1k 10 kHz
Function:
Enter the configuration of 4 current setpoint filters. Bandstop- and low-pass
filters are available. The filter parameters which can be set are entered in the
associated machine data. Value table:
Note:
Before configuring the filter type, the appropriate filter machine data must be
assigned.
Function:
Enter the natural frequency for current setpoint filter 1 (PT2 low-pass filter). If
a value < 10 Hz for the natural frequency of the low-pass filter is entered, the
filter is initialized independently of the associated damping, as potential
equalization element with a gain of 1. The filter is activated via MD 1200
(number of current setpoint filters) and MD 1201 (current setpoint filter type).
Note:
Current setpoint filter 1 is pre-assigned to dampen the natural encoder torsional
frequency for a current controller sampling time MD 1000 = 125 s. For a
current controller sampling time MD 1000 = 62,5 s, it is recommended that
the natural frequency is changed to f0 = 3000 Hz so that the control dynamic
performance can be optimally utilized.
Function:
Enter the damping for current setpoint filter 1 (PT2 low-pass filter). The filter
is activated via MD 1200 (number of current setpoint filters) and MD 1201
(current setpoint filter type).
0.7 corresponds to 70 %
1.0 corresponds to 100 %
Function:
Enter the natural frequency for current setpoint filter 2 (PT2 low-pass filter). If
a value < 10 Hz for the natural frequency of the low-pass filter, the filter is
initialized independently of the associated damping, as proportional
equalization element with a gain of 1. The filter is activated via MD 1200
(number of current setpoint filters) and MD 1201 (current setpoint filter type).
Function:
Enter the damping for current setpoint filter 2 (PT2 low-pass filter). The filter
is activated via MD 1200 (number of current setpoint filters) and MD 1201
(current setpoint filter type).
Function:
Enter the natural frequency for current setpoint filter 3 (PT2 low-pass filter). If
a value < 10 Hz for the natural frequency of the low-pass filter, the filter is
initialized independently of the associated damping, as proportional element
with a gain of 1. The filter is activated via MD 1200 (number of current
setpoint filters) and MD 1201 (current setpoint filter type).
Function:
Enter the damping for current setpoint filter 3 (PT2 low-pass filter). The filter
is activated via MD 1200 (number of current setpoint filters) and MD 1201
(current setpoint filter type).
Function:
Enter the natural frequency for current setpoint filter 4 (PT2 low-pass filter). If
a value < 10 Hz for the natural frequency of the low-pass filter, the filter is
initialized independently of the associated damping, as proportional element
with a gain of 1. The filter is activated via MD 1200 (number of current
setpoint filters) and MD 1201 (current setpoint filter type).
Function:
Enter the damping for current setpoint filter 4 (PT2 low-pass filter). The filter
is activated via MD 1200 (number of current setpoint filters) and MD 1201
(current setpoint filter type).
Function:
Enter the block frequency for current setpoint filter 1 (bandstop). When
entering block frequencies < 10 Hz, the filter is de-activated (proportional
element with a gain of 1). The filter is activated via MD 1200 (number of
current setpoint filters) and MD 1201 (current setpoint filter type).
Note:
The maximum block frequency which can be entered is limited by the control
sampling time (MD 1000) (parameterizing error).
Function:
Enter the -3dB bandwidth for current setpoint filter 1 (bandstop). The filter is
activated via MD 1200 (number of current setpoint filters) and MD 1201
(current setpoint filter type).
Note:
When 0 is entered for the bandwidth, the filter is parameterized as proportional
element with a gain of 1.
Function:
Enter the numerator bandwidth for the damped bandstop. If 0 is entered, the
filter is initialized as non-damped bandstop. The filter is activated via
MD 1200 (number of current setpoint filters) and MD 1201 (current setpoint
filter type).
Note:
The value of MD 1212 (bandwidth numerator, current setpoint filter 1) may
only be a maximum of twice that of MD 1211 (bandwidth, current setpoint
filter 1).
Function:
Enter the block frequency for current setpoint filter 2 (bandstop). The filter is
de-activated when block frequencies < 10 Hz are entered (proportional element
with a gain of 1). The filter is activated via MD 1200 (number of current
setpoint filters) and MD 1201 (current setpoint filter type).
Note:
The maximum block frequency which can be entered is limited due to the
control sampling frequency (MD 1000) (parameterizing error).
Function:
Enter the -3dB bandwidth for current setpoint filter 2 (bandstop). The filter is
activated via MD 1200 (number of current setpoint filters) and MD 1201
(current setpoint filter type).
Note:
When a value of 0 is entered for the bandwidth, the filter is parameterized as
proportional element with a gain of 1.
Function:
Enter the numerator bandwidth for the damped bandstop. The filter is
initialized as non-damped bandstop filter when a value of 0 is entered. The
filter is activated via MD 1200 (number of current setpoint filters) and
MD 1201 (current setpoint filter type).
Note:
The value of MD 1215 (bandwidth numerator, current setpoint filter 2) may be
a maximum of twice that of MD 1214 (bandwidth, current setpoint filter 2).
Function:
Enter the block frequency for current setpoint filter 3 (bandstop). The filter is
de-activated when block frequencies < 10 Hz are entered (proportional element
with a gain of 1). The filter is activated via the machine data MD 1200
(number of current setpoint filters) and MD 1201 (current setpoint filter type).
Note:
The maximum block frequency which can be entered is limited by the control
sampling frequency (MD 1000) (parameterizing error).
Function:
Enter the -3dB bandwidth for current setpoint filter 3 (bandstop). The filter is
activated via MD 1200 (number of current setpoint filters) and MD 1201
(current setpoint filter type).
Note:
When 0 is entered for the bandwidth, the filter is parameterized as proportional
element with a gain of 1.
Function:
Enter the numerator bandwidth for the damped bandstop. When a value of 0 is
entered, the filter is initialized as non-damped bandstop filter. The filter is
activated via MD 1200 (number of current setpoint filters) and MD 1201
(current setpoint filter type).
Note:
The maximum value of MD 1218 (bandwidth numerator, current setpoint filter
3) may be twice as large as that of MD 1217 (bandwidth, current setpoint filter
3).
Function:
Enter the block frequency for current setpoint filter 4 (bandstop). When block
frequencies < 10 Hz are entered, the filter is de-activated (proportional element
with a gain of 1). The filter is activated via MD 1200 (number of current
setpoint filters) and MD 1201 (current setpoint filter type).
Note:
The maximum block frequency is limited by the control sampling frequency
(MD 1000) (parameterizing error).
Function:
Enter the -3dB bandwidth for current setpoint filter 4 (bandstop). The filter is
activated via MD 1200 (number of current setpoint filters) and MD 1201
(current setpoint filter type).
Note:
When a value of 0 is entered for the bandwidth, the filter is parameterized as
proportional element with a gain of 1.
Function:
Enter the numerator bandwidth for the damped bandstop. When a value of 0 is
entered, the filter is initialized as non-damped bandstop filter. The filter is
activated via MD 1200 (number of current setpoint filters) and MD 1201
(current setpoint filter type).
Note:
The maximum value of MD 1221 (bandwidth, numerator, current setpoint filter
4) may be twice as large as that of MD 1220 (bandwidth, current setpoint filter
4).
Function:
Enter the speed, above which the torque setpoint smoothing, switched-in with
the 2nd order filter (low-pass/banstop filter) MD 1201 (current setpoint filter
type) is activated. The user can reduce the speed ripple at higher speeds using
this speed-dependent torque setpoint smoothing.
If a threshold value of 0 is entered, the filter remains active as low-pass filter
over the complete speed range. If other values are entered, two changeover
speeds are calculated from machine data MD 1245 (threshold, speed-
dependent torque setpoint smoothing) and MD 1246 (hysteresis, speed-
dependent torque setpoint smoothing):
ntop = nthreshold + nhysteresis
nbottom = nthreshold - nhysteresis
Functionality:
The changeover from straight through to low-pass is realized if the absolute
actual speed exceeds ntop (nact ntop). Vice versa, the filter changes over
from low-pass to straight through if the absolute actual speed is less than nbottom
(nact < nbottom). Both changeover speeds are the same if a hysteresis of zero is
selected.
Speed n
n threshold + n hysteresis
MD 1246
n threshold
MD 1245
n threshold - n hysteresis
Function:
Enter the hysteresis for the switched speed, set in MD 1245 (threshold, speed-
dependent torque setpoint smoothing).
Function:
Select various diagnostic functions.
Value table:
Information:
Bit 1 is only effective, if the signal number 0 is selected in MD 1651 (signal
number, min/max memory).
Diagnostic function, min/max memory
This function allows the value range to be determined by moving a
specific memory location over a longer period of time. The function runs
in the current controller clock cycle (fastest clock cycle) in order to be able
to reliably acquire all of the system quantities. The quantity to be
monitored can either be selected by entering a signal number or by
entering a physical address (refer to MD 1651).
The value can be compared with the minimum- and the maximum value
using either a signed or unsigned bit (bit 2).
0 0 100 Immediate
Function:
Enter the signal number of the memory location which is to be monitored via
the min/max memory function. Value table:
Note:
This machine data is only relevant for Siemens internal purposes and may not
be changed.
Function:
Enter the address of the memory location which is to be monitored via the
min/max memory function.
Note:
This machine data is only effective if the signal number is set to 0 (refer to
MD 1651).
This machine data is only relevant for Siemens internal purposes and may
not be changed.
Function:
Output the display value of the minimum value, min/max memory.
Function:
Output the display value of the maximum value, min/max memory.
Function:
Using this machine data, the segment for the memory location for the motor
function is addressed.
Value table:
Value Segment
0 (X:) DSP address space X
1 (Y:) DSP address space Y
The DSP address is obtained together with the offset address (MD 1656). The
contents of the DSP address can be displayed via the machine data, value
display monitor (MD 1657).
Note:
This machine data is only relevant for Siemens internal purposes and may not
be changed.
Function:
The offset address of the memory location for the motor function is addressed
using this machine data. The DSP address is obtained together with the
segment of the memory location (MD 1655). The contents of the DSP address
can be displayed via the machine data, monitor value display (MD 1657).
Note:
This machine data is only relevant for Siemens internal purposes and may not
be changed.
Function:
Outputs the monitor function display value. This machine data displays the
contents of the address which is obtained from the segment (MD 1655) and the
offset (MD 1656).
Function:
A 24-bit value can be entered in this machine data. The value is written in the
monitor function at the address, specified by the segment (MD 1655) and the
offset (MD 1656). The value is only written in, if the machine data, value
transfer monitor (MD 1659) is set to 1.
Note:
This machine data is only relevant for Siemens internal purposes and may not
be changed.
Function:
The value (MD 1658) is written into the addressed memory location (MD
1655, MD 1656) using this machine data if the write operation was initiated
with 1. The machine data is automatically set again to 0 after the write
operation has been executed.
Note:
This machine data is only relevant for Siemens internal purposes and may not
be changed.
Function:
Diagnostic functions can be activated using this machine data. The function is
active if the appropriate bit = 1.
The standard pre-assignment is dependent on the drive type (feed drive (VSA)
0000).
Value table:
Note:
The 611D diagnostic functions are not active as standard.
The monitoring function is independent of internal operating modes (pre-
control, function generator etc.)
This machine data is only relevant for Siemens internal purposes and may
not be changed.
Function:
Enter the response threshold of the dn/dt monitoring.
Note:
This machine data is required for the load test, and is only relevant for Siemens
internal purposes and may not be changed.
Function:
Displays the monitoring machine data diagnostics, speed actual value. If an
excessive speed difference occurs during the run time, then the machine data
value is incremented. It is not significant if the function sporadically responds
by several increments, as the speed controller is not influenced. If the contents
of MD 1721 are continually increased by several increments, then there is an
increased fault level.
Note:
The function is switched-in with MD 1610 bit 0 and the threshold specified
with MD 1611.
0 0 32 767 V Immediate
Function:
The machine data is used to display the voltage level of the DC link under
normal operating conditions and during setting-up. The DC link voltage VDC link
is continually measured if MD1161=0.
0 0 32 767 C Immediate
Function:
The machine data is used to display the motor temperature. The motor
temperature is measured using a temperature sensor and evaluated in the drive.
Function:
The machine data is used to display the speed setpoint. There is no time-
synchronized unlatching (scanning) of machine data MD 1706, MD 1707 and
MD 1708. Unlatching is realized by a read request of the non-cyclic
communication protocol.
Function:
The machine data is used to display the speed actual value. It represents the
unfiltered speed actual value. There is no time-synchronized signal unlatching
(scanning) of machine data MD 1706, MD 1707 and MD 1708.
Function:
The machine data is used to display the smoothed quadrature-axis current
actual value. The torque-generating current actual value is smoothed with the
coefficients (MD 1250) using a PT1 element. The smoothed current actual
value is displayed as an absolute value in percent. 100 % corresponds to the
maximum power module current (e. g. for an 18/36 A power module 100 %
= 36 A RMS).
MD 1722 Utilization
Standard value Lower input limit Upper input limit Units Effective
Function:
Display machine data for the drive utilization. The ratio between the torque
setpoint Md and the actual torque limit Mdmax is displayed. Values less than 100
% indicate the system reserve.
Function:
This machine data is used to display the internal ZK1 power on register. The
machine data, suppressible interrupts (power ON-MD 1600) is not taken into
account for this diagnostics data.
Note:
This display value is reset after power-on (hardware reset). Refer to drive MD
1600 for the bit assignment.
Function:
This machine data is used to display the internal ZK1 reset register. The
machine data, suppressible interrupts (reset-MD 1601) is not taken into
account for this diagnostics data.
Note:
This display value is only reset by a reset on the NC side (software reset).
Refer to drive MD 1601 for the bit assignment.
0 0 32 767 Immediate
Function:
This diagnostics machine data provides information as to how often the motor
temperature- or DC link measurement through the low-priority frequency
channel was erroneous. Thus, the machine data is indirectly a hardware
indicator (hardware diagnostics indicator) for the low-priority frequency
channel.
Note:
This machine data is always reset when the drive is powered-up.
Function:
The machine data is used to display the status of the binary inputs.
Value table:
Bit Status
0 Gating unit enable (inside the module), 0 = off
including marking according to MD 1003, bit 5 1 = on
1 Pulse enable (terminal 663, module-specific pulse cancellation)
2 Pulse enable (terminal 63/48) of the infeed/regenerative feedback unit
(central drive pulse cancellation)
3 Group signal, hardware pulse enable:
stored hardware group signal
axial pulse enable through the PLC using the 611D control word
4 Heatsink temperature monitoring responded
5 Setting-up operation (terminal 112) of the infeed/regenerative
feedback unit (signal, setting-up operation)
6 Drive enable (terminal 64/63) of the infeed/regenerative feedback unit
(central drive enable setpoint = 0)
7 Not assigned
8 Motor- and power module temperature pre-alarm
Function:
The machine data is used to display the identified CRC error (cyclic
redundancy check). The 5-bit counter information is updated at every read
request (bit 4 ... bit 0 and counter status 0 ... 31).
0 0 32 767 Immediate
Function:
Outputs the actual data version (machine data list).
0 0 32 767 Immediate
Function:
Outputs the coded software release. The decimal notation is used. The
configuration is as follows: DDMMY, whereby DD = day, MM = month and Y
= the last number of the year.
0 0 32 767 Immediate
Function:
Outputs the current software release. The decimal notation is used, e. g. 30012.
This corresponds to version 3.00/12.
Note:
Enter the -3dB transition frequency fo of the torque setpoint smoothing (PT1
low-pass filter) for display. The time constant T1 of the PT1 filter is obtained
from the formula T1 = 1/(2fo). The smoothed value is transferred to the PLC
data channel. This machine data has no effect on the control.
Note:
This machine data contains the reference value of the torque setpoint- and
torque limit values transferred from the NC to the drive.
Note:
This machine data is only calculated from power-on data once at run-up.
0 0 1 Power On
Function:
Activates V/f operation. The frequency setpoint is entered as speed setpoint via
the digital setpoint interface. MD 1400 must be sensibly pre-assigned.
Function:
When V/f operation is selected (MD 1014) this is the time in which the speed
setpoint should be changed from 0 to the maximum motor speed (MD 1146).
Function:
For MCU, run-up time 2 cannot be activated.
Note:
V/f operation can only be used for service purposes.
V/f operation cannot be used in the closed-loop controlled operating modes
(closed-loop position control). V/f operation can be used in the open-loop
control mode. However, in this case, oscillations can occur at the end
position due to the activated closed-loop holding control at standstill.
The speed setpoint is displayed in MD 1707 (speed actual value).
7 Appendix
Digital Inputs/Outputs 2
Functional Description
Positioning with the MCU
Programming 5
Appendix 6
If you require additional information or should any special problems arise, please inquire
for further information to your nearest Siemens branch office.
The contents of this Documentation are not part of any earlier or existing agreement,
commitment or legal undertaking, nor are they intended as an amendment thereto. All
responsibilities on the part of Siemens shall result only from the respective Purchase
Contract, which also contains the complete and solely binding warranty regulations. The
warranty provisions laid down by the Contract shall neither be extended, nor restricted by
this Documentation.
The remaining names and designations used in this Documentation may also be trademarks, the use
of which by any third parties for their own purposes may violate the rights of the copyright holders.
Position Control
Functional units and The position controller is designed as a P controller. Different functional units arranged in its
machine data environment perform special tasks in the complex of motion control. Adaptation to the
particular axis conditions is provided by various machine data:
MD Designation Page
67 Drive type 1-19
Depending on the traversing rate (v1, v2 or v3), the interpolator calculates the brake threshold
point such that the axis is stopped by means of the brake ramp function exactly at the software
limit switch.
To limit the working range, beginning and end of the software limit switches are defined by
entries in the machine data MD21 and MD22. The value entered in MD21 must always be
smaller than the value entered in MD22. These software limit switches become active when
the axis is being synchronized. The software limit switches refer to the machine-oriented
coordinate system.
If the software limit switches are not needed (for example, with a rotary axis), either values
outside the possible working range must be entered into the machine data MD21 and MD22,
or the monitoring must be switched off.
Note:
The software limit switches do not replace the hardware limit switches for EMERGENCY
STOP reactions.
The software limit switches are switched off by MD21 = -1 000 000 000 and MD22 = 1 000
000 000.
Note:
When using EnDat encoders, change the machine data for the software limit switches off-line,
as an on-line modification may lead to the error message "End of range exceeded".
Occurrence Explanation
Controlling mode If the actual value is outside the limit position, the
traversing movement is stopped, and an error is signaled.
The limit switch position is overtraveled by the amount
of the required brake distance.
Modes The axes are already in the stop position or do not start if
"Incremental the set position is outside the working range when
mode, relative", reading in the set position. An error message is provided.
"MDI",
"Automatic"
Endless traversing G88 see Chapter Programming
(-) for flying
actual-value
setting
Endless traversing G89 see Chapter Programming
(+) for flying
actual-value
setting
Follow-up mode If the actual value is outside the limit position, an error
message is provided.
Response after error Leaving the limit position or traversing into the working range after error:
1. Acknowledge the error message.
2. Use either the Setting-Up, Controlling, Incremental Dimension or MDI mode to traverse
into the working range.
Hints DS11 can be used to bridge (deactivate) the software limit switches.
Interpolator
Overview The maximum traversing rate is set by means of machine data MD23. The acceleration and
deceleration when starting and stopping the axis is preset in MD40 and MD41.
Velocity v MD23
Time t
Acceleration a
MD40
MD41 Time t
Jerk Filter
Overview The jerk filter can be used to smooth the ramp speed characteristic both during acceleration
and deceleration. This provides a particularly smooth, jerk-free acceleration and braking
process when performing special positioning tasks, e.g. when transporting liquids.
The jerk time constant as parameter of the jerk filter can be set in MD42.
Velocityt v
Time t
Acceleration a
Time t
Jerk r
Time t
Overview Under certain circumstances, positioning is considerably decelerated by the jerk filter
described in Section 0. Alternatively, the jerk can be limited during the start. This function is
activated by bit 1 in MD37.
Effects Any traversing movement is first started with a ramp-type acceleration. The slope of the
acceleration ramp (jerk) can be parameterized and adapted by MD42 (jerk time constant).
When the acceleration parameterized in MD40 is reached, the axes are constantly accelerated
up to the velocity indicated in the traversing block.
Limitations To ensure an optimized positioning behavior, jerk limiting is active only when starting a
traversing movement, not when braking and not when accelerating from a lower to a higher
velocity in the Automatic/Subsequent Block mode.
Velocity v
Accelera- Time t
tion a
MD 40
MD 42 Time t
Override
Overview The override influences the behavior of the traversing movement with refer to the axis speed
and the duration of the movement. In the Controlling mode, the override is not active.
Velocity override In the range between 0 and 255 %, the velocity is controlled in percentage.
vprog override
vact =
100
The positioning time is not divided in half.
Time Override If you activate the Time Override function in MD37, there are two ranges:
Range from 100 to 255 %: The velocity override is active.
Range from 0 to 100 %: The time override is active.
The characteristic of both the velocity and acceleration/deceleration are modified such that
the time required for the traversing movement is in direct relation to the override value.
Condition for time The time override can only be considered if the following additional condition is met:
override If a traversing movement consists of several positioning blocks with flying block change (the
axis is not stopped between the blocks), changing the override value will only have influence
on the velocity. The additional influence on acceleration and deceleration is considered only
after standstill of the axis (e.g. reversal of direction).
Note:
The time override is active in MDI and Automatic Subsequent/Single Block modes only.
The positioning time is doubled if no jerk filter (MD42 = 0) has been parameterized.
Due to the interrelations between acceleration and positioning time which are now no longer
linear, it is not possible to indicate an exact factor for the influence of the override.
Positioning
c
a b
Time t
t2
Monitoring time MD25
t1 t3
t4 t5
Actual characteristic The Table below explains the actual movement characteristic for a, b and c.
By approaching the programmed position, the monitoring time is activated:
Axis standstill When the axes are on standstill, they remain in their current position, and a respective
message is provided when the axis is forced to leave its position by mechanical influences.
When the axis control is active, monitoring for the PEH range is carried out, and when the
axis control is inactive, monitoring for zero speed is carried out. When exceeding the tolerance
window for standstill with the axis control inactive, error message 00268 "Zero speed
monitoring" is provided from the MCU.
Axis movement To provide following error monitoring during the movement, the MCU calculates the
permissible following error for the current traversing rate from the parameterized closed-loop
amplification (MD38). The comparison with the following error actual value is carried out
above the parameterized "Minimum following error, dynamic" (MD39).
Calculated characteristic of
following error (scalc)
s
Dynamic
monitoring
active
(Idealized) characteristic
MD 39 of following error
Real characteristic
vmax = MD 23 V
When the calculated following error is exceeded, the MCU provides error 00834 "Following
error too high". The dynamic following error monitoring is switched off by MD39 = 0.
Position Controller
Closed-loop The closed-loop amplification (Kv factor) defines the following error at a certain traversing
amplification rate of the axis:
Quantity characteristics The closed-loop amplification (Kv factor) influences the following important quantity
characteristics of the axis:
continuity of movement
positioning time
Dependency of the The better the design prerequisites of the axes are, the higher will be the Kv factor that can be
quantity characteristics reached, and the better will be the axis parameters, from the technological point of view. First
of all, the value of the Kv factor is influenced by the time constants such as backlash and
spring elements of the controlled system.
m / min 1
Kv = 1 MD38 = 1000
mm min
Load Gear The load gear (if any) has to be considered in the machine data MD34 (denominator of load
gear - number of motor revolutions) and MD35 (numerator of load gear - number of load
revolutions) so that the Kv factor entered in MD38 sets.
Backlash Compensation
Overview Generally, mechanical drive elements have a certain backlash (play). MD30 is used to
compensate this mechanical backlash.
Direct arrangement With the position encoder arranged directly at the machine part to be positioned, e.g. slide, the
Kv factor is affected by the backlash.
Indirect arrangement Using an indirect measuring system (position encoder at the motor) provide a high closed-loop
amplification (Kv factor). However, during each reversal of direction, first the mechanical
backlash comes into effect prior to starting any axis movement. The consequence will be
positioning errors.
Compensation Any backlash value entered in MD30 is corrected by the position controller depending on the
current preset traversing direction of the axis. This provides compensation of the backlash
value during positioning.
If both measuring systems are parameterized, the backlash compensation has influence on the
motor system. If only one measuring system is active, the backlash compensation influences
the parameterized measuring system.
"Backlash-free" The "backlash-free" traversing direction of the axis, i.e. the traversing direction corresponding
traversing direction to the measured value, is parameterized in MD31. MD31 = 0 defines the direction of
reference-point approach as a backlash-free direction of traversing.
Adaptation of Direction
MD19 MD19 can be used to set the direction assignment of actual position and nominal speed value
so that when pressing the + button, the axis moves to the direction defined as the positive
direction.
Position Encoder
Note:
Overview Generally, the integrated encoder of the motor (IM = indirect measuring system) is sufficient.
This can either be an incremental or an absolute encoder. For the machine data of the
incremental encoder, default data are provided. In addition, a position encoder can be
connected to the measuring-system interface of the MCU (permissible types see
Documentation Encoders).
The position resolution of the machine axis which is provided by the encoder is calculated
internally in the MCU from the machine data MD11 through MD13 and MD55 through
MD57.
Distances and positions are represented either in 10-3 mm, 10-4 inch or 10-4 degrees what can
be selected in machine data MD7.
Changeover If both measuring systems are parameterized in MD60, after starting up the MCU, the motor
direct/indirect measuring system (indirect measuring system) is active. Changing between direct and indirect
measuring system measuring system is possible by means of DS11 (bit-coded settings) during axis standstill.
Furthermore, it must be made sure that no traversing program is executed when changing over.
The indirect and/or direct measuring system for the actual-position acquisition is activated by
machine data MD60. The direct measuring system on the drive side is always activate for the
acquisition of rotor position and speed.
Monitoring Entering MD20.4 = 1 and MD20.5 = 1activates all monitoring functions for the measuring
functions / system needed for positioning. The individual monitoring functions are deactivated either by
error diagnosis entering 0 into the respective bit of MD20 or by parameterization in MCU-PIT.
It is also possible to suppress the error messages using the function Parking Axis (see Chapter
2 Digital Inputs/Outputs).
Decativate the monitoring functions for testing purposes only, as positioning errors may
damage the machine.
Exception:
Pulse monitoring for encoders with non-cyclic zero mark.
Overview Incremental encoders are used for the acquisition of the actual position; sinus periods are
provided which are digitized in the MCU and added to an absolute value. After switching on
the MCU, there is an offset between the internal position value and the mechanical position of
the axis which cannot be calculated in advance. For this reason, to obtain position reference in
a certain axis position, the internal value must be set to a default value stored in the machine
data as reference-point coordinate (MD16) (see Chapter 3.4 Reference-Point Approach
Modes).
Integral encoders As position encoder, the integral rotary encoder in the motor (IM) can be used. The data of
this encoder are default standard values in the machine data.
Additional The MCU has an additional measuring system input (DM) for the following applications:
measuring system
rotary incremental encoders at linear axis
Encoders that provide one zero mark per revolution can be used. The number of pulses
output by the encoder must be an integer multiple of ten or correspond to a power of two.
rotary incremental encoders at rotary axis
Encoders that provide one zero mark per revolution can be used. The number of pulses
output by the encoder must be an integer multiple of ten or correspond to a power of two. It
must be guaranteed that the revolution of the rotary axis is divided by the cyclic zero mark
by an integer number.
Function parameters The Table below shows how to adapt the position encoder to the machine:
The driver machine data 1011.3/4 and 1030.3/4 must correspondingly be parameterized (all
bits = 0: incremental encoders selected). The value entered in the machine data MD13 and
MD57 must correspond to the respective drive machine data MD1005 and MD1007.
Overview The MCU can be used to evaluate an absolute encoder. Such an encoder is, by option, either
the EnDat encoder integrated in the 1FT6 motor, or a second encoder installed at the machine.
Please also refer to the Documentation Encoders. The main advantages of EnDat encoders are:
The transducer need not be synchronized.
Thanks to the additional incremental tracks, dead times resulting from serial data transfer
are eliminated. For the incremental track, multiplying by factor 8 is also applied.
Function parameters The Table below shows how to adapt the position encoder to the machine:
The drive machine data 1011.3/4 and 1030.3/4 must correspondingly be parameterized.
The number of revolutions of the absolute encoder (MD14) must correspond to the respective
drive machine data MD1021 (IM) or MD1031 (DM).
Overview MD64, MD66 and MD67 are default, MD65 is assigned automatically.
MD63 is active only after Power On. "0" will change the drive to the passive condition. In this
way, operation without motor and encoder is possible. The actual values of the encoder are
simulated so that traversing programs etc. can be tested. See also Section 3.1.4.
MD64 cannot be changed by the user. The drive number of the digital drive is a fixed value
and set to 1.
MD65 is active after Power On only. This value is automatically entered during the
commissioning via MCU-Edit (selection of motor/power section). These data should not be
changed by the user. This value must always correspond to the drive machine data 1106.
MD66 is fixed to the value 1, since the MCU supports only the 1-axis module.
MD67 is fixed to the value 1 (VSA). The MCU supports only feed drives (VSA), not main
spindle drives (HSA).
Digital Inputs/Outputs
Overview Four digital inputs/outputs each of the MCU can be used for particular user applications. They
are parameterized the by machine data MD46 to MD53. The signals are processed during the
position controller cycle (MD61).
MD46 to MD53 MD46 to MD53 are used to assign the digital inputs/outputs the respective functions. To
provide this, the respective bit must be set:
Note:
Status display The current logic status of the digital inputs is provided in the check-back signals (S_I1, S_I2,
S_I3 and S_I4).
Masking of inputs The machine data for parameterization of the digital inputs (MD46 to MD49) are active only
after Power-ON or RESET. By setting the respective bits (bit 10 to bit 13) in DS11, each input
can be deactivated separately. In this case, any level change is ineffective even if the input is
parameterized.
Limitation:
Masking of the inputs is not active for the functions "Length measuring" and "Flying
measuring". These functions can be activated/deactivated by the bits "Length measuring" and
"Flying measuring". Masking of the reference-point switch does not make sense and has
therefore no effect.
The logical state takes the value FALSE. The checkback signals or the DS 16 still show the
state of the input. That means that you cannot recognize whether or not the input is active. If
the input is switched, there will be no reaction (and switching functions will not be saved).
When the input is selected afterwards, the logical state of the input will take the current value.
Start, Externally
Overview The control signals of the axes contain the start signal that initiates positioning in the modes
Reference-Point Approach, MDI and Automatic Subsequent Block. A logic OR operation is
carried out by means of the digital input "Start, externally" and Control Signal (Start).
Example Start, ext., is connected to the digital input I2 (MD 47.0 set).
1
Control signal (Start) 3
>1 Start of positioning
2
Digital input "Start, ext."
1 1
2 2
3 3
Enable Input
Overview For positioning /movement/output of M functions of the axis, the enable input has to be set if
this has been parameterized with MD46 to MD49. Resetting stops the movement.
Setting-up and In the modes Setting-Up and Controlling, the axis is moved as long as the AND operation of
controlling modes the control signal (R+/ R-) and the enable input are active.
Example The enable input is connected to the digital input I3 (MD 48.1 set).
1
Control signal (R+ or R-) 3
& Start of positioning
2
Digital input enable
All modes except for In all operating modes, except for Setting-Up and Controlling, the following has to be
setting-up and observed:
controlling If the enable input is not yet set after a starting edge, this starting edge is internally stored and,
in addition to "Waiting for enable", indicated in the check-back signals. By setting the input,
the movement starts, and the stored starting edge is deleted (Stop also deletes the stored
starting edge).
Only in conjunction with This function can only be used in conjunction with a traversing program (see Chapter
the traversing program Programming).
Only in conjunction with This function can only be used in conjunction with a traversing program (see Chapter
a traversing program Programming).
Measuring
Overview The functions "Length measuring" and "Flying measuring" are mode-independent, can be used
optionally, and require the same digital input "Measuring". In contrast to "Length measuring",
during "Flying measuring" the movement of the axis is stopped, and the distance to go of the
interrupted block deleted, or a flying block change carried out.
Measuring input
Process interrupt
Length measuring is activated by setting bit 1.2 in DS11 (set data with execution instruction).
During each edge change at the digital input, the current actual position is entered in DS30
(actual position of front edge / actual position of rear edge). At the end of measuring, i.e. when
the rear edge comes, the measured value is calculated and entered in DS30 (measured value)
and the check-back signal "End of measuring" [ME] output. In addition, a process interrupt
(OB 40) is triggered if parameterized in MD5.
Flying Measuring
Flying Measuring On (DS11.9) The measuring function is activated
by setting bit 0.1 in DS11 (set data
Measuring input
with execution instruction). During
Process input each edge change at the digital input,
the current actual value is entered in
Start of measuring
This value is read "Length value, flying measuring"
from the MCU (DS30), and the axis brakes
to standstill along its parameterized ramp. At the end of measuring, a process interrupt is
generated if this is parameterized in MD5. In addition, the check-back signal "End of
measuring" is output.
Note:
Reference-Point Switch
Only in conjunction with This function can only be used in conjunction with reference-point approach (see Section
reference-point Reference-Point Approach).
approach
Only in conjunction with This function can only be used in conjunction with reference-point approach (see Section
reference-point Reference-Point Approach).
approach
Emergency Retraction
Overview Activating a digital input changes the system to the follow-up mode. In addition, controller
enable is deleted so that the axis can be turned by hand. The response time amounts to 1 .. 2
position controller cycles.
Limitation This function can only be activated with the axis not moving. In the case the axis is moving
when activating the input an error message is provided.
Direct Input
DS16 (O/I) The respective inputs can be read via DS16 (O/I). See also Section 4.1 Data / Signals MCU.
Signals The signals of the MCU are described in Chapter. Interface to the User.
Standard default In the standard defaults, the outputs are not used.
Overview In addition to the output via the interface, the check-back signals Position R, Stop (PEH),
Axis Movement Forward (FR+), Axis Movement Backward
(FR-) and Start Enable (SFG) can be output via digital outputs. The parameterization of the
output assignment is carried out by means of MD50 to MD53.
Overview The check-back signal Alter M Function (AMF) for the M functions M97 and M98 is output
via a digital output. This ensures that these M functions (switching signals) can be used by the
user cycle time without delay.
Direct output
DS16 (O/I) Writing data into the respective outputs is possible via DS16 (O/I).
See also Tables Chapter 3 Data.
Operating Modes
Selecting the operating The operating mode (BA) is transferred from the user program (AWP) via the intelligent I/O
modes module or from MCU-PIT to the MCU.
Check-back signal Provided the preset operating mode is permitted, the MCU signals the preset operating mode
of operating mode back to the user program. If the preset operating mode corresponds to the mode signaled back,
the mode will be active.
Changing the operating When changing the operating mode during an active traversing movement, the operating mode
mode is changed only after standstill of the axis. Then, the mode is signaled back.
When changing between the modes Automatic Single Block and Automatic Subsequent
Block, the new operating mode is immediately taken over, i.e. without axis standstill.
Zero Offset
Overview The zero offset is active only on standstill of the axis. Zero offset will cancel the current offset
of the coordinate system (if already active) and the set offset (relative) executed. The actual
position is always indicated in the machine-oriented coordinate system and not influenced by
the zero offset. All position data indicated in the traversing programs refer to the workpiece
coordinate system and are updated in accordance with the respectively active zero offset.
L
Zero offset - an example
- +
Software limit switch Machine-oriented Workpiece Software limit switch
beginning coordinate system coordinate system end
Zero offset < rotary axis range. The actual value is normalized.
Exceptions In the modes Incremental Dimension Relative, MDI and Automatic Subsequent
Block/Single Bloc, zero offset is possible only after block execution (PEH).
Actual-Value Setting
Overview By transferring the coordinate, the actual value is set to the desired value if the axis is on
standstill (after program selection "Processing running " = 0). The coordinates of the software
limit switches remain as they are.
Machine axis
Actual-value
setting to 150
Resetting Reference-Point Approach and Reset Actual-Value Setting reset the coordinate to its original
value.
Reference-Point Setting
Overview The axis can be synchronized without approaching to the reference point. When doing this,
the position value entered in data record DS22 is taken over as actual value in the current
position.
For axes with an absolute encoder, the position reference is entered into MD17. The known
position value of the unit system is transferred to MCU in a known axis position by
Reference-point setting. This value is set as the actual position of the axis. To make this
position reference retentive, the NC machine data must be saved by means of MCU-PIT.
Overview For testing purposes, it is possible to operate the MCU without motor and encoder. This
function is activated by MD63=0.
CAUTION: Although the drive runs up, access to the drive machine data, diagnosis data etc. is not
possible.
All hardware monitoring functions are internally switched off.
Within the system, it is changed to "Simulation".
Scope of functions The function "Drive-independent emergency retraction" is intended for separation of
workpiece and tool as fast as possible in the following cases:
signal level at a digital input
sign-of-life failure on the MCU side
intermediate-circuit low voltage
The integrated drive is fixed to this emergency retraction mode (immediate retraction with
following generator braking). Both the emergency retraction time and the emergency
retraction speed are parameterized by means of the drive machine data. Their activation via a
digital input is paramaterized by means of MCU-MDs. This function can be switched on/off
by an enable in a data record (either by the user program or the operator interface). After any
emergency retraction, the MCU has to be reset (Power-On-Reset or SW-Reset).
Overview The emergency retraction mode 4 (immediate emergency retraction with following generator
braking) is fixed during the run-up of the MCU by transferring the drive machine data 1636.
Even though this mode can be changed via the operator interface during operation, but any
data back-up in the onboard-FEPROM is overwritten during the next run-up of the MCU.
In the case of error, the axis speed is slowed down to the speed n-notr (A-MD 1639) and keeps
this speed over the time t-notr (A-MD 1638). Then, the axis brakes by means of the generator.
This reaction is carried out by the drive automatically in the case of error (not controlled by
the MCU).
A warning that the autonomous emergency retraction is active is provided via an ZK2 bit: DS
36, status class 2, bit 2 "Emergency retraction/generator mode active"
MD46 to MD49 MD46 to MD49 are used to assign the digital inputs the respective functions. To this aim, the
respectively indicated bit must be set:
Note:
Only one function per input can be assigned! When assigning a function twice, error 01314
"MD46... MD49 Inputs allocated twice" is provided.
Emergency retraction The function can be switched on/off by an enable in a data record either by the user program
enable or via the operator interface. This can be used, for example, to lock an automatic traversing
movement of the drive in certain ranges (protection from personal injuries ...). DS 8, control
word 1, bit 2 "Emergency retraction enable"
General traversing The input "Enable input" (MD46.1 to MD49.1) is active provided it has been parameterized
enable and is not switched off.
Enable efficiency Both enables are linked by an AND operation, i.e. both enables must be active to enable the
emergency retraction; an active emergency retraction can be interrupted by canceling one of
the enables.
Release, response When releasing the emergency retraction, the drive response will be as follows:
Any external setpoints are ignored, only drive setpoints are generated.
The external controller enable is ignored, the drive automatically generates its controller
enable.
The pulse blocking remains active (externally or by the internal intermediate-circuit
alarms).
Digital input Emergency retraction is released if a digital input parameterized for emergency retraction
responses. After emergency retraction has been initiated by the input, the emergency retraction
can no longer be controlled by the input. The response time amounts to max. 2 controller
cycles.
Sign-of life failure Emergency retraction is released if the drive detects sign-of-life failure of the NC. Sign-of-life
failure is only monitored if the speed controller enable is set. The response time amounts to
max. 2 position controller cycles.
Intermediate-circuit low Emergency retraction is released if the drive detects that the actual value of the intermediate-
voltage circuit voltage is lower than the threshold value. If the function is switched off by canceling
the emergency retraction enable, only a warning is output triggered by a ZK2 bit:
DS 36, status class 2, bit 1 "Intermediate-circuit voltage - emergency retraction"
Monitoring of The intermediate-circuit voltage is monitored by a U/f converter using the multiplex principle.
intermediate-circuit To provide low-delay monitoring, it is necessary not to change over the multiplexer any more
voltage after the actual value has been lower than the threshold voltage (A-MD 1630) but to monitor
only the intermediate-circuit voltage. Monitoring of the motor temperature is switched off for
the time of the intermediate-circuit error. Thanks to this measure, the threshold can be
detected after max. 1.5 ms.
with the multiplexer not switched off: max. 6.5 ms + 1 position controller cycle
The hardware of the drive is switched off by the supply/energy recovery unit, when the
intermediate-circuit voltage is lower than the threshold value and amounts to 280 V, or when
the actual value is higher than the intermediate-circuit threshold and amounts to 680 V.
Amongst others, the discharging time of the intermediate-circuit depends on the power and/or
load and amounts to only a few msec.
Overview In order to optimize cyclic movement sequences, it is necessary to use the time available for
positioning as best as possible. To this aim, in the operating modes MDI and Automatic, the
"relative positioning time" is measured. The calculated value is made available in DS26. The
"relative positioning time" can also be output via DS19 or DS29 (application data) or via
DACs.
Application example In order to optimize the movement sequence between a press and a roller feed, the "relative
positioning time", i.e. the ratio between positioning time and feed angle, is determined.
START (externally)
PEH
Positioning time
Residual time
positioning time
Relative positioning time = 100% 100
feed angle time
Interrupting the If a running positioning process is interrupted by STOP, mode change, enable cancellation or
positioning process error, measuring of the "relative positioning time" is aborted. In this case, 0 is entered in
DS26.
Overview At the end of a traversing movement, the difference of the path traversed between indirect
(IM) and direct measuring system (DM) is determined as percentage value with refer to the
direct measuring system and made available in DS33. The relative path difference IM-
DM/DM can also be output via DS19 or DS29 (application data) or via DACs.
Calculation The difference of the path traversed is calculated between the positive and the negative edge of
the start signal ([ST] or Start, externally). If the [PEH] signal is not yet set when the falling
edge comes, the relative path difference is calculated only with the rising edge of [PEH].
Examples Fall 1:
START
(externally or [ST])
PEH
Duration of measuring
Fall 2:
START
(externally or [ST])
PEH
Duration of measuring
Fall 3:
START [ST]
START (externally)
PEH
Duration of measuring
Limitation The calculation of the relative path difference is only carried out in the operating modes MDI
and Automatic if both measuring systems are parameterized.
Interrupting the An interruption of a positioning process by operating mode change, canceling an enable or by
positioning process an error results in abortion of measuring. In this case, the value 0 is entered in DS33. An
interruption of a positioning process by STOP does not entail an abortion of measuring.
Setting-Up
Overview In the Setting-up mode, the traversing movements of the axis are preset by means of the
direction keys (R+ or R-) and by the setting-up velocity.
Note:
The Setting-up mode has nothing get to do with terminal 112 at the power supply module.
Setting-up velocity Before the axis can be moved, first the setting-up velocities have to be transferred to the MCU
via data record 2. Two velocities (step 1 and step 2) can be selected via the operating mode
parameters (BAP) independently of each other. The values of the velocity steps can be
changed during the movement.
The velocity can additionally be influenced via override (see Section 5.2.5 Override).
Controlling
Overview In the Controlling mode, different speeds are preset which are used to realize a controlled
movement. The movement direction is determined by the direction keys (R+ or R-).
Note:
When the speed is being output, the position control loop is disconnected. After deactivating
the direction keys (R+ and R-), the regulation refers to the new actual position and used after
standstill of the axis again.
Speed steps It is possible to choose between two speed values (step 1 and step 2) independent of each other
by means of operating mode parameters (BAP). The new value refers to 0.01% of the max.
useful motor speed (MD1401), generally, this corresponds to the nominal speed. For example,
entering 1,000 means 10% of the nominal speed.
The values of the speed steps can be changed during the movement:
Reference-Point Approach
Overview In the operating mode "Reference-point approach", the axis is positioned to a fixed point
preset by the reference-point switch (and, in some cases, by the zero mark of the encoder)
either using the direction keys (R+ or R-) or by Start. This is necessary to synchronize the
axis. After synchronization, traversing along the reference-point shift (MD27) is carried out.
The position reached then is assigned the value of the reference-point coordinate (MD16). The
override is limited to max. 100 %. Any active zero offsets or actual-value setting are reset and
become not active during reference-point approach.
Reference point The reference point should be selected such that it can easily and quickly be approached after
turning on the control system.
Reducing velocities If you operate the system manually when approaching the reference point, preselect the
velocities such that your reaction time will not have any negative effects in case of error (if
necessary vary the preset override values).
Recommendation: Reducing velocity = 150 mm/min
Machine data The Table below lists the machine data which are important for reference-point approach:
MD16
MD18 M Designation Value/description Unit
MD27 D
MD28
16 Reference-point -1 000 000 000...+1 000 000 000 [MSR]
MD29
coordinate
MD46 to MD49
18 Method of reference- 0 = + direction, zero pule, right
point approach 1 = + direction, zero pulse, left
2 = - direction, zero pulse, right
3 = - direction, zero pulse, left -
4 = + direction, reference-point
switch, center
5 = - direction, reference-point
switch, center
8 = + direction, reference-point
switch, edge
9 = - direction, reference-point
switch, edge
27 Reference-point shift -1 000 000 000...+1 000 000 000 [MSR]
28 Referencing velocity 10...vmax (MD23) [MSR]/
min
29 Reducing velocity 10...vmax (MD23) [MSR]/
min
46 Digital inputs Bit 0 = Start, externally
.X (I1) to (I4) Bit 1 = Enable input
to Bit 2 = External block change
49 Bit 3 = Flying actual-value setting
.X Bit 4 = Measuring -
Bit 5 = Reference-point switch
Bit 6 = Reversal cams for
reference-point switch
Bit 7 = Emergency retraction
(drive-independent)
Bit 8 = Position controller inhibit
User handling When using an absolute encoder (EnDat), in the operating mode Reference-point Approach,
only the reference point of the axis is approached which is defined as fixed point.
When using an incremental encoder, the user has two possibilities to determine the reference
point:
With reference-point To this aim, the reference-point switch must be connected to a digital input and be
switch (RPS) parameterized via MD46 to MD49.
_ +
RPS
2. vA
Zero pulse left
from RPS v
R
_ +
RPS
R+ 3. vA
("edge- RPS centrally
controlled") (no zero pulse v
R
or Start required)
_ +
RPS
RPS edge vA
(no zero pulse
required) v
R
_ +
RPS
RPS
Without reference-point The Table below describes how approaching the reference point is carried out without
switch (RPS) reference-point switch.
Using a reversal switch When starting approach to the reference-point and the axis is already behind the reference-
point switch, a reversal switch causes the axis to return to the direction of the reference-point
switch. The reversal switch is to be installed at the axis end before the emergency limit switch.
Example
Reversal Emergency
RPS Stop switch
switch
MD46.6=1
Reference point
Reference-point shift The reference-point shift is the path difference between synchronization point and reference
point.
as path reserve to brake the drive after overtraveling the synchronization point.
Incremental Dimension
Overview In the operating mode "Incremental Dimension", it is possible to carry out single positioning
of relative path amounts in a freely selectable incremental dimension.
The traversing movement is started by pressing the direction keys (R+ and
R-).
Position setting There are the following possibilities for presetting the incremental dimensions:
As velocity setpoint, velocity step 1 (Setting-up mode, DS2) is used. It can be changed during
the movement.
Flying position change for example, changing the position setpoint during the movement, is
not possible.
Overview In the operating mode MDI, it is possible to carry out single positioning via traversing blocks
(F values, G functions, M functions). These traversing blocks are made available by the user
program.
MDI block The MDI block has the same structure as the traversing-program block
(DS7) (see Programming).
The user program provides the MDI block to the MCU where it can then be started for
execution. It can be executed several times. The feedrate depends on the override (see Section
5.2.5 Override ).
The MDI block remains as long as it is overwritten by a new MDI block. Exception: "Flying
MDI block".
For a rotary axis n with absolute-value programming, the commands R+ or R- are defined as
direction presetting. They must be provided prior to starting positioning; otherwise, the MCU
approaches the position on the shortest possible way.
Flying MDI block (DS17) "Flying MDI block" output by the user program aborts the MDI block which is now being
processed. The new block is immediately processed without restarting it. "MDI block, flying"
is not stored in the MCU.
Block structure The Table below shows the structure of an MDI block.
16 Byte 0 0 1 0 0 0 1 1
17 Byte 0
18 Byte 0
19 Byte 0
Overview In the operating mode Automatic Subsequent Block, the MCU autonomously executes
traversing programs. These programs can be created by means of MCU-PIT and stored as data
blocks. The traversing programs contain information about movement sequences and outputs
(see Programming).
Note:
To obtain identical position values when repeating the program, the 1st block should be
programmed in absolute dimensions (G90).
Program selection Program selection is carried out via the user program by presetting a program number and, as
an option, a block number and the direction of processing. Program selection is possible only
with a program interrupted or completed (DS18).
Note:
Processing Processing always starts at Start with the first block and is carried out by rising block
forward numbers.
When starting processing in any point of the traversing program, the desired block number
must be preset. Processing is carried out with Start in the block search mode forward to this
block up top the end-of-program command.
Processing Processing always starts at Start with the last block and is carried out by falling block
backward numbers.
When starting processing in any point of the traversing program, the desired block number
must be preset. Processing is then carried out with Start in the block search mode backward to
the beginning of the program.
Note:
If backward processing is desired to perform the same sequence of movements as the forward
movement, the effect of the respective commands have to be observed when programming, for
example:
Any M function outputs in a block should be written separately; it should be paid attention
to the type of M output (MD32) and G60/G64.
Pay attention to changing between G60/G64 and G90/G91.
M02 and M30 at the end of the program are not processed.
Block search The program including tool offsets is prepared up to the end point of the destination block. M
forward/backward commands and dwell times are output, and the traversing movements suppressed.
When running the traversing programs using block search forward/block search backward,
there are different special cases:
Blocks with external block change (G50) are skipped.
Endless traversing with flying actual-value setting (G88, 89) or cancellation (G87) are not
carried out.
Blocks following after G50, G87, G88, G89 (in processing direction) should include an
absolute dimension.
Automatic block search After interrupting an active program in the Automatic mode (by operating mode change), it is
forward / possible to continue the program in the respective processing direction from the break point
backward up.
With block search forward, the interrupted program must have been processed in the forward
direction prior to the interruption. With block search backward, the interrupted program must
have been processed in the backward direction prior to the interruption.
The command for automatic block search forward or block search backward is evaluated when
the MCU starts, and block search forward or backward to the breakpoint is initiated.
Positioning to the breakpoint is carried out (if positioning has been carried out in another
mode of operation), and the interrupted block including the respective output (if any) is
executed.
User handling The Table below lists the parameters to be set in DS18.
Handling when selecting The Table below shows what you have to do when selecting a program.
the program
Overview Whereas in the Automatic Subsequent Block mode, the MCU automatically starts the next
following block for execution, after a block has been executed, in the Automatic Single Block
mode, after each block which contains a distance to be traversed, a dwell time or M
commands, the axis waits for a new start signal.
Changing between Automatic Single Block and Automatic Subsequent Block can be carried
out at any time and does not result in stopping the movement or canceling the outputs.
Overview The functions Function Generator and Measuring Function are mainly used during the
commissioning in order to set and check the dynamics of the regulation. Both functions are
effective either in the speed or in the current-control loop.
Mode 20 = function The function generator can be used to preset speed and torque setpoints.
generator
Mode 21 = measuring The measuring function can be used to record step responses or frequency characteristics and
function then to display them.
Axis behavior By selecting mode 20 or 21, the Setting-up mode is selected internally, i. e. first, the axis is in
"position control".
With the functions When the functions are started, it is changed to follow-up mode internally so that no position
started control interrupts occur due to autonomous axis movements of the drive. The software limit
switches remain active.
The check-back signals FR+, FR- will not be set, as the drive is moving autonomously and the
position control is switched off by the follow-up mode. The function status is indicated in data
record 36, status word 1, bit 4 and 5.
Bit4 FFT analysis On
Bit5 Function generator On
In contrast to other modes of operation, the machine data can be changed, despite of an active
traversing movement, in order to optimize the axis without stopping the function.
To start an axis movement, the enable input is used provided it has been parameterized and is
not switched off.
Note:
Start prerequisites If one of the following start prerequisites is not met, a respective error message is provided to
the user interface:
Error-free parameterization of inputs
DB interface active (STS: TFB=1)
No alarm provided (RMS: FS=0, BF=0, DF=0)
Axis on standstill (RMS: FR+=0, FR-=0)
Processing not running (RMS: BL=0)
Axis not parking (DS 11, Bit 14=0)
Axis enable (AF=1)
Controller enable (RFG=1)
Pulse enable (IF=1)
Follow-up operation (NFB=0)
Cancellation conditions The following conditions result in canceling the function and in a respective error message
displayed at the user interface:
Changing the DB interface from active to inactive (STS: TFB 1->0)
Operating mode change (RMS: BAR)
Canceling the external enable input (I1-I4 see above)
Canceling the axis enable (STS: AF 1->0)
Canceling the controller enable (STS: RFG 1->0)
Canceling the pulse enable (STS: IF 1->0)
Alarm does not occur (RMS: FS, BF, DF 0->1)
No check-back signal from drive (DS 36, status word 1, bit4 or bit5)
Buffer overflow (measuring function only)
Function generator failure (measuring function only)
This Chapter describes the scheduled data, display data, as well as the control and check-back
Overview
signals from and to the MCU. For further information, refer to the publications "S7
Environment", "MCU-PIT", and the "Tables".
PP031 MCU-PIT
MSST OP
PIT-CONTROL
STEP7 PIT-EDIT
DB1001
Data to
DB1000 DB-
S7 NC
DB1199
user DB-BD
programs operating
data DB1200
User data DB-
MD
Standard software
DB1220
for technological
DB-
functions
WK
DB1230
SERVO DB-
SM
INSTANZ-
DB DB1251
DB-
AM
DRIVE DB1260
DB-
AS
MCU
Description of bits The interrelation between the SIMATIC bits and the PIT-EDIT bits is explained in the
following Table. This Documentation uses the same notation as used for the SIMATIC
Bit number
SIMA 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1
TIC . . . . . . . . . . . . . . . .
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
PIT- 1 1 1 1 1 1 9 8 7 6 5 4 3 2 1 0
EDIT 5 4 3 2 1 0
Control signals The operation /control of the axis is provided by means of control signals. Control signals are
set either by the user program (AWP) or via the MCU-PIT software according to the desired
function.
The Table below describes the control signals and their functions.
Scheduled data Scheduled data are data/parameters needed for the respective operating modes. The Table
below describes the scheduled data and their functions.
Scheduled data with Scheduled data with an execution instruction activate settings/functions applicable to several
execution instruction modes of operation. The Table below describes the scheduled data with execution command
and their functions.
the velocity.
Check-back signals The check-back signals indicate the processing status of the axis and signal it back to the user
program.
The Table below described the check-back signals and their functions.
PEH Position 1 After the target position has been reached, PEH is selected. PEH
reached, stop; remains until the next axis movement is started.
Exact stop
SFG Start enable 1 Start enable signals readiness for positioning and readiness to output
O1 to O4.
"Start enable" is set:
- if no static stop, operating error, operator error or restart are
provided.
- if mode presetting and mode check-back coincide (after mode
change)
- if no axis functions (including M functions, dwell time) are
active or after the functions have been completed.
Prerequisite:
Resetting of the signals (ST), (R+) or (R-) that activated the
function or movement
- to continue a function interrupted by Stop
- in the Automatic Subsequent Block mode after program
preselection has been carried out (one program active) and after
M0, M2, M30 or in Automatic Single Block mode at the end of
the block
Without Start Enable, functions that can be activated by Traversing
Plus, Traversing Minus or Start are not carried out.
WFG Waiting for 1 The signal is active only if a digital input has been parameterized by
external enable means of MD46 to MD49 (see Section 2.1).
Display data Display data are data/parameters that are signaled back from the MCU. The Table below
describes the display data and their functions.
User Handling
Overview The Table below provides an overview which data/parameters can be accepted or processed in
which operating mode.
Notes for the user In the following, some notes for starting a movement and the behavior of the MCU when the
integrated S7-CPU changes its condition are provided:
First, an operating mode must be set. Then, the data can be transferred. To prevent the axis
from uncontrolled traversing, controller enable should not be set.
Starting a movement is possible only with Start Enable provided (mode active, no Stop,
Drive Enable).
A static Stop signal (STP) will prevent any movement or block execution.
Edge formation of Start or Direction Plus/Minus:
These signals should only be reset after deleting Start Enable.
Before starting any movement in any mode of operation, first the respective scheduled data
have to be transferred.
Behavior of the MCU during the transition of the S7-CPU from the RUN to the STOP
condition: as described under "Restart".
Behavior of the MCU during the transition of the S7-CPU from the STOP to the RUN
condition:
- A restart of the positioning module is carried out internally.
- Activate the MDs.
Controlling the module The Table below lists the data/parameters for starting a movement.
Programming
Fundamentals
Overview To execute the desired operations of the machine axis (sequence, position, etc.), the MCU
requires certain information. This information is programmed by means of MCU-PIT
(traversing program development) as a traversing program (oriented to DIN 66025).
Traversing programs Each traversing program is stored under a program number. A traversing program consists of
max. 255 traversing blocks. Program number and traversing blocks are converted into an
internal format (Traversing Blocks) and transferred to the module where the program is
managed. Max. 199 programs (depending on the memory capacity) can be programmed.
Program name Each program can be assigned a name (optionally). The program name has max. 18 characters
and is stored in the program.
Traversing block A traversing block contains all data required to execute an operation.
Program structure A program consists of several blocks. Each program number exists only once. A program is
executed in the rising sequence of block numbers.
Traversing Blocks
Block Structure
Overview The Figure below provides an overview of the structure of the traversing blocks.
/ N G1 G2 G3 X/t F M1 M2 M3 D P L
Skippable blocks"/" Program blocks not to be executed in each program cycle can be marked as skippable blocks
by the symbol "/". During program execution, it can be decided by means of the control signal
"Skip block" to sip skippable blocks. The last block may not be skipped.
Block number N Block numbers N from 1 to 255 are possible. The program is executed in rising sequence of
the block numbers or, with backward processing, in falling sequence.
Comments Comments can be entered in brackets. The comments are not entered in the module but in a
file created by and saved under of MCU-PIT. After reading out a traversing program from the
MCU, the comments do not exist any more.
Overview Only one G function of each G function group can be entered per traversing block, for
example:
G functions The Table below lists the possible G functions of the individual G function groups:
G G Function G Function
No. Group
04 Dwell time
s
87 Canceling of measuring-system offset for flying actual-
s value setting
88 Endless traversing (-) for flying actual-value setting 1
s
89 Endless traversing (+) for flying actual-value setting
s
90 Absolute dimension
m
91 Incremental dimension
m
30 100 % override acceleration/deceleration
m 10 % override acceleration/deceleration
31 20 % override acceleration/deceleration
m . 2
32 .
m .
. 90 % override acceleration/deceleration
.
.
39
m
43 Tool offset (+)
m
44 Tool offset (-)
m
50 External block change 3
s
60 Block change - exact positioning
m
64 Flying block change, continuous-path control operation
m
G30, G90 and G64 are the default settings after starting the program. G functions active block
by block are marked with an s, and modally active G functions by an m.
Note:
The use of the G function numbers partly differs from the current DIN 66025.
Dwell time G04 Except this G function and indication of time, a block with dwell time can only contain M
functions. For the dwell time, the following is applicable:
Input values are internally rounded to multiple of the parameterized position controller cycle.
Dwell times are active only block by block.
Block change With G60, the programmed position is exactly approached and the feed motion stopped (block
G60, G64 change - exact positioning). G64 causes the following block to be executed immediately when
(approach reaching the brake threshold (flying block change). G60 and G64 exclude each other and are
conditions) self-maintained commands. M commands have influence on the G64 mode (see 0 Flying
Block Change G64).
External block The function "External block change" triggered by a digital input carries out a flying block
change (G50) change. To this aim, the fast input must be parameterized with the function "External block
with deletion of distance change" via the machine data MD46 (I1) to MD49 (I4).
to go
The function is active only block by block (no influence on G60 and G64).
Example "External block The Figures below illustrate the program structure and the program run of an example for
change" "external block change":
Velocity v
N10 N20
time t
Digital input I
time t
Note:
The external block change is also carried out when the read-in enable (EFG=0) is not
provided.
Explanations on the The axis moves as long as a signal change from 0 to 1 is carried out at the digital input. This
example "External block initiates the following two reactions:
change"
Flying block change and thus immediate execution of block N20
Storing of the actual position at the time of abovementioned signal change as "Actual value
- block change". This position is also the starting position for any following programming
in incremental dimensions.
If the block position in N20 is smaller than the actual position at the time when the digital
input is provided (reversal of direction), the movement is stopped to approach then position
in the opposite direction.
If no position is programmed in block N20, the movement is stopped, the functions
programmed in N20 executed and continued with the next block (except if M0, M2, M30 is
provided in the block)
If the programmed path in N20 is smaller than the braking distance, the programmed
position is overtraveled and then positioned by reversal of direction.
If no block change is carried out at the digital input, the target position of N10 is approached
with further following behavior:
On reaching the target position, the error message "Digital input not selected" is output.
In this case, program execution can be continued from block number N20 by Start after the
error has been acknowledged.
If program execution is desired to start at the beginning, program preselection is to be
repeated.
Flying actual-value The function "Flying actual-value setting" is programmed and triggered by a digital input;
setting block change is carried out flying, and at the same time the actual value is set to a new
G87, G88, G89 dimension (programmed coordinate). The digital input must be parameterized with the
function "Flying actual-value setting" via the machine data MD46 (I1) to MD49 (I4).
Example "Flying actual- The Figures below show the program structure, program flow and actual-value characteristic
value setting" of an example for "flying actual-value setting":
Velocity v
N10 N15 N20 N25
Time t
Reversal
Digital input I of direction
Time t
Position X
0 50 100 150 200 250 300 350 400
N20
Explanations on the Flying actual-value setting from N10 to N15, with G89 resulting a movement in positive
example "Flying actual- direction, and G88 resulting a movement in negative direction with the velocity programmed
value setting" in N15. The axis will now move to the preset direction until a positive edge change is carried
out at the digital input. This will result in the following responses:
Flying actual-value setting to the block position of N15 and thus shifting of the coordinate
system
The programmed position in block N20 refers to the shifted coordinate system.
By the block change from N20 to N25, G87 cancels the shift of the coordinate system and
causes an absolute-dimension programming to the block position of N25.
The saved actual value can be read out via "Actual value - block change".
The shift of the coordinate system remains as long as it is canceled either by G87 or by mode
change. it is possible to use the existing shift of the coordinate system in different programs.
The coordinate system can be shifted without first canceling any existing coordinate system
shift.
G88, G89 can be programmed several times. The shift always refers to the original condition.
The software limit switches are also shifted together with the coordinate system.
If the signal change of the digital input fails, the axis moves until the limit switches are
reached.
Note:
The G functions G87, G88 and G89 are active only block by block and must be reselected if
needed.
After a block with G87, G88 or G89, G90 or G91 must be reselected.
Dimensional Notation
Dimensional notation The traversing movement to a certain position can be described by:
G90, G91
Absolute dimension input (absolute position data input) G90 or
It is possible to change between absolute dimension input and incremental dimension input at
the block limits as desired. The condition when the system is switched on is absolute
dimension programming G90. G90 and G91 are maintained commands.
Absolute dimension Absolute dimension inputs are absolute dimensions referring to the coordinate system:
input G90
Programmed Actual position
N10 G90 X20 F100 position
Position/mm
0 10 20 30 40 50
Position/mm
0 10 20 30 40 50
Adaptation of measuring When operating the axis as rotary axis, the measuring system should be adapted such that the
system dimensional scaling refers to the full circle (e. g. 0 and 360).
Absolute dimension With a full circle of 360, the particularity of absolute dimension programming (G90) is that
input G90 there are always two possibilities to reach the set position.
Possibility 1 Possibility 2
when presetting directionR+
270 90 270 90
180 180
With G90, the axis always The desired direction of the axis can be enforced
automatically selects the shorter by means of the control signals (R+) and (R-). In
way to reach the set position of this example, from 45 via 180 to 315, (R+)
45, via 0 to 315. and (R-) must already have been provided when
positioning (Start) is activated.
Note:
The direction (R+) or (R-) must be preset in time. It is not possible to enforce the currently
active traversing block the traversing direction later.
Incremental dimension With the incremental dimension programming G91, the direction of rotation of the rotary axis
input G91 results from the sign of the position setpoint. It is possible to program several revolutions by
entering a value larger than 360 as position setpoint.
Note!
From firmware version V3.20 on, MD9 can be entered for the configuration below, regardless
of MD11/MD12 or MD55/MD56:
incremental encoder (see MD10 or MD54)
referencing by means of the reference-point switch (see MD18)
However, it should be considered that the values in MD9 can only be entered with the
accuracy of MD11 and MD55, respectively.
Acceleration Override
Overview The acceleration override can be used to influence both the acceleration and the deceleration
behavior of positioning. The acceleration and deceleration values are set by machine data. G30
to G39 can be used to obtain a percentage reduction of both values in the traversing block.
These functions are maintained functions. Changing of the acceleration override in the
program prevents flying block change. The consequence is that G60 behavior is enforced in
the previous block.
Tool Offset
Overview The tool offset (WZK) provides the possibility to reuse an existing machining program also
after changing the tool dimensions.
G43 and G44 The tool offset is selected by G43 or G44 with indication of the tool offset number D1...D20.
D0...D20 The tool offset is canceled by G43 or G44 with indication of the tool offset number D0.
Totally, 20 tool offset memories and tool wear memories are available. The offset values must
first be loaded into the module. Any values not agreed have the value 0. The values are loaded
into the module via the DB-WK and stored as retentive data. Both with selection, reselection
and canceling, the tool offset is considered only during the next following positioning.
Cancellation Any selected tool offset remains as long as it is either canceled or replaced by a new one. Just
as well, a mode change, program change or program end results in canceling of the tool offset.
Variants of tool offset The tool offset consists of tool length compensation and tool length wear:
Tool length compensation
By tool length compensation, the real tool length from the tool zero point to the tool tip is
meant.
D
L
D
Vadd
D D
Vabs V
D = DL - DV D Tool offset
DL Tool length offset (positive or negative)
DV = DVabs + DVadd
DV Tool length wear (positive or negative)
DVabs Wear, absolute (positive or negative)
DVadd Wear, additive (absolute amount)
Programming and In order to program a tool offset in a traversing block, as least the tool length offset must be
deleting the tool offset entered. If despite of the selection, no offset is to be calculated, "0" must be preset for tool
length offset and tool length wear.
Direction of tool offset The functions G44 (-) and G43 (+) are used to correct the positional value such that the tool
tip reaches the programmed set position.
Tool offset negative G44
Usually, the tool points in negative direction to the workpiece. When feeding the tool, the
positional value is getting smaller.
Referred to the measuring system, the following position is approached:
Xms = Xset + (D) Xms Position of measuring system
Xsoll Programmed set position
D Tool offset
Position Positions can be entered either with a negative or a positive sign. When entering positive
values, the sign can be omitted.
Velocity The entered velocity is included in the calculation with the override. If the velocity value is
entered larger than the maximum permissible velocity, the value is limited to the value set in
machine data 23. The velocities are maintained and must only be re-entered if any changes
have been done.
M Functions
Overview Max. three M functions can be programmed in a traversing block whereby M1, M2 and M3
can be used in any way. The output sequence of the M functions is always:
M1M2M3 (explanations on output see Section 5.4).
M M function M Function
No. group
0 Stop at block end 1
2, Program end 1
30
1... User functions 1, 2, 3
17
18 Endless cycle (jump to program beginning) 1
19.. User functions 1, 2, 3
.96
97, Change signal can be programmed as digital input 1, 2, 3
98
99 User functions 1, 2, 3
M0, M2, M18 and M30 are always output at the end of the traversing movement. M0, M2,
M18 and M30 in a block exclude each other.
Stop at block end M0 If M No. 0 is programmed in a traversing block as M function, execution of the traversing
block stops at the end of the block, and M0 is output. The program is only continued when a
new START edge is provided.
Program end M2 and M30 have the same function. If M2 or M30 are programmed in the same block, the M
M2, M30 function is output with following program stop and jump to the program beginning after
positioning. The program can be restarted by the start edge. M2 and M30, respectively, is
always the last output in the block.
After the program has been called as subroutine, jump to the main program is carried out. In
this case, M2 and M30, resp., are not output.
Endless cycle M18 M18 is always output as the last M function in the block. The following cases are differed:
M function M18 is output as any other M function. Only after the block has completely
been executed (including M18), return to the program beginning is carried out.
If the M function M18 is programmed alone in the last block of a traversing program, the M
function is not output, but an immediate return to the program beginning is carried out
(jumping axis).
Change signal as digital If M97 or M98 are programmed in the same block, the M functions are output via the digital
output M97, M98 outputs according to the entry in the machine data MD50 (O1) to MD53 (O4), analogously to
the output at the signal interface.
M functions in blocks In a block with G50, G88 or G89, no M functions marked with "after positioning" are output.
with G50, G88 and G89
If the following block contains M functions marked with "prior to positioning", the movement
is stopped to standstill, the M functions output and then the remaining distance positioned.
Subroutine Call
Subroutine call P, L A block containing a subroutine call (L is the "program number", P is the "Number of calls")
may not contain any other information.
Processing forward Usually, the programs are processed in rising sequence of the block numbers.
Processing backward When processing programs backward, the effect of the commands must be observed during
programming:
The commands are maintained (G90, G91, G60, G64, G30...G39).
For these reasons, forward processing can differ from backward processing both in geometry
and in the block transition behavior.
Block Transitions
Overview This Chapter describes the influence of certain commands on block transitions.
Exact positioning G60 G60 operation is overlaid by G50, G88 to G89 (enforce flying block change). Block changing
is carried out when reaching the exact-positioning window. MD32 determines the output type
of the M functions: prior to, during, or after positioning, time-controlled or acknowledgment-
controlled.
Time t
Time t
"Long block"
Time t
Time t
Velocity v
Ni Ni+1
"Short block"
Time t
Time t
Time t
Exact positioning
window
Overview Changing from one traversing block to the next is carried out without stopping the axis. With
the G64 function programmed, the acceleration and braking function is calculated for several
blocks. 3 blocks are prepared in advance.
Feed change during block change is carried out such that in the path section of a block in no
case a higher velocity of an "adjacent block" becomes or remains active. That means any
acceleration starts at the starting point of a block whereas a deceleration to a lower velocity of
a subsequent block is initiated as with G60. When reaching the velocity of the following
block, the distance to go of the active block is traversed with the feed of the following block.
Standard case The Figure below shows a programming example with program flow for the standard case:
Velocity v
N5 N10 N15 N20 N25
3
1 2 4
5
Time t
To approach a position correctly, the axis has to calculate the brake threshold point. The
parameters required for the calculation are the distance to go, the deceleration value and the
current traversing speed.
The brake threshold point is at the same time the earliest possible block change moment.
Deceleration There are different conditions decelerating or preventing the flying block change. in this
context, it must be made a difference whether the flying block change is deliberately
prevented, or whether the selected function does not permit the flying block change.
Time t
M
Time t
Time t
Time t
M
Time t
Influence of M functions The output time of the M functions can be set by means of machine data:
on the flying change -
machine data M function output prior to or after positioning with block change
M function output and positioning alternate with each other.
- M function outputs prior to positioning result in exact positioning behavior in the
preceding block.
- M function outputs after positioning result in exact positioning behavior in the block.
Program example The Figure below shows a program example with M function output during the positioning.
Velocity v
N5 N10 N15 N20
1 2 3 4
Position X
10 20 30 40 97
Time t
1 The output of M10 is not path-dependent, as no relevant position exists for the path-
dependent M function.
2 The block change from N5 to N10 prepares the output. However, the M function is carried
out only after the actual position has reached the programmed position of N5.
3 If two functions are programmed in a traversing block, the first M function is output path-
dependent and then the second M function.
4 The change signal for M97 and M98 is output with G64 block transition (digital output)
after the actual position has reached the programmed position of the block. The actual
position follows the set position (difference = tracking distance).
6 Appendix
A
C
Absolute data input, 5-24
Absolute dimension input, 5-25 Cancellation, 5-37
Absolute encoders, 1-64 Changing the drive
Acceleration, 1-16 to the passive condition, 3-14
Acceleration beginning, 1-20 Check-back signals, 4-11
Acceleration override, 5-32 Closed-loop amplification, 1-44
Acknowledge data error, 4-5 Comments, 5-13
Acknowledge M function, 4-5 Control signals, 4-4
Acknowledge operator error, 4-5 Controller enable, 4-5
Acknowledge restart, 4-5 Controlling, 3-38
Actual data 611, 4-14 Controlling speed steps, 4-6
Actual position, 1-53 Controlling the module, 4-18
Actual value, 4-14
Actual-value setting, 3-12; 4-9
Adaptation of direction, 1-53 D
AF, 4-5
Alter M function, 4-12 D0 to D20, 5-36
AMF, 2-24; 4-12 Data error, 4-12; 4-14
Application data, 4-9; 4-14 Data from the MCU, 4-11
Automatic Single Block, 3-67 Data interpretation running, 4-12
Automatic Subsequent Block, 3-58 Data record
Axis enable, 4-5 2, 3-37
Axis standstill, 1-36 36, 3-72
Axis synchronized, 4-12 Data to the MCU, 4-4
Axis type, 5-31 Deceleration, 1-16
Delete distance to go, 4-8; 5-18
DF, 4-12
DI, 4-12
B
Digital input, 4-7; 4-12
BA, 4-4 Digital inputs/outputs, 2-1; 4-9
Backlash compensation, 1-47; 1-52 Digital output, 5-48
BAR, 4-11 Dimensional notation, 5-24
BF, 4-12 DIN 66025, 5-3; 5-15
BFQ, 4-5 DIQ, 4-5
Bit-coded commands, 4-8 Direct measuring system, 3-30
Bit-coded settings, 4-7; 4-8 Direct output, 2-25
BL, 4-11 Direction keys, 3-36; 3-38; 3-40
Block change, 4-14; 5-17 Direction of processing, 5-52
Block number, 5-12 Direction of tool offset, 5-41
Block search backward, 4-8 Display data, 4-14
Block search forward, 4-8 Distance to go/encoder revolution, 1-63; 1-66
Block search forward/backward, 3-63 Drive activation, 1-68; 3-14
Block search forward/block search backward, Drive Machine Data, 1-67
automatically, 3-64 Drive machine data - emergency retraction, 3-18
Block structure, 5-10 Drive module type, 1-71
Block transitions, 5-55 Drive number, 1-69
BP, 4-4 Drive power section code, 1-70
K MD26, 1-37
MD27, 3-43
Kv factor, 1-41 MD28, 3-43
MD29, 3-43
MD30, 1-52
L MD31, 1-52
MD32, 5-50
L, 5-51
MD33, 5-50
Length measuring, 2-13; 4-7; 4-14
MD34, 1-46
Level adaptation, 3-16
MD35, 1-46
Linear axes, 1-65
MD36, 2-5; 3-16
Load Gear, 1-45
MD37, 1-24; 1-28; 1-31
MD38, 1-44
MD39, 1-39
M MD40, 1-16
M function MD41, 1-16
after positioning, 5-59 MD42, 1-19; 1-24
during the positioning, 5-58 MD46 to MD49, 2-2; 3-17; 3-43; 3-45
prior to positioning, 5-57 MD46 to MD53, 2-3
M function No., 4-12 MD5, 2-15
M functions, 5-44 MD50 to MD53, 2-2; 2-23
Influence on the flying change, 5-65 MD54, 1-63; 1-66
M0, 5-45 MD55, 1-63; 1-66
M18, 5-47 MD56, 1-63; 1-66
M2, 5-46 MD57, 1-63; 1-66
M30, 5-46 MD60, 1-57
M97, 2-24; 5-48 MD61, 2-2; 2-4
M98, 2-24; 5-48 MD63, 1-68; 3-14
machine data, 1-5 MD64, 1-69
Material damage, 1-59 MD65, 1-70
Maximum velocity, 1-16 MD66, 1-71
MCU-PIT, 4-4 MD67, 1-72
MD 1638, 3-15 MD7, 1-55
MD 1639, 3-15 MD8, 5-31
MD10, 1-63; 1-66 MD9, 5-31
MD1005, 1-63 MDI, 3-52
MD1007, 1-63 MDI block, 3-53; 3-56; 4-6; 4-9
MD1021, 1-66 MDI block information, 3-54
MD1031, 1-66 ME, 4-12
MD11, 1-63; 1-66 Measuring, 2-13
MD1106, 1-70 Relative positioning time, 3-27
MD12, 1-63; 1-66 Measuring function, 3-68
MD13, 1-63; 1-66 Measuring system, 1-56; 4-7
MD14, 1-66 MNR, 4-12
MD16, 1-60; 3-43 Mode change, 3-5
MD17, 3-13 Mode check-back signal, 3-4
MD18, 2-16; 3-43 Mode selection, 3-3
MD19, 1-53 Monitoring functions, 1-58
MD20, 1-59 Monitoring time, 1-34
MD21, 1-11; 5-31 Movement, 1-4
MD22, 1-11; 5-31
MD23, 1-16; 5-43
MD24, 1-34
MD25, 1-34
T
Target range, 1-34
Teach In, 4-9
TFB, 4-4; 4-12
TFGS, 4-12
Time override, 1-28
Time override active, 1-31
T-L, 4-12
Tool length compensation, 5-38
Tool length wear, 5-38
Tool offset, 5-35
Tool offset negative G44, 5-41
Tool offset positive G43, 5-41
Traversing block, 5-7
Traversing blocks, 5-9
Traversing error, 4-15
Traversing minus, 4-11
Introduction 2
User's Guide
Description MCU-PIT
PIT-CONTROL 5
Hints on Windows 6
Appendix 7
Valid for:
MCU-PIT
PIT-EDIT V3.x
PIT-CONTROL V3.x
Technological Functions V3.x
MCU 172A V3.x
STEP 7 V2.x
If you require additional information or should any special problems arise, please enquire
for further information to your nearest Siemens branch office.
The contents of this Documentation are not part of any earlier or existing agreement,
commitment or legal undertaking, nor are they intended as an amendment thereto. All
responsibilities on the part of Siemens shall result only from the respective Purchase
Contract, which also contains the complete and solely binding warranty regulations. The
warranty provisions laid down by the Contract shall neither be extended, nor restricted by
this Documentation.
The remaining names and designations used in this Documentation may also be trademarks, the use
of which by any third parties for their own purposes may violate the rights of the copyright holders.
1 Preface
What does This MCU-PIT Documentation describes the installation and the necessary
this description hardware and software conditions. Various screen forms are presented as
contain? examples to explain operation.
For whom is This MCU-PIT Documentation is aimed at software project designers, and
this description commissioning and service technicians. All target personnel must possess the
intended? qualifications specified under the definition on page 1-2.
Is previous General safety regulations, VDE regulations and specific local regulations
knowledge retain their full validity alongside this Description.
necessary?
Good knowledge in working both with Windows and with the single-axis
positioning control MCU 172A are prerequisites for work with the MCU-PIT
software package.
Would you Please write and tell us, if there is any part of this Documentation you are not
like to see any fully happy with. We look forward to receiving your suggestions for
improvements? improvements and have included a form at the end of this Documentation. We
will try to take your proposals into account in future editions.
Qualified personnel Persons who are conversant with the setting up, assembly, commissioning and
operation of the product, and who possess qualifications appropriate to their
field of work. For example:
Training, instruction or authorization to switch, to ground and to mark
circuits and devices in accordance with recognized standards for safety
equipment.
Training or instruction in the maintenance and use of appropriate safety
devices in accordance with recognized standards for safety equipment.
Knowledge of the functioning of the MCU, especially the positioning
functions and their operation via a PLC program or via MCU-PIT.
This symbol warns you of possible dangers for personnel. Pay particular
attention to the information given alongside this symbol. Improper actions may
endanger life or health.
This symbol warns you of risks of material damage. The information given
next to this symbols informs you on how to avoid damage to your machine or
workpiece.
Note!
2 Introduction
Scope of application The MCU-PIT software serves to parameterize and commission the single-axis
positioning control MCU 172A from the SIMODRIVE 611 family. It supports
the simple programming and planning of data blocks. The software furthermore
assists you during commissioning and servicing. MCU-PIT comprises two
mutually complementary applications: PIT-EDIT and PIT-CONTROL. The
MCU-PIT software also includes an online help system in the form of a
paperless documentation SYSDOK-MCU.
PIT-EDIT The project tool PIT-EDIT offers a simple and fast way to create and save data
blocks, which can then be made available rapidly and independently for
commissioning or service purposes.
PIT-CONTROL The functions "Machine control panel" and "Drive commissioning" are
available in PIT-CONTROL for the positioning, diagnosis and optimizing of
the axes.
Design and structure With MCU-PIT you can create and manage various data blocks of the single-
axis positioning control MCU 172A. The data blocks of an MCU are best
grouped together, for example in a directory. For each data block you can add
comments, indicated through special comment fields or enclosed in brackets,
and can thus store notes and information specific to the plant or machine.
The data structure of the MCU-PIT software provides for the editing and
administration of the data blocks NC and drive machine data, operating data,
positioning programs, tool corrections and increment parameters. The standard
system start-up can be automated by means of job lists using a simple batch
language.
The data blocks can be read out from the MCU 172A single-axis positioning
controls, sent to these controls or archived centrally on floppy or hard disk.
MCU-PIT provides a clear listing of the existing files in order to simplify file
selection (see Chapter 4.1.3).
Overview of MCU
positioning and drive
data
NC In crem ent
m achine param eters
data D B 1230
D B 1200 D rive T ool
m achine com pensation data
data D B 1220
D B 12 51 P ositioning O pe rating
program s data
D B 1001...1 199 D B 1000
Programming/ The data blocks are edited using a table editor, while positioning programs can
project planning be created using an ASCII-format text editor. Both editors (table and text
editor) incorporate a range of text operations such as copy, delete, find and
insert. They are able to exchange data with other Windows applications (e.g.
Word or Excel) via the clipboard. Syntax errors, e.g. in positioning programs,
can be recognized by the function "Edit/Check Data".
The choice of online and offline operation lends flexibility to your project
planning. The data blocks can be created offline during the project planning
phase and transferred to the MCU module as part of initial commissioning. In
this way the commissioning time can be reduced.
Icons The icons are used as shortcuts for quicker selection of various recurring
functions. If you leave the mouse pointer over an icon for a short time, a small
window will appear with a description of the function assigned to the icon. The
individual icons have the following meanings:
New file
Open file
Save file
Search keys
Search forwards
Search backwards
Check data
Start communication
End communication
Data views Data views permit function-oriented structuring of the data necessary for
parameterizing the MCU 172A. When a view is activated, you will only be
shown the data which are relevant for the parameterizing of a particular
function or function group.
User displays User displays can be used to create your own screens or data lists for the
inputting or outputting of data. In this way it is possible, for example, to
display machine data and operating data together in a window or list. MCU-
PIT can thus be adapted very flexibly to a wide variety of commissioning and
operation scenarios.
Job lists Job lists are used to simplify standard system start-up. All actions which are
required for the standard system start-up can be summarized in a job list and
then carried out automatically, i.e. without further intervention, by executing
the job list.
SYSDOK-MCU The Electronic Documentation SYSDOK-MCU assists you in your search for
specific information. SYSDOK-MCU is the paperless documentation for the
MCU.
With SYSDOK-MCU you still have at your disposal the aids usually found in
paper-based documentations, such as tables of contents and chapter overviews.
An important search tool is a list of key words. When you select the desired
key word, SYSDOK-MCU presents a list of the topics dealing with this key
word. The required screen can be brought to the display at the press of a
button. If, for example, an error occurs, it can be selected in the list of key
words, and SYSDOK-MCU will provide you with a detailed description of the
error, indicating the cause, the effects and means for elimination.
Electronic bookmarks and notes further simplify your work and permit you to
add to SYSDOK-MCU in accordance with your personal requirements.
H IG R AP H /S T E P 7
Hardware
E B F -S oftw are-P ak et
(components) auf O P 031 m it M M C 1 0X
PG 740 und P P 031
P1 P2 P3 P4 P5 P6
M PI
S IM O D R IV E -G ert
P R O F IB U S -D P
m it M C U -E inschub
P /K -
Bus IM361 C P34 2 -5
S
R TO
U NP
IM 361
SIMA T IC
S7-3 00
E/R M o d ul
M CU
IM3 61
3 x4 0 0 V ~
S7-Peripherie
1F T 6/1F K 6
PIT-CONTROL
STEP7 PIT-EDIT
DB1001
Data to
D B1000 DB-
S7 NC
DB1199
user DB-BD
programs operating
data DB1200
User data DB-
MD
Standard softw are
DB1220
for technological
DB-
functions
WK
DB1230
SERVO DB-
SM
INSTANZ-
DB DB1251
DB-
AM
DRIVE DB1260
DB-
AS
MCU
If STEP 7 is already installed on your computer, you can begin with the
installation of the MCU-PIT software (see also chapter 3.3), otherwise you
must begin by installing STEP 7.
3.3 Installation
Preparation If the necessary hardware and software conditions have been satisfied, you can
install the MCU-PIT software on the hard disk of your PG or PC.
Note!
You have acquired the right to use the MCU-PIT software through purchasing:
a single license,
a corresponding copy license,
an UPDATE or
an UPGRADE.
Note!
Any other use of this software is not permitted and will result in criminal
charges.
4 PIT-EDIT
Overview The MCU-PIT software serves both for the parameterizing and commissioning
of the single-axis positioning control MCU 172A. The program PIT-EDIT
supports both simple programming and project planning, and the archiving and
documenting of files. Assistance during commissioning of the axes and in case
of service work is provided by the program PIT-CONTROL.
Overview When you call up the program PIT-EDIT, you see the start screen with a button
for the dialog "Safety Information".
Remove/ The start-up window is removed by pressing the Return key or by clicking with
skip screen the mouse on the button <OK>.
Safety By activating the button <Safety Information> you can call up information
information necessary to ensure the safe handling of the PIT-EDIT software.
4.1.2 File/New
Overview The menu function "File/New" is used to create a new file or a new data block.
After selecting the menu function, you will be offered a selection window in
which you can define the file type.
Overview When you select the menu function "File/Open", the "Open" dialog appears
with a list of the files available in the current directory.
Directories Select the desired directory. To open a directory you must double-click on the
directory name. The currently open directory is indicated under "Directory".
File name Enter the name of the file you would like to open, or select a name from the list
of files. The list shows all the files in the current directory with the selected
extension. Any file name conforming to the Windows95 conventions can be
used as a file name.
Overview A data block can be saved in a file by means of the menu functions "File/Save"
and "File/Save As". You can also reach this dialog via an appropriate
information window when closing a new or modified file.
Directories Select the desired directory. To open a directory you must double-click on the
directory name. The currently open directory is indicated under "Directory".
File name Enter the name of the file you would like to open, or select a name from the list
of files. The list shows all the files in the current directory with the selected
extension. Any file name conforming to the Windows95 conventions can be
used as a file name.
Overview You reach the dialog "Communication" via the menu function
"Online/Communication". The dialog enables you to establish or end
communication between the MCU module and the programming unit with the
MCU-PIT software. A necessary condition for this communication is the
proper connection of the user via an appropriate MPI cable. Further
information on the MPI interface is to be found in the SIMATIC S7 Unit
Manuals.
MPI users Select the MCU with which data communication is to take place by means of
the MPI address. Enter "2", for example, if the MCU has been assigned the
MPI address 2. The list which can be opened up contains the addresses of all
active users on the MPI bus.
L2 users If the connection is via L2-DP, it is necessary to enter the CP address, rack
number and slot number. For example: "2,0,2", corresponding to "CP address,
Rack (MCU always 0), Slot (MCU-CPU always 2)".
Overview The dialog "Blocks" enables you to copy files in the form of data blocks
between the MCU 172A module and the PIT-EDIT software. It is also possible
to use the dialog to delete data blocks on the MCU and to compress the
memory. This feature is only available via an online connection. You reach the
dialog "Blocks" via the menu function "Online/Blocks".
Directories Select the desired directory. To open a directory you must double-click on the
directory name. The currently open directory is indicated under "Directory".
File name Enter the name of the file you would like to open, or select a name from the list
of files. The list shows all the files in the current directory with the selected
extension. When copying data from the MCU to the PG/PC you must specify a
file name. Any file name conforming to the Windows95 conventions can be
used as a file name.
Block name Specify here which data block is to be copied. When copying data from the
PG/PC to the MCU it is not possible to enter a DB number - the DB number is
assigned automatically. In positioning programs the DB number is formed from
the program number:
DB number = Prog-no. + 1000.
The program number is entered in the first line of the positioning program, for
example %100.
Copy to Activating these buttons starts the copying of the data blocks. When copying
MCU data from the PG to the MCU, the contents of the selected file are first checked
Copy to and, if found to contain no errors, then copied to the MCU. If the check reveals
PG/PC an error, an appropriate message will be displayed and the copying process will
not be initiated.
Delete block With this button you can delete the selected data block in the memory of the
MCU.
Delete file(s) With this button you can delete the selected file or files from the hard
disk/floppy disk.
Memory The button "Memory Allocation ..." opens a dialog displaying the current
allocation EPROM load memory, RAM load memory and user memory. The button
"Compress" in the memory allocation dialog activates the function "Memory
Compression", which clears the gaps in the block memory of the MCU left
behind through the deleting of individual blocks (FM-POS and drive; not
STEP 7).
Note!
Overview The MCU provides a flash EPROM memory for the maintenance-free
buffering of user data. With the commands "FEPROM Save FM-POS" and
"FEPROM Save Drive" you can copy your data from the RAM user memory
into the FEPROM memory. When the power supply is restored, the user data
are written back from the FEPROM memory to the user memory. You can call
the commands "FEPROM Save FM-POS" and "FEPROM Save Drive" via the
menu "Online".
Saving SPS data The SPS data are saved using STEP 7 (copying RAM to ROM).
S 7 data
P ositioning
D ata
S IM O D R IV E 611
drive data
Overview With the ASCII editor you can enter the various positioning programs and job
lists in ASCII format. The editor permits free input and syntax checking. After
creating your program you can use the function "Check Data" to check the
integrity of your entries. You reach this function via the menu "Edit/Check
Data".
Overview The ASCII editor for positioning programs is available offline via "File/New"
or "File/Open" or in online operation with the MCU via "Online/Positioning
Program".
Positioning programs Comments must be enclosed in round brackets. The data must be structured as
follows:
%y Program number
/Ny Skippable block
Ny Block number
Gy G function
Xy Position X, Y, Z, A, B, C, ... / dwell time
Fy Speed
Ly Subprogram number
Py Loop number for subprograms
My M function of group 1, 2 or 3
Dy Tool compensation number
Overview The ASCII editor for job lists is available offline via "File/New" or
"File/Open".
Executing By selecting the menu function "Edit/Run" you start the execution of a job list.
job lists During the execution of a job list the current command is marked with a bar.
The successful completion of a job list is reported in a message window. If an
error occurs during the execution of a job list, you can choose whether to
continue or quit execution.
DISCONNECT
This command terminates an MPI connection established with CONNECT.
COMPRESS
This command compresses the user memory available in the MCU 172A.
SKIPCMDERR = ON | OFF
The variable SKIPCMDERR determines the procedure during the execution of
a job list. If SKIPCMDERR is set to OFF, the execution of the job list will be
stopped should an error occur, indicating the fact with an appropriate error
message. If, on the other hand, SKIPCMDERR is set to ON, the command
which led to the error will be ignored and the execution continued with the next
command. Furthermore, when SKIPCMDERR = ON, a so-called log file will
be created with the name <Job list name>.log. All errors which occur during
execution of the job list are recorded in this file. The log file is stored in the
same directory as the application P7SKEDIX.EXE. The default setting of the
variable SKIPCMDERR is OFF.
Overview Machine data, tool compensation data and operating data, etc. are entered by
means of a table editor. You can use the search facilities of the menu function
"Edit/Find" or the toolbar function to search for numbers and texts.
A check is made during input to ensure that only permissible values are
entered.
Overview The DBs which are active in the MCU are generally available through the
menu "Online". These data are continually read from the MCU when the dialog
is open and the updated values displayed.
Note!
Overview The user interface for data input and output can be adapted very flexibly to
your personal requirements. You can create a customized window to
summarize the specific data necessary for the parameterizing of a certain
function or in a certain operating situation.
You are allowed to combine data from different data blocks in a single display.
The following data blocks are available as data sources:
Machine data (DB1200)
Operating data (DB1000)
Drive machine data (DB1251-DB1258)
Drive operating data (DB1260)
Creating You can define a new user display with the menu function "File/Create User
user displays Display". You enter the user display name and a short form in a dialog. The
user display name is limited to alphanumerical characters and the - symbol. It
may be up to 40 characters long. The short name must be unique and identifies
the dialog of the user display. If you enter a valid name and complete the
dialog with <OK>, an empty user display will be opened. You can then edit the
user display.
Editing By using the menu function "User Display/Line" you can add new data to a
user displays user display. In the dialog you first select the data block from which the data
are to be included in the user display, and then the data themselves. Multiple
selections are possible, i.e. you can mark several data items at once. When you
quit the dialog with <OK>, all the marked data will be accepted into the user
display.
The menu function "User Display/Delete Line" is used to delete data/lines from
a user display. The data item or line in which the cursor is currently positioned
is deleted.
The two menu functions "User Display/Shift Up" and "User Display/Shift
Down" permit you to move individual data items/lines up or down by one line
in the user display.
Deleting The menu function "File/Delete User Display" serves to remove user displays
user displays currently available on the PC/PG. Multiple selections are possible.
Online With the menu function "Online/User Displays" you open a dialog showing a
user displays selection list containing the names of all available user displays. Select a user
display name and confirm your selection to open the corresponding user
display in online mode.
Overview The table editor for tool compensation data is available offline via "File/New"
or "File/ Open", or when working in online mode with the MCU via
"Online/Tool Compensation Data".
Tool length Enter here the value for the tool length compensation.
comp.
Comment In this column you can store project-specific remarks for each tool number.
Overview The table editor for increment parameters is available offline via "File/New" or
"File/Open", or when working in online mode with the MCU via
"Online/Increment Parameters".
Comment In this column you can store project-specific remarks for each parameter
number.
Overview The table editor for NC machine data is available offline via "File/New" or
"File/Open", or when working in online mode with the MCU via
"Online/Machine Data".
Machine data This column shows the identifier of the machine data item.
Value Enter the value here. For machine data with several possible selections, you
can scroll through the possibilities by pressing the space bar or "5" on the
numerical keypad.
Empty/ The additional columns for the effectiveness of the MDs, standard values of the
effectiveness/ MDs, upper and lower limits for the MDs and access rights can be activated or
standard values/ deactivated via the menu function "Settings/Use 5th Column".
limits/access rights
Comment In this column you can store project-specific remarks for each machine data
item.
Encoder-relevant data When you edit the machine data, you can use the menu function "Edit/Encoder-
relevant Data" as a comfortable means to parameterize the machine data for the
measuring systems.
Overview The table editor for operating data is available offline via "File/Open", or when
working in online mode with the MCU via "Online/Operating Data FM-POS".
If release signals are set and operation is enabled, the axis can be moved by
means of DB-BD. In view of the technological implications of these data, and
in particular the control signals, we recommend that the user takes appropriate
precautionary measures before making use of this possibility during the project
planning or commissioning phases.
Operating data This column shows the identifier of the operating data item.
Value Enter the value here. For operating data with several possible selections, you
can scroll through the possibilities by pressing the space bar or "5" on the
numerical keypad.
Empty/ The additional columns for the effectiveness of the BDs, standard values of the
effectiveness/ BDs, upper and lower limits for the BDs and access rights can be activated or
standard values/ deactivated via the menu function "Settings/Use 5th Column".
limits/access rights
Comment In this column you can store project-specific remarks for each operating data
item.
Overview The table editor for drive data is available offline via "File/New" or
"File/Open", or when working in online mode with the MCU via "Online/Drive
Data".
A fast and simple method to create machine data for the drive is to use the
menu "Edit":
1. Set the standard values using the menu "Edit".
2. Select your power unit with the function "Power Unit Selection" (see
Figure 4-15).
3. Select your motor with the function "Motor Selection" (see Figure 4-16).
4. The control parameters of the SIMODRIVE unit will be preset in
accordance with your selected motor and power unit. Typically you will not
need the variety of setting possibilities for the SIMODRIVE unit. If
necessary, however, you can further optimize the parameters, for example
by adjusting the P amplification of the speed control with MD1407 (see
Figure 4-17).
Drive data This column shows the identifier of the drive data item.
Value Enter the value here. For machine data with several possible selections, you
can scroll through the possibilities by pressing the space bar or "5" on the
numerical keypad.
Empty/ The additional columns for the effectiveness of the ADs, standard values of the
effectiveness/ ADs, upper and lower limits for the ADs and access rights can be activated or
standard values/ deactivated via the menu function "Settings/Use 5th Column".
limits/access rights
Comment In this column you can store project-specific remarks for each drive data item.
Note!
The motor type is selected by marking the motor and activating the button
<OK>. The controller data for the selected motor will then be calculated
automatically. If, however, you select "Other Motor", you must enter the power
unit and motor-dependent data manually and then select the menu function
"Edit/Calculate Controller Data".
The handling and the functions of SYSDOK-MCU are similar to those of the
Windows help system. For further information please refer to the Online Help
or your Microsoft-Windows Manual.
Definitions Definitions are normally displayed in green and with a dotted underline.
Links Links are normally displayed in green and with a solid underline.
Search/ With "Search" you can select topics and keywords to jump to the
notes corresponding chapter. With "Edit/Remarks" you can store your own personal
notes on each topic. Existing notes are then indicated by means of a green
paper clip alongside the topic heading.
Overview In the PIT-EDIT menus the functions displayed in gray (dimmed) are inactive
and cannot be selected. The selectable functions may also change in
accordance with the data currently being processed.
New Open a new page for input either in ASCII format or table format, depending
on the data type. You specify the data type in a dialog box.
Open ... Load an existing file for editing. A dialog box permits you to select the file
type, the file to be opened, the directory and the drive.
Save Save the current editor window under the existing file name. The editor
window remains open.
Save As ... Save the current editor window under a new file name. The editor window
remains open.
Create Create a new user display. Enter the user display name in a dialog box.
User Display
Quit Quit the PIT-EDIT program. If data blocks are still currently being edited, a
message will be displayed asking whether you would like to save the data
before quitting.
Cut Delete the selected block from the ASCII editor or the table editor and move it
to the clipboard.
Copy Copy the selected block from the ASCII editor or table editor to the clipboard.
Paste Insert the block in the clipboard at the current cursor position.
Paste Cells This function can be used with tables to replace a certain range of cells with
cells from the clipboard. When you have marked the cells in the destination
document, the software checks whether the range has the correct number of
rows and columns; if no cells are marked, the cells will be replaced to the right
of and below the current cursor position.
Find Open a dialog box in which you can enter the search item.
Find Next Repeat the search for the specified search item.
Standard Value Preset or define standard values for the open data block.
Power Unit Selection Open a list box in which you can select the power unit used by means of its
order number or designation.
Motor Selection Open a list box in which you can select the motor type used by means of its
order number or designation.
Calculate Controller Calculate the controller data from the specified motor data (third-party
Data suppliers).
Check Data Check the syntax of the data block in the current window.
Select Line Select the line in which the cursor is currently positioned.
Delete Line Delete the line in which the cursor is currently positioned.
Insert Line Add new data to a user display. In a dialog you first select the data block from
which the data are to be included in the user display and then specify the actual
data.
Shift Down Move the data in the user display down by one line.
MPI Connection Display the currently selected MPI connection in the second status line at the
bottom of the screen.
MCU Version and Display and set the versions for the MCU.
Firmware
PBL Version Display the versions for the parameter base lists.
1st parameter record In the drive machine data offer only the parameters from the first parameter
block.
All Parameter Blocks Offer all the parameter blocks in the drive machine data.
2 Decimal Places Display values with 2 places after the decimal point.
4 Decimal Places Display values with 4 places after the decimal point.
MCU Filter Set the view for the data list. The views available are: General machine data,
Basic machine data, Monitoring/limits, Measuring system data, Controller data
or All Data.
611D Filter Set the view for the data list. The views available are: Controller data,
Monitoring/limits, Status data/diagnosis, Motor/power unit data, Measuring
system data or All data.
Use 5th Column Select additional information for each item of machine data, e.g. empty,
effectiveness, standard value, limits and access rights.
Blocks Open the dialog for copying and deleting data blocks (MCU PG, PG
MCU), including a facility to display the memory allocation of the MCU.
Machine Data Read out and display the data block with NC machine data from the MCU.
(DB1200)
Tool Compensation Read out and display the data block with tool compensation values from the
Values (DB1220) MCU.
Increment Parameters Read out and display the data block with increment parameters from the MCU.
(DB1230)
Operating Data Read out and display the operating data of the positioning unit from the MCU.
FM-POS (DB1000)
Positioning Program Read out and display a positioning program from the MCU.
(DB1001-1199)
User Displays Open a dialog box to select the desired user display. The user display is then
opened in online mode with the current values.
FEPROM SAVE Save all data of the positioning unit from the user memory (RAM) of the MCU
FM-POS onto the integrated flash EPROM.
Drive Data (DB1250) Read out and display data blocks for drive machine data online.
Drive Operating Data Read out and display the operating data of the drive unit from the MCU.
(DB1260)
FEPROM Save Drive Save data blocks of the drive from the user memory (RAM) of the MCU onto
the integrated flash EPROM.
Load to MCU Copy the currently open data block into the memory of the MCU.
Reset Carry out an online reset. This function permits the activation of power-on
machine data through the software.
Update Rate Define the time interval for the screen update of operating data, machine data,
drive data and drive operating data (shortest interval 100 ms).
Horizontal Split Arrange several editor windows below one another on the screen.
Info Show information such as the version information of MCU-PIT, MCU and
drive, and the amount of user memory available.
For information on the dialogs and editors please refer to the corresponding
chapters.
Note!
Enter the program as text, whereby PIT-EDIT does not distinguish between
upper and lower case characters.
Use a new line (Return key) to separate blocks.
4. It is recommended to carry out a syntax check after editing: menu function
"Edit/Check Data".
5. Save program: select menu function "File/Save As".
6. Copy to the MCU if necessary: select menu function "Online/Load to
MCU".
If release signals are set and operation is enabled, the axis can be moved by
means of DB-BD. In view of the technological implications of these data, and
in particular the control signals, we recommend that the user takes appropriate
precautionary measures before making use of this possibility during the project
planning or commissioning phases.
Change unit The standard value 10- is provided in MD7. When changing this setting to 10-
system (MD7) degrees, for example, the ranges tool offset values, incremental dimension
parameters and traversing programs have also to be changed.
Note!
If the error message "Deviating unit system raster" occurs, different unit system
are parameterized. Check this in the Settings menu and make sure that the same
unit system is set in all four ranges (machine data, tool offset values,
incremental dimension parameters, and traversing programs).
Approach:
1. Toggle MD7 to 10- degress
2. Select "Online/Blocks" from the menu
Check the "Tool Offset Value" option in the "Data Format" menu,
check then block DB1220 in the "Data Block" option and click the
"Delete Blocks" button.
Check the "Incremental Dimension Parameters" option in the "File
Format" menu, check then block DB1230 in the Data Block menu and
click the "Delete Blocks" button.
Check the "Traversing Program" option in the "Data Format" menu,
check then the blocks DB1001 to DB1199 (if any) and click the "Delete
Blocks" button.
3. Select "Online/FEPROM-Save-FMPOS" from the menu in order to save the
changes you have made in 1) and 2).
4. Turn the MCU off and on again or select "Online/Reset" from the menu.
The blocks DB1220 and DB1230 (tool offset values and incremental
dimension parameters) are recreated (empty tables), and the unit system is
taken over by MD7. Any traversing programs ((DB1001 to DB1199) do not
exist any more.
5 PIT-CONTROL
Overview The MCU-PIT software serves both for the parameterizing and commissioning
of the single-axis positioning control MCU 172A. The program PIT-EDIT
supports both simple programming and project planning, and the archiving and
documenting of files.
NOTE!
5.1 Dialogs
5.1.1 Start Screen
Overview When you call up the program PIT-CONTROL, you see the start screen with a
button for the dialog "Safety Information".
Remove/ The start-up window is removed by pressing the Return key or by clicking with
skip screen the mouse on the button <OK>.
Safety By activating the button <Safety Information> you can call up information
information necessary to ensure the safe handling of the PIT-CONTROL software.
5.1.2 Communication
Overview You reach the dialog "Communication" via the menu function
"Online/Communication ". The dialog "Communication" enables you to
establish or end communication between the MCU module and the
programming unit with the MCU-PIT software. A necessary condition for this
communication is the proper connection of the user via an appropriate MPI
cable. Further information on the MPI interface is to be found in the SIMATIC
S7 Unit Manuals.
MPI users Select the MCU with which data communication is to take place by means of
the MPI address. Enter "2", for example, if the MCU has been assigned the
MPI address 2. The list which can be opened up contains the addresses of all
active users on the MPI bus.
L2 users If the connection is via L2-DP, it is necessary to enter the CP address, rack
number and slot number. For example: "2,0,2", corresponding to "CP address,
Rack (MCU always 0), Slot (MCU-CPU always 2)".
Overview You reach the machine control panel via the menu function "Online/Machine
Control Panel". From here you can control positioning travel (condition:
"TFB" at FC1) and monitor the current status of the MCU.
Design The machine control panel can be divided into four sections:
In the upper part you see a display of the last error to have occurred, and
the types of errors still present. Error messages can be acknowledged and
canceled with the button <Ack.>.
On the left is the status display with current values and status signals.
At the bottom left is a display to enter or indicate the data relevant to the
selected operating mode. This section of the window changes in accordance
with the operating mode, as soon as mode switching has been successfully
completed.
On the right you find the input fields and buttons available to the operator
in all operating modes.
Example 1. Set external enables: terminal 663 (MCU); terminal 48; terminal 63 (UE
module)
2. Select operating mode: e.g. Setting up
Overview You obtain this window via the menu function "Commissioning / D/A
Converter". Here you define which signals are to be available at the three test
sockets of the MCU (output range 0 V to 5 V; the zero line is at 2.5 V).
Start With this button you route the set signals to the test sockets.
Stop With this button you remove the signals from the test sockets.
Signal Select from this list the signal which is to be available at the test socket. You
can also specify that a socket should remain inactive.
Offset [V] Enter the offset in volts by which the signal is to be increased.
Shift factor You can here stretch or compress the measurement along the Y axis. The value
entered is interpreted as an exponent in base 2. Entering "2" causes the output
to be stretched by the factor 4, while "-2" compresses the output to a quarter.
NC-Adr./X-Adr./Y-Adr. For service purposes only: You can output the status of certain memory
addresses of the positioning unit (NC-Adr.) and drive (X-Adr./Y-Adr.) by
entering the physical address.
Overview There are two methods available to determine the dynamic response of the
control and carry out optimization:
The function generator activates the drive with special parameterized test
signals. External measuring devices, e.g. oscillographs, can monitor the
reaction of the system by means of the signals available at the DAU output
sockets (3 signal sockets, 1 ground socket). The signals which are to be
available at the sockets are defined in the dialog "DAU Output" (menu
function "Commissioning/D/A Converter").
With the measuring functions the MCU is able to carry out the two above
functions - activation and recording of the dynamic response of the system -
independently. The results of the measurement can be viewed with the
menu functions "Commissioning/Trace1" and "Trace2" and subsequently
saved to a file.
These functions can be used to optimize the dynamic response of the axis by
modifying the controller parameters.
Overview With the aid of the function generator it is possible to specify torque and speed
setpoints. The function generator is used primarily during initial
commissioning, in order to adjust and check the dynamics of the axis control.
The function generator mode is selected from the mode selection list of the
machine control panel. The operating elements necessary to parameterize the
function generator are displayed in the lower section of the machine control
panel.
Selection list With this selection list you determine the point of the axis control to which the
"Signal" signal generated by the function generator is to be applied. The choices
available are:
Torque setpoint
Interference torque
Speed setpoint
Selection list "Signal With this selection list you define the form of the signal to be generated by the
type" function generator. The following signal forms are available:
Rectangular signal
Noise signal
Edit field In this edit field you can enter a value between 0 and 100% for the scaling of
"Scaling" the signal amplitude. Changes to the value are effective after activating the
button "Start".
Button "Parameters" With the button "Parameters" you open the dialog to enter the signal
parameters. The parameters available vary according to the selected signal and
signal type.
Button The current parameter settings of the function generator can be saved. The
"Save" button "Save" opens a file selection dialog, where you can select the file to
store the current parameter settings and then start the saving of the data.
Button To simplify the parameterizing of the function generator, you can load
"Load" parameter settings stored in a file. The button "Load" opens a file selection
dialog, where you can select the file with the desired parameters and the start
the loading of the data.
Button "Start/Stop" The two buttons "Start" and "Stop" are used to activate and deactivate the
function generator. While the function generator is active, the message
"Function generator active" will be displayed in the alarm line.
Function description By using the measuring functions it is possible to check the dynamic response
of the axis control. By recording step and frequency responses it is possible to
observe the dynamics of the torque, current and speed control of the axis over
time and frequency ranges.
MCU-PIT treats the measuring functions as an additional operating mode;
consequently, the measuring functions are selected via the mode selection list
of the machine control panel. The operating elements necessary to
parameterize the measuring functions are displayed in the lower section of the
machine control panel. The measurements can be evaluated with Trace1/2.
Selection list With this selection list you select the measurement to be carried out. The
"Measurement" following measurements are available:
Torque step response
Torque frequency response
Speed step response
Speed frequency response
Speed interference response
Speed interference frequency response
Button "Parameters" With the button "Parameters" you open the dialog to enter the measurement
parameters. The parameters available vary according to the selected
measurement.
Button The current parameter settings of the measuring functions can be saved. The
"Save" button "Save" opens a file selection dialog, where you can select the file to
store the current parameter settings and then start the saving of the data.
Button To simplify the parameterizing of the measuring functions, you can load
"Load" parameter settings stored in a file. The button "Load" opens a file selection
dialog, where you can select the file with the desired parameters and the start
the loading of the data.
Button "Start/Stop" The two buttons "Start" and "Stop" are used to activate and deactivate the
measuring functions. While the measurement is active, the message
"Measurement active" will be displayed in the alarm line. When measurement
has been successfully completed, the message "Measurement complete" is
shown.
5.1.6 Alarms
Overview You obtain the alarm list via the menu function "Online/Alarms".
Overview In the PIT-CONTROL menus the functions displayed in gray (dimmed) are
inactive and cannot be selected. Online windows, for example, cannot be
opened until communication has been established with the MCU.
Save As ... Save the current diagram window in a file. The diagram window remains open.
Quit Quit the PIT-CONTROL program. If positioning movements are still active,
you will receive a message before quitting the program.
X Markers Activate or deactivate X markers to read certain values of the displayed curve.
Y Markers Activate or deactivate Y markers to read certain values of the displayed curve.
MPI Connection Display the currently selected MPI connection in the second status line at the
bottom of the screen.
Machine Open the machine control panel to positioning the axes or carry out diagnosis.
Control Panel
Update Rate Define the time interval for the screen update of the machine control panel.
D/A Converter Parameterize the signal output via the 3 available D/A converters.
Trace 1/2 Open diagrams 1 and 2 and display both diagrams together.
Horizontal Split Arrange several open windows below one another on the screen.
Info Show information such as the version information of MCU-PIT, MCU and
drive.
Positioning Recommendation: You should monitor the positioning range limit switches.
axes with Necessary condition: Operation via DB-BD must be enabled (control bit TFB
PIT-CONTROL = 1). This can be provided for through the standard software (Technology
functions FC-RESTART).
1. Select menu function "Online/Machine Control Panel".
2. Set enable signals: Axis enable, controller enable and PLC pulse enable.
3. Select the desired operating mode, enter appropriate parameters and initiate
positioning ("Start" or "R+" / "R-").
There are various ways in which you can position the axes, for example:
Positioning program:
Automatic: Select the program and block number and then activate "Start"
An individual positioning block:
MDI: Enter the block and then activate "Block on Fly" or "Copy" and
"Start"
By a certain value:
Increment: Position with R+, R- after defining the increment
At a certain speed:
Set-up, Control: Position with R+, R- after defining the speed
See also the Chapter Operating Modes of the MCU in the Function Manual
Positioning with MCU.
Selecting DAU output 1. The menu function "Commissioning/D/A Converter" opens the
signals corresponding dialog.
2. You can now select the desired signal and the output at which it is to be
made available.
3. When you activate "Start" at the top of the screen, the desired signals are
available at the sockets on the front plate. You can now connect measuring
devices to monitor the dynamic response of the system.
Ending With the "Stop" button at the top of the DAU window you can remove the
DAU output signals from the output sockets.
6 Hints on Windows
Contents Here you will find a list of the Windows commands you need to work with
MCU-PIT.
The most important When working with MCU-PIT you need only the following Windows
Windows functions commands :
Activating functions Press the underlined letter in combination with the <ALT> key.
Inactive Inactive functions cannot be selected from the current menu; the menu items
functions are dimmed.
Input Inputs are always assigned to the currently active window. The active window
is normally indicated by a color-highlighted title bar.
Selection A window is selected by pressing the <Ctrl> and <Tab> keys at the same time
or by positioning the mouse pointer and clicking with the left mouse button.
Colors The currently set colors and many other features can be modified with the aid
of Windows functions.
Windows For further information on Microsoft Windows please refer to your Windows
Manual.
7 Appendix
A Hardware, 3-2
Help, 4-31; 5-12
Alarms, 5-10 Hints, 6-1
Archiving of data, 2-1
ASCII editor, 4-10
I
C Icons, 2-3
Improvements, 1-1
Clipboard, 2-2 Increment parameters, 4-18
Command selection, 2-1 Info window, 2-1
Comment, 2-2 Installation, 3-1; 3-4
Commissioning, 2-1; 5-12 Introduction, 2-1
Commissioning functions, 5-7
Communication, 4-6; 5-4
Comparisons, 2-1
Components, 3-2
J
Condition Job lists, 2-1; 2-3; 4-12
Hardware, 3-3
Software, 3-3
Configuration, 3-3 M
Context menu, 2-1
Machine control panel, 5-5
Machine data, 4-2; 4-22
Mouse, 2-1
D
Data selection, 4-4
Data type, 4-3 N
Data views, 2-3
DAU output, 5-6 Notes on Use, 3-4
Design, 2-3
Drive, 4-22
O
Online data, 4-14
E Online functions, 5-12
Edit, 5-11 Online/offline operation, 2-2; 4-2
Editors, 4-14 Operating data, 4-2; 4-21
Electronic documentation, 2-4 Operating system, 3-3
Operation, 1-1
Overview, 3-2
F
Features, 2-1 P
File, 5-11
Firmware, 3-3 Parameters, 4-2
personnel
qualified, 1-2
target, 1-1
H
PIT-CONTROL, 5-1
Handling, 2-2 PIT-EDIT, 4-1
Hard disk requirements, 3-3 Positioning programs, 4-2; 4-10
Preface, 1-1 V
Previous knowledge, 1-1
Process selection, 4-4 VDE regulations, 1-1
Programming, 2-2
Programs, 4-10
Project planning, 2-1; 2-2 W
Warning symbols, 1-2
Window, 5-12
Q Windows, 1-1
Qualified personnel, 1-2 Windows commands, 6-1
R
Regulations, 1-1
S
Safety information, 4-2; 5-3
Safety regulations, 1-1
Save, 4-5
Saving data blocks, 4-5
Saving processes, 4-5
Scope of application, 2-1
Settings, 5-11
Set-up, 3-1
SETUP.EXE, 3-4
Software, 3-2
Start screen, 4-2; 5-3
Status line, 2-1; 2-2
Structure, 2-2
Syntax checks, 2-1
SYSDOK, 2-1; 4-25
SYSDOK-MCU, 2-4
System documentation, 2-2
T
Tables, 4-14
Target group, 1-1
Technical help, 4-25
Technological functions, 3-3
Text editor, 2-2
Tool compensation data, 4-17
Tool compensations, 4-2
Toolbar, 2-2
U
User displays, 2-1; 2-3; 4-15
User interface, 2-1
Addressing of Hardware
SIMODRIVE 611 Modules
3
Single-Axis
Positioning Control Planning the Electrical
4
MCU 172A Installation
Functional Description
S7 Functionality of the MCU 5
S7 Environment
Appendix 8
If you require additional information or should any special problems arise, please enquire
for further information to your nearest Siemens branch office.
The contents of this Documentation are not part of any earlier or existing agreement,
commitment or legal undertaking, nor are they intended as an amendment thereto. All
responsibilities on the part of Siemens shall result only from the respective Purchase
Contract, which also contains the complete and solely binding warranty regulations. The
warranty provisions laid down by the Contract shall neither be extended, nor restricted by
this Documentation.
BERO, SIMATIC, SIMODRIVE, SINEC, SINUMERIK, STEP are registered trademarks of Siemens.
The remaining names and designations used in this Documentation may also be trademarks, the use
of which by any third parties for their own purposes may violate the rights of the copyright holders.
Introduction
Contents 1.1 Functionality of the MCU With Integrated S7-CPU ........................................ 0-3
Guide This Documentation contains information about the integrated SIMATIC S7 functionality of
the single-axis motion control unit MCU. It will assist you with the configuration of SIMATIC
S7 in connection with the single-axis motion control unit MCU.
mechanical assembly
electrical installation
addressing
S7 functionality
Further For further information which would go beyond the scope of this Documentation or this
Information Manual please refer to the respective Standard Documentation for the following Siemens
products:
SIMATIC S7
1FT6 motors
1FK6 motors
SIMODRIVE 611
SINUMERIK 840D
PROFIBUS-DP
You will find a list of the respective Documentation in the Appendix to the Manual.
Overview Due to the required combination with the positioning function as a result of the S7-CPU being
integrated into the MCU, there are certain differences compared with the similar S7-CPU-314.
The principal characteristics are given below.
Features of the
Integrated S7-CPU
Product Range
This Chapter This Chapter will inform you about the most essential components available to set up an MCU
with integrated S7-CPU.
The MCU The MCU with integrated S7-CPU is a complete position control system with integral
programmable controller.
Structure of an MCU The SIMODRIVE compound drive with MCU comprises the following components:
NE module
Power module
IM 361
Motor line
Encoder line
Several MCUs can communicate with each other by means of the MPI interconnecting cable.
For programming the integrated S7-CPU you need a programming unit (PG). Link the PG
with a PG cable to the MCU.
Components of an MCU For setting up a programmable controller and putting it into operation there is a range of
With Integrated S7-CPU components at your disposal. The following list shows the most essential components with
their functions:
The mounting channel to carry the racks of S7 I/O modules.
The MCU with integrated S7-CPU executes the user program and communicates by means
of the MPI interface with other CPUs or a PG/OP.
The signal modules match the different process signal levels with the S7-300.
The communication processor CP 342-5 for linking with other components by means of
PROFIBUS-DP.
Mounting Dimensions of The following table provides an overview of the mounting dimensions for S7-300 modules.
Hardware Modules
Table 0-1 Mounting Dimensions for S7-300 Modules
Lengths of Mounting Depending on your S7-300 configuration, you can use the following mounting channels:
Channels
Introduction The subsequent section describes the rules to be followed for arranging the hardware modules
if you want to install several racks.
Slot 2 3 4 5 6 7 8 9 10 11
Rack 2 PS IM
Rack 1 PS IM
MPI Bus
B&B
Unit Bus
NE Module
PG 740
M
3
Mains
G
Encoder
Figure 0-1 Overview of a Hardware Configuration Including one MCU and 3 Racks
Arrangement of When arranging the hardware modules, observe the following rules:
Hardware Modules
Assign the interface module always to slot 3 and always to the left of the first signal
module.
A maximum of 8 signal modules may be plugged into one rack. The signal modules are
always located to the right of the interface modules.
The number of signal modules possible is limited by the maximum permissible current
drawn from the S7-300 backplane bus. The current consumption per rack must not exceed
1.2 A.
(see Table 4-1 or 4-2 and Specifications of Hardware Modules).
Interface Modules for For a system including additional I/O modules you need interface modules. It is the purpose of
Installation of 1 to 3 these interface modules to interconnect the S7-300 backplane bus and the racks.
Racks
The following table shows the interface modules for installation of one to three racks.
Table 0-2 Interface Modules IM 360/IM 361 for Installation of Several Racks
Interconnecting Cable For connecting the interface modules there are interconnecting cables of 1, 2.5, 5 or 10 m
for Interface Module available.
Maximum Configuration The maximum configuration is shown in the Figure Hardware Configuration. It comprises one
MCU and 3 racks with S7-300 modules.
Contents 3.1 Slot-related Address Assignment for Signal Modules .................................... 2-2
3.2 Addressing of Signal Modules ....................................................................... 2-4
3.3 Addressing of Onboard Inputs and Outputs of MCU ...................................... 2-6
Introduction The subsequent section describes the interrelation between slot and address assignment. You
need this information to determine the module start addresses of the signal modules used.
Slots for Signal Modules Signal modules may be plugged into slots 4 to 11 of every rack. With reference to the
respective slots and rack, every signal module has been assigned its individual module start
address. This address cannot be changed.
Maximum Configuration Figure 0-1 shows a system comprising one MCU with 3 racks and the slots possible.
Rack 3
Slot 3 4 5 6 7 8 9 10 11
Number IM 361
Interconnecting Cable 368
Rack 2
Slot 3 4 5 6 7 8 9 10 11
Number IM 361
Interconnecting Cable 368
Rack 1
Slot 3 4 5 6 7 8 9 10 11
Number IM 361
Interconnecting Cable 368
Rack 0
Address of S7 The S7 I/O modules are connected with the integrated peripheral bus interface of the MCU by
I/O Modules means of IM 361. A maximum installation of 3 racks (1...3) is possible here. Up to 8 I/O
modules may be plugged into each rack. Addressing is slot-related as for CPU 314.
Rack 0 Rack 0 is utilized for the integrated positioning functionality and is not useable for other S7
I/O modules. The MCU occupies 16 bytes from address 256 in the analog address space.
Warning!
Overwriting of internally occupied memory locations may cause malfunctions of the control
system (valid up to and including V2.3 only).
Introduction The following section describes with various examples how to address the signal modules.
You need this information to be able to address the signal module channels in the user
program.
Addresses of Inputs and The address of an input or output is composed of byte address and bit address.
Outputs of e.g. E32.0
Digital Modules
E = Input
32 = Byte Address is related to the respective module start address
0 = Bit Address indicated on the respective module
Figure 3-2 illustrates the pattern how to make up the individual channel addresses of the
digital modules.
0
1
2
3
Byte Address:
4 Module Start Address
5
6
7
0
1
2
3
4 Byte Address:
5 Module Start Address +1
6
7
Bit Address
0 Address 33.0
1 Address 33.1
2
3
4
5
6
7 Address 33.7
Addresses of Analog The address of an analog input or output channel is always a word address. The channel
Modules address is related to the module start address. If the first analog module is plugged in slot 4 of
rack 1, it will have the default start address 384. For the start addresses of the analog modules
please refer to Table 0-2.
8
9 Channel 2
10 Address 388
11
Channel 3
12
Address 390
13
14 Outputs:
15 Channel 0
16 Address 384
17
Channel 1
18
Address 386
19
20 M
It is not allowed to set the outputs from the S7, if the outputs O1 to O4 are used for the
positioning functionality. Access to the inputs and outputs is possible by means of the
technological function FC CONTROL (Data Record 16 Digital Inputs / Outputs).
Contents 4.1 General Rules and Regulations for Operating an S7-300 ............................. 3-2
4.2 Power Consumption and Power Loss of an S7-300....................................... 3-3
4.3 How to Operate an S7-300 With Process Peripherals
on Grounded Power Supply........................................................................... 3-5
4.4 Installation of an S7-300 With Isolated Modules ............................................ 3-9
Introduction Being an integral part of a plant or system and depending on its particular field of application,
the operation of an S7-300 requires special rules or regulations to be observed. This chapter
provides an overview of the most essential rules that you have to obey when integrating an S7-
300 into a plant or system.
Specific Event Please observe the safety rules and regulations for the prevention of accidents, such as the
machine safety standards, which apply to specific events.
Emergency OFF Devices Emergency OFF devices according to IEC 204 (corresponding to VDE 113) must remain
effective in all operating modes of the plant or system.
Restarting the Plant The following table shows things you must pay attention to when restarting the plant after
After Specific Events specific events.
Mains Voltage The following table shows things you must observe in connection with the mains voltage.
DC 24 V Supply The following table shows things you must pay attention to in connection with the 24-V
supply.
Protection from External The following table shows things you must pay attention to in connection with the protection
Electrical Interferences from electrical interferences or failures.
Introduction The S7-300 hardware modules draw the power required for their operation from the S7-300
backplane bus and from the external load power supply.
Power consumption and power loss of the respective hardware modules are important data for
planning the configuration of an S7-300.
This chapter provides a list of the power consumption and power loss data for S7-300
hardware modules. An example will demonstrate to you how to calculate power consumption
and power loss for an S7-300 system.
Maximum Power The total power consumption of the S7-300 modules from the S7-300 backplane bus must not
Consumption exceed 1.2 A per phase!
At DC 24-V Load Power The following table lists the power consumption and power loss values for the S7-300
Supply modules with 24-V load power supply.
Table 0-1 Power Consumption and Power Losses of S7-300 Modules (DC 24-V Load Power Supply)
At AC 120/230-V Load The following table lists the power consumption and power loss values for the S7-300
Power Supply modules with 120/230-V load power supply.
Table 0-2 Power Consumption and Power Losses of S7-300 Modules (AC 120/230-V Load Power Supply)
Power Losses of Power The following table lists the power losses of the power supply modules
Supply Modules
Table 0-3 Power Losses of Power Supply Modules
Introduction This section provides information about the complete configuration of an S7-300 on a
grounded power supply unit (TN-S system). The subjects treated herein are:
Interrupting devices, short-circuit and overload protection according to VDE 0100 and
VDE 0113
Load power supplies and load circuits.
For further information please refer to the Documentation: Installing and Connecting an
MCU.
Definition: Grounded A grounded power supply includes a grounded neutral conductor of the system. A simple
Power Supply ground fault caused by a live conductor contacting the ground or a grounded part of the plant
will activate the safety devices.
Components and The installation of a complete system requires various mandatory components and protective
Protective Measures measures. The type of components and the degree of compulsoriness of the protective
measures depend on the VDE standard valid for your system.. The following table refers to
Figure 0-1.
Features of Load Power The load power supply unit feeds the input and output circuits (load circuits), as well as
Supply Units transducers and actuators. Below you will find the features of load power supply units which
are required for the particular application.
The signal common (ground) ensures a high functional reliability. You should provide the
load power supply unit (terminal L- or M) or the isolating transformer with a detachable
ground terminal (Figure 0-1). This provision will help you to locate more easily ground faults
in cases of power distribution trouble.
General Layout of an S7- Figure 0-1 shows the general layout of an S7-300 (Load Power Supply and Grounding
300 Concept) fed from a TN-S system.
Note: The arrangement of the supply terminals depicted herein does not reflect their
real arrangement; it has been selected for the sake of clarity.
Slot 2 3 4 5 6 7 8 9 10 11
IM361 Mounting Channel
Rack 3
M L+ M
0V
24 V
2 3 4 5 6 7 8 9 10 11
Slot IM361 Mounting Channel
Rack 2
M L+ M
0V
24 V
2 3 4 5 6 7 8 9 10 11
IM361 Mounting Channel
Slot
Rack 1 M L+ M
0V
24 V
Filter NE MCU
Module Module
M
Central Machine Base
Ground
Connection
Power Supply Unit
0V 24 V
The grounding bar must have a low-resistance The wire ranges are predetermined by the max. connectable
connection to the rear panel of the switchgear cubicle. . wire range of the terminals..
Definition When installing a system including isolated modules, the reference potentials of control circuit
(Mintern) and load circuit (Mextern) will be electrically isolated.
Isolated Modules and You can use isolated modules regardless of whether the reference potential of the control
Grounding Concept system is grounded or not.
Further For further information please refer to Chapter 13 -EMV Guide to MCU - Chapter 3 and to
Information the S7-300 Manual.
Hardware
RESET Button
Note!
Overall reset cannot be performed on MCU. Switch position 3 leads to an undefined MCU
state, which is visible by the flashing of all LEDs. This state can be reset by POWER ON.
STA RT
Mains Off
Mains On
Load FW update
sw itching cycle
0 3 0 1 0 3
Correct
switching cycle N
Y
RUN/STOP LED
OFF
Error-code indication
Programming by respective LEDs:
correct N RUN/STOP/ FORCE/SF
Y
RUN LED is on
Mains Off
END
LED
Software
Introduction Table 0-1 shows the main features of the integrated SIMATIC CPU.
SFBs -
Clock Software clock, not backed-up
Run-Time Meter Cannot be saved
Integral Clock
Overview The MCU includes a software clock. However, since the MCU has no back-up battery, time is
reset during the run-up stage.
Setting the Clock After running up the system, time and date must be set again. You can set the time in 2 ways:
By means of SFC 0 "SETCLK" you can set the time of the block. For reading the time in
the S7 user program, it can be read out with the help of SFC 1 "READ_CLK" (see
Reference Manual STEP 7 System and Standard Functions)
Using the STEP-7 configuration package on a PG or PC, you can set the time by means of
the S7 Information.
Run-Time Meter The MCU includes an integral run-time meter. It can count the elapsed operating hours of the
integrated S7-CPU or of an apparatus. The counter can be programmed by means of SFC 2, 3
and 4 SET_RTM, CTRL_RTM and READ_RTM. Upon switching the system off, the counter
is reset and must be reprogrammed.
(see Reference Manual STEP 7 System and Standard Functions)
Organization Blocks The operating system of the integrated S7-CPU has been designed for an event-controlled S7
(OB) user program execution. This chapter tells you upon which event the operating system will
automatically call which organization block (OB).
Description of the OBs For detailed description of the various OBs and their applications please refer to the Manual
STEP 7 Designing User Programs.
OBs for Cycle and Start- The following table lists OBs determining the MCU action during cycle and start-up.
up
OBs for Internal and The following table lists OBs determining the MCU action upon interrupt events.
External Interrupts
Note!
With shorter prompting times (less than 5 ms), a cycle -time monitoring may occur. In this
case, the prompting time or the limit for the cycle-time monitoring must be increased.
time-of-day interrupt
time-delay interrupt
process interrupt
diagnostics interrupt
occurs, but the respective OB has not been programmed.
S7-CPU not The integrated S7-CPU will not switch to STOP if a time interrupt occurs and OB 35 has not
in STOP been programmed.
OBs for Error Reactions The following table lists OBs determining the action of the MCU with integrated S7-CPU in
the event of an error.
The integrated S7-CPU switches to STOP, if an error occurs and the respective OB has not
been programmed (except for OB 81).
System Functions (SFC) SFCs are system functions integrated into the operating system.
Number: 37
For detailed SFC description please refer to the Reference Manuals STEP 7 Statement List
(AWL) or. STEP 7 Ladder Diagram (KOP) and STEP 7 System and Standard Functions.
System Data Blocks The system data blocks contain the parameters of the integrated S7-CPU. Entries are made by
(SDB) means of the STEP 7 Tool System Configuration or Define Global Data (see Manual
STEP 7 Application of the Tools).
SDB Contents
SDB 0 Parameters of the integrated S7-CPU
SDB 1 CPU automatically enters the actual configuration of the
integrated S7-CPU.
SDB 2 Default parameters of the integrated S7-CPU
SDB 5 Communication parameters for MPI nodes within an MCU
system.
SDB 100 none
SDB 101 Parameters for the I/O modules of rack 1
SDB 102 Parameters for the I/O modules of rack 2
SDB 103 Parameters for the I/O modules of rack 3
SDB 210 Parameters for communication by means of global data
Note!
If CPU settings for the system configuration are changed or GD tables compiled, STEP 7 will
generate the respective SDBs and store them under SDB in the AP-off area. This SDB
container must be loaded to the integrated S7-CPU and saved on FEPROM. The new settings
are activated after module start-up.
Introduction The integrated S7-CPU offers you diverse integrated functions, e.g. for program processing or
diagnostics. You can select these integrated functions from your S7 user program with the
help of the respective SFC or SFB number.
For a detailed description of all integrated functions please refer to the Reference Manual
STEP 7 Standard and System Functions. There you will find information about how to select
the integrated functions and which parameters to be passed on.
Clock Function The integrated S7-CPU provides the following functions as clock functions.
Block Functions The following table shows integrated functions for copying and presetting variables of a field.
With the help of SFC 22 CREAT_DB you can generate a data block.
Generating a Data Block
Time-of-day Interrupt You can use the time-of-day interrupts for program processing controlled by the internal MCU
Functions clock.
Time-delay Interrupts The operating system starts time-delay interrupts after a certain time has elapsed.
Interrupt and Error/Fault The integrated S7-CPU provides the following functions to react on interrupts and
Processing errors/faults.
Operating Mode With the help of the following integrated functions you can influence the operating mode
Transitions transitions.
Diagnostic Functions You can use the following integrated functions for reading and writing of diagnostic
information.
Functions for Module The integrated S7-CPU provides the following functions for reading and writing of module
Parameterization parameters.
Overview The following SFC's were extended for the DB number range 1001-1249 of the integrated FM:
SFC20 BLKMOV Copy variable
The extensions are used for changing tool offsets, machine data, traversing programs, etc.,
initialization of DB's and generaton of the OEM-DB.
The functionality of these SFC's for the DB's 1001-1249 corresponds to the standard
functionality (see STEP7, Reference Manual, System and Standard Functions). The DB can
also be accessed by symbols (symbol table for DB's > 1000).
The change in DB's can also be saved from the user program in the FEPROM. An entry in the
machine data DB header (DB1200.DBD 4 = 100) activates the saving of the DB's 1001-1249
in the FEPROM (see Section 0).
Any DB access errors are signaled as FM data errors, but the SFC is exited with a positive
return value (RET_VAL = 0). Upon DB access, the following actions take place:
When accessing the DB, note that DB's 1000 to 1249 possess an internal FM header of a
length of 24 bytes.
Particularities of the DB1001-1249 as a "non sequence-relevant source" (key word UNLINKED) is not admissible
SFC 20 (RET_VAL=8x32).
Particularities of the In this number band, only the following DB's are admitted:
SFC 22
DB1001-1199 (NC programs)
Data errors may occur due to missing initialization of the net data.
Data Saving
Data saving FM-POS A write access to the DB-MD (through SFC20 or BUB) activates the function "Data saving
FM-POS".
After successful data saving, the value 100 is deleted by the FW:
DB1200.DBD4 = 0 positive acknowledgement
In case of faulty data saving, the firmware returns an error number in the DB:
DBD1200.DBD4 = 100001 saving error
(insufficient storage capacity for FEPROM)
DBD1200.DBD4 = 100002 fatal error (FEPROM defective ...)
Data saving Drive A write access to the DB-AM (through BUB only) activates the function "Data saving drive".
However, this does not save the drive MD's which are effective on-line, but only the binary
dump of the drive MD's in DB1250.
After successful data saving, the value 100 is deleted by the FW:
DB1250.DBD4 = 0 positive acknowledgement
In case of faulty data saving, the firmware returns an error number in the DB:
DBD1250.DBD4 = 100001 saving error (insufficient storage capacity for DB's in
the FEPROM)
DBD1250.DBD4 = 100002 fatal error (FEPROM defective ...)
Note!
Data saving may only be triggered anew after the value has been deleted (otherwise, the new
request will be lost). Write access to data saving must not be made together with other write
accesses (otherwise data in the saving might be lost). Data saving must not be triggered
cyclically (FEPROM lifetime)
Running up
Initialization of MCU
0: RUN-P
2: Stop
Mode selector N
sw itch position
3?
Load data from
Y FEPROM:
- 6 11 MD
Load standard - FM DBs
data for: - PLC user blocks
- 6 11 MD
- FM DBs
Y Sw itch
position = 3
Boot 6 11 firmware
Check NC MDs
Parameterization N
A bort running up
O.K.
PLC
Positioning section
ready for cyclic operation
Overview When executing the S7 user program with the MCU, time differences compared with the
normal S7-300 CPU may arise. Within 5 ms, the S7 processes 15 KB of the S7 user program.
Since one processor carries out both the S7 functions and the position control, the S7 user
program has to be interrupted by the position control. The time reference of the interruption
can be selected in the machine date MD61 (clock pulse setting).
According to this preset time reference, the cyclic program processing will be interrupted and
the position control program executed. After completing the position control program, the S7
user program will be resumed from the point of interruption.
Process Interrupts /
Time Interrupts
Note!
Process interrupts or time interrupts are included in the S7 user program and, therefore, will
also be interrupted. It is absolutely necessary to take this into consideration in connection with
the configuration and the process interruption response time.
The speed and current control section of the overall control system will not be affected here,
because this part of the MCU is processed by its individual processor.
MPI Services The MPI services increase the processor workload of the MCU. However, they will not be
interrupted by the position control section, because this communication service is executed by
means of its own ASIC.
2)
5 ms
Write PAA
Response Times
Overview The response time for the MCU to react on an event is influenced by the scan time and the
delay times of the I/O modules. Response times are of decisive importance for the
configuration of a system and the structures defined in the S7 user program.
Definition The scan time is the time that the integrated S7-CPU needs for executing the S7 user program
in one cycle.
Scan Time of the The scan time of the integrated S7-CPU includes the following components:
Integrated S7-CPU
Process Image Transfer Time (PAE and PAA)
Response Time Since some of the factors influenced by the scan time are not permanently effective (e.g. MPI)
and the S7 user program is not constantly processed in the same way, the response time varies.
In order to avoid trouble with a system, you should consider the maximum response time
possible, e.g. for cut-off functions.
The safety allowance of approx. 10% of the S7 user program scan time - at least 1 ms - is due
to the communication load.
For example, in order to determine the lengths of a switch-off cam for stopping a motion, this
maximum response time possible must be taken as a basis.
A slide travels at a velocity v of 9 m/min. The motion of the slide shall be stopped at its initial
Example
position by a limit switch. The scan time measured is 25 ms.
Velocity v
9 m/min
1
Cam Signal
0
Response Time Time t
At a maximum response time possible tmax of 55 ms, the slide keeps traveling during this time
without being slowed down. This equals a travel distance s of:
s = v tmax = 9 m/min 55 ms = 8.25 mm
Therefore the cam must be 8.25 mm longer than the deceleration distance of the slide.
In addition to the drive control system for 611, a positioning section and an S7-CPU have
Data Interchange
been integrated into the MCU. In order to interchange data between the positioning section
by Means of
and the integrated S7-CPU, you can make use of so-called technological functions. These are
Technological F nction
S7 blocks, which must be called in the S7 user program.
These S7 blocks contain parameters. With the help of these parameters you can control the
position control system of the MCU by the S7 user program.
Positioning Section
User Data Areas
Instanz-DB S7 Address
PEB/PAB Reading 0
Technological 256 :
Function W riting 0 :
MB 10 ST Signals : 15
. RM Signals :
. Parameters 15
.
.
Data Records
Daten-
speicher
with
SFC 58/59
The data interchange with the positioning section is possible by means of the I/O bus of the
integrated S7-CPU. The signal interface occupies for this 16 bytes of peripheral input bytes
(PEB) and 16 bytes of peripheral output bytes (PAB). Hence, from the point of view of the
integrated S7-CPU, the positioning section acts in the same way as an analog I/O module on
address 256.
The technological function (S7 block) transmits data and control signals to this area or reads
from this interface data and feedback signals.
Transfer interface for the user are the parameters of the technological functions or the existent
instance DB.
Note!
Direct access of the user to the peripheral interface of the positioning section is not allowed.
P1 P2 P3 P4 P5 P6
Alle
Maschine Einheiten Halt nach Vorschub
a us zurck Taktende halt
P7 P8 P9 P10 P 11 P12
Drive Section
Data Diagram of MCU The diagram shows the data flows of the MCU in a schematic way. The complete data
interchange between integrated S7-CPU and positioning section passes through the data
interfaces integrated into the positioning section.
PG with MCU-PIT The PG loaded with the commissioning software MCU-PIT and connected with the MPI bus is
able to read and write the traversing program, tool offsets , operating data and machine data in
the positioning section by means of the system services incorporated in the integrated S7-
CPU.
Since the complete control signal image is stored in DB-BD, axis and drive can be
commissioned with the help of MCU-PIT, even if the user program has not been completely
implemented yet. For moving the axis by PIT, the TF bit (parameter of the block RESTART)
must be set before.
OPs As well as the PG, the connected OPs also use the system functions of the MPI services.
Therefore all data of the positioning section may also be used by the OPs. Data source and
target depend on the OP software configuration.
PP031, MSST Machine control panels are connected to the MPU bus like the PGs/OPs. However, the user
must configure the data storage of these operating devices in the integrated S7-CPU memory
by means of the STEP-7 tool Defining Global Data. These control signals may be stored in
the process image of non-connected I/O modules or in flags or data blocks (see Users Manual
STEP 7 Chapter 9).
Technological Technological functions are those S7 standard function blocks, which execute data
Functions interchange and control functions from the integrated S7-CPU to the positioning section.
These blocks transfer the control signals and data of the S7 user program to the positioning
section or read the feedback signals or required data from the positioning section. Data
interface to the positioning section are system functions (SFCs). User interface are instance
DB and block parameters.
S7 User Programs The S7 user program controls all MCU system functions. In the user program, the intelligent
I/O blocks are called up and the parameters assigned. The instance DB is utilized for
interchanging data. The transfer data are stored in this DB and can be used for system
operation. The combination of S7 user program, standard program and functionality of the
MCU positioning section makes up the overall function of the system.
Instance DB Positioning
Section
For controlling the positioning section from the S7 user program, the intelligent I/O blocks
must be called in the cyclic program section of the S7 user program.
Instance DB The instance DB of the technological function is the central data memory in the integrated S7-
CPU. All intelligent I/O blocks access this DB. The assignment of the DBs is described in the
Tables. The instance DB is also of significance to the S7 user program. It stores the data to be
transferred to the positioning section and the actual values called up by the S7 user program.
Overviews For controlling the positioning section from the integrated S7-CPU, 3 standard blocks are
required. These blocks must be called up by the S7 user program and linked to the cyclic
section.
Per S7 cycle the blocks may be called up only once. Calling up an intelligent I/O block
several times is not allowed and may cause faulty termination of jobs.
The block STATUS makes it possible to read back status information in the process interrupt
program. The information read back is provided at block parameters.
Table 0-2 Standard Blocks in the Process Interrupt Branch and Their
Description
Data Blocks For storing its working data, the MCU creates data blocks in the work memory (not S7 user
memory). The control interfaces and all data are stored in these data blocks. The MCU
operates from these data stores. An S7 program does not have direct access to the data blocks
with DB numbers > 1000.
The DB-BD is the control interface and the data store for the actual
operating data. The entire functionality of the positioning section is
DB controlled by means of this data block. The DB-BD is served by the
BD technological functions. MCU-PIT has direct access to this data store.
DB 1000
The DB-NC are used for storing the traversing programs, which can be
entered with MCU-PIT.
A maximum of 199 DBs is possible.
DB-NC
DB
1001-1199
The DB 1200 (DB-MD) stores the machine data of the positioning section.
The data are entered with MCU-PIT. When restarting an erased MCU,
standard data are loaded to the DB-MD.
DB-MD
DB 1200
The DB-WK stores tool offset values of the positioning section. This block
can be read and written with MCU-PIT.
DB-WK
DB 1220
The DB-SM stores the distances for the incremental mode. This block is
supplied by MCU-PIT.
DB-SM
DB 1230
The DB-AM stores the drive machine data. These data are determined with
MCU-PIT and depend on the installed motor and power section. When
DB-AM restarting an erased MCU, this data store is also supplied with standard
data.
DB 1251
The DB-AS stores the actual state of the drive system.
DB-AS
DB 1260
All data blocks are automatically created and fed during the MCU start-up stage. After
commissioning with MCU-PIT, the data determined can be saved in a flash-EPROM.
(Exceptions: DB-BD and DB-AS are not saved). During every restart, these data are
transferred to the created DBs. Saving of the data is initialized with MCU-PIT (drive and
positioning sections) and STEP 7 (PLC).
RAM RAM
Flash-EPROM Load Memory User Memory
of S7-CPU of S7-CPU
Load Memory
of S7-CPU
RAM * DB-BD cannot be saved
Saved Data DB * DB
DB 1001 - 1250 BD ... MD
Description The intelligent I/O block RESTART synchronizes the data interchange between integrated S7-
CPU and positioning section. When the RESTART function recognizes that a restart was
executed, initialization begins. This requires the bit CPU_NEUST be set in the instance DB in
OB100. Due to this bit, the other intelligent I/O blocks also set themselves to their initial
states.
The input parameter TFB controls the switching of the right to axis travel of the positioning
section from P bus to K bus and back. When the TFB has been set (TFB=1), the intelligent I/O
block allows testing with MCU-PIT. The testing mode may be canceled with TFB = 0 at any
time. During the testing mode communication between technological functions and
positioning section is inhibited (Exception: TF bit).
Call This function must be called up in the cyclic S7 user program. Note that the block RESTART
in OB1 of the S7 user program must be called up before the technological functions OP_MCU
and CONTROL.
Parameter Description
Note!
Before calling the block, enter module address and channel number to the instance DB.
Faulty presetting of data in the instance DB or parameters may lead the stop state of the
integrated S7-CPU. Since the block cannot be displayed, accurate parameter assignment is an
essential precondition for faultless operation.
Instance DB
Variable: BG_ADR_EIN
KA_NR
Description The technological function OP_MCU controls all functions of the positioning section. By
means of the block OP_MCU you can select the operating modes and transfer the control bits
necessary for the operating mode to the positioning section. The block reads the actual
operating states and makes them available to the user for evaluation at the output parameters.
Call Call this function in the cyclic S7 user program. Note that the block OP_MCU must be called
up after the block RESTART.
SW254_S := ,
GESCHWINDIGKEITSSTUFEN_S := ,
DREHZAHLSTUFEN_S := );
The E parameters will cyclically be transferred from the intelligent I/O block to the MCU. In
Parameter
the A parameters the MCU resignals its actual status; the entries are made cyclically.
Description
The E/A (I/O) parameters initialize jobs for transferring data to or from the positioning
section. Setting of the bit represents the starting edge for the function. Resetting the same bit
by the block is the confirmation for the user that the job has been completed. If several jobs
are started at the same time, the block will process them in sequence. For description and
functions of the individual bits please refer to the "Description: Positioning with MCU".
Description The technological function CONTROL writes selected data blocks to the positioning section
or reads actual data requested by the user. The data are stored in the instance DB and can be
selected with the help of job numbers at the parameter JOB SELECTION. If several jobs are
initiated, they will be processed in sequence.
Call Call this function in the cyclic S7 user program after FC_RESTART. Calling several times or
from any other program processing level than the cyclic level is not allowed.
Parameter Description
When initiating another job number in parameter AUFTRAGSANWAHL, the MCU will
indicate an error in ANZEIGENWORT.
Functions This block allows the user to transfer data by means of the job numbers from the integrated
S7-CPU to the positioning section. The user must first store the data in the instance DB of the
respective structures. By entering the job number in AUFTRAGSANWAHL, transfer can be
started then. When the transfer is completed, the block CONTROL will delete the entry from
AUFTRAGSANWAHL. Data which are read from the positioning section are transferred to
the structures of the instance DB by the intelligent I/O block CONTROL. This is initiated by
setting the corresponding job bits. CONTROL will delete these job bits when the job is
finished.
The indicator word is used by the technological functions RESTART, OP_MCU and
CONTROL for indicating the status of the technological functions. The errors occurring
during data transfer will be displayed in ANZEIGENWORT.
Structure of Bit 1 8 7 0
ANZEIGENWORT 5
e. g. MW 10 X X 0 0 X X X X Error Number
Status (read only) Additional Information
X = Bit used
Status Description
Bit
8 Processing of technological functions in
progress
9 Processing of technological functions
completed
10 Group error
11 Reading error (FC CONTROL)
12 -
13 -
14 Testing mode active
15 Start-up in progress
Additional Information List of additional information (error numbers), which are stored in the data words
READERR_CONTROL and LMEERR_CONTROL.
H Description Remedy
EX
0E Error when calling SFC RD_REC. The See error description of
return value RET_VAL of the SFC will be SFC RD_REC
indicated in the variable SFCERR_TFNAME
for the user to evaluate.
11 Time-out error. An expected module Carry out restart
response is missing. While the TF is waiting
for a response, every TF call increases
internally the counter by one step. When this
counter reaches the value MAX-AUFRUF,
this error message will be indicated.
Description The technological function "STATUS" is used to read the status information of the digital
inputs I1 to I4 from the FM-MCU in the process interrupt program. The read status
information is made available by output parameters.
Call Call this function only in the process interrupt branch (OB40). Module address and channel
number must be entered to the instance data block before calling this block.
Parameter Description
Structure of Bit 1 8 7 0
ANZEIGENWORT 5
e. g. MW 10 0 0 0 0 0 X 0 0 Error Number
Status (read only) Additional Information
X = Bit used
Status Description
Bit
8 -
9 -
10 Group Error
11 -
12 -
13 -
14 -
15 -
Additional List of additional information (error numbers) which may be indicated by FC STATUS.
Information
H Description Remedy
EX
00 No error -
0B When calling up block FC STATUS, the data Indicate correct DB
block indicated at parameter INSTANZ_DB
does not match the technological function FB
OP_MCU (DB is not the instance DB of FB
OP_MCU).
0C Channel number for MCU invalid. Enter correct channel
number in instance DB
to word KA_NR
MDI_S1
MDI_SATZ MDI_SATZ
User Program Standard Program
MDI_S2
Instance DB In order to transfer data to the MCU positioning section, the user program must buffer them in
a temporary memory. This temporary memory (instance DB) defines the data formats and the
source for the standard program. Data source for the user program may be a user data block or
flag, inputs or outputs. Data transmission and scaling are executed by the user program.
Instance DB and Having stored the data in the instance DB, the user program instructs the standard program to
Positioning Section transfer the data from the instance DB to the positioning section. After completion of the
transfer, the user program can initialize the respective function for processing the data. The
data transfer from the MCU positioning unit works in an analogous way.
Variables of In order to facilitate the entry to the instance DB, the transfer areas of the instance DB are
Instance DB combined in data records DS2 to DS235. Every data record contains variables. The variables
may be addressed by the S7 program with the help of variable names. The variables of a data
record DS are combined in STRUCTs.
Structure In order to make flexible and easily legible programming possible, the instance DB was
STRUCTs subdivided into structures. One structure can combine different variables - the so-called
elements - under one collective term. These can be addressed by indication of the STRUCT
and element names without knowing the absolute data address. This ensures a system of
programming which is essentially easier to understand than the system using absolute data
addresses.
A precondition required here is to assign a variable name to the instance DB in the symbol
list. For the examples given in this Chapter: MCU_DB.
Selecting Data for With the help of parameter AUFTRAGSANWAHL you can select the data to be transferred to
Transfer the positioning section. The parameter AUFTRAGSANWAHL is of the integer data type
(INT). The entry of the data record number to AUFTRAGSANWAHL will start the data
transfer to the MCU positioning section. The job data must be entered to the MCU instance
DB before. When the data transfer is completed, the technological function CONTROL will
delete the value entered in AUFTRAGSANWAHL.
Data Transfer Error If a data transfer error occurs, an error code will be entered to ANZEIGENWORT.
Res./Reserved You must not write into the variables labeled res. or reserved.
Y
Nachfolgend mu geprft werden, ob
ein Fehler aufgetreten ist. Ist die Daten-
Error bertragung fehlerfrei beendet worden,
detected ? kann die Funktion freigegeben werden,
Y z.B. nach "MDI-Satz bertragen" Start
des MDI-Satzes.
N
START
Conversion into STEP7 The sequence shown in the flow chart has to be converted into a STEP7 program.
Program
Data Records
Instance DB: It has been assumed that the variable name MCU_DB was assigned to the instance DB in the
MCU_DB symbol list for these examples.
Res./Reserved You must not write into the variables labeled res. or reserved.
Note The variable AUFTRAG corresponds to MW50. MW50 must be declared in the symbol list
and must be of the INT data type. Upon calling the FC CONTROL, the variable AUFTRAG is
transferred to AUFTRAGSANWAHL. Due to the above-described variable format in the
STEP7, you can access the instance DB in any block.
Upon calling the FC CONTROL, it must be parameterized with the variable AUFTRAG to
AUFTRAGSANWAHL, in order to ensure that the transfer from AUFTRAGSANWAHL
works in the way as described by the example. After completion of the transfer, check whether
the value transfer to the positioning section was executed faultlessly.
U FEHLER; // If error
= STARTVERRIEGELUNG; // inhibit start
P Number DB-BD P numbers are the parameter numbers of the data records in the operating data DB (DB-BD),
which are displayed in MCU-EDIT.
Function The operating mode MDI (Manual Data Input) allows you to transfer an NC block to the MCU
positioning section. The block is initialized with the help of the start signal and executed by
the positioning section.
When the execution of the block is finished, you can transfer a new NC block to the
positioning section or restart the current block (see Functional Description Positioning with
MCU, Chapter 3.6).
Before initializing the transfer to the positioning section, enter the MDI block to data record
DS7 in the instance DB.
Structure of an MDI The structure of an MDI block corresponds to that of a normal NC block of a process program.
Block Before transfer, make sure that not only the required data have been entered to DS7, but also
values which are no longer needed have been deleted.
M Function 1 78
M Function 2 79
M Function 3 80
Reserved 81
Example With Absolute The following MDI block shall be stored in the instance DB in DS7:
Data Addresses G1=90 X10.000 F1000.00 M1=4
Example With STRUCTS The following example shall demonstrate that this method of programming generates a
program which is easy to understand. It reduces the amount of additionally necessary
documentation.
L 90; // G90
T MCU_DB.MDI_SATZ.G_FKT1;
L L#100000; // Velocity
T MCU_DB.MDI_SATZ.WERT2;
L 4; // M4
T MCU_DB.MDI_SATZ.M_FKT1;
L 7 // Transfer DS7
T AUFTRAG;
Function With the help of DS8 "Drive Setpoint Data" you can influence the action of the digital drive
directly from the STEP7 program. The data record DS8 comprises 2 structures and one single
variable: STEU_LOW, STEU_HIGH and MOM_GRENZ. When the data record is transferred
to the positioning section, it includes the structures and the variable. Therefore, it is absolutely
necessary to ensure that all variables of the structures have been set to the correct values.
Disregarding this aspect may lead to undesired actions of the driving system.
Variables of System The 611D control words 1 and 2 appear in DB-BD, in DB-AS and in the instance DB. Only
Data Interface the bits printed in italics are legible.
Symbol Name
Control Word 1
ZK1_RESE ZK1 Reset: Resetting/acknowledging of drive alarms; level 1
T must remain active for at least one LR cycle
BIT1 Parking axis; setpoint matches DS11 bit 14 parking axis -
Function internally selected
NRZ_FRG Enable bit for emergency retract:
0: Emergency retract locked
1: Emergency retract released
BIT5 Function generator setpoint: Function generator activation in
drive
Symbol Name
HLG_AKT Speed ramp setpoint:
0: Limit signals: |Md| < Mdx active, Nact = Nrequ active
1: Limit signals: |Md| < Mdx = 1, Nact = Nrequ = 0
Acceleration process finished = 0
HLGSS Speed ramp quick stop setpoint:
0: No effect
1: Drive quick stop
nrequ = 0
no pulse suppression after standstill
MGLG2 2. Torque limit setpoint:
0: Torque/power limitation
by drive MD1230/1235
1: Torque/power limitation
by drive MD1232/1236
DZSF1_AK Speed setpoint smoothing setpoint:
T 0: No speed setpoint smoothing
1: Speed setpoint smoothing active (only effective when low-pass
filter has been parameterized by means of drive MDs 1500 etc.)
Control Word 2
SP_SG_1 Setpoint parameter block
SP_SG_2 Parameter block setting in drive
SP_SG_3 (Switching of speed controller parameterization)
INT_SPERR Integrator lock setpoint
0: Integral component of speed controller on
1: Integral component of speed controller off
BIT7 PLC pulse enable setpoint: Pulse enable (by means of S7 user
program)
BIT8 Current controller enable setpoint: Current Controller Enable
BIT9 Speed controller enable setpoint: Speed controller enable
BIT15 Signal of life: for service only
Torque Limit After balancing with machine-specific limits derived from the motor and power section
installed, this value serves for the dynamic limitation of the torque setpoint formed of the
speed controller output and the pilot control value. The minimum value formed of motor
torque, motor output power section current and limit value is internally effective for the drive.
Only positive limit values must be preset which, in addition, have to be limited to 7FFFH.
Unit: [incr]
Format: signed integer
Scaling: 1000H = Mrequ; MD 1725 = 8 x Mrequ
Mlimit [incr]=Mlimit [Nm] x 8 x 1000H / MD1725 [Nm]
Example The following example illustrates the transfer to the variables of DS8.
Instance DB is MCU_DB.
CL // Clear VKE
R;
R MCU_DB.STEU_LOW.HLGSS; // Delete inactive bits
R MCU_DB.STEU_LOW.ZK1_RESET;
R MCU_DB.STEU_LOW.HLG_AKT;
L 8; // Transfer DS8
T AUFTRAG;
Function The "Bit-coded Settings" of DS11 influence directly the positioning section with MCU
position control. The bits activate or deactivate several MCU functions. The positioning
section will not react until changed DS11 bits have also been transferred.
CL // Clear VKE
R;
R MCU_DB.BIT_EINST.FLG_MESS; // Delete inactive bits
R MCU_DB.BIT_EINST.PARK_ACHS;
R MCU_DB.BIT_EINST.SIM_EIN;
R MCU_DB.BIT_EINST.REF_TRIG;
Function Just like the "Bit-coded Settings" (DS11), the "Bit-coded Commands" are also transferred to
the MCU positioning section. The "Bit-coded Commands" might by required for the operation
of the axis. For making the commands effective, DS12 is to be transferred to the positioning
section. The DS12 transfer can always be performed upon any status change.
U E 1.1;
= MCU_DB.BIT_KOMM.RESTW_L
OE;
U E 1.2;
= MCU_DB.BIT_KOMM.AUT_SVO
RL;
U E 1.3;
= MCU_DB.BIT_KOMM.AUT_SRUC
K;
U E 1.4;
= MCU_DB.BIT_KOMM.RESTART;
U E 1.5;
= MCU_DB.BIT_KOMM.IWS_LOE;
L ALTSTRUCT; // Stored Struct value
L DB[MCU_DB].DBW104; // Load STRUCT
XO // Exclusive OR detects
W;
L 0; // alteration
==I; // No ->End
SPB ENDE;
L 12; // Yes ->Transfer data
T AUFTRAG;
END
E: DB[MCU_DB].DBW104;
L
T ALTSTRUCT;
L 12;
T AUFTRAG; // Transfer DS12
Function A zero shift can be transferred to the positioning section. The zero shift is activated after
transfer. The zero shift can be canceled by the bit command IWS_LOE (DS12).
L 13;
T AUFTRAG; // Transfer DS13
Function The data record DS14 for the function of "Setting of Actual Values" is to be handled in the
same way as "Zero Shift" (DS13). The setting of actual values can be canceled by the bit
command IWS_LOE (DS12).
L 14;
T AUFTRAG; // Transfer DS14
Function The "Flying Setting of Actual Values" is transferred in the same way as "Setting of Actual
Values" (DS14). Unlike the "Setting of Actual Values", the "Flying Setting of Actual Values"
is only activated by a hardware input of the MCU.
L 15;
T AUFTRAG; // Transfer DS15
Function The 4 onboard inputs or outputs, respectively, can be read or set with DS16. Due to the
transfer of DS16, the outputs not used for MCU functions (O1...O4) are set to the status of the
variables. By setting of the bit DA_DE_L at FC CONTROL, you can read the status of the
inputs (I1...I4).
Instance DB is MCU_DB.
L 16;
T AUFTRAG; // Transfer DS16
Function Transferring DS17 "Flying MDI Block" serves the MCU to reject immediately an MDI block
that has already been started. The MCU starts immediately processing the flying MDI block.
The data of a flying MDI block correspond to those of a normal MDI block (DS7). Transfer of
DS17 is performed in the same way as of DS7. The STEP7 programming for entering the data
differs only in the indication of the structure name from that of DS7.
Instance DB is MCU_DB.
L 4; // G04
T MCU_DB.MDI_SATZ_FLG.G_FKT
1;
L 1000; // Dwell time
T MCU_DB.MDI_SATZ_FLG.WERT
1;
L 17;
T AUFTRAG; // Transfer DS17
Please refer also to the example in the Functional Description: Positioning with MCU in
Chapter 3.6: Transferring MDI Block.
Function The MCU can store traversing programs for the automatic mode. For processing the traversing
programs, select the required program number before starting. This is done with data record
DS18. If you try to interrupt a program that has already been started by selecting another
program number, the MCU will ignore this selection. (see Functional Description Chapter
3.7).
L 167;
T MCU_DB.PRG_ANWAHL.PROG- // Program number 167
NR;
L 0;
T MCU_DB.PRG_ANWAHL.SATZ- // Start at beginning
NR;
T MCU_DB.PRG_ANWAHL.BEARB; // Processing forward
Function The "Request Application Data" allows the user to read out information data of the positioning
section. The MCU can provide the user with up to 4 different data. The data will be cyclically
updated, if the bit APPLIKATIONSDATEN_L is permanently set.
Code Values For requesting the data, you must enter a code value to the variables.
Code Description
Value
0 No parameter request
1 Actual position
2 Actual velocity
3 Residual distance
4 Required position
5 Zero shift
6 Speed (rotary axis)
7 Relative positioning time
17 Actual encoder value (motor encoder)
18 Slipped cycles
19 Kv factor
20 Following error
21 Following error limit
22 s-Overshoot value / switch adjustment value in
BA "Search for Reference"
40 Utilization
41 Active power
42 Required torque
44 Actual speed
45 Required speed
The code values are transferred to the positioning section. By setting the bit
Variables of
APPLIKATIONSDATEN_L at FC CONTROL, the data are put out in data record DS29. Just
STRUCT APP_DAT
like the STRUCT ANF_APP_DAT, the structure of DS29 includes four variables in which the
requested values will be stored.
For the output of actual position and residual distance, the variable must be initialized as
described in the following example.
L 1;
T MCU_DB.ANF_APP_DAT.CODE_APP1;
L 3;
T MCU_DB.ANF_APP_DAT.CODE_APP2;
L 19;
T AUFTRAG; // Transfer DS 19
DS20 Teach In
Function The positions of the traversing programs can be preselected at the MCU with the help of
"Teach In". For this you must communicate the program and block numbers to the positioning
section.
Example The actual position shall be transferred to block number 10 of program 132.
Instance DB is MCU_DB.
L 132;
T MCU_DB.TEACH_IN.PROG_NR;
L 10;
T MCU_DB.TEACH_IN.SATZ_NR;
L 20;
T AUFTRAG; // Transfer DS 20
Configuring and Create the project structure: Go to the SIMATIC Manager, click on the File menu and select
Parameterizing of the New Project or click on the respective icon on the tool bar. Select the directory in which
Integrated S7-CPU you want to create your project from the next dialog box and enter a name for your project.
Click on Save to create the project.
Insert a station into the opened project by clicking on Insert Hardware SIMATIC 300
Station. Select the SIMATIC-300 Station 1 in the left window. The System Configuration
icon will then appear in the right window. Double-click on the icon to open hardware
configuration. Click on View Catalog to open the hardware catalog. Select the MCU
module from the hardware catalog by clicking on: SIMATIC 300 RACK 300
MCU172A and drag and drop it into the first line of the configuration table (Precondition:
MCU-PIT has been installed).
Open line 0 by clicking on + in the configuration table. Select the required interface module
from the catalog by clicking on SIMATIC 300 IM300 IM360 IM S and drag and drop
it into slot 3. Now line 0 has been parameterized (slots 5 to 11 are not permitted). If you want
to modify the adjustable CPU parameters, double-click on line 2. The CPU configuration table
will be displayed.
You can enter three more lines if required. Select a rack from the catalog by clicking on
SIMATIC 300 RACK 300 Mounting Channel and arrange it in the lowest (free) line
of the configuration table. Open the line (clicking on +) and enter the required modules with
the help of the hardware catalog, e.g. function modules. There must always an interface
module be installed to slot 3. Save the overall configuration of the project by clicking on: File
Save and load it into the MCU by clicking on: Target System Load to AS, (CPU must
be in Stop status).
Copy intelligent The MCU-PIT software comes with a companion diskette with the intelligent I/O blocks.
I/O Blocks These blocks are contained in the STEP7 program folder. Copy this program folder into the
MCU project. To make copying easier, copy the data provided with the companion diskette to
a new directory using the Explorer.
Open then the project you have created for the MCU using the S7 manager (Open File).
Repeat the Open File operation but select now the Search button. Go to the new directory
with the intelligent I/O blocks and press OK. Call the Arrange Window - horizontally
command to see the window arrangement illustrated below.
The data on your companion diskette can now be copied into the CPU314 of your MCU
project by drag and drop. Any existing S7 programs will be replaced.
Note!
During this process, any existing S7 blocks will be deleted. In this case, copy the blocks
separately from the AP-off folder.
After all data have been copied, start creating your STEP7 program. You can also use the
source blocks in the SO container. To assist you in programming, this container provides the
following blocks:
Sources for the Sources for the data blocks provides access to the structures by means of icons. This can be
Data Blocks helpful in the following cases:
When projecting an image of an OP using ProTool V3.0, access to the variables can be
configured such that icons can be used; ProTool will use the data blocks stored in the
project.
Addressing of the MCU-DBs in DS7 variable tables for Status and Controlling by means of
icons
Drive machine data must be addressed absolutely in accordance with the following
instructions:
DB number = 1250 + parameter record no. (1-8)
DB offset = MD no.
Drive machine data may not be mixed with other DBs. It is not possible to address a single bit
of the drive machine data.
All data blocks to be addressed by means of icons have to be entered in the icons list, and the
related sources from the container have to be translated.
Note!
Any translated DB numbers over 1,000 must not be transferred to the MCU; otherwise, the
data on the MCU are set to standard values.
Objective It is the objective of this call example to help you perform the STEP7 block calls required for
the MCU in a simple way. This example provides the basic functionality for controlling the
positioning section. This example is included in the standard diskette containing the
intelligent I/O blocks.
Symbol List The program contains a symbol list which defines the variables for the call example. Only
reference to this symbol list allows a correct compilation of the program. The program parts
described in the Documentation can be entered in the STEP7 program editor and compiled.
After correct compilation, the programs can be executed in the MCU.
Note! For the safety-relevant parts of a system, this program will have to be expanded and
completed. All effective safety regulations have to be obeyed. This example program does not
claim to be complete and reliable for all applications possible.
Rights This example may be modified, copied and passed on to a third party without license for the
purpose of putting a system into operation. However, this does not involve the acquisition of
any rights.
Overview In order to ensure the appropriate start-up of the MCU, the user must perform some basic
settings in the MCU instance DB. These basic data must be entered to the instance DB before
calling the intelligent I/O blocks. OB100 is scanned before OB1 during acceleration. The
basic settings can be made in this organization block.
Module Address 256 and The intelligent I/O blocks require the logical module address 256 and the respective channel
Channel Number 1 number 1. These data are fixed for the MCU.
Restart With the help of bit CPU_NEUST you must communicate to the intelligent I/O blocks, if a
restart has to be performed.
OB100
ORGANIZATION_BLOCK
OB100
TITLE = Start-up program
AUTHOR: Siemens
FAMILY: MCU
NAME: Restart
VERSION: 1.0
VAR_TEMP
OB100_EV_CLASS : BYTE ; //16#13, Event class 1, Entering event state,
Event logged in diagnostic buffer
OB100_STRTUP : BYTE ; //16#81/82/83/84 Method of startup
OB100_PRIORITY : BYTE ; //27 (Priority of 1 is lowest)
OB100_OB_NUMB : BYTE ; //100 (Organization block 100, OB100)
R
OB100_RESERVED : BYTE ; //Reserved for system
_1
OB100_RESERVED : BYTE ; //Reserved for system
_2
OB100_STOP : WORD ; //Event that caused CPU to stop (16#4xxx)
OB100_STRT_INFO : DWORD ; //Information on how system started
OB100_DATE_TIM : //Date and time OB100 started
E DATE_AND_TIM
E;
END_VAR
BEGIN
NETWORK
SET
;
S MCU_DB.CPU_NEUST;
END_ORGANIZATION_BLOC
K
Instance DB of FB1
Overview In order to store the basic settings in OB100 during start-up, the instance DB must be set up
and loaded to the MCU before starting up the MCU.
For compilation of the program described herein, the STEP7 compiler will create a data block
DB1 with the variable structure of FB1 (OP_MCU).This DB must be loaded into the MCU
after successful compilation. Additionally, this DB must be assigned FB1 as data type in the
symbol list. When this entry in the symbol list is missing, the STEP7 compiler will signal an
error when indicating the DB as instance DB.
The DB number 1 was selected as an example, which can be altered at any time.
Overview Organization block OB1 contains the program organization. In this example, program inputs
are loaded to input flags and outputs supplied with output flags. There are often different input
and output assignments in different MCUs. By reloading them in OB1, these can very easily
be adapted to the call example.
ORGANIZATION_BLOCK
OB1
TITLE = Cyclic program
AUTHOR: Siemens
FAMILY: MCU
NAME: Cycle
VERSION: 1.0
VAR_TEMP
OB1_EV_CLASS : byte; // Bits 0-3 = 1 (Coming event), Bits 4-7 = 1 (Event class 1)
OB1_SCAN_1 : byte; // 1 (Cold restart scan 1 of OB 1), 3 (Scan2-n of OB 1)
OB1_PRIORITY : byte; // 1 (Priority of 1 is lowest)
OB1_OB_NUMBR : byte; // 1 (Organization block 1, OB 1)
OB1_RESERVED_1 : byte; // Reserved for system
OB1_RESERVED_2 : byte; // Reserved for system
OB1_PREV_CYCLE : int; // Cycle time of previous OB1 scan (milliseconds)
OB1_MIN_CYCLE : int; // Minimum cycle time of OB1 (milliseconds)
OB1_MAX_CYCLE : int; // Maximum cycle time of OB1 (milliseconds)
OB1_DATE_TIME : // Date and time OB1 started
date_and_time;
END_VAR
BEGIN
NETWORK
TITLE = Copying of inputs
L EINGANGSBYTE_1;
T ABBILD_EB_1;
L EINGANGSBYTE_2;
T ABBILD_EB_2;
L EINGANGSBYTE_3;
T ABBILD_EB_3;
L EINGANGSBYTE_4;
T ABBILD_EB_4;
NETWORK
TITLE = Call of intelligent I/O blocks
CALL MCU_BEIS; // FC MCU_BEISPIEL
NETWORK
TITLE = Copying of Outputs
L ABBILD_AB_1;
T AUSGANGSBYTE_1;
L ABBILD_AB_2;
T AUSGANGSBYTE_2;
L ABBILD_AB_3;
T AUSGANGSBYTE_3;
L ABBILD_AB_4;
T AUSGANGSBYTE_4;
END_ORGANIZATION_BLO
CK
Overview FC100 calls the intelligent I/O blocks FC RESTART, FB OP_MCU and FC CONTROL in
their correct sequence. In addition, it supplies and verifies some of the I/O variables.
Network 1 In the first network FC1 (FC RESTART) is called. Any errors that might have occurred must
be analyzed after the execution. The network provides the framework for adding the
appropriate error indicators. In order to perform a test run with MCU-PIT, set the TFB bit
before execution of the FC RESTART.
BEGIN
NETWORK
TITLE = Calling of FC
RESTART
CA RESTART(
LL
INSTANZ_DB :=MCU,
TFB :=TFB,
TFGS :=TFGS,
ANZEIGENWO :=ANZW_RESTART);
RT
UN FC_RES_SAMMELFEHLER;
SP RKFE; // No error FC RESTART
B
//
//
SP NW1E; // Error analysis end
A
WE U SF_RESTART; //
I1:
SP NW1E; // Resume normal program execution
B
//
NW NO //
1E: P 0;
In the second network FB1-OP_MCU is called. Job processing cycles are checked and edge
Network 2
evaluations for data transfer are set up before the actual call.
NETWORK
TITLE = Calling of FB
OP_MCU
L AKTIVE_BETRIEBSART; // Feedback from module
L BETRIEBSART; // Defined by user
<
>I
;
O
(;
L BA_FB_MCU; // Input parameter FB OP_MCU
<
>I
;
);
= BA_AENDERUNG;
U BA_UEBERNAHME; // Defined by user
F FLANKE_BA_UEBERN;
P
U BETRIEBSDATEN_L_FB_MCU; //-----------------------------
N
U BEZUGSPUNKT_SETZ_FB_MC
N U;
U SW254_S_FB_MCU;
N
U GESCHW_STUFEN_S_FB_MCU;
N
U DREHZAHLSTUFEN_S_FB_MC
N U;
U // No job processing
(;
L SCHREIBAUFTRAG_FC_CON;
L W#16#0;
=
=I
;
);
U
(;
L LESEAUFTRAG_FC_CON;
=
=I
;
); //-----------------------------
SPB ALBA; // Previous operating mode
N
FB1 is called after editing of the parameters. The parameter transfer is performed by means of
Call of FB1
additional variables. This transfer is also possible by direct entry into the instance DB (see
Example Programs in Chapter Data Transfer). In this case parameter assignment must be
omitted.
C_ CALL OP_MCU,MCU(
FB:
BETRIEBSART :=BA_FB_MCU,
BA_PARAMETER :=BA_PARA_FB_MCU,
OVERRIDE :=OVERRIDE,
R_PLUS :=R_PLUS,
R_MINUS :=R_MINUS,
START :=START,
STOPP :=STOPP,
EINLESEFREIGABE :=EINLESEFREIGABE,
SATZ_AUSBLENDEN :=SATZ_AUSBLENDEN,
QUITTUNG_M_FUNKTION :=QUITTUNG_M_FUNKTION,
ACHSFREIGABE :=ACHSFREIGABE,
REGLERFREIGABE :=REGLERFREIGABE,
IMPULSFREIGABE_PLC :=IMPULSFREIGABE_PLC,
AKTIVE_BETRIEBSART :=AKTIVE_BETRIEBSART,
FAHREN_PLUS :=FAHREN_PLUS,
FAHREN_MINUS :=FAHREN_MINUS,
STARTFREIGABE :=STARTFREIGABE,
WARTEN_EXT_FREIGABE :=WARTEN_EXT_FREIGABE,
BEARBEITUNG_LAEUFT :=BEARBEITUNG_LAEUFT,
POSITION_ERREICHT :=POSITION_ERREICHT,
VERWEILZEIT_LAEUFT :=VERWEILZEIT_LAEUFT,
PROGRAMM_RUECKWAERTS :=PROGRAMM_RUECKWAERTS,
AUSGABE_M_FUNKTION :=AUSGABE_M_FUNKTION,
M_FUNKTIONSNUMMER :=M_FUNKTIONSNUMMER,
BEDIENFEHLER :=BEDIENFEHLER,
BETRIEBSFEHLER :=BETRIEBSFEHLER,
ACHSE_SYNCHRON :=ACHSE_SYNCHRON,
IMPULSE_FREIGEGEBEN :=IMPULSE_FREIGEGEBEN,
ANTRIEB_BEREIT :=ANTRIEB_BEREIT,
ANZEIGENWORT :=ANZW_MCU,
BEDIENFEHLER_QUITT :=BEDIENFEHLER_QUIT,
BETRIEBSFEHLER_QUITT :=BETRIEBSFEHLER_QUIT,
BETRIEBSDATEN_L :=BETRIEBSDATEN_L_FB_MCU,
BEZUGSPUNKT_SETZEN :=BEZUGSPUNKT_SETZ_FB_MCU,
SW254_S :=SW254_S_FB_MCU,
GESCHWINDIGKEITSSTUFEN_ :=GESCHW_STUFEN_S_FB_MCU,
S
DREHZAHLSTUFEN_S :=DREHZAHLSTUFEN_S_FB_MCU);
The calling of FB1 OP_MCU must be followed by an error analysis. You can program the
Error Analysis
evaluation of the signals in the program section for normal program processing. For example
after Execution of decoding of the M functions is often required. This decoding must be executed by the user
FB OP MCU program.
UN FB_MCU_SAMMELFEHLER;
SPB MKFE; // No error FB OP_MCU
U FB_MCU_SAMMELFEHLER;
S SF_MCU; // Set group error indication
WE U SF_MCU; //
I2:
SPB NW2E; //
. // Continue normal program execution
//
//
NW NOP //
2E: 0;
The third network calls FC CONTROL. Before calling, the input parameters must be edited.
Network 3
Especially when starting a new reading or writing job, you must make sure that the previous
job has been processed completely.
NETWORK
TITLE = Calling of FC
CONTROL
LA U ZYKL_LESEN_C;
UF:
FP FLANKE_ZYKL_LESEN_C
;
U(;
L B#16#0; // No new reading job block,
L LESEAUFTRAG_FC_CON; // if the previous one has not yet been processed
completely.
==I
;
);
SP FCAU;
BN
L AUSWAHL_LESEAUFTRA // Defined by user
G;
T LESEAUFTRAG_FC_CON; // Parameter at FC CONTROL
MESSUNG_ENDE :=MESSUNG_ENDE,
FLIEG_ISTWERTSETZEN_AU :=FLIEG_IWS_AUSG,
SG
ANZEIGENWORT :=ANZW_CONTROL,
AUFTRAGSANWAHL :=SCHREIBAUFTRAG_FC_CO
N,
BETRIEBSDATEN_ZUS_L :=BETRIEBSDATEN_ZUS_L,
AKTIVER_NC_SATZ_L :=AKTIVER_NC_SATZ_L,
NAECHSTER_NC_SATZ_L :=NAECHSTER_NC_SATZ_L,
APPLIKATIONSDATEN_L :=APPLIKATIONSDATEN_L,
ISTWERT_SATZWECHSEL_L :=ISTWERT_SATZWECHSEL
_L,
SERVICEDATEN_L :=SERVICEDATEN_L,
SERVODATEN_L :=SERVODATEN_L,
ISTDATEN_L :=ISTDATEN_L,
DA_DE_L :=DA_DE_L);
After execution of FC CONTROL you must check whether any error occurred during data
Error Analysis
transfer. If any error is detected, the user program will have to make sure that the system is
after Execution of brought to a safe operational state. It might be necessary to block motions.
FC CONTROL
U FC_CON_SCHREIBFEHLE
R;
S SF_CONTROL_SCHREIBE // Set writing error indication
N;
U FC_CON_LESEFEHLER;
S SF_CONTROL_LESEN; // Set reading error indication
SPB WEI3; //
N
R SF_CONTROL_LESEN; // Reset error bit
R SF_CONTROL_SCHREIBE // Reset error bit
N;
WE O SF_CONTROL_LESEN; //
I3:
O SF_CONTROL_SCHREIBE //
N;
SPB NW3E; //
// Continue normal program execution
//
NW NO //
3E: P 0;
NETWORK
TITLE = Clearing of diagnostic
interrupt indication
END_FUNCTI
ON
//**********************************************************************************************
***
// The diagnostic indication is set by OB82 upon occurring of an error.
//**********************************************************************************************
***
ORGANIZATION_BLOCK OB 82
TITLE = Diagnostic
interrupt
AUTHOR: Siemens
FAMILY: MCU
NAME: Diagnosis
VERSION: 1.0
VAR_TEMP
OB82_EV_CLASS : BYTE //16#39, Event class 3, Entering event state, Internal fault
; event
OB82_FLT_ID : BYTE //16#XX, Fault identification code
;
OB82_PRIORITY : BYTE //26/28 (Priority of 1 is lowest)
;
OB82_OB_NUMBR : BYTE //82 (Organization block 82, OB82)
;
OB82_RESERVED_1 : BYTE //Reserved for system
;
OB82_IO_FLAG : BYTE //Input (01010100), Output (01010101)
;
OB82_MDL_ADDR : INT ; //Base address of module with fault
OB82_MDL_DEFECT : BOOL //Module defective
;
OB82_INT_FAULT : BOOL //Internal fault
;
OB82_EXT_FAULT : BOOL //External fault
;
OB82_PNT_INFO : BOOL //Point information
;
OB82_EXT_VOLTAGE : BOOL //External voltage low
;
BEGIN
SET
;
S DIAGNOSE_ANZ; // Indicate diagnostic interrupt
BE; // Indicate diagnostic interrupt
END_ORGANIZATION_BLOCK
Network Components 2
User Manual
Communication
Communication and Data
Exchange
5
Appendix 6
If you require additional information or should any special problems arise, please inquire
for further information to your nearest Siemens branch office.
The contents of this Documentation are not part of any earlier or existing agreement,
commitment or legal undertaking, nor are they intended as an amendment thereto. All
responsibilities on the part of Siemens shall result only from the respective Purchase
Contract, which also contains the complete and solely binding warranty regulations. The
warranty provisions laid down by the Contract shall neither be extended, nor restricted by
this Documentation.
The remaining names and designations used in this Documentation may also be trademarks, the use
of which by any third parties for their own purposes may violate the rights of the copyright holders.
Definition: Multi-point The interface at connector X20 on the MCU is a multi-point interface. Using
interface MPI this MPI interface, several devices have access to the MCU. This multi-point
interface allows networking without any additional hardware.
1.1 Fundamentals
Segment A segment is a bus line between two terminators, which can contain up to 32
stations (nodes). Furthermore, a segment is limited by the permissible line
length of 50 m (when using isolated interfaces).
Baud rate The baud rate in the MPI network is fixed to 187.5 kBaud.
Connectable stations The following stations (devices) that exchange data with each other can form
an MPI network:
Programming unit (PU/PC)
Operating and monitoring device (OP)
MCUs or S7-CPUs
S7-300 / M7-300
S7-400 / M7-400
Rules The following rules must be observed for interlinking the network stations:
Prior to interlinking the individual stations of a network, each station must
be assigned both an individual MPI address and the highest MPI address.
Exception: Stations automatically assigned the MPI address from the MCU
when the system is booting, such as CPs, as well as RS 485 repeaters not
requiring their own MPI address.
Hint: The addresses of all network stations should be indicated on the cas-
ing so that it is always visible which station is assigned what address.
All stations of the network should be linked in a row, i.e. the PUs and OPs
fixed in place must be integrated in the network directly, and only the
PUs/OPs needed for commissioning and maintenance work are attached to
the network through connecting cables.
If more than 32 stations are installed in a network, the bus segments must
be coupled by means of RS 485 repeaters.
Up to 10 segments can be arranged in a row.
Ungrounded and grounded repeaters are coupled by means of RS 485 re-
peaters.
It should be considered that an RS 485 repeater is also included in the total
number of stations to be linked and is also counted as a station in the seg-
ment even if it has no MPI address of its own.
Before a new station is integrated in the network, the supply voltage of the
station concerned must be switched off.
Individual stations should be linked with each other by bus connectors and
by the PROFIBUS bus cable. The stations should be provided with a bus
connector having a PU socket to which a PU can be connected if required.
The segment end of the line must be terminated by its characteristic wave
impedance. To this aim, the terminator at the first and last station of a seg-
ment (in the connector, bus terminal or repeater) must be turned on.
Make sure that the stations at which the terminator is turned on are always
supplied with voltage both during run-up and operation.
Example of an MPI The Fig. below illustrates the schematic design of an MPI network installed
network acc. to the rules above.
13 12 11 10 8 9
0
PG*
* connected upon commissioning/maintenance work only by connecting cables (with default MPI address)
** later installed firmly in the MPI network (with default MPI address)
2 Network Components
Application Components
... to build up a network PROFIBUS standard line
... to attach stations to the network Bus connector
... to amplify the signal RS 485 repeater
... to couple segments
... to galvanically isolate the segments
... to network systems Bus terminal RS 485
... to attach PUs/OPs to the network PU connecting cables (taps)
Application of the bus The bus connector is intended to attach the PROFIBUS cable to the MPI.
connector Linking to further stations is carried out as follows:
SIEMENS SIEMENS
Disconnecting the bus Bus connectors with bus cable looped through can be disconnected from the
connector interface at any time without interrupting the data transfer along the bus.
Terminator The segment end of a line must be terminated by its characteristic wave
impedance. If the bus connector is at the beginning or the end of a segment, the
terminator must be turned on (switch position ON).
Terminator
not turned on
on
(bus not
terminated)
off
Terminator
turned on
(bus terminated) on
off
Note:
RS 485 bus terminal The RS 485 bus terminal can be used to connect an MCU, S7300 or a PU to
RS 485 the PROFIBUS line. To operate the bus terminal, a 5V supply voltage is
required.
Detail explanations on the SIMATIC NET bus terminal are provided in the
PROFIBUS/L2FO Network Manual.
Wiring The following Figure shows the principle how to connect the PROFIBUS lines
to the bus terminal, and where the terminator is turned on.
Terminator Terminator
AB AB AB AB
turned on not turned on
(bus terminated) (bus not terminated)
Why bus terminals? The RS 485 bus terminal is exclusively intended for use as connector
substitute. For certain applications (e.g. for cabinet entries), it is recommended
to use an RS 485 bus terminal instead of a bus connector. The cable of the bus
terminal is more flexible and can therefore easier be laid than the relatively
inflexible bus cable to which the bus terminal is attached.
Application of the RS The RS 485 repeater amplifies data signals on bus lines and couples the bus
485 repeater segments.
An RS 485 repeater is required if:
a grounded signal is coupled with an ungrounded segment,
the maximum line length of a segment is exceeded, or
more than 32 stations are installed in a network.
2.3.1 General
Description of the A detailed description, as well as the technical data of the RS 485 repeater are
RS 485 repeater provided in the Reference Manual Module Data.
The following Figure shows how to remove the slide of the RS 485 repeater.
After removing the slide, the RS 485 repeater can be mounted on the mounting
bar as the other S7300 modules.
To connect the DC 24 V supply line, flexible lines with a cross section between
0.25 mm and 2.5 mm (AWG 26 to 14) are used.
DC 24-V supply lines The DC 24-V supply lines are wired according to the wiring rules provided in
the Chapter Power Supply.
Connecting lines The connecting line must be a two-core, twisted and shielded cable. The
PROFIBUS lines listed below are used as connecting lines. See also Catalog
SIMATIC NET Industrial Communication Networks Volume IK - PROFIBUS
& AS Interface:
PROFIBUS line
PROFIBUS line with PE jacket
PROFIBUS cable for burial in the ground
PROFIBUS trailing cable
PROFIBUS line for festoon installation
Terminal M5.2 Terminal M5.2 may not to be wired, as this connection terminal is used for
servicing only. Terminal M5.2 provides the reference potential measuring the
voltage curve between the connections A1 and B1.
Baud rate The baud rate of 187.5 kBaud required for the MCU is set in switch position 4.
If you wish to set another baud rate, use the rotary switch on the front side of
the RS 485 repeater and set the respective baud rate by means of a screw
driver.
Ungrounded The RS 485 repeater is delivered for ungrounded operation. If the voltage
operation of the RS supply of the RS 485 repeater is also ungrounded, it is possible to network a
485 repeater grounded MCU with an ungrounded S7-300.
The electric isolation by the RS 485 repeater is carried out between segment 1
and segment 2. The electric potential for the programming unit is linked with
segment 1.
Grounded operation If grounded operation is required, a jumper can be inserted at the upper side of
of the RS 485 repeater the RS 485 repeater. However, it is better to connect the voltage supply to
ground in order to facilitate grounded operation in this way.
Larger line lengths If the maximum line length of a segment is exceeded, the line length can be
enlarged by connecting several RS 485 repeaters in series. A maximum of 9
repeaters can be connected in series. For electrically isolated interfaces, the
maximum line length between two RS 485 repeaters amounts to 1,000 m.
When using this max. line length, no further station may connected between
the two RS 485 repeaters.
The Fig. below shows the principle of line elongation for the MPI by means of
RS 485 repeaters.
RS 485
repeater
50 m
MCU
50 m 1,000 m
U/E
Potential conditions Bus segment 1 and bus segment 2 are electrically isolated. The PU/OP
interface is internally linked with the connection for bus segment 1. This
means: The bus signals are amplified between the connection for bus segment 1
or the PU/OP interface and the connection for bus segment 2.
RS 485 repeater at To provide error-free data exchange, the following must be ensured prior to the
segment end data exchange: At least one station at which the terminator is turned on must be
attached to the network.
The terminator of the respective bus segment must be turned on at the end of
the segment. The Fig. below shows the RS 485 repeater at the end of bus
segment 2 and at the end of bus segment 1. In the example, the RS 485 repeater
is used as amplifier between 2 bus segments. The terminators are turned on.
U
/E C S7-300
UM
ON
ON
ON = terminator turned on
RS 485 repeater in the The terminator within the segment may not be turned on. The following Figure
bus segment shows the RS 485 repeater within a bus segment. In the example, the RS 485
repeater is used as amplifier between 2 bus segments. The terminator for bus
segment 1 is turned on, and that for bus segment 2 not turned on.
Terminator
Bus segment 1
turned on
S7-300
A2B2A2B2
ON
Bus segment 2
MCU
M CU
U/E
U /E
Terminator
ON
not turned on
Cable shield must
be blank on A2B2A2B2
metal guide
Note:
2.4 Taps
If you do not attach the bus cable directly to the bus connector (e.g. when using
an RS 485 bus terminal), consider the maximum possible length of the taps.
The Table below shows the maximum permissible tap length per bus segment:
Taps and terminators The Fig. below shows a possible structure of an MPI network in order to
in the MPI network demonstrate how to connect a PU by means of a tap, and in which position the
terminators must be turned on. The terminators connected at the taps must only
be turned on if the tap is at the same time the end of the segment.
S7-300 PG
Tap
PU*
The following cables can be used to link a PU with the MCU, or from MCU to
MCU/S7-300:
Connecting a PU to The PU is linked with the MPI interface of the MCU by means of a connection
the MCU line.
The Figure below shows the components required to link a PU with the MCU.
MCU
Communication The following conditions must be observed for communication between PU
and MCU:
You need a PU with STEP 7 V2.1 and MCU-PIT
The MCU can communicate with the PU in the following modes: RUNP,
RUN and STOP
Operation The operating facilities for the communication between MCU and PU are de-
scribed in the manuals STEP 7 Using the Tools and STEP 7 Designing User
Programs.
Note:
MCU-PIT can also be used for operation. To use MCU-PIT, STEP 7 must be
installed on the PU. In order to build up a link by means of MCU-PIT, STEP 7
must be authorized. Further information is provided in Chapter 8.
Networked MCUs The MPI can be used for the communication of several MCUs or S7-CPUs
having different addresses. To this aim, the MCUs / CPUs must be linked with
each other by means of PROFIBUS lines. This Chapter describes how to net-
work the MCUs with each other and with a PU.
Networking possibili- The PROFIBUS line can be used for networking of the individual MCUs or
ties S7CPUs. The MCU or CPU can be connected to the MPI network by the
following means:
MPI bus connector
Bus terminal RS 485
Connecting a PU to The following Fig. shows an MCU network consisting of 2 MCUs. The 2
the MCU network by MCUs are linked with each other at the MPI interface by means of bus con-
means of a bus con- nectors.
nector
At least one bus connector should have a PU socket. A PU can be connected to
this bus connector for communication with the networked MCUs.
MPI M PI
PU cable
M CC UU
MCU
PU
PROFIBUS line
4 MPI Addresses
General For communication of the individual stations in the MPI network, they must be
assigned both an individual MPI address and the highest MPI address.
Note:
Default MPI addresses The following Table lists the default MPI addresses of the devices. The
permissible MPI address range is between 0 and 126.
Rules for assigning Before assigning the MPI addresses, pay attention to the following rules:
MPI addresses All MPI addresses in a network must be different.
The highest MPI address must be the largest real MPI address and
therefore the same for all stations. For the highest MPI address, only the
values 15, 31, 63 or 126 are permitted.
If, in addition, any FM or CP modules with communication capabilities are
installed in an MCU network, the MCU automatically assigns the MPI
addresses for the fixed FM/CP modules during the start-up. Based on the
MPI address of the MCU, the MCU assigns the following numbers and
stores the MPI parameters. In case of networking or additional extension by
FM or CP modules with a K bus, this behavior must be considered when
assigning MPI addresses.
MPI address
2 must be reserved for the CPU.
Double MPI addresses after installing a CPU with the default setting in the
MPI network (for example, when replacing an MCU) is avoided in this way.
For this reason, the CPUs in the network should be assigned MPI addresses
larger than 2.
Special features in the CPs and FMs (with an MPI address of their own) with communication
conjunction with CPs capabilities have one special feature: Their MPI address is automatically
and FMs determined by the MCU and assigned from the first slot, beginning from rack 1
(MCU address + 1, MCU address + 2, etc.).
IMR SM SM SM CP IMR SM SM SM SM CP CP
M CU
U/E
Note:
If modules (SM, FM, CP) are removed or plugged during data transfer along
the MPI, data can be falsified by interference pulses.
Reference The default MPI address can be modified in the STEP 7 Tool Hardware
Configuration. See Step 7 User Manual, Chapter 8.
Special features Because of the FEPROM, modifying the MPI address in the MCU is subject to
special conditions. The modified MPI address is active only after "Copy RAM
ROM".
5.1 Communication
PU/OP - MCU In the communication between MCU and PU or OP, one MCU can establish up
communication to 3 on-line links to one or also several different PUs/OPs. 3 of these links are
always reserved for a PU, and one for an OP. This means that one MCU can
communicate
with max. 2 PUs and one OP ,or
with max. 2 OPs and one PU
MCU - MCU In addition to the PU/OP communication, different MCUs can exchange data
communication packets with each other using the MCU bus. This data exchange of "global
via GD data" is carried out via independent global data circuits. Each MCU can be an
active station in max. 4 different global data circuits (see also STEP 7 User
Manual, Chapter 9).
Number of global data One MPI network can contain a maximum of 5 global data circuits. The
circuits following Figure shows an example how to build up a network with global
data.
I M 360
SIMATIC
S7-300
MCU
MCU
MCU
U/E
U/E
U/E
Data exchange Global data CPU 1 MCU 2 MCU 3 MCU 4 PP 031
circuit
SGD 1.1 EGD 1.1
EGD 1.2 SGD 1.2
SGD 2.1 EGD 2.1
EGD 2.2 SGD 2.2
SGD 3.1 EGD 3.1
EGD 3.2 SGD 3.2
SGD 4.1 EGD 4.1
EGD 4.2 SGD 4.2
SGD 5.1 EGD 5.1
EGD 5.2 SGD 5.2
SGD 6.1 EGD 6.1
EGD 6.2 SGD 6.2
E receiver
S sender
GD global data
1.1 GD packet no.
The data circuits shown in the Figure above allow data exchange between all
existing stations in the MPI network.
CPU1: CPU1 sends one GD packet each to all MCUs and receives one data
packet each from each MCU and from PP031. CPU1 is station in 4
global data circuits:
, , and
MCU2: MCU2 sends to CPU1, MCU3 and MCU4 and receives a GD packet
from these stations. MCU2 is also a station in 4 global data circuits,
as the PP031 sends a data packet to all MCUs and to CPU1:
, , and
MCU3: MCU3 sends to and receives from CPU1, MCU2, MCU4 and
PP031. MCU3 is station in 4 GD circuits:
, , and
MCU4: MCU4 is station in the GD circuits with CPU1, MCU2, MCU3 and
PP031. As the other MCUs, MCU4 is thus station in 4 GD circuits:
, and
PU: The PU is an MPI station, too, but does not exchange global data
with the other stations. The same applies to any OPs connected, such
as the OP031. Generally, another OP or max. 2 PUs and 1 OP can
be connected to this bus network. A connection facility for a PU
should always be provided.
PP031 This push-button panel is intended to operate the axes; it is coupled
with all MCUs and with CPU1 through global data. The control key
signals can thus be received and evaluated by all control systems.
OP031 This OP is a fixed, active MPI station and logically coupled with
CPU1 only. There is no global data link with any station.
Furthermore, the possibilities to exchange data with the MPI station
depend on the installation and/or configuration of the user interface
on OP031.
Since one MCU can be station in max. 4 GD circuits only, the MCUs in this
network cannot establish any further GD link.
Send and receive The communication via global data is bound to the following conditions:
conditions
For the sender of a data packet, the following must be true:
for global data
cycle rate of sender x cycle time of sender 60 ms
For the receiver of a GD packet, the following must be true:
cycle rate of receiver x cycle time of receiver < cycle rate of sender x cycle
time of sender.
The cycle rate (step-down factor) can be selected when creating the global-data
table (see User Manual STEP7).
The following values are possible:
Receiver: 1 to 255 (default setting 8)
Sender: 4 to 255 (default setting 8)
Note!
With STEP7 V3.1 and MCU firmware V4.0 or higher, the value 1 to 3 can also
be used for the sender. It must be noted, however, that a too low cyle rate is a
too big load for the CPU.
Non-compliance with the conditions mentioned above, e.g. due to errors in the
determination, may cause a loss of the GD packet.
Note:
Global data packet The max. size of an effective data packet (net data) of a single data block is 22
size bytes. This maximum size can be reduced by additional header information
regarding data selection and composition. The data can be either bits, bytes,
words, double-words, or fields.
The gross length (=all data blocks in total) of a global-data packet must be 24
bytes.
Example:
6 Appendix
B M
Baud rate, 1-2; 2-6 MCU
Bus connector, 2-2 modifying the MPI address, 4-4
application, 2-2 MCUs
connecting a PU, 3-3 networked, 3-3
terminator, 2-3 MPI
with PU socket, 2-2 definition, 1-2
Bus connector without PU socket, 2-2 MPI address, 4-1
Bus terminal RS 485 assigning, 4-2
wiring, 2-4 default, 4-2
determining automatically, 4-2; 4-3
highest, 4-2
C modifying, 4-4
recommendation, 4-3
Communication rule, 4-2
MCU - MCU, 5-2 MPI network
operation, 3-2 data loss, 5-5
PU - MCU, 3-2 example, 1-4
PU/OP - MCU, 5-2 installing, 1-3
Connection cables, 2-11 rule, 1-3
Cycle rate, 5-5 tap, 2-10
terminator, 2-10
D
Data N
global, 5-5 Network component, 2-1
Data circuit Networking
global, 5-2 possibilities, 3-3
number, 5-3
Data exchange, 5-3
Data packet
P
size, 5-6
space requirement, 5-6 Potential conditions, 2-7
Description Programming unit (PU)
RS 485 repeater, 2-5 connecting
Disconnecting the bus connector, 2-3 by means of bus connector, 3-3
to several MCUs, 3-3
to the MCU, 3-2
G
Global data
loss, 5-5
send and receive conditions, 5-5
global data circuit, 5-2
number, 5-3
I
Interference voltage, 1-2
R
RS 485 bus terminal, 2-4
reason, 2-4
terminator, 2-4
RS 485 repeater, 2-5
application, 2-5
description, 2-5
electric isolation, 2-6
segment end, 2-8
terminator, 2-8
within the segment, 2-9
RS 485 repeater
grounded operation, 2-6
ungrounded operation, 2-6
S
Segment, 1-2
exceeding the maximum line length, 2-7
maximum line length, 1-2
Stations
connectable, 1-2
T
Terminator
bus connector, 2-3
RS 485 bus terminal, 2-4
RS 485 repeater, 2-8
User Manual
Operating and Monitoring
Appendix 5
If you require additional information or should any special problems arise, please inquire
for further information to your nearest Siemens branch office.
The contents of this Documentation are not part of any earlier or existing agreement,
commitment or legal undertaking, nor are they intended as an amendment thereto. All
responsibilities on the part of Siemens shall result only from the respective Purchase
Contract, which also contains the complete and solely binding warranty regulations. The
warranty provisions laid down by the Contract shall neither be extended, nor restricted by
this Documentation.
The remaining names and designations used in this Documentation may also be trademarks, the use
of which by any third parties for their own purposes may violate the rights of the copyright holders.
1 Overview
About this manual This Manual is part of the Manual Single-Axis Positioning Control for
MCU 172A. This Manual provides information on:
the components required for operating and monitoring the SIMODRIVE
611 Digital Drive System by means of the MCU 172A Single-Axis
Positioning Control,
configuring and commissioning the operating and monitoring components,
the operating and monitoring functions available.
The contents of this Manual is limited to the operation of the MCU by means
of the SINUMERIK Unit Operator Panel (further: UOP) consisting of OP031,
MMC101/MMC102 and PP031, as well as the related standard MCU user
interface.
Further information For further information going beyond the scope of this Manual see the
following Siemens Documentation:
UOP Configuring Package
Manual "Operating Components"
UOP Installation Package and
Operating Instructions "SINUMERIK Unit Operator Panel"
Target group This Manual addresses all persons dealing with the planning, configuration,
commissioning, operation and service of the SIMODRIVE 611 Drive System
equipped with the MCU 172A Single-Axis Positioning Control from the point
of view Operating and Monitoring.
Previous knowledge This Manual does not require any special previous knowledge. However, it is
helpful for understanding to be familiar with a PU/PC, as well as to have
general PLC and NC knowledge.
SIMATIC HMI Thanks to the SIMATIC S7 compatibility of the SIMATIC HMI Operator
Operating and Panels, sophisticated operating and monitoring systems for comfortable
Monitoring Devices process operation and monitoring are provided - from the simple line displays
(OP3, OP5, OP15) up to systems with full graphic capabilities (OP25, OP35).
SIMATIC HMI OPs can be connected directly to the MPI of the MCU. When
using the PROFIBUS DP, operation and monitoring is possible also over long
distances.
OP17 and MCU 172A The OP17, in conjunction with the extended ProTool Software, provides
additional functions tailored to the requirements of the MCU, such as:
All data modified in the RAM ( e.g. machine data, NC programs, S7 DBs)
can be saved to the FEPROM of the MCU by pressing one single button.
It is possible to dynamically change between different MCU control
systems in one OP17 user interface, i.e. several control systems can be
connected to one OP.
The integrated STEP7 functionality of ProTool can be used to configure
screens with drive data, machine data and tool offsets in an easy manner by
means of ready-to-use symbol lists.
Predesigned screens Predesigned screens on OP17 provide the following functions for the MCU:
actual-value display
manual MDI block input
program selection
block editor
machine-data editor
About this Chapter This Chapter provides information on the hardware and software components
required for operating and monitoring of the MCU 172A by means of the Unit
Operator Panel.
Unit Operator Panel The Unit Operator Panel is intended for use at transfer lines, linked systems
(UOP) and special machines, as well as for the following operating and monitoring
tasks:
MCU operation,
machine operation and
HiGraph diagnosis (not part of this Manual).
Operating & The following components are required for operation and monitoring:
monitoring
configured MCU user interface (included in the scope of delivery of the
components
Unit Operator Panel)
control panel 031 with MMC module,
PU/PC for configuring the MMC module,
MPI connection line.
To operate the axes, as well as for the EMERGENCY STOP function, the PP
031 push-button panel can be used in addition.
Operator panel The flat operator panel OP 031 is intended to operate and monitor the drive
OP 031 system. To this aim, the input keyboard is provided with 40 alphanumeric keys
and 16 softkeys, as well as a flat screen (color or monochrome, by option).
The Figure below shows the controls of the operator panel OP 031.
Graphics monitor
Vertical softkey bar
Alphanumeric
keyboard
Input
Cursor block
Range selector
Machine range Horizontal softkey bar
MMC module For the communication between operator panel and machine control, an MMC
module is required. This module contains the software for comfortable
operation of the machine tool. The module must be installed on the rear of the
operator panel. MPI interfacing is provided by means of the 9-pole socket
connector X4.
Push-button panel In addition to the operator panel, the PP 031 push-button panel provides
PP 031 (optional) straightforward and local operation of the machine tool. Apart from an
EMERGENCY STOP switch, it has two direction keys, a selector switch with
four switching levels, as well as 12 slots for signaling lamps and push-buttons,
which can be equipped with different components, and a socket for an external
acknowledgment key. The MPI communication with the machine control is
carried out through the 9-pole socket connector X15 (see Manual "Operating
Components").
PU/PC To configure the MMC module and commission the axes, a portable
programming unit, type PG 720, 740 or 760, with the STEP 7 software
installed is used. Alternatively, it is also possible to use an industrial standard
PC equipped with an MPI card or an MPI adapter cable.
System design The Figure below shows the general design of the system.
EB ER Maschine G ru nd - Sa t rt/
VK ES ein st e lu ng Tippen
PP031
P1 P2 P3 P4 P5 P6
Maschine Vorschub
aus halt
MPI
Three-phase servomotor
1 FT 6/1 FK 6
NE
M CU
mod.
About this Chapter This Chapter provides information on the installation and configuration of the
Unit Operator Panel software and shows how to network and commission the
operating & monitoring components.
Prerequisites Before the OP 031 operator panel can be used to operate and monitor the
machine tool, first the software must be loaded to the operator panel MMC
module panel.
The following is required to install the Unit Operator Panel software:
MCU standard user interface for MMC 101/MMC 102, consisting of:
system master disk
application master disk
PU/PC with
floppy disk drive
80386 processor (or higher)
V.24 interface
MS-DOS 6.x operating system
at least 560 KB free working memory
at least 6 MB free space on the hard disk,
V.24 connection line.
Linking The individual components are linked with each other as shown in the Table
the Components below.
from to Note
Device/mod. Conn. Device/mod. Conn.
MPI bus line
MCU unit.. X20 MMC mod. X4 Length: max. 25 m
MMC mod. X4 PP 031 X15 Length: typ. 0.5 m to 1 m
MCU unit X20 PC/PU MPI for commissioning of the axis
Length: typ. 5 m
included in the scope of
delivery of the PU
V.24 line
MMC mod. X6 PC/PU COM1/ for MMC configuration
COM2 Length: max. 10 m
OP 031 X6
with MMC
module X4
2
P1 P2 P3 P4 P5 P6
PP031 Maschine
aus
P7 P8 P9
Vorschub
halt
V.24
NE-
Modul
MPI bus line For the MPI line, precut cables of different lengths with connectors are offered.
For adaptation to equipment-specific requirements, the bus connectors 1, 2 and
3 (connector 3 with integrated PU connecting socket) are also available
separately, and the lines are offered as cut goods. For the respective ordering
data, please refer to our Catalog NC 60.1.
The prerequisite for networking of the stations (nodes) through MPI is that
each station is assigned a different MPI address (0...127). The highest MPI
address must be the same for each station.
OP 031 After turning on the 24V supply, the OP 031 operator panel carries out a self-
test. After the MPI interface has been initialized successfully, the basic screen
defined during the system configuration appears.
PP 031 The data memory of the PP 031 must be configured user-specifically by means
of the Communication Configuration STEP 7 tool. For further information
refer to the STEP 7 Manual "Using the Tools".
In order to provide data exchange of the PP 031 with the control system via the
MPI interface, first the interface parameters defined during the configuration
must be activated. The interface parameters are:
bus address,
baud rate,
sending rate and
parameter block.
To enable this, set the DIP switches S16, S17 and S18 on the device rear side
as indicated in the Table below.
MCU standard user The MCU standard user interface for MMC 101/MMC 102 consists of the
interface following components
system master disk
application master disk
System master disk This diskette can be used to load the user interface (application) to the MMC
module without the need of any other tools.
Application master This diskette contains the operating ranges, texts, and system files. Before the
disk application diskette can be used, the system master disk must already have
been loaded. The application diskette provides the possibility to modify the
software once more (to change over the language, modify the texts etc.).
Example:
You install SW 3.3.
The following Table is provided in the upgrade instructions:
System file
Software version by now
3.2 3.1 2.3 2.2 2.1 1.1
VGABIO28 - - - - - -
SYSBIO31 - - + + + +
ROMDOS30 - - + + + +
MCIN_27 - - - - + +
The necessity to load one or several files indicated in the Table to the MMC
module depends on the software version used until now.
+------------------------------------------------------------------------------+
Select Files to Install
------------------------------------------------------------------------------
< 1 > = VGABIO28.EXE NO
< 2 > = SYSBIO31.EXE NO
< 3 > = ROMDOS30.BIN NO
< 4 > = MMCIN_27.EXE NO
< ESC > = Back to main menu!
------------------------------------------------------------------------------
Please make your choice
+------------------------------------------------------------------------------+
Note:
+------------------------------------------------------------------------------+
Transfer software on hardware
Selected COM port : COM1
------------------------------------------------------------------------------
< 1 > = Install software via serial line
< 2 > = Select COM port
|
| < ESC > = Quit program
| |
------------------------------------------------------------------------------
Please make your choice | <F1> Help
+------------------------------------------------------------------------------+
Note:
After pressing RETURN, the remaining files are transferred to the MMC
module.
Check the cables, the indicated COM port and make sure that the MMC
module is ready. Reactivate transfer after removing the error.
Series upgrade:
If the procedure described above is repeated several times for each module to
be updated, it is possible to update several MMC modules from the transfer
menu. At the end, the transfer menu is left by pressing ESC.
Completion:
When you have completed the transfer to the hard disk or to both the hard disk
and the MMC module, quit the installation menu by pressing ESC. You are
now in the subdirectory INSTUTIL of your hard disk directory to which the
data have been copied from the system disk. From here, the installation menu
can be restarted.
Prerequisite The MMC system software has been loaded from the system disk to the
hardware.
+------------------------------------------------------------------------------+
Install application to hardware MMC100
First language : English Second language : German
------------------------------------------------------------------------------
< 1 > = Install all modules to hardware
< 2 > = Modify configuration
< 3 > = Select modules to install
< ESC > = Esc to quit!
------------------------------------------------------------------------------
Please make your choice | <F1> - Help
+------------------------------------------------------------------------------+
+------------------------------------------------------------------------------+
Change first language (actually : English )
------------------------------------------------------------------------------
< 1 > = German
< 2 > = English
< 3 > = French
< 4 > = Spanish
< 5 > = Italian
< 6 > = Russian
< PgDn > = Next languages
< ESC > = Return to previous menu!
------------------------------------------------------------------------------
Please make your choice | <F1> - Help
+------------------------------------------------------------------------------+
Item 1..6 assigns the first or second language a new language setting
PgDn turns to the next page (if more than 7 languages exist)
PgUp turns to the previous page (if more than 7 languages exist)
ESC quits the menu (irrespective of the current page)
without changing the current language setting.
F1 displays the on-line help
+------------------------------------------------------------------------------+
Install application to hardware MMC100
First language : English Second language : German
------------------------------------------------------------------------------
< 1 > = Edit MPI configuration data
< 2 > = Edit Display machine data
< 3 > = Edit AUTOEXEC.BAT
< 4 > = Edit CONFIG.SYS
< 5 > = Edit OEM.BAT
< 6 > = Edit user specific files
< ESC > = Return to previous menu!
------------------------------------------------------------------------------
Please make your choice | <F1> - Help
+------------------------------------------------------------------------------+
Note:
The transfer menu appears. If the port displayed at "Selected COM port:" does
not conform to the port which is displayed and to which the cable to the MMC
module is connected, press 2.
In the following submenu, press the figure corresponding to the COM interface
used. You will return to the transfer menu, and your choice will appear on the
display.
Prior to activating transfer by menu item 1, you must ensure that the MMC
module is ready for receive and the cable to it is connected.
Activate transfer:
Press 1 in the transfer menu.
The transfer starts, and the progress of the transfer is displayed both at the
PC/PU and the MMC module.
Check the cables, the indicated COM port, and make sure that the MMC
module is ready for receive; reactivate the transfer after removing the error.
Series upgrade:
If the procedure described above is repeated several times for each MMC
module to be updated, it is possible to update several MMC modules from the
transfer menu. At the end, the transfer module is left by ESC.
Completion:
When you have completed the transfer to the hard disk or to the hard disk and
the MMC module, quit the installation menu by pressing ESC. You are now in
the subdirectory INSTUTIL of your hard disk directory to which the data have
been copied from the system disk. From here, the installation menu can be
restarted.
3.2.1 General
from the update directory to your PC/PU or from an installation diskette to the
MMC/Unit Operator Panel hardware.
Prerequisites PC with DOS 6.x or Windows 3.1x (SCK runs under DOS Shell) or Windows
95 (SCK runs under DOS Shell)
Cable between the COM1 interface of the MMC module (X6) and the COM1
or COM2 interface of your PC/PU.
Required memory on the MMC/Unit operator Panel hard disk: approx.. 2
Mbytes (standard configuration).
Note:
Installation Turn the system on and press push-button 6 until the PC IN software appears in
the Data In mode.
Note:
If push-button 6 is not pressed on time, the hardware starts with the previous
software.
When starting from One of the installation options listed below can be selected by means of the
diskette programs APP_INST.EXE or SYS_INST.EXE:
1. Software installation on your PC/PU with following transfer. This makes
sense if you wish to load the same software to several Unit Operator Panels.
2. Transfer directly from the diskette (can only be selected in conjunction with
SYS_INST).
This makes sense if you wish to install only one Unit Operator Panel.
If you configure systems which exceed a capacity of 1 system disk, they can
not directly be installed from the diskette to the destination hardware. In
this case, the system diskettes must be copied to the hard disk of an
installation PC, and the installation must be carried out from there.
3. Transferring the software to your PC/PU.
This makes sense if the installation on several UOPs is carried out later.
At the MMC/UOP 1. Turn the power supply for the MMC / UOP on or press the RESET button
S1 on the rear of your hardware.
2. While the system is booting, hold push-button 6 down as long as the input
screen of the PCIN transfer software appears.
Note:
5. After the respective files have been transferred to the destination hardware,
the MMC hardware will start automatically.
Alarm and user texts can be modified both in the SCK and from the
application disk.
In these environments, the texts can only be modified by means of the DOS
editor EDIT. This editor opens automatically in order to edit the display
machine data and set the MPI addresses.
The text files that can be modified are saved in the path
...\proj\text\*
and automatically considered by the SCK or the application master disk.
The installation of the MMC hardware is carried out as described in the
Chapter "Loading Master Disks".
Note:
In order to be able to modify texts, you must know the structure and principle
of MMC text handling. This is described in the following.
Languages, The SINUMERIK/UOPs are offered with two languages. These two languages
texts in several are designated as a first and a second language.
languages First and second language of the MMC system can be replaced by other texts
or texts in another language without reassembling the configuration or the
basic system.
Note:
The number of texts, as well as their order of translation may not be altered.
This limitation is not applicable to alarm texts (all text files starting with an
"a": alm, aln, ala, alp, alc, alz).
Master language The different forms of the binary text files must match with each other. For this
reason, a master language is always provided for the entire text handling,
which defines the number and the order of the texts.
In the MMC/UOP installation package, English (\proj\text\g) is the master
language, but it can be changed and later in the Default Options menu during
the setup.
Text source files Configuration text source files are in the path
...\proj\text\d, e, f,... (depending on the language).
Text source files starting with an "a" are alarm text source files (PLC alarm,
cycle and compile cycle alarm files).
Text source files always have the extension *.txt.
Text accesses In the text source files, a text is assigned a text symbol.
General principle The text converter uses them to produce
a binary text file for the run-time system, and
a text include file for configuring.
Syntax of the In the path \proj\text\*\, the relevant source text file is stored for each language.
configuration source A source file (not alarm texts) is structured as follows:
text files
symb_txt_id "text" [// comment]
symb_txt_id Symbolic text identification, must begin with a letter; max. length:
45 characters.
symb_txt_id must be unambiguous over the entire configuration
process (standard and application). For the delivered version of
configuration, this requirement is met by the following convention:
Text identifiers defined in the XY.TXT file always start with
T_XY_ and are therefore unambiguous in the file XY.TXT (to be
ensured by searching in the editor).
Recommendation: Adhere to this convention with text extensions
in the application!
text Text to be displayed, character string included in "".
A line feed within the text to be output is indicated by %n.
Comment possible from the comment identifier // to the end of the line.
Usually, the comment contains the max. length of the text which
can be represented on the screen.
Modifying texts 1. Make sure that all language versions of each text file have the same
structure (order of numbers, number of lines etc.) as the respective file of
the master language.
2. The standard texts contained in the *.txt files can be overwritten by user-
specific texts.
3. Furthermore, the files can be extended by new entries.
4. When adding further lines, they must be inserted in the master language,
too, before converting them (see below).
Editor The *.txt files can only be modified by means of the DOS editor EDIT.
Error in the text Scan: ERROR line 7: symbol <SYMBOL NAME> not contained
conversion in the first language!
Conversion finished
1 error(s)
Remedy: First you must insert the text in the master language and
then generate these binary text files, only then you can insert
the text in further language text source files.
Remedy: You have not generated the texts for the first language.
Files *.sp? are missing in the \bin directory.
Alarm number, For the distribution of the alarm number ranges and the syntax of alarm text
syntax of alarm texts files refer to Chapter 8 of the SINUMERIK 840D Commissioning Instructions.
Note:
Data blocks When using SIMATIC S7 and SIMODRIVE MCU, the following must be
observed:
1. Create the data blocks DB17 (version code) and DB19 (MMC interface).
2. Compile the blocks and load them into the CPU.
Function
The screen turns to dark or bright (for screen saving, for example)
via the keyboard ("automatic screen blanking)
If no button is pressed for a certain period set via MMC-MD:
DISPLAY_BLACK_TIME (default = 3 minutes), the screen automatically
turns to dark (blanks).
Unblanking is performed when pressing any button on the operator panel
(pressing a button for the first time does not activate any operating action)
Prerequisite for automatic screen blanking:
NST "Screen dark" = 0
DISPLAY_BLACK_TIME > 0
from the PLC user program via NST "Screen dark"
Note:
If the screen is blanked by means of the NST "Screen dark", the keyboard is to
be locked at the same time by the NST "Keyboard locking" = 1 in order to
exclude any undesired operating actions.
Function
The NST "Key lock" can be used to lock (1-signal) or enable (0-signal) the
keyboard for the operator.
Function
For actual-value display, two coordinate systems are differed:
Machine coordinate system (MCS)
The machine coordinate system defines the relations of the machine axes.
In the MCS, all machine and additional axes are indicated.
Workpiece coordinate system (WCS)
The assignment of the workpiece to the machine axes is provided by special
transformations (frame definitions, zero offsets). The workpiece is always
imaged in a Cartesian coordinate system. In the WCS, all geometry and
additional axes are indicated.
When connecting one or several SIMODRIVE MCUs, the system files must be
adapted (see Section 3.6)
Function
The NST "MMC software version 3.2" can be used to indicate the software
version of the MMC
1 signal SW 3.2 or
0 signal < SW 3.2
The operations of the SIMODRIVE MCU are always written into the
invocation data block of the technology function block (FB 1).
In order to carry out these operations, the following items must be observed:
The operations entered into the range of the input parameters, must be read,
checked and taken over into the respective transfer parameter of the FB
before calling the technology block.
In some cases, the operations entered into the local range must be
transferred to the MCU by calling FC Control.
The following addresses of the invocation data block are entered by the Unit
Operator Panel:
1. DBB0 BETRIEBSART transfer parameter
2. DBB1 BA_PARAMETER transfer parameter
3. DBB2 OVERRIDE transfer parameter
4. DBX3.5 SATZ_AUSBLENDEN transfer parameter
5. DBX14.5 GESCHWINDIGKEITSSTUFEN_S transfer parameter
6. DBD42 V_1_2.V_1 local range, transferred
internally
7. DBD46 V_1_2.V_2 local range, transferred
internally
8. DBX100.7 BIT_EINST.SIM_EIN local range, via
FC Control (DS 11)
9. DBD108 NULLPKTVER local range, via
FC Control (DS 13)
10. DBD142 PRG_ANWAHL local range, via
FC Control (DS 18)
U DB1.DBX100.7 // Simulation ON
UN MERKE_SIM_EIN // Write edge formation for DS11
S MERKE_SIM_EIN
= SCHREIBE_DS11
UN DB1.DBX100.7 // Simulation OFF
U MERKE_SIM_EIN // Write edge formation for DS11
R MERKE_SIM_EIN
= SCHREIBE_DS11
....
CALL FB1,DB1 // Call intelligent I/O module
BETRIEBSART:= PARA_BETRIEBSART
BA_PARAMETER:= PARA_BAPAR
OVERRIDE:= PARA_OVERRIDE
....
UN SCHREIBE_DS11 // Write job for FC_CONTROL
O SCHREIBEN_LAEUFT // Write job being processed
SPB M002
L 11 // DS 11, Write bit-coded settings
T AUFTRAGSNR_FC_CONTROL // Job number for FC-Control
SU AUFRUF_FC_CONTROL
M002: NOP0
.... // Enter or check further jobs
// for FC_Control
UN AUFRUF_FC_CONTROL
SPB M003
CALL FC_CONTROL
....
M003: NOP0
....
You can also use the tools of the installation package in a DOS box under
Windows 95. In order to load your software from here to the MMC, the
following preparations must be made:
1. Copy the DOS program INTERSRV.EXE to a directory in your search
path.
2. Set the MS-DOS mode in "Features" "Program" - "Extended" as follows.
- Priority: Admit screen saver
- Idle run activity: Low
- Cancellation: Warning if still active
- Further options: To be inserted quickly
- Access keys: All
3. If you want to use the transfer via V.24 or the parallel interface, you must
select the Features menu and there the Other item for the DOS box and set
the idle run activity to "Low".
On request, the files can be opened for editing and modified by means of the
SCK tool. To this aim, the DOS editor EDIT is activated.
Overview The following files are used to configure the SINUMERIK Unit Operator
Panel:
NETNAMES.INI
MCU.INI
BD.TEA
AUTOEXEC.BAT
CONFIG.SYS
OEM.BAT
NETNAMES.INI Make the communication settings for the MPI bus partner.
MCU.INI The SIMODRIVE MCU user interface can also partially be modified. This is
carried out by means of the file MCU.INI.
BD.TEA In the file BD.TEA, it is also possible to configure the V.24 interface, for
example. "Display-Machine-Data" means display of machine data; settings of
operating modes by $MM_parameters. The file BD.TEA is processed similar
to the existing file being displayed.
AUTOEXEC.BAT The file AUTOEXEC.BAT must not be modified. If any drivers are needed,
write a separate OEM-BAT which is automatically called from the existing
one.
The developer of the OEM application must make an entry in the respective
CFG file.
Warning!
If the files AUTOEXEC.BAT or CONFIG.SYS are modified, proper function
of the software cannot be guaranteed.
OEM.BAT The file OEM.BAT is supplied by the OEM manufacturer. It must not be
modified.
Example: The following two files must be adapted according to their configuration and to
1 UOP and their MPI addresses of the individual MCUs. A line with the respective axis
max. 3 MCUs parameters must be indicated in the file MCU.INI for each existing axis. The
number without link identification corresponds to the number behind the
conn_parameter from the file NETNAMES.INI.
File MCU.INI
ANZ = 3 Number of existing axes
A1 = V,1,1 Parameter of the 1st axis
V = Type of axis (feed axis)
1 = Link connection 1 (conn_1
from netname.ini)
1 = No. of the invocation data
block of the PLC
A2 = V,2,1 Parameter of the 2nd axis
V = Type of axis (feed axis)
2 = Link identification 2 (conn_2
from netname.ini)
1 = No. of invocation data block
of the PLC
LEV = 2 Access level
File NETNAME.INI
[own]
owner= MMC_1
[conn MMC_1]
conn_1= MCU_1
conn_2= MCU_2
[param network]
bus= mpi
[param MMC_1]
mmc_address= 1
[param MCU_1]
plc_address= 2
name= Master MCU
[param MCU_2]
plc_address= 3
name= Slave MCU 1
About this Chapter This Chapter contains an extract from the SINUMERIK Documentation -
Operating Instructions of Unit Operator Panel. It introduces the MCU-specific
operating ranges of the unit operator panel to you and familiarizes you with the
operating modes and functions provided in the individual operating ranges.
What can be For a maximum of three axes, tool offset data and traversing programs can be
operated? written into the user data block of the STEP 7 user program via the operator
panel and evaluated in the STEP 7 user program.
The UOP software is operated via the horizontal and vertical softkey bar of the
OP 031. The assignment of the softkeys is set during the system configuration
of the MMC module with specific regard of the user's needs.
What can be For a maximum of three axes, messages and data for tool offsets and traversing
monitored? programs can be read and displayed from the data block for status messages
and the respective parameterized data blocks of the MCU module.
Start menu After turning on the supply voltage, the MMC/UOP module carries out a
system test. After the test has been completed successfully, the start menu with
the two menu items
1. Software update and
2. Start UOP
appears.
If you fail to decide on one of the two menu items within 5 seconds, UOP is
started.
4.1 General
The SINUMERIK UOP in the MCU version MCU is operated in the following
operating ranges
MCU,
system,
HiGraph
in some cases, further customer-specific ranges.
The operating sequences described in the following refer to one axis each.
Note:
Screen division The graphical user interface of the SIMODRIVE MCU consists of
a global range (fields 1-4 and 6-10),
the alarm and dialog line,
the vertical and horizontal softkey bar, and
one or several working windows.
1 4 6 7 10
2 8
3 9
5
12 / 1 12 / 2
16
14
12 / 3
12 / 5
12 / 4
11 13 i
15
Basic menu Since the number, position and names of the softkeys can be projected freely,
only an example for a basic menu which can be confugured is shown.
>
MCU SYSTEM HIGRAPH OEM
Machine The machine screen shows the positions of all existing axes in the operating
modes possible
Setting-up (JOG),
Automatic (AUTO) and
Reference-point approach (REFPOS).
Entries for override and zero offset are possible in all operating modes. in the
JOG mode, the two feedrates can additionally be changed.
Mode selection When selecting an operating mode by means of the SINUMERIK UOP, the
machine basic screen of the machine of the selected mode is displayed.
The machine basic screen contains traversing direction, axis name, actual
position, feed, and mode, irrespective of the current operating mode of all
existing axes.
Select an operating mode from the machine basic screen.
When changing the operating mode, the PLC basic program checks whether
a change is admitted.
In the JOG or Set-up mode, the selected axis is traversed manually by means of
the direction keys of the machine control panel or PP031.
To this aim, two fixed speeds can be selected, which can be controlled by the
override.
The currently selected speed is marked by the symbol in the window.
Zoom:
See Section AUTOMATIC mode.
Function When using incremental position encoders, after turning on, there is an
undefined offset between the internal measuring value and the current
mechanical axis position. To provide position reference, the internal measuring
value must be synchronized with the axis position.
Automatic basic
screen
ZOOM+ Function:
Zooms out the actual-position window
Operating sequence:
Zoom Pressing the ZOOM ACT. VALUE softkey
Act. Value maximizes the working window. The remaining
working windows are overlapped.
Press the Recall button to reset the zoom.
Operating sequence:
Machine Automatic
The basic menu of the Automatic mode is selected.
Note:
Function After approaching the reference point, the actual value display refers to the
machine zero point, and the machining program to the workpiece zero point.
The part program execution considers this zero offset.
Depending on the kind and clamping of the workpiece, the dimension between
machine zero point and workpiece zero point can vary.
Jog Refpos
Note:
The G functions G54 ... G57 that enable the programmable zero offset are not
realized in the SIMODRIVE MCU. Only a value exists which is considered in
the active tool offset.
Function Use the Override function to modify the feedrate. Both the setpoint and the
actual value are displayed. Entries are possible in all operating modes.
Jog Refpos
Flash Use the Flash Data softkey to save the modified val-
Data ues in the RAM and store them additionally in the
FLASH_EPROM of the SIMODRIVE MCU.
Save Use the Save Data softkey to save the modified val-
Data ues in the RAM
Note:
Any changes not saved by Save Data get lost when turning off the control sys-
tem.
Function Both all existing and the currently selected traversing program are displayed
with their program number and program name.
Program Overview
basic screen
Note:
Existing programs can be modified or deleted. This does not apply to the active
program.
Note:
Programs can be loaded into the control system by means of the commissioning
tool (MCU Programming and Commissioning Tool) via the MPI interface.
Note:
Any modifications can only be carried out in one block; and the modified
blocks must then be taken over to the SINUMERIK UOP (not to the MCU) by
pressing the Save Block softkey.
The active traversing program can only be viewed but not modified.
Operating sequence:
Machine Program
The Program basic menu is selected.
Note:
If you do not save your entries prior to leaving the program editor, the cur-
rently entered data get lost.
Operating sequence:
Machine Program
The Program basic menu is selected.
Operating sequence:
Machine Program
The Program basic menu is selected.
Flash Use the cursor keys to select the file which you want
Program to save and press the Flash Program softkey.
Note:
I Through saving, not only the programs on the FEPROM are saved, but all
data of the integrated FM-POS (DB 1001 to 1249).
Modifying Function:
Use the Program Overview to view and modify a program.
Operating sequence:
Machine Program
The Program basic menu is selected.
Note:
Programs can be loaded into the control system by means of the commissioning
tool (MCU Programming and Commissioning Tool) via the MPI interface.
Operating sequence:
Program
Program
The Modify program submenu is selected.
Overview
Note:
If the program number that you have entered already exists, an error message is
provided and the previous program number is entered.
Operating sequence:
Program
Modify The Modify Program submenu is selected.
Program
If the block that can be modified contains an M30 (program end) or M18
command (program loop) and the block is not a block to be skipped, no more
blocks can be added.
Operating sequence:
Program Modify The Modify Program submenu is selected.
Overview Program
Operating sequence:
Program
Modify The Modify Program submenu is selected.
Program
Operating sequence:
Program
Modify The Modify Program submenu is selected.
Program
Function Modifications in program blocks become only active if they are saved as a
block and stored as a program. The program that you have modified is trans-
ferred ??? (Reimann) to the SIMODRIVE
Function In the Modify Program menu, it is possible to call all permissible G functions
on the screen.
Note:
1. The program editor can only be left by pressing the RECALL key or the
Range selector.
The modifications are only stored if the program has been saved by press-
ing the Save Program softkey.
2. When leafing through the program without saving the modified block, your
modifications get lost.
3. When saving a program, the editor is not left, and you can go on editing the
program.
Function The operation can be changed over between the existing axes.
The currently selected axis is represented inversely.
The Axis Selection range can only be selected if at least 2 axes exist.
Function The SIMODRIVE MCU user interface can be partially modified. This is car-
ried out in the file MCU.INI.
4.8 Alarms/Messages
Note:
4.9.1 General
LCD LCD or set the screen using the softkeys LCD brighter or
brighter darker LCD darker).
Note:
With the MMC module and a SIMATIC S7-300 or SIMODRIVE MCU con-
nected, the brightness setting is not saved after PowerOn.
4.9.2 Alarms/Messages
Operating sequence System After selecting the System Range, the screen
Alarms/Messages with alarm number, time, deletion
criteria, and alarm text appears.
Messages
Press the Messages softkey to view any messages oc-
curred.
Function The PLC status can be displayed by pressing the PLC Status softkey.
PLC Status
pressing the PLC Status softkey, the PLC Status
screen appears.
Function The currently installed software in the control system can be displayed by
pressing the Version softkey.
5 Appendix
A I
Alarm, 4-25; 4-27 Inserting an empty block, 4-20
number, 3-23; 4-27 Install system master disk
syntax of texts, 3-23 Select drive, 3-8
text files, 3-22 Select path, 3-8
Alarm texts, 3-20 Installation, 3-18
Application master disk, 3-5 Starting from diskette, 3-19
series upgrade, 3-17 Installation package, 3-29
Axis selection, 4-24 Installing the application master disk, 3-11
activate transfer, 3-16
completion, 3-17
B edit ASCII files, 3-15
enter drive, 3-11
Block enter path, 3-11
adding, 4-21 language selection, 3-14
deleting, 4-21 modify configuration, 3-13
saving, 4-22 set configuration, 3-12
transfer software to hardware, 3-16
transfer with errors, 3-16
C Installing the system master disk, 3-6
activating transfer, 3-9
Change language, 4-26
completion, 3-10
Commissioning
readiness for receive of MMC module, 3-9
axis, 2-4
series upgrade, 3-10
operating & monitoring components, 3-1
transfer not o.k., 3-10
Communication
Transferring software to hardware, 3-9
operator panel - machine control, 2-2
Component
linking, 3-3
Configuration L
MMC module, 2-4 Language selection, 3-14
Configuring
operating & monitoring components, 2-1
M
D Machine, 4-5
Machine coordinate system, 3-26
Data block, 3-24 Master language, 3-21
MCS, 3-26
MCU, 4-3
E mode selection, 4-5
MCU standard user interface, 3-5
Editor, 3-22
Message, 4-25; 4-27
MMC module, 2-2
making ready for receive, 3-9
G MMC version, 4-28
G Functions Mode
permissible values, 4-23 Automatic, 4-9
Graphical user interface, 4-4 Jog, 4-6
Refpos, 4-8
P
PC, 2-4 U
PLC status, 4-28 Unit Operator Panel, 2-1
PP 031, 3-4 User interface
Program, 4-9; 4-15 parameterizing, 4-25
copying, 4-20 User texts, 3-20
creating a new ~, 4-17
creating/modifying, 4-17
deleting, 4-18
V
modifying, 4-19
saving, 4-19; 4-22 Velocity step
select, 4-16 modifying, 4-7
Program control, 4-10
PU, 2-4
Push-button panel PP 031, 2-3 W
WCS, 3-26
Workpiece coordinate system, 3-26
R
Range
axis selection, 4-24 Z
System, 4-26
Zero offset
modify, 4-11
ZOOM, 4-10
Equipotential Bonding 4
Filtering 8
Elimination of EMI-Induced
Malfunctions 9
Handling of ESD-Sensitive
Modules 10
EMC Legislation,
CE Marking and EC Declaration
of Conformity
11
Appendix 12
Valid for: MCU 172A V 3.x
If you require additional information or should any special problems arise, please inquire
for further information to your nearest Siemens branch office.
The contents of this Documentation are not part of any earlier or existing agreement,
commitment or legal undertaking, nor are they intended as an amendment thereto. All
responsibilities on the part of Siemens shall result only from the respective Purchase
Contract, which also contains the complete and solely binding warranty regulations. The
warranty provisions laid down by the Contract shall neither be extended, nor restricted by
this Documentation.
The remaining names and designations used in this Documentation may also be trademarks, the use
of which by any third parties for their own purposes may violate the rights of the copyright holders.
1 Preface
1.1 General
What does EMC EMC is the abbreviation for electromagnetic compatibility. EMC is defined as
mean? the ability of a device, unit of equipment or system to function satisfactorily in
its electromagnetic environment without introducing intolerable electromagne-
tic disturbances to anything in that environment.
What does this This Installation Guideline will provide answers to the following questions:
Installation
Why is it necessary to have EMC installation guidelines?
Guideline
contain? What type of EMI (electromagnetic interference) emitted by external
equipment affects the control ("victim")?
How can EMC-related malfunctions be prevented?
What practical design examples of interference-immune installations are
available?
What are the important points to remember when handling ESD-sensitive
modules?
How can malfunctions caused by inadequate EMC be eliminated?
Who should read This document is provided to assist the following staff:
this document?
Configuring engineer (in planning the NC and drive system configuration)
Installation engineer (in installing connecting cables)
Service engineer (in trouble-shooting and fault elimination)
What is the objective This Guideline should not be regarded as a textbook on the subject of EMC. Its
of this Installation purpose is to provide information and instructions to those dealing with the
Guideline? practical aspects of implementing electromagnetic compatibility in electrical
installations.
It is necessary to follow the instructions in this Guideline in order to
achieve a minimum degree of interference immunity in equipment so as to
ensure that it functions properly in a rough industrial environment and
protect the operating environment against intolerably high levels of emitted
interference.
What previous know- In addition to this Guideline, all general safety regulations, VDE specifications
ledge is required? and nationally applicable codes of practice remain fully valid.
Qualified person The term "qualified person" refers to all staff who are charged with erecting,
installing, starting up and operating the product and who have the appropriate
qualifications to perform such tasks.
The term "qualified" refers particularly to the authorization to connect, earth
and start up circuits and devices according to recognized electrical engineering
standards.
Warning symbols Important information is especially highlighted in this publication. The follo-
wing warning symbols are used for this purpose:
This symbol warns you about a potential threat to personnel safety. Read the
notes printed next to the symbol. Failure to follow the proper procedure could
endanger the life or health of personnel.
This symbol warns you about potential damage to machinery or materials. The
notes next to the symbol tell you how to avoid damage to your machine or to
the workpiece on the machine.
Note
1.2 Introduction
EMC in installations EMC measures must be implemented by both the control system manufacturer
and the user (including machine tool manufacturer) if a complete system
(control system and drive machinery) is to comply with requirements defined in
the EC EMC Directive.
Earthing of metal All metal parts of the control cubicle must be connected to one another
parts conductively over a large surface area.
The cubicle door must be connected to the cubicle transom by means of
short earthing strips (top, centre, bottom).
The shielding bus and equipotential bonding strip must be connected over a
large area with the cubicle housing.
Connections between metal parts must be permanent. Screw connections on
painted and anodized metal parts must either be made by means of special
contact washers or, alternatively, the insulating layer between the parts must
first be removed.
The use of aluminium parts should be avoided where possible (risk of oxi-
dation).
Filters Filters must normally be mounted at the point at which the cable to be filte-
red enters the cubicle.
Specific filters such as the SIMODRIVE filter module or the STEPDRIVE
filter must be positioned, mounted and wired up as specified in the docu-
mentation supplied by the manufacturer.
Filters must be mounted such that they are effectively, permanently and
conductively bonded over a large surface area with the cubicle housing
(mounting plate).
The filter supply cables must be separated from the filter return cables.
Filtered cables must be routed separately from unfiltered cables.
Cable routing Signal cables / data cables must be routed separately from power cables and
power supply cables (to prevent coupling paths). Minimum separating di-
stance in control cubicle: 20cm. Use earthed partition if necessary.
Unscreened cables belonging to the same circuit (supply and return con-
ductors) must be twisted where possible or the distance between the supply
and return conductors kept to a minimum.
Cables must be routed as close as possible to metal housing parts (e.g.
mounting plate, transoms, metal bars).
Signal cables and their associated equipotential bonding lead must be rou-
ted as close as possible to one another.
Signal cables must never be routed past equipment that generates powerful
magnetic fields (e.g. motors, transformers).
Wherever possible, signal cables / data cables should enter the cubicle at
only one level (e.g. only from bottom of cubicle).
Superfluous lengths of cable (including spares) must be avoided.
Signal cables, particularly setpoint and actual value cables, should be rou-
ted without interruptions. A continuous screen connection must be provided
at separation points.
Attachment of cable The screens of data cables, analog signal cables and SIMODRIVE motor
screens cables must be connected to ground at both ends. The connection must be
effectively conductive and with a 360 contact surface.
Cable screens must be attached to a shielding bus immediately after the
cubicle entry point and taken on to the appropriate module. The product-
specific, preassembled cables are designed such that the screen is effecti-
vely contacted once the connector is screwed onto the component housing.
Only metallic or metallized connector housings may be used for screened
cables.
Elimination of pos- Contactor coils, relays, solenoid valves and other inductances in the cubicle
sible interference and, where applicable, in the vicinity of the cubicle, must be equipped with
sources suppression elements. The suppression circuit can be constructed, for ex-
ample, of RC elements, varistors, etc. directly on the appropriate coil.
Filament lamps should be used to light cubicles where possible. Fluorescent
lamps must not be used.
Protection against To protect electronic equipment against surge voltages caused by lightening
lightening strikes strikes, measures must be implemented on buildings, operating areas and elec-
trical equipment. In this respect, we would advise you to contact your local
Siemens sales office or appropriately qualified technical consultant.
Handling of ESD- Put on an anti-static wristband before you start work on modules that are
sensitive modules sensitive to ESD.
Use surfaces and packaging made of anti-static material or plain
cardbord.
Protect the module from contact with chargeable and highly isloated mate-
rials, such as plastic foils or clothing made of synthetic fiber.
3 EMI Coupling
Conditions for EMC- Electromagnetic interference can effect a control system or installation only on
related problems condition that it has the following three complementary aspects:
Interference source
Coupling path
Victim equipment
Interference sources Equipment/devices that cause interference are referred to as interference sour-
ces. Appropriate measures must be taken to eliminate or at least dampen the
interference emitted by such sources and its effects on other equipment.
3.2 Victims
Victims The term "Victim" refers to any device or installation that may malfunction as
the result of the effects of interference.
Coupling paths The coupling path is the route via which interference from an interference
source is transmitted. Such paths allow EMI to spread from the source to
victim equipment. There are various mechanisms by which interference is
coupled into victim equipment:
Radiated coupling Radiated coupling occurs when a Nearby transmitters (radio tele
propagated electromagnetic wave phones)
Source comes into contact with cables. The Spark gaps (spark plugs, collec
wave induces currents and voltages in tors of electric motors, welding
Radiated the cables. equipment)
coupling path
Victim
Examples of coupling
paths
4 Equipotential Bonding
Note
Equipotential bonding must not be confused with protective earthing. The
protective earth must be implemented in accordance with relevant standard
and guidelines. It is not dealt with in this EMC Guideline.
Any grounding systems must comply with VDE 0100 and VDE 0141 and be
dimensioned such that the permissilbe grounding voltages, touch voltages and
resistances to ground are not exceeded.
Why is equipotential Control components that are linked by signal connections referred to a
bonding needed potential require equipotential bonding. Component malfunctions are
prevented by providing equipotential bonding between electrical components
and between such components and earth.
Where must Between all control components that are interconnected by signal links and
equipotential bond- the signals refer to a potential
ing be installed?
and
between control components and the central earthing bar
(The central earthing bar is a busbar for all the grounding, equipotential
bonding and PE conductors in a control cubicle. It is also connected to the
external PE conductor or building earthing system.)
Where is Control compoents with potential-free signal transmission (e.g. via optical fiber
equipotential bonding cables) do not require equipotential bonding and, in many cases, it is even not
not necessary? admitted - see also the product-specific documentation.
Which method is Equipotential bonding is generally provided by the galvanic link of the parts
used to provide with each other. Either the parts are mounted such that well conductive, large-
equipotential surface and permanent contact with the reference potential is ensured, or they
bonding? are linked with each other or with the related reference potential by means of
bonding conductors.
Equipotential Equipotential bonding between the individual control components with respect
bonding by inter- to one another and the central earthing bar within a metallic housing (cubicle)
connection should be provided by means of the "interconnection" method wherever
possible.
"Interconnection" means the creation of a conductive connection between
several components with a direct conductive connection provided between all
components (see Section 4.2, Fig. A).
Please note Components with metal housings must be bolted to the cubicle housing
(mounting plate). The conductive connection must be made over a large
surface area. (see also next Section "Reservations")
The connection between the central earthing bar and the cubicle housing
must be low-resistance, short and over a large area.
All contact surfaces for ground connections must be bare metal. Oxide and
paint must be permanently removed.
Reservations It is possible to make this direct conductive connection between the metal
housing and the cubicle rear panel using the component fixing screws only if
the equipotential bonding conductor terminal for the control component
(marked: or ) is designed such that it is conductively connected over a
large area to the component mounting surface.
In the case of control components with insulated housing mountings or with a
mounting surface made of metallized (galvanized) plastic, the connection
between the equipotential bonding terminal of the component and the control
cubicle housing must be made by means of a short equipotential bonding
conductor of 10mm2 (see Figure below, component 3).
Equipotential bon-
ding by
interconnection via Component 1
XXX
XXX
Com ponent 6
Component 3
XXX
1)
Component 4 Operator panel
(SIMODRIVE)
P
XXX
cen tral earthing bar
XXX 2)
to motor housing
CPU cubicle
Bild A
Equipotential If it is not possible to interconnect the control components with one another
bonding, and with the central earthing bar via the cubicle housing (e.g. because control
point-to-point cubicle has an insulated rear panel), equipotential bonding can be provided by
(as exception) means of bonding conductors between the components and the central earthing
bar (see Fig. below).
Please note Equipotential bonding systems must be star-connected. The neutral point of
the bonding leads can be one of the following:
Central earthing bar or
separate equipotential bonding strip (see Section 4.2, Fig. B)
Equipotential bonding conductors on power components such as drives,
machines, load power supply units, relay adapters, etc. are always
connected to the central earthing bar. It is not permissible to use a common
equipotential bonding lead for power and signal-circuit components.
Keep the equipotential bonding conductor lengths as short as possible.
Cross-section of equipotential bonding conductors 10mm2
Equipotential bonding
by means of bonding
conductors
Component 1
Component 2 P
Component 4
P P
Component 3 Component 5 P
(Power component)
Cubicle
P = Equipotential bonding conductor
Central earthing connector
PE = Protective earth
1) = PE in motor cable, also used as
equipotential bonding conductor
Control components If the control components (e.g. operator panel, DMP modules) are not located
in different cubicles in the same cubicle as the associated CPU, then it is necessary to connect the
potentials of the cubicles or of the appropriate central earthing bars to one
another, i.e.
by bolting the cubicle housings together, ensuring an effectively conductive
connection
or, if this method is not feasible,
by connecting the relevant central earthing bars by means of equipotential
bonding conductors.
Equipotential bon-
ding by means
of bonding Component 1
onductors
XXX
Component 5
Component 2
XXX
XXX
Com ponent 6
Component 3
XXX
1)
Component 4 Operator panel
(SIMODRIVE)
P
XXX
cen tral earthing bar
XXX 2)
to motor housing
CPU cubicle
Bild A
Equipotential bon-
ding by means
of bonding
Component 1 P
conductors
Component 5 P
Component 2 P
Component 6 P
Component 3
(Power component) P
Equipotential bonding strip
CPU cubicle
1)
to motor housing
PE = Protective earth
Layout The distance between signal cables (supply and return conductors) or between
signal cables and the associated equipotential bonding conductors must be
minimized (bundle cables!) so as to reduce the interference area between the
cables as much as possible.
NOTE:
potential bonding
SIMATIC S7-300
CPU
314
M Operator panel
MCU
Filter*) 611
Machine base
XXX XXX
LG
Filter**) TG
1)
M
XXX
XXX
Note
If the opening in the cubicle panel reaches the size of half the wavelength of
the interference signal, then the cubicle loses virtually all its shielding effect
because the penetration can act as an antenna.
Example: When EMI signal = 500MHz : 1/2wavelength = 30 cm
When EMI signal = 1000MHz : 1/2wavelength = 15 cm
To maintain the shielding effect of the entire unit, the required opening must
either be small in comparison with the wave length to be shielded, or the
breakthrough must be sealed against HF radiation by additional measures, such
as honeycomb windows or meshed grids.
Ventilation slots If ventilation openings must be made in the control cubicle, then staggered hole
patterns or HF mesh are always more effective shields than slots which conduct
high-frequency signals into the interior of the cubicle.
A large number of small holes are better than a few large ones.
Operator elements When operator elements and panels are fitted in the cubicle, it must be ensured
that the metal mounting frames are contacted properly all the way round
(tighten fixing screws with the torque specified in the product
documentation).
Cable entry points Cable entry points that ensure a good 360, HF-proof contact between the
shield and the housing (cubicle panel) are the best method of grounding shields
without weakening the shielding effect of the overall system.
Where cubicle housings are coated (e.g. painted or powder coated), the insula-
ting protective layer around the penetration must be removed to ensure that the
cable entry can be perfectly contacted. Contact corrosion can be avoided by
selecting suitable metal materials.
The shield braid must be connected to the cable gland and/or the connector
according to the mounting guidelines supplied by the gland or connector
manufacturer. Proper connection of the shield plays an important role in
assuring the EMC quality of the whole system.
EMC cubicles made The Siemens Drives and Standard Products Group (ASI) can supply EMC
by Siemens models of control cubicles. These 8MC cubicles have a shielding efficiency of
approximately 60 dB over a frequency range of 10 kHz to 1 GHz.
Please refer to Catalog NV 21 for more information about EMC cubicles.
Note
The effects of EMI are reduced as the distance between the source and
victim increases.
A further reduction in interference can be achieved through the installation
of shielding plates.
All components must be connected conductively (HF-proof) to one another
over a large surface area.
Modules When components are mounted (modules, submodules, plug-in cards, etc.), it
must be ensured that they are properly secured to the support rail (subrack,
etc.) so that they will operate correctly. The recommended tightening torque
for the fixing screws must be observed.
Operator panels It must be ensured that no lines or devices with coils which produce heavy
with monitors magnetic fields are arranged in the vicinity of monitors , such as power lines,
contactors, relays, solenoid valves, transformers etc.
Power and control Power components (transformers, drive units, load power supply units, etc.)
components must always be installed separately from control components (relay control
sections, numerical controls, PLCs such as SIMATIC etc.). However, this does
not apply to power components that have been designed specially for use in
combination with control components by the manufacturer (e.g. SIMODRIVE
611 and SINUMERIK 840D).
The metal enclosures of all components, especially those of converters and the
associated filter modules, must be bonded in a low-resistance connection with
the cubicle for high-frequency transient currents. Ideally, the modules should
be mounted on a conductive, blank metal plate and bonded with it over a large
surface area. Painted cubicle panels, DIN rails or other mounting equipment
with a small support surface do not fulfil these requirements.
Filter modules for Filter modules of SIMODRIVE or STEPDRIVE are needed to be able to
converters observe the limit values stipulated by the EC EMC Directive. They prevent
internal converter interference from coupling onto the mains supply cable. For
practical purposes, they are installed directly next to the infeed/regenerative
feedback module (see diagram below). As an alternative, they can also be
installed directly next to the cubicle mains supply infeed.
SIMODRIVE filter modules are designed specially for RI suppression in
SIMODRIVE 611 converters and may not be used on other systems.
Additional line filter If it is necessary to install an additional line filter for other loads in the control
cubicle (see SIMODRIVE Planning Guide), the following points must be
noted:
Line filter must be mounted near the cubicle mains supply infeed.
Line filter must be conductively bonded over large surface area with cu-
bicle housing.
Numerical control
Power section *)
I/RF module *)
Filter module *)
To motor
*) = SIMODRIVE components
Shielding buses The shielding bus to which cable shields are attached must be connected
(metal-to-metal) over a large surface area with the transoms.
Example: Mounting of
shielding bus
Central earthing bars The central earthing bar or PE conductor bar must be connected (metal-to-
/PE conductor bar metal) over a large surface to the transoms. It must be located in the direct
vicinity of the cable gland. Furthermore, the central earthing bar must be
connected via a lead to the PE conductor system (earth). Only in this way can
fault and transient currents be safely discharged.
Cable routing in Power and signal cables must always be routed separately. For this purpose, the
groups different types of cable are divided into groups. Cables in the same group can
be bundled together. The different groups are then routed at the appropriate
distance from one another (see Section 7, Installation of Cables).
Basic rules for Power cables and signal cables (24 V control signals, data leads and analog
routing cables signals) must enter the cubicle on opposite sides. Power cables must be routed
separately from signal cables in metal ducts.
Install control circuits for contactors (AC 230 V) separately from signal
cables wherever possible.
Route cables as close as possible to the cubicle body.
Cables belonging to the same circuit (supply and return conductors) must
be routed closely together inside the cubicle.
For further information, see Section 7 Installation of Cables.
Basic rules for The shield must be contacted immediately at the point the cable enters the
shielding cubicle unless the product-specific documentation specifies some other
bonding method.
Special shielding buses should be provided for low-impedance shield
bonding.
The cable clamp must contact the full circumference of the shield braid so
as to ensure an effectively conductive connection between the shield and
the cubicle ground.
Do not interrupt shields.
For further information, please see Section 6, EMC Wiring, Shielding and
Shield Bonding.
What is the purpose The term "Shielding" refers to any measures taken to decouple critical circuits
of shielding? and conductors from nearby potential interference sources that may couple into
them. Such measures must take account of the shielding effect of cubicles,
metal cable ducts, connector housing and the cable braided shield. Shielding is
therefore a complementary practice to filtering and is applied to eliminate
EMI-related performance degradation in electrical installations.
What is the simplest It is always advisable to use the product-specific, standard original cabling
measure? since this has been verified as complying with EMC legislation and the EC
EMC Directive. Connector types other than those specified in the product
documentation must not be used.
As a general rule, standard cables as well as cables connected to product
components are provided with the required shield termination. The bond
between the shield and the enclosure is implemented at both ends by means of
the connector except in a few cases. The best shielding effect is achieved by
connecting the shield to ground at both ends. Special additional measures are
described in Section 11 "EC Declaration of Conformity" or in the product-
specific documentation.
When is single Cabling with a single shield layer is normally sufficient for EMC purposes in
shielding most industrial plants. Connecting both ends of the cable shield to ground is the
sufficient? most effective shielding measure for such cabling.
When is double shiel- This type of shielding can be of advantage for protecting signal transmission
ding required? cables in particulary highly EMI-polluted environments.
Shield termination at As a general rule, the cable shield must be connected at both ends in a 360,
both ends conductive contact with the enclosure to ensure that the cable is immune to HF
interference.
If external equipment (e.g. printers, programming devices, PCs, etc.) is con-
nected to the controls during servicing or start-up, the shields on the connecting
cables must also be connected to ground at both ends. Interference will pro-
bably couple onto the cables if the shield is connected at one end only.
Shield connection
K1 (360) K2
Shield termination In very exceptional cases, the shield may be terminated at one end only (e.g.
at one end purely analog systems with no digital components):
(special case) Cable shields terminated at one end provide only electrostatic protection
against low-frequency, capacitive coupled interference and emission.
In the case of interference caused by external earth potential differences, it may
be necessary in individual cases to bond only one end of the shield with the
enclosure ground even when equipotential bonding is provided between the
components to be connected. To increase the effect of the shield, the open
shield end can be connected capacitively with the enclosure ground.
Shield bonding with The shield must be bonded at the end at which the electronics reference ground
termination at one end is connected to the enclosure.
If both devices (source and receiver) are floating, then the shield must be
connected at the receiver end.
If the source and receiver are both connected to ground, then the shield must be
connected at both ends.
K1 K2
Shield connection
Transmitter (360) Receiver
(with potential (floating)
reference)
Shield connection at All cable shields must be connected in a 360 contact that is as close as pos-
control end sible to the terminal in the control unit. On components that have no special
shield termination, the contact must be made by means of conduit clips or
serrated bar on the bare-metal cubicle mounting panel. Whatever method is
chosen, it is absolutely essential to keep the cable between the shield bonding
point and the terminal as short as possible.
Shielded backshells with preassembled clamp contacts and mounting points for
brake terminals are generally available for contacting the shields on shielded
cables.
Shield connection at If the motor has a brake, the shield of the brake supply cable must be con-
motor end nected at both ends together with the power supply cable shield.
If no proper shield termination is provided at the motor end, then a screwed
connection that allows a large-area shield-motor bond to be made must be
provided in the terminal box.
Version with A metal duct with a large-area contact cover can be used to shield motor power
comprehensive shiel- supply and mains supply cables. The shield/cable duct must be bonded to the
ding appropriate components (converter module, motor) over a large area at both
ends.
Rubber sleeve
Terminals Normally speaking, only specially designed connectors and connector housings
may be used to continue the shield at points where it is interrupted. However,
in exceptional cases where it is absolutely essential to interrupt the shield and
untwist the cable conductors, the cable must be screwed in a 360 contact to a
shielding bus before and after the connector (terminal).
The following diagram shows the basic layout of a terminal junction point.
Shield bond
Shielding bus The earthing bar or the equipotential bonding bar (if additionally installed) can
be used as the shielding bus. The earthing bar is the protective earth, the
equipotential bonding bar the functional earth. It is also permissible to provide
just one earthing bar which then doubles as the equipotential bonding bar.
Cable clamping rail The cable clamping rail provides cable strain relief. Two methods of strain
relief are shown in the following diagram.
Strain relief
through comb rail
or
Shield bonding The shield should be connected to a shielding bus immediately after the cable
enters the cubicle and then taken onto the module. The product-specific pre-
assembled cables are designed such that effective shield bonding is provided
when the connector is screwed to the component housing.
Attachment of Metal cable clamps should be used to connect the shield braid to the cubicle
shield braid enclosure wherever possible. The clamps must hold the shield in a 360,
conductive contact.
Optimum shield The two photographs below show the shield directly bonded to the equipotenti-
bond al bonding bar.
The picture shows terminals on a copper The picture shows bar-mounting termi-
bar. The maximum cable diameter is nals on a copper bar. The maximum cable
15 mm diameter is 10 mm.
Order No. 8US1921-2AC00 (5 mm) Order No. 8HS7104, 8HS7174,
8US1921-2BC00 (10 mm) 8HS7164
Note
Take care not to squash cables by tightening the terminal screws too tightly
(Order No. 8US1921-2AC00 and 8US1921-2BC00).
Good shield bond If the cable cannot be connected directly to the equipotential bonding bar, good
shield bonding can also be achieved by connecting the cable shields with a
cable clamping rail.
SIMODRIVE 611 A/D SIMODRIVE 611 A/D motor power supply cable:
motor power supply Shield contacting by means of shield bonding clamp on shielded backshell
cable
7 Installation of Cables
Basic principle Signal and power leads must be routed at the greatest possible distance from
one another. If it is not possible to adequately segregate the cables, then
shielded cables in shielding, earthed cable ducts (made of metal) must be used.
Cable installation All cables in the control cubicle must always be routed as close as possible to
mechanical housing components (e.g. control cubicle panels, mounting plates,
transoms, metal rails). Interference may couple onto long sections of cable
routed through free space (antenna effect).
Signal and power cables may cross one another if unavoidable, but must
never be routed in parallel.
Signal and data cables must be routed separately from heavy-current and
power supply cables (to avoid coupling paths). Minimum separating
distance in cubicle: 20 cm. Use earthed partition if necessary.
Unscreened cables in the same circuit (supply and return conductors) must
be twisted if possible. If they cannot be twisted, the conductors must be
routed as closely as possible to one another.
Signal cables and their equipotential bonding conductor must be routed as
closely as possible to one another.
Signal cables must never be routed passed equipment that generates strong
magnetic fields (e.g. motors, transformers).
Wherever possible, all signal/data cables should enter the cubicle at the
same level (e.g. at bottom of cubicle only).
Never install extra lengths of cable that are not required (including spares).
Signal cables - particularly those carrying setpoint and actual value data -
must be installed without interruption. At unavoidable points of separation,
it must be ensured that the shield remains intact.
Continuous shield bonding must be provided at interruption points in
shielded cables.
High-current/high-voltage cables that are subject to clocked pulse
phenomena must always be routed completely separately from all other
cables.
Always support cables on metal cable bearers.
Ensure that cable bearers are conductively bonded at points at which they
contact.
Earth cable bearers.
Provide lightening protection (internal and external) as well as earth protection
inasmuch as they apply to the particular application.
Cable length Do not install any unnecessary extra lengths of cable. This will help to
minimize coupling capacitance and inductance.
Keep spare cabling as short as possible.
Connect at least one end of cores of spare cables to a potential, connect
them to earth where possible.
Use original cables The pre-assembled original cables recommended by the manufacturer must be
used. Do not exceed the maximum permissible cable length specified for the
application in question. You will find information about cable lengths in the
product catalog or in the product-specific documentation. These lengths refer
to original cabling supplied by the manufacturer.
Protect cables Protect cables and connectors against mechanical damage, e.g. by means of
cable ducts or covers
Take measures to prevent oil, coolant or chippings from penetrating
connector casings.
Use special cables Special-purpose cables must be used for trailing-cable applications.
8 Filtering
Relays, contactors, valves, motor brakes and basically all types of coil
Suppression meas-
(inductances) generate induction voltages when the current through them is
ures
interrupted and must therefore be equipped with suppression elements. 24 V
coils, for example, generate transient voltages of 800 V while several 1000 V
may be present at the switch when the current through a 230 V coil is interrup-
ted.
Note
Free-wheeling diodes on modules are suitable only for suppressing cable
inductance. They cannot replace direct coil suppression equipment.
Coil suppression equipment must be fitted directly to the coil.
Interference suppres-
sion measures
Brakes
Filter installation in
System-specific filters such as SIMODRIVE filter modules must be instal-
control cubicle
led as required by the system design in accordance with the installation in-
structions in the manufacturer's documentation.
The filters should be mounted so that a conductive contact over a large area
is provided. Painted cubicle panels, DIN rails or similar mounting equip-
ment with a small support surface and inadequate potential bonding are not
suitable as mounting surfaces for converters and filters.
Functional earthing Functional earthing is implemented by installing the filter in the cubicle such
that it is conductively contacted over a large area. If it can only be mounted
such that it is more or less insulated, then functional earthing must be provided
by means of an equipotential bonding conductor.
Protective earthing The existing specifications for protective earthing apply. However, additional
measures are required owing to the high leakage currents caused by converter
equipment.
Note
VDE stipulates that a PE conductor may only carry currents of a few mA.
Since the interference currents occurring with converter filters are generally
higher than permitted, measures defined in pr EN 50178/94 part 5.3.2.1 must
be implemented, e.g.
Install a second conductor via separate terminals in parallel to the PE con-
ductor. This equipotential bonding conductor must also fulfil the require-
ments of PE conductors specified in IEC 364-5-543,
Use a PE conductor with a cross-section of 10mm2
9.1 Trouble-shooting......................................................................9-2
9.2 Elimination of EMI-induced malfunctions.................................9-3
9.1 Trouble-shooting
Definition: ESD/ESD- As a result of the technologies employed on electrical and electronic modules,
sensitive components these components are extremely sensitive to overvoltages and thus to any
electrostatic discharge.
Electrostatic discharge is frequently referred to by the abbreviation ESD.
ESD-sensitive devices are labelled with the following symbol:
Symbol
Caution
ESD-sensitive modules can be destroyed by voltages that are well below the
limit of voltage that is perceptible to human beings. If you do not discharge
your body electrically before touching an ESD-sensitive component, you
might be carrying a voltage that will destroy the device. The damage caused
to a module as a result of overvoltage cannot be detected immediately in most
cases, but only becomes evident after it has been in operation for a consider-
able period.
Charging People and objects that have no conductive connection to the electric potential
of their surroundings may be electrostatically charged.
The following are examples of such charges:
Plastic covers or insulating foil up to 5 000 V
Plastic-coated books/notebooks up to 8 000 V
Person when
walking on plastic flooring up to 12 000 V
sitting on padded chair up to 15 000 V
walking on synthetic carpet up to 15 000 V
Discharge If, for example, a voltage of 10 000 V is discharged because its carrier
current/energy (person/object) comes into contact with a component, then a discharge current
of 15 A can flow briefly. The electrical energy that the component concerned
must absorb in this case is about 10-3 Ws. This is sufficient energy to destroy,
or at least damage, semiconductors such as integrated circuits, rectifiers and
signal diodes.
Carefully note and apply the protective measures described below to protect
and prolong the life of your modules and components.
Use conductive Use original conductive packaging where possible for single components and
packaging modules that have no enclosure. You can also use metallized plastic boxes or
plain cardboard. Always store ESD-sensitive modules in their high-resistance,
conductive original packaging.
Prevent electrostatic The best possible protection against the effects of electrostatic discharge is to
charges take measures to prevent the development of electrostatic electricity in the
vicinity of sensitive devices.
Take care when hand- Take particular care to prevent plastics coming into contact with sensitive
ling plastics modules since most types of plastic are easy to charge statically.
Provide effective, When you are handling ESD-sensitive modules, make sure that you, your
reliable earthing workstation and the device packaging are earthed across a high resistance
(200k to 1G).
Avoid direct contact Do not touch ESD-sensitive modules unless it is absolutely essential. If you
must handle them (e.g. to repair them), make sure that you do not touch com-
ponent pins or printed conductors. In this way, it is possible to prevent dischar-
ge energy from reaching and damaging sensitive module components.
Always use earthed Measurements or soldering jobs may be carried out on ESD-sensitive modules
equipment/ only if
instruments
the instrument/tool is earthed (e.g. via PE conductor) or
the probe on isolated measuring instruments is discharged before the
measurements are taken (e.g. by holding it briefly in contact with earthed
metal parts)
Special care with Note the following measures in respect to modules with ESD-sensitive compo-
respect to ESD- nents that are not protected by an enclosure and are labelled accordingly (see
sensitive modules label at the beginning of this section):
Do not touch ESD-sensitive modules unless
you are earthed via an anti-static wristband or
you are wearing anti-static footwear or earth straps when walking on an
anti-static floor
you have removed all clothing made of synthetic materials or are wearing
an anti-static overall.
Discharge your own body before starting work on the module. To do so,
touch an earthed metallic object.
Safeguard modules against contact with chargeable and highly insulating
materials such as plastic foils, insulating table tops or clothing made of
synthetic materials.
Place sensitive modules only on high-resistance, conductive surfaces such
as:
Table with anti-static surface
Conductive anti-static foam or anti-static packaging,
Normal, plain cardboard should be used as a provisional material
when required.
Do not bring ESD-sensitive modules into the immediate vicinity of equip-
ment that generates strong electromagnetic fields such as visual display
units, monitors or TVs (minimum distance from screen > 10 cm).
Protective measures The measures required to protect sensitive components against ESD are illu-
against ESD strated again in the diagram below:
a Conductive flooring
b Table with conductive, earthed surface
c Anti-static footware
d Anti-static overalls
e Earthed anti-static wristband
f Earth connection for control cubicle d
g Earthed chair
b e
g
f
c
a
Note
If the difference between the machine plant configuration and plant configu-
rations that are verified by the declaration of conformity is so great that a
degradation in EMC is likely when machinery is operated, it may be neces-
sary to take EMC measurements on site. In this case, please contact your
local Siemens Sales Office.
Introduction The SINUMERIK / SIROTEC control systems and SIMODRIVE drives are
not actually machines as defined by the EC Machinery Directive. The elec-
tronic controls only constitute machines once they are linked with the units to
be controlled. They are not therefore provided with a declaration of conformity
in respect of EC Machinery Directive 89/392/EEC.
CE marking Products that carry the CE mark are certified as fulfilling the requirements of
EC Directive 89/336/EEC "Electromagnetic Compatibility" and the relevant
harmonized European standards (EN). The CE mark is the visible proof that
the product complies with the requirements of the appropriate Directive.
The EC declarations of conformity for these products are kept available to the
competent enforcement authorities by the relevant department of the Siemens
AG Automation Group in accordance with Article 10 of the above EC Direc-
tive.
Area of application The products listed in the declaration of conformity are EMC-designed for
industrial applications. They fulfill the following requirements.
Observe guidelines The products fulfill the appropriate EMC requirements if:
1. You install and operate them in accordance with the Installation Guidelines
provided in the relevant product documentation,
2. You also follow instructions relating to
installation of equipment
3. You always observe the appropriate EMC installation guidelines for the
products concerned.
Certificate of Confor- All components admitted for equipment integration of SIMODRIVE MCU
mity 172A as set forth in the Planning Instructions Part 2, Devices (Order No. 6SN1
197-0AA00-0AP2), in interconnected operation comply with the Guideline
89/336/EWG.
EU Certificate of Conformity
No. E002 V 27/11/96
Manufacturer: SIEMENS AG
The products listed above comply with the standards of the following
European guideline:
The compliance with this guideline requires the products to be installed in the
entire equipment according to the relevant EMC guidelines.
For equipment configurations whose compliance with these guidelines has been
proven, as well as standard applied to see:
Appendix A1 - A14 (Equipment Configurations)
Appendix B1 - B7 (Components)
Appendix C (Standards)
SIEMENS
R. Mller K. Krause
Development Dept. Quality Management
12 Appendix
12.1 Index
A
Aluminium parts,2-1
Analog signal cables,2-2
E
Anti-static footwear,10-4 Earth potential differences,6-3
Anti-static packaging,10-5 Earthing,2-1
Anti-static wristband,10-4 Earthing bar,6-6
Area of application,11-4 Earthing strips,2-1
Attachment of cable screens,2-2 EC Declaration of Conformity,11-1; 11-3
Attachment of shield braid,6-6 EC Directive,11-3
EC Machinery Directive,11-3
EG-Konformittserklrung,11-1
C Electromagnetic compatibility,1-2
Electrostatic discharge,10-4
Cable clamping rail,6-6 EMC,1-2
Cable entry points,5-3 EMC Legislation,11-1
Cable groups,5-6 EMC measures,1-4
Cable installation,7-2 Equipment,10-4
Cable length,7-3 Equipotential bonding,4-3
CE mark,11-3 Equipotential bonding bar,6-6
CE Marking,11-1; 11-3 Equipotential bonding conductor,7-2
Central earthing bar,4-3; 5-6 Equipotential bonding lead,2-2
Charging,10-3 Equipotential bonding leads,2-3
Coil suppression,8-2 Equipotential bonding strip,2-1
Coils,2-3 ESD,10-2
Conductive surfaces,10-5 ESD-sensitive modules,10-4
Connection of the shield braid,5-3
Connector housings,2-2
Contact points of cable bearers,7-2
Contact surfaces,4-3
F
Contact washers,2-1 Filter,2-1; 8-2; 8-3
Contactor,2-3 Filter installation,8-3
Contactors,5-6; 8-2 Filter modules,5-4
Coupling path,3-2; 3-5 Filtered cables,2-1
Coupling paths,9-2 Filterung,8-1
Cross-section of equipotential bonding Free-wheeling diodes,8-2
conductors,4-6 Functional earthing,8-4
Cubicle,4-3
Cubicle covers,5-2
Cubicle housing,2-1 G
Cubicle housings,5-3
Ground connections,4-3
D
H
Data cables,2-2
DIN rails,5-4 Handhabung elektrostatisch gefhrdeter
Discharge current/energy,10-3 Baugruppen,2-3
High-current/high-voltage cables,7-2
I Protective earthing,8-4
Protective measures,10-4
Individual test certificate,11-4 Protective measures against ESD,10-5
Inductances,2-3
Inspection windows,5-2
Interconnection,4-3
Interference,3-2
Q
Interference source,3-2 Qualified person,1-3
Intermediate connectors,6-5
Interruption points in shielded cables,7-2
R
RC elements,2-3
L
RC suppression circuits,8-2
Leitungsfhrung,7-2 Relays,2-3; 8-2
Lengths of cable,7-2
Lightening strikes,2-3
Lighting of cubicles,2-3 S
Line filter,5-5
Safety regulations,1-3
Screw connections,2-1; 5-2
Setpoint and actual value cables,2-2
M
Setpoint and actual value data cables,7-2
Magnetic fields,2-2; 5-4; 7-2 Shield connection,6-4
Malfunctions,9-3 Shield contacting,5-6
Massung von Schaltschrank-Bauteilen,5-2 Shield termination at both ends,6-3
Measuring instrument,10-4 Shield termination at one end,6-3
Minimum separating distance,2-2 Shielding bus,2-1; 2-2; 5-5; 6-6
Monitors,5-4 Shielding buses,5-6
Motor brakes,8-2 Shields,5-6
Motor power supply and mains supply cables,6-4 Shipment,10-3
Mounting rail,5-4 Signal cables,2-2
SIMODRIVE 611 A/D Motor power supply
cable,6-8
O SIMODRIVE filter module,2-1
SIMODRIVE motor cables,2-2
Optimum shield bond,6-7 Single shielding,6-2
Original cables,7-3 SINUMERIK FM components,5-4
Original packaging of ESD-sensitive modules,10- Solenoid valves,2-3
3 Spare cabling,7-3
STEPDRIVE filter,2-1
Strungsbeseitigung,9-3
P Strain relief,6-6
Support rail,5-4
Packaging,10-3; 10-4
Suppression circuit,2-3
PE conductor,8-4
PE conductor bar,5-6
Penetrations,5-2
Planning Guides,1-4 U
Points of separation,7-2 Unfiltered cables,2-1
Potential differences,2-3 Unscreened cables,2-2
Power cables,2-2; 5-6; 7-2 Unterbrechung der Leitungsschirmung,6-5
Power components,5-4 Unused cores of power cables,6-4
Power supply cables,2-2
Previous knowledge,1-3
V
Valves,8-2
Varistors,2-3
VDE specifications,1-3
Ventilation holes,5-2
Ventilation openings,5-3
Victim,9-2
Victim equipment,3-2
Vorwort,1-1
W
Workstation,10-4
12.2 Abbreviations
Abbreviations Definition
=2f Angular frequency
AC Alternating Current
AG PLC (programmable logical controller)
AUT Automation Group at the Siemens AG
C Capacity
CE Communauts Europens
CPU Central Processing Unit
DA Digital output
DC Direct Current
DE Digital input
DIN German Industrial Standards
E/R Stabilized power supply/recovery module
EMC Electromagnetic compatibility
EN European standard
ESD Electrostatic Sensitive Device
EU European Union
EWG European Economic Community
f Frequency
FM Function module
H Magnetic
HF High frequency
I Current
IEC International Electrotechnical Commission
L Inductivity
L1, L2, L3 Phases
M Ground
MCU Motion Control Unit
MPI Multi-Point Interface
N Neutral (conductor)
NC Numerical Control
NF Low frequency
P Equipotential bonding conductor
PE PE conductor
PG Programming unit
R Resistance
SPS Programmable logic controller
SV Power supply
U Voltage
UE non-stabilized supply module
VDE Association of German Electrotechnical Engineers
Z Impedance
Positioning Control
Error Messages: 2
(00257-24590)
SIMODRIVE Interface
SIMODRIVE 611 Module Error Messages: 3
30000-30300
Single-Axis Positioning Control
SIMODRIVE Drive
MCU 172A Error Messages: 4
30500-30850
Description
Error Messages
Intelligent I/O Modules
Error Messages
5
If you require additional information or should any special problems arise, please enquire
for further information to your nearest Siemens branch office.
The contents of this Documentation are not part of any earlier or existing agreement,
commitment or legal undertaking, nor are they intended as an amendment thereto. All
responsibilities on the part of Siemens shall result only from the respective Purchase
Contract, which also contains the complete and solely binding warranty regulations. The
warranty provisions laid down by the Contract shall neither be extended, nor restricted by
this Documentation.
The remaining names and designations used in this Documentation may also be trademarks, the use
of which by any third parties for their own purposes may violate the rights of the copyright holders.
General
Invocation DB With the exception of the diagnostic interrupts, all error messages of the position control
caused by the user program are provided by the invocation DB, organized by data error,
operator error and operating and traversing error.
Diagnostic buffer All errors, with the exception of the occurring errors, including drive alarms and run-up errors,
of the CPU are entered into the diagnostic buffer of the CPU. The elements of the diagnostic buffer are
structured as follows:
Indication In MCU-PIT, errors are indicated with text and time of their occurrence.
Diagnostic Diagnostic interrupts are identified by setting the respective bits in the diagnosis data record
interrupts (DS0/1).
Contents
2.1 Diagnostic Interrupts...................................................................................... 1-2
2.2 Operating Errors ............................................................................................ 2-4
2.3 Operator Errors............................................................................................ 2-10
2.4 Traversing Errors......................................................................................... 2-14
2.5 Data Errors .................................................................................................. 2-20
2.6 Machine-data Errors .................................................................................... 2-29
2.7 Traversing Errors......................................................................................... 2-44
2.8 Run-up Errors.............................................................................................. 2-51
Diagnostic Interrupts
Operating Errors
Remedy This error should not occur in the normal mode of operation.
However, should it occur nevertheless, contact your competent sales department and
specify the detail circumstances resulting in the error.
Remedy This error should not occur in the normal mode of operation.
However, should it occur nevertheless, contact your competent sales department and
specify the detail circumstances resulting in the error.
Operator Errors
Cause The operating modes JOG, MDI and Automatic require the axis to be synchronized.
Scan Axis movement is disabled.
Remedy Carry out reference-point approach or reference-point setting.
00533 No valid MD
Response Feed STOP
Indication Bit RMS.FS, DS162, diagnostic buffer of the CPU
Acknowledg Bit STS.FSQ
m.
Cause No valid MD-DB at the module.
Scan No traversing movement possible.
Remedy Load error-free machine-data DB.
Traversing Errors
Data Errors
Machine-Data Errors
gm.
Cause Block no. missing or outside the permissible range of numbers.
Scan Program selection is not executed.
Remedy Select a valid block number.
02069 No block
Response WARNING
Indication in the DB
If the error also occurs after turning on the MCU, indication in the diagnostic buffer of
the CPU, too.
Acknowled none
gm.
Any entries in the diagnostic buffer are, however, only deleted after Power ON.
Cause No block exists in the program.
Scan The program is not loaded.
Remedy Correct program depending on the error source.
Retry transmission of the DB.
Run-Up Errors
Remedy This error should not occur in the normal mode of operation.
However, should it occur nevertheless, contact your competent sales department and
specify the detail circumstances resulting in the error.
Note from version 3.0
30768 Numerator of bandwidth larger than the double of the stop frequency
Response all OFF
Indication Diagnostic buffer of the CPU
Acknowledg Bit STS.BFQ
m.
Cause The numerator of the bandwidth of a current or nominal-speed filter is larger than the double
of the stop frequency.
This error message is provided for the general band stop only if:
Nominal-speed filter 1:
MD 1516 > 0.0 or
MD 1520 <> 100.0
Nominal-speed filter 2:
MD 1519 > 0.0 or
MD 1521 <> 100.0
Current-setpoint filter 1:
MD 1212 > 0.0
Current-setpoint filter 2:
MD 1215 > 0.0
Current-setpoint filter 3:
MD 1218 > 0.0
Current-setpoint filter 4:
MD 1221 > 0.0
Scan With HSA:
Pulse deletion, motor coasts
SIMODRIVE_READY and DRIVE_READY canceled.
RESET error
With VSA:
Controllers inhibited, motor decelerated
SIMODRIVE_READY and DRIVE_READY canceled.
RESET error
From drive software version 2, the response can be configured via MD 1613.0.
Remedy The numerator of the bandwidth must be smaller than the double of the stop frequency.
Current-setpoint filter 1:
MD 1212 <= 2 * MD 1210
Current-setpoint filter 2:
MD 1215 <= 2 * MD 1213
Current-setpoint filter 3:
MD 1218 <= 2 * MD 1216
Current-setpoint filter 4:
MD 1221 <= 2 * MD 1219
Nominal-speed filter 1:
MD 1516 <= 2 * MD 1514
Nominal-speed filter 2:
MD 1519 <= 2 * MD 1517
Note HSA: at the moment, not realized with MCU
1 8 7 B
5 i
t
0
X X - - X X X X
Status Additional information (error number)
(read only)
Additional Information Listing of the additional information (error numbers) which generate the function blocks by
ANZW themselves and output them at the parameter ANZW.
H Description Note
E
X
00 No error
0 The data block indicated when calling the blocks FC RESTART, FC Enter correct DB
B CONTROL and FC STATUS at the parameter INSTANZ_DB does not
match with the technological function (DB is not the invocation DB of
FB OP_MCU).
0 Illegal channel number for the MCU Enter correct channel number in
C invocation DB in the word
KA_NR (in the example via
OB100)
0E Error when calling SFC RD_REC. The return value RET_VAL of the See Error Description of the
SFC is provided to the user in the variable SFCERR_TFNAME for SFC RD_REC
evaluation.
0F Error when calling SFC WR_REC. The return value RET_VAL of the See Error Description of the
SFC is provided to the user in the variable SFCERR_TFNAME for SFC WR_REC
evaluation.
10 Module is not ready for operation or not parameterized. Parameterize module using the
AS-PARAM tool
11 Timeout error - an expected module reaction did not come. If the Restart
technological function waits for a reaction, an internal counter is
increased whenever a technological function is called. If this counter
reaches the value MAX-AUFRUF, this error message is provided.
12 Data error. This error is normally detected by the module and Correct data in the invocation
transferred to the technological function for passing to the user (storing DB
in the data block).
3E Illegal job number (FC CONTROL) Enter a valid job number
Additional Informat. Listing of the additional information (error numbers) which are stored in the data words
READERR_CONTROL READERR_CONTROL and ME_ERR_CONTROL.
and ME_ERR_CONTROL
H Description Note
E
X
0E Error when calling SFC RD_REC. The return value RET_VAL of the See Error Description of the
SFC is provided to the user in the variable SFCERR_TFNAME for SFC RD_REC
evaluation.
11 Timeout error - an expected module reaction did not come. If the Restart
technological function waits for a reaction, an internal counter is
increased whenever a technological function is called. If this counter
reaches the value MAX-AUFRUF, this error message is provided.
The respective error number is stored in the diagnostic buffer, indication via MCU-PIT
Remedy Check encoder and measuring-system cable.
Observe shielding and grounding instructions.
Monitoring can temporarily be turned off by means of MD20 on the user's
responsibility.
No. Description
81000 Error OB event
1
81000 Synchronous error
2
81000 Asynchronous error
3
81000 Stop/abortion event
4
81000 BZ process event
5
81000 Error: communication event
6
81000 Error: H/F system event
7
81000 Error: diagnostic data of modules
8
81000 User -diagnosis-event
9
Data
3
SIMODRIVE 611
STEP 7 Blocks 4
MCU 172A
Single-Axis Positioning Control Encoders 5
Error Messages 7
Appendix 8
If you require additional information or should any special problems arise, please inquire
for further information to your nearest Siemens branch office.
The contents of this Documentation are not part of any earlier or existing agreement,
commitment or legal undertaking, nor are they intended as an amendment thereto. All
responsibilities on the part of Siemens shall result only from the respective Purchase
Contract, which also contains the complete and solely binding warranty regulations. The
warranty provisions laid down by the Contract shall neither be extended, nor restricted by
this Documentation.
The remaining names and designations used in this Documentation may also be trademarks, the use
of which by any third parties for their own purposes may violate the rights of the copyright holders.
1 Data Structure
DB 1001
Interface DB (DB-BD)
DB- Data record 235
NC The DB-BD (operating data - the original German
1 DB- abbreviations are used for all data blocks) is the
NC interface between the positioning unit and the
DB 1199 199
DB 1200 monitoring and operating device (OP/PU). This data
block contains the control/check-back signals, as well
DB-
MD as all MCU data records. With the user program
active, i.e. the TFB bit on FC Restart is "0", the data
DB 1220
can only be read by the OP/PU. If TFB=1 (test mode
active), the user has only write access to the data
DB- either by means of MCU-PIT or via his own
WK
application on the OP, for example.
DB 1230 Control signals see Chapter 2
DB- Check-back signals see Chapter 2
SM Data records see Chapter 3.1
DB 1251
DB-
AM
DB 1260
DB-
AS
MCU data memory The MCU data memory (from DB 1001 on) contains the traversing programs,
the machine data of the positioning unit, the tool offsets, the incremental
dimensions, the machine data, and the operating data of the drive.
DB header
MD5 Machine data of the position control DB-MD
DB 255
DB 1000 MD6
DB- MD7 Machine data of the MCU see Chapter 3.2.1
BD .
MD67
DB 1001 DB- DB-Kopf
NC Tool offsets DB-WK
1 DB- Werkzeug 1
NC Werkzeug 2
DB 1199 199
DB 1200 Werkzeug 3 Input limits see Chapter 3.3
:
DB-
MD Werkzeug 20
DB-Kopf
DB 1220
Schrittma 1 Incremental dimension parameters DB-SM
DB- Schrittma 2
WK
Schrittma 3
: Input limits see Chapter 3.4
DB 1230
Schrittma 100
DB-
SM DB-Kopf
MD1000 Drive machine data DB-AM
DB 1251 MD1001
DB- MD1002
AM Machine data
:
MD1799 SIMODRIVE 611 see Chapter 3.2.2
DB 1260
DB-Kopf
DB-
AS MD11030
MD11031 Service/drive DB-AS
MD11041
:
Drive operating data see Chapter 3.6
MD11060
Control/check-back Bit 7 6 5 4 3 2 1 0
signals in the Byte
invocation DB 14 res. N_S F_S SW254 BZPkt BD_L BFQ FSQ
_S _S
15 reserved
16 reserved
TFB By setting the interface bit TFB=1 as an alternative to the TFB parameter in the
intelligent FC CONTROL I/O block (see Section 4.2.3), the operation and
control of the MCU are no longer carried out via the user program/invocation
DB but via the data block DB-BD and the software MCU-PIT installed on the
programming device.
3 Data
see MD5
Symbol Name
G_1 G function of group 1
G_2 G function of group 2
X_T Position/dwell time programmed
F Velocity programmed
M_1 M function of group 1
M_2 M function of group 2
M_3 M function of group 3
The 611D control words 1 and 2 occur both in DB-BD, DBAS and in the
invocation DB. The bits represented in Italic letters can only be read.
Symbol Name
Control word 1
ZK1_RESET ZK1 Reset: Reset/acknowledgment of drive alarms; level 1
must be provided for at least one position control cycle
BIT1 Parking axis setpoint corresponds to DS11, bit 14; parking axis -
function selected internally
BIT5 Setpoint function generator: Activation of function generator in the
drive
HLG_AKT Ramp-function generator setpoint:
0: limit-value messages: |Md| < Mdx active, Nact = Nnom active
1: limit-value message: |Md| < Mdx = 1, Nact = Nnom = 0
run-up process completed = 0
HLGSS Ramp-function generator fast stop setpoint:
0: no effect
1: fast stop of drive
nnom = 0
no pulse deletion after standstill
MGLG2 2. Set torque limit:
0: Torque /power limitation
by drive MD1230/1235
1: Torque/power limitation
by drive MD1232/1236
DZSF1_AKT Smoothing of speed setpoint:
0: no smoothing of speed setpoint
1: smoothing of speed setpoint active (only active if low-pass filter
parameterized via drive MD 1500 and following)
NRZ_FRG Emergency retraction
Control word 2
SP_SG_1 Setpoint parameter record
SP_SG_2 Parameter block setting in the drive
SP_SG_3 (changeover of speed controller parameterization)
INT_SPERR Setpoint integrator inhibit
0: Integral portion of speed controller active
1: Integral portion of speed controller switched off
BIT7 Setpoint pulse enable PLC: Pulse enable (by S7 user program)
BIT8 Setpoint current controller enable: current controller enable
BIT9 Setpoint current controller enable: speed controller enable
BIT15 Sign of life: for service purposes only
Torque limit
Unit: [incr]
Format: signed integer
Standardization: 1000H = Mnom; MD 1725 = 8 x Mnom
Mlimit [incr]=Mlimit [Nm] x 8 x 1000H / MD1725 [Nm]
Symbol Name
SIM_EIN Simulation
PARK_ACHS Parking axis
I4_INAK Digital input (I4) ON/OFF (0=ON)
I3_INAK Digital input (I3) ON/OFF (0=ON)
I2_INAK Digital input (I2) ON/OFF (0=ON)
I1_INAK Digital input (I1) ON/OFF (0=ON)
FLG_MESS Flying measuring
SW_END_A Software limit switch monitoring ON/OFF (0=ON)
NACH_EIN Follow-up operation
FRGN__AW Enable input OFF
REF_TRIG Retrigger reference point
LAE_MESS Length measuring
DM_AKT Direct measuring system ON/OFF
Symbol Name
RESTW_LOE Delete distance to go
AUT_SVORL Automatic block search forward
AUT_SRUCK Automatic block search backward
RESTART Restart
IWS_LOE Undo actual-value setting
Symbol Name
DE Digital input
DA Digital input
Symbol Name
G_1 G function of group 1
G_2 G function of group 2
X_T Position/dwell time programmed
F Velocity programmed
M_1 M function of group 1
M_2 M function of group 2
M_3 M function of group 3
Symbol Name
G_1 G function of group 1
G_2 G function of group 2
G_3 G function of group 3
X_T Position/dwell time programmed
P Number of subroutine calls programmed
UP Subroutine call (subroutine number)
/ Skip block
F Velocity programmed
M_1 M function of group 1
M_2 M function of group 2
M_3 M function of group 3
D Tool offset value programmed
Symbol Name
G_1 G function of group 1
G_2 G function of group 2
G_3 G function of group 3
X_T Position/dwell time programmed
P Number of subroutine calls programmed
UP Subroutine call (subroutine number)
/ Skip block
F Velocity programmed
M_1 M function of group 1
M_2 M function of group 2
M_3 M function of group 3
D Tool offset value programmed
Symbol Name
BEGR_V_MAX Limitation v_max (MD23)
BEGR_N_SOLL Limitation n_nom
BEGR_A_MIN Limitation a_min
Symbol Name
Status word 1
ZK1_MELD Message ZK1: Drive alarm occurred
ZK2_3_MELD Message ZK2/3: Event of class ZK2/ZK3 occurred
P_ACHSE Parking axis - actual value: Axis parking
BIT4 FFT analysis running (for diagnostic purposes only)
BIT5 Function generator running (for diagnostic purposes only)
ERB Set-up mode - actual value: Set-up mode activated (available soon)
HLG_SS_I Ramp-function generator fast stop - actual value: Fast stop active
MG2_I 2nd torque limit - actual value: 2nd torque limit active
DRZSWGL_I Drive MD for smoothing of speed setpoint signal - actual value:
MDs for smoothing of speed setpoint value active (MD1500 and
following)
0: low-pass filter active and "Smoothing of speed setpoint signal
active" (control word 1.11) = 1
1: other (also default value)
Status word 2
SP_SG_1
SP_SG_2 Actual parameter record: Actual parameter record of drive
SP_SG_3
ANTR_BER Drive ready: Drive ready for traverse
INT_SPERR_I Integrator inhibit - actual value: Integrator in speed control loop
blocked
IFG Pulse enable - actual value: Pulses enabled
RFG_IR Current controller enable - actual value: Current controller enabled
RFG_NR Speed controller enable - actual value: Speed controller enabled
FGR Reference input variable - actual value:
0: torque-controlled operation
1: speed controlled operation
U_F_BETR U/f mode: U/f mode active
E_BR_EING Automatic braking initiated: Drive brakes with max. permissible
torque (response after cancellation of controller enable and active
pulse enable)
Status class 2
ZWI_KREIS Intermediate circuit ("ZWK")
0: Uzwk > MD1604
1: Uzwk < MD1604
BIT1 Emergency retraction intermediate circuit
0: Uzwk > MD1634 (if emergency retraction activated) and
default
1: Uzwk < MD1634 (if emergency retraction activated)
BIT2 Emergency retraction/generator mode active
0: default
1: emergency retraction/generator mode active
BIT3 Generator speed < min. speed
available soon for the Emergency Retraction function
0: default
1: nact < MD1635 (if emergency retraction activated)
MOT_WARN Motor temperature warning
Motor temperature warning threshold exceeded or temperature
sensor broken. When the time set in MD1603 is elapsed, the
device is switched off.
Remedy: Check load play, check setting in MD1602. Check
encoder cable.
Symbol Name
KUEHL_WARN Heat sink warning
Max. power section temperature exceeded. The device is switched
off after 20 sec.
Remedy: Check load play.
Status class 3
BIT0 Run-up process completed
0: Ramp-function generator active: Limit value messages |Md| <
Mdx and Nact = Nnom switched off
1: Ramp-function generator inactive: limit value messages active
BIT1 /Md/ < Mdx Mdx MD1428
Delay time MD1429
BIT2 /nact/ < nmin Nmin MD1418
BIT3 /nact/ < nx Nx MD1417
BIT4 nnom = nact Tolerance band MD1426
Delay time MD1427
BIT5 Variable signaling function
Threshold value monitoring of drive signals.
Parameterization by MD1620 ... 1626
BIT6 (nnom - nact) < Delta (-): for service purposes only
BIT7 (nnom - nact) > Delta (+): for service purposes only
BIT8 Actuating voltage /u_actuat_g/ > u_max: for service purposes only
BIT9 Current set value / i_set/ > i_max
i _max Minimum of MD1104/MD1105, MD1107, MD1108
BIT11 Setpoint value of speed /n_nom/ > n_uewa_mot
n_uewa_mot MD1405
BIT12 Actuating voltage /u_actuat_d/ > u_max: for service purposes only
BIT13 Set torque /mnom/ > mlimit: for service purposes only
Diagnosis 0
BIT0 Module error, group error
BIT1 Internal error (see Diagnosis 2,3)
BIT2 External error
BIT3 Channel error (see Diagnosis 8)
Diagnosis 1
BIT0-2 Type class of module
Diagnosis 2
reserved
Diagnosis 3
BIT6 Process alarm lost
Diagnosis 8
BIT0 Cable break (incremental encoder)
BIT1 Absolute encoder fault
BIT2 Missing pulses from encoder, zero mark missing
BIT3 Voltage monitoring of encoder
BIT4 ZK1 error (drive POWER-ON alarm)
Input limits and units Designation Lower Input Limit Upper Input Limit Unit
Tool offset No. 1 20 -
Tool length -1 000 000 000 + 1 00 000 000 [USR]
compensation
Wear value, -1 000 000 000 + 1 00 000 000 [USR]
absolute
Wear value, 0 + 1 00 000 000 [USR]
additive
Input limits and units Designation Lower Input Limit Upper Input Limit Unit
DS4
Incremental 0 1 000 000 000 [USR]
dimension
Overview
/ N G1 G2 G3 X/t F M1 M2 M3 D P L
Note: The program number of the traversing program is set by entering %100, for
example.
To run a program, this number must be specified during the program selection.
The traversing program is stored under the DB No. Program No. +1000.
Program number Designation Lower Input Limit Upper Input Limit Unit
Program number %1 %199 -
Block number Designation Lower Input Limit Upper Input limit Unit
Block number N1 N255 -
G function In the initial position, active G functions are represented in bold type.
G functions that are active block by block are marked with an s, and modal G
functions are marked with an m.
Position/dwell time Designation Lower Input Limit Upper Input Limit Unit
Position X- 1 000 000 000 X1 000 000 000 USR as per MD7
Dwell time with X2 X100 000 ms
G04 is rounded to
integer multiples of
MD61 (position-
controller cycle)
Subroutine calls Designation Lower Input Limit Upper Input Limit Unit
Number of P1 P250 -
subroutine calls
Program number L1 L199 -
4 STEP 7 Blocks
OBs for cycle and Cycle and Start-Up Called OB Preset OB Priority
start-up Cycle OB 1 lowest priority
Start-up (STOPRUN transition) OB 100 -
OBs for internal and The priority of the OBs cannot be modified.
external interrupts
Interrupts (Internal and External) Called OB OB Priority
Real-time interrupt OB 10 2 (low)
Delay interrupt OB 20 3
Range: 1 ms to 60,000 ms
(adjustable in steps of 1 ms)
Time interrupt OB 35 12
Range: 1 ms to 60,000 ms
(adjustable in steps of 1 ms)
Process interrupt OB 40 16
Diagnostic interrupt OB 82 26 (high)
CPU CPU changes to STOP, ... CPU does not change to STOP, ...
in STOP/ if a real-time interrupt, delay if a real-time interrupt occurs and
not in STOP interrupt, process interrupt, or OB 35 has not been programmed.
diagnostic interrupt occur, but the
respective OB has not been
programmed.
OBs for error The CPU changes to the STOP condition if an error occurs but the
response respective OB has not been programmed (except OB 81).
Overview Number: 37
SFCs are system functions integrated in the operating system.
Overview The system data blocks contain the parameters of the S7300. The
parameters are loaded with values by the user either by means of the
STEP7 tool "System Configuration" or by "Define Global Data".
SDB Contents
SDB 0 Parameters of the CPU 314
SDB 1 The CPU automatically enters the actual configuration of
the S7300.
SDB 2 Default parameters of the integrated S7-CPU
SDB 5 Communication parameters for MPI stations in a S7300
configuration.
SDB 100 not available
SDB 101 Parameters for the periphery in rack 1
SDB 102 Parameters for the periphery in rack 2
SDB 103 Parameters for the periphery in rack 3
SDB 210 Parameters for communication via global data
Overview For the communication between the integrated S7-CPU and the
positioning unit, the standard software "Intelligent I/O Blocks of MCU" is
used.
The intelligent I/O blocks can be run in the S7 sequencing control of the
MCU.
Function The technological function OP_MCU is intended for mode setting and
operation. In addition to the operating mode, process data and control
parameters are transferred. Furthermore, the current operating
conditions are read and provided to the output parameters of the
respective block.
Designation FB1 is intended for the setting and operation of operating modes:
transfer of control and check-back signals
reading the error data record in case of operator errors
reading the error data record in case of data errors
reading the error data record in case of system/traversing errors
reading the modes
reference-point setting and service data reading
writing of setpoint SW254
writing of velocity step
writing of speed step
Calling the block FB1 (OP_MCU) must be called in the cyclic program after FC1
(RESTART) (CALL).
Parameter function
block: OP_MCU
Function This block is intended for the synchronization between the CPU and the
positioning unit, as well as to changeover between active operation
(MCU-PIT) and S7 user program by means of the TFB block parameter.
During the active operation, communication from the S7-user program
is not possible.
Before calling the Before calling FB1, block addresses and channel number must be
block specified in the invocation data block.
Block address: Invocation DB; DW24=100HEX
Channel No.: Invocation DB; DW26=1
Calling the block FC1 must be called in OB1 prior to OP_MCU and CONTROL.
Parameter function
block: RESTART
Calling the block The block provides the user with various additional functions on the FM
module. However, many users do not need these functions. In such
cases, the block can completely be omitted. However, if the user wants
to use one of these functions, the block must be called absolutely in the
cyclic program (CALL). Calling one and the same block in several
program execution levels is not permitted.
Parameter function
block: CONTROL
Function The intelligent I/O function STATUS is intended to read the status
information of the digital inputs I1 to 14 from the FM-MCU in the
process interrupt program. The status information read is made
available at the output parameters.
Calling the block The function may only be called in the process alarm branch (OB40).
Before calling the block, module address and channel number must be
entered in the invocation data block.
Parameters of the
intelligent I/O block:
STATUS
Name Para- Data Description Is...
meter Type
Type
INSTANZ_DB I BLOCK Number of the invocation DB polled
_DB
S_I1 O BOOL Status information of digital input I1 set / reset
S_I2 O BOOL Status information of digital input I2 set / reset
S_I3 O BOOL Status information of digital input I3 set / reset
S_I4 O BOOL Status information of digital input I4 set / reset
ANZEIGENWORT O WORD Block status, error number entered
FC-STATUS
FC Restart FC 3
STATUSBITS
LESEN
Loading the mode for the
positoning control in the
invocation DB Evaluation of status bits
FB OP_MCU
FC Control
5 Encoders
Overview The incremental position encoder ERN 1387 is integrated in the motors of the
1FT6/1FK6 series as single-encoder system even in the standard version. In
addition to the position information, the encoder provides the information on
the rotor position and the speed information.
Due to the high accuracy requirements, the ERN 1387 can also be used as an
indirect measuring system, i.e. in this case, the position information is provided
by this encoder directly attached to the mechanics.
The encoder parameters of the integrated indirect encoder are set using the data
of the selected motor type. The parameters of the direct measuring system must
be parameterized by the user.
Note The encoder values in the MCU machine data may not deviate from the values
in the drive machine data.
The encoder parameters of the integrated encoder are set using the data of the
selected motor type. The parameters of the direct measuring systems EQN
1325 must be parameterized by the user.
Overview The absolute, rotary position encoder EQN 1325 of Heidenhain Co. can be
used both as a single-encoder system in motors of the 1FT6 series and as a
direct rotary position encoder.
Note The encoder values in the MCU machine data may not deviate from the values
in the drive machine data.
6 Commissioning Schedule
If one of the three components (PLC, FM-POS, drive) is not saved to the
Onboard-FEPROM during the next start, the old FEPROM data are active after
the following Power-On (without switch position 3). This makes a selective
commissioning (PLC, FM-POS, drive) possible.
Call PIT-EDIT:
For example, use the WIN 95 EXPLORER in the STEP7-V2
path in the P7MCU folder.
Call the file "P7SKEDIX.EXE".
Selection: Online:
Drive data (DB 1250)
Edit: Selection of power section (pulse enable: Kl.663 to X431)
Read power section data out and select them in the selection list
Press OK to confirm.
see Description MCU-PIT, Section 4.4.7
Read out the motor MLFB and use the Select Motor command to select
the motor. Press OK to confirm. (controller data are calculated)
see Description MCU-PIT, Section 4.4.7
Press OK to confirm.
1 RUN
The LEDs DIAG and FLTD should no longer light after 0 STOP
the
run-up. 0 FORCE
In case of error (LEDs are still lighting) read the Online 0 SF
alarms out. 0 DIAG
0 FLDT
The information of the drive machine data are entered in the FM machine data.
If any errors in the order are detected, this is reported as 'inconsistency'. After
Mains OFF/ON, online alarms are provided. The LEDs DIAG and FLDT are
still lighting.
0 RUN
1 STOP
Bring the commissioning switch to position 3 to turn the 0 FORCE
MCU on (E/R module). S1=3 0 SF
No PLC program active when the switch is in position 3. 1 DIAG
1 FLDT
1 RUN
0 STOP
After run-up of the MCU, bring the commissioning 0 FORCE
switch (S1) to position 0 or 2. 0 SF
S1 = 0 represented on the right 1 DIAG
1 FLDT
Copy the S7 blocks from the supplied diskette 3/3 to the S7 user project
(intelligent I/O blocks FB 1, FC 1, FC 2, FC3, FC100, OB1, OB100). Copy
the S7 blocks from the user project to the PLC.
If the PLC is not in the Stop condition (S1=0),
adhere to the order when copying.
Mains OFF/ON or
Reset via MCU-PIT-EDIT
MD21 and MD22 Software Limit Switches are only active after picking up
the reference point. For the commissioning, small traversing ranges are
recommended.
see Function Description "Positioning with the MCU", Section 1.1.1
Further optimization of the machine data makes only sense after traversing the
axis.
Make sure that the machine data suit with the mechanical conditions.
Establish link.
Preselection:
Set-up mode
Override >< 0
Pulse enable
Axis enable
Controller enable
External pulse enable; connect (Kl.663) to enable voltage
Acknowledge faults (if any)
Select velocity step 1 or 2
Check-back signals:
Set-up mode
Drive ready
Pulses enabled
Start enable
Prerequisite: The saved data must suit with the new firmware / module.
Insert the PCMCIA card when the device is switched off (card stands off).
After Power-On, the two bottom LEDs should light. The two uppermost LEDs
flash at a cycle of 3 Hz.
PS: Make sure that no voltage failure occurs during the UPDATE, as in this
case, the MCU will not have data to detect the PCMCIA card.
7 Error Messages
Additional Information
HEX Description Note
00 No error
0B The data block specified when calling the blocks FC RESTART, FC Specify the correct DB
CONTROL and FC STATUS on the INSTANZ_DB parameter does not suit
with the technological function (DB is not the invocation DB of FB OP_MCU).
0C Invalid channel number for the MCU Enter correct channel number in the invocation
DB in the word KA_NR (in the example through
OB100)
0E Error when calling SFC RD_REC. The return value RET_VAL of the SFC is See Error Description of SFC
made available to the user for evaluation in the variable SFCERR_TFNAME. RD_REC
0F Error when calling SFC WR_REC. The return value RET_VAL of the SFC is See Error Description of SFC
made available to the user for evaluation in the variable SFCERR_TFNAME. WR_REC
10 Module is not ready for operation or not parameterized Parameterize the module by
means of the tool AS-PARAM
11 Timeout error. An expected reaction of the module did not come. While the Restart
technological function is waiting for a reaction, a counter is internally increased
whenever the technological function is called. If this counter reaches the value
MAX-AUFRUF, this error message is provided.
12 Data error. Normally, this error is detected by the module and provided to the Correct the data in the
technological function to be transferred to the user (stored in the data block). invocation DB
3E Invalid job number (FC CONTROL) Enter a valid job number
No. Explanation
200001 Power On Alarm
200002 Voltage monitoring
200003 Missing pulses from encoder
200004 Error: absolute-value encoder
200005 Cable break of encoder
No. Explanation
810001 Error: OB event
810002 Synchronous error
810003 Asynchronous error
810004 Stop/abortion event
810005 BZ process event
810006 Error: communication event
810007 Error: H/F system event
810008 Error: diagnostic data of modules
810009 User-diagnosis-event
8 Appendix
P
Parameterizing a block T
writing and reading, 4-5 Teach In, 3-8
PLC mode selector switch, 6-2 Time interrupt, 4-2
Position control, 1-3 Time-interrupt functions, 4-4
Positioning control Time-keeping function, 4-4
data errors, 7-4 Timing error, 4-3
diagnostic alarm, 7-2 Tool offset, 1-3; 3-37
error messages, 7-2 Traversing error, 3-19
machine data errors, 7-5 Traversing errors, 7-3
operating errors, 7-2 Traversing program, 1-3; 3-38
operator errors, 7-3 block number, 3-39
run-up errors, 7-6 G function, 3-39
traversing errors, 7-3 M function, 3-40
traversing program errors, 7-6 position/dwell time, 3-40
Power supply fault, 4-3 Program number, 3-39
Process data 1, 3-14 skip block, 3-39
Process error, 3-19 subroutine call, 3-40
Process interrupt, 4-2 tool offset number, 3-40
Program selection, 3-8 velocity, 3-40
Programming error, 4-3 Traversing program errors, 7-6
Traversing the MCU Axis, 6-7
R
Real-time interrupts, 4-2
U
Unit control panel
error messages, 7-11
V
Velocity step, 3-3
Z
Zero offset, 3-7
Alphabetical index 2
Appendix
If you require additional information or should any special problems arise, please enquire
for further information to your nearest Siemens branch office.
The contents of this Documentation are not part of any earlier or existing agreement,
commitment or legal undertaking, nor are they intended as an amendment thereto. All
responsibilities on the part of Siemens shall result only from the respective Purchase
Contract, which also contains the complete and solely binding warranty regulations. The
warranty provisions laid down by the Contract shall neither be extended, nor restricted by
this Documentation.
BERO, SIMATIC, SIMODRIVE, SINEC, SINUMERIK, STEP are registered trademarks of Siemens.
The remaining names and designations used in this Documentation may also be trademarks, the use
of which by any third parties for their own purposes may violate the rights of the copyright holders.
1 Documentation List
Further information Further information going beyond the scope of this Manual is to be found in
the following manuals/documentation:
2 Index
I Completion, 11/3-17
Edit ASCII files, 11/3-15
I/O Modules, 9/2-5 Enter drive, 11/3-11
I/Os, 9/1-3 Enter path, 11/3-11
Icons, 8/2-3 Language selection, 11/3-14
IEC 204, 9/4-2 Modify configuration, 11/3-13
IF, 7/4-4 Set configuration, 11/3-12
IFR, 7/4-12 Transfer software to hardware, 11/3-16
IM 360, 9/2-5 Transfer with errors, 11/3-16
IM 361, 9/2-5; 9/3-3 Installing the system master disk, 11/3-6
Improvements, 8/1-1 Activating transfer, 11/3-9
Increment parameters, 8/4-18 Completion, 11/3-10
Incremental dimension 254, 7/4-6 Readiness for receive of MMC module,
Incremental dimension input, 7/5-26 11/3-9
Incremental dimension parameters, 14/1-3 Series upgrade, 11/3-10
Incremental dimension, 7/3-50; 14/3-37 Transfer not o.k., 11/3-10
Incremental encoder ERN 1381 Transferring software to hardware, 11/3-9
Specifications, 3/2-5 Instance DB, 2/3-2; 2/4-4; 9/6-5; 9/6-9; 9/7-8;
Incremental encoder ERN 1387 9/7-31
Specifications, 3/2-5 Data Transfer, 9/7-2
Incremental encoder principle Variables, 9/7-3
MCU, 3/1-2 Instruction Execution Time, 9/1-3
Incremental encoder, 7/1-60 Instruction set, 2/4-2; 9/1-3
ERN 1381, 3/2-4 STEP 7, 2/4-2
ERN 1387, 3/2-4 Integrated S7-CPU, 9/1-3
Signals, 3/1-3 Data Interchange, 9/6-2
SIMODRIVE Sensor, 3/2-8 Instruction Execution Time, 9/1-3
Incremental position encoder, 14/5-2 Memory, 9/1-3
Incremental track, 3/1-2 Scan Time, 9/5-20
Increments/encoder revolution, 7/1-63; 7/1- Intelligent I/O Block, 9/6-5; 9/7-3; 9/7-6; 9/7-
66 26; 9/7-29
Indicator word, 14/7-10 CONTROL, 9/6-13
Indirect measuring system, 7/3-30 Error messages, 14/7-10
Individual test certificate, 12/11-4 Example for calling, 14/4-17
Inductances, 12/2-3 Instance DB, 9/6-5
Info window, 8/2-1 OP_MCU, 9/6-10
Information data record, 7/4-15; 14/3-19 RESTART, 9/6-8
Information, 9/1-2 STATUS, 9/6-17; 14/4-16
Input adaptation, 7/2-5; 7/3-16 Interconnection, 12/4-3
Inputs and Outputs, 9/3-7 Interface DB, 14/1-2
Integrated, 9/3-7 Interface diagnosis data, 14/3-18
Onboard, 9/3-7 Interface Modules, 9/2-5
Inputs, 2/5-2; 7/2-1; 9/5-6 Interface process alarm, 14/3-19
digital, 2/3-4 Interface, 7/4-1
Inputs/outputs, 2/5-2 Interference source, 12/3-2
Inserting an empty block, 11/4-20 Interference voltage, 10/1-2
Inspection windows, 12/5-2 Interference, 7/1-4; 12/3-2
Install system master disk Intermediate connectors, 12/6-5
Select drive, 11/3-8 Intermediate-circuit fixed voltage, 7/3-18
Select path, 11/3-8 Intermediate-circuit low voltage, 7/3-25
Installation package, 11/3-29 Internal clock, 2/4-6
Installation, 8/3-1; 8/3-4; 11/3-18 Interpolator, 7/1-15
Starting from diskette, 11/3-19 Interrupt and error processing, 14/4-5
Installing the application master disk, 11/3- Interrupt inputs, 2/3-4
11 Interrupt Processing, 9/5-13
Activate transfer, 11/3-16 Interrupting/completing a movement, 7/4-19
Weight, 9/1-3
Weighting factors, 9/1-3
WFG, 7/4-11
Window, 8/5-12
Windows commands, 8/6-1
Windows, 8/1-1
Working range, 7/1-10
Workpiece coordinate system, 11/3-26
Workstation, 12/10-4
Z
Zero offset, 7/3-8; 14/3-7
Modify, 11/4-11
Zero Shift, 9/7-14
ZOOM, 11/4-10
3 Abbreviations
=2
f Angular frequency
A Output
AC Alternating current
AD Drive data
AF Automatic Subsequent Block
AG PLC (programmable logical controller)
AI Analog input
AKKU Accumulator
AM Drive machine data
AMF Alter M function
AO Analog output
AR Working guideline
AS Drive service
ASCII American standard code for information interchange
ASIC Application specific integrated circuit
AT Advanced Technology
AUT Automation Group at the Siemens AG
AUTO Automatic mode
AWL Statement list (STL)
AWP User program
B&B Operation and monitoring
BA Operating mode
BCD Binary coded decimals
BD Operating data
BG Module
BL Processing is running
C Capacity
CE Communauts europennes
CP Communication processor
CPU Central processing unit
D Tool offset number
DA Digital output
DAU Digital analog converter
DB Data block
DB-SS Interface data block
DC Direct current
DE Digital input
DI Digital input
DIN German Industrial Standards
DO Digital output
DP Distributed periphery
DPR Dual-port RAM
DS Data record
E Input
E/R Stabilized power supply/recovery module
EBF Unit Operator Panel
EGB Electrostatic sensitive devices /modules
EMV Electromagnetic compatibility
EN European standard
EnDat Encoder Data Interface (bi-directional synchronous-serial interface)
EP Electronics evaluation factor
EPROM Erasable programmable read only memory
ESD Electrostatic Sensitive Device
EU European Union
EWG European Economic Community
f Frequency
F Speed
FB Function block
FC Function
FC Function call: Function blocks in the PLC
FEPROM Flash EPROM: read-write memory
FFT Fast Fourier Transformation
FM Function module: Periphery module of the SIMATIC S7
FR +/- Drive +/-
FUP Sequential Function Chart
G G function
GD Global data
GND Signal ground: reference potential
H Magnetic
HEX Abbreviation for hexadecimal number
HF High frequency
HSA Main spindle drive
HW Hardware
I Current
IEC International Electrotechnical Commission
IFM Integrated function modules
SW Software
SYSDOK System-integrated documentation
TB Intelligent I/O modules
TB Intelligent I/O modules
TFB Operation via PIT-Control (control signal)
TFGS Operation via PIT-Control (check-back signal)
T-L Dwell time running
TN-S TN-S network
TTL Transistor transistor logic
U Voltage
U/f-Umsetzer Voltage/frequency converter
UE non-stabilized supply module
UE-Module Supply module with non-stabilized intermediate circuit voltage and pulse resistance
W-Module Monitoring module
V24 Serial interface: Definition of exchange lines between data terminal equipment and
data-circuit terminating equipment
VDE Association of German Electrotechnical Engineers
VGA Video graphics adapter
VP Traversing program
VSA Feed drives
VSA-Module Feed module
WFG Waiting for machining enable
WK/WZ/ Tool/tool offset
WZK/WKZ
X Position/dwell time
XT Extended Technology
Z Impedance
ZK, ZWK Intermediate circuit
Version 4.0
Handbuch
MCU 172A
Single-Axis Positioning Control
for SIMODRIVE 611
Version 4.0
6SN1 197-4MA00-0BP0
Handbuch
MCU 172A
Single-Axis Positioning Control
for SIMODRIVE 611
Version 4.0
6SN1 197-4MA00-0BP0