Sinamics S120 Drive System
Sinamics S120 Drive System
Sinamics S120 Drive System
© Siemens AG 2013
SINAMICS S120
drive system
3/2 Overview
Siemens PM 21 · 2013
© Siemens AG 2013
■ Overview
With its separate power units and Control Units, the The STARTER commissioning tool is used to commission and
SINAMICS S120 drive system can be perfectly adapted to a diagnose the various types of SINAMICS drives through the
wide variety of different drive tasks. Control Units. The SCOUT engineering system, which includes
the STARTER tool, is required for SIMOTION D Control Units.
The Control Unit is selected according to the number of drives to
be controlled and the required performance level, while the For further information about STARTER and SCOUT, see
power unit must be rated to meet the energy requirements of the Engineering software and chapter SIMOTION Motion Control
system. The connection between the Control Unit and power unit System.
3 is made very simply using the digital system interface
Power Modules
DRIVE-CLiQ.
Control Units The stand-alone version of a SINAMICS S120 drive system con-
sists of a CU310-2 Control Unit and a Power Module. A mains
rectifier, a voltage-source DC link and an inverter for supplying a
motor are integrated in the Power Module.
CU310-2 DP and CU310-2 PN Control Units Power Module in blocksize format with CU310-2 Control Unit
CU310-2 Control Units are designed to control a single drive.
They feature as standard a PROFIBUS interface (CU310-2 DP)
or PROFINET interface (CU310-2 PN) and a TTL/HTL encoder
evaluation circuit.
DRIVE-CLiQ ~
CU320-2 Control Unit Control Power
Unit Module
The CU320-2 Control Unit has been designed to control multiple ~
drives. A CU320-2 Control Unit is capable of operating up to
G_D211_XX_00042
■ Overview (continued)
Motor Modules Line Modules
A voltage-source DC link and an inverter for supplying a motor Line Modules generate a DC voltage from the line voltage and
are integrated in the Motor Module. supply Motor Modules with energy via the voltage-source DC
link.
Basic Line Modules
Basic Line Modules are designed only for infeed operation, i.e.
they are not capable of feeding regenerative energy back into 3
the supply system. If regenerative energy is produced, e.g.
when drives brake, it must be converted to heat by means of a
Braking Module and a braking resistor. When a Basic Line
Module is used as the infeed, the matching line reactor must be
installed. A line filter can be installed optionally in order to restrict
conducted interference to Class C2 limits (EN 61800-3).
...
Line =
Motor
contactor
Module
G_D211_EN_00032a
CU320-2 Control Unit, Line Module and three Motor Modules in M
booksize format 3
and fuses
M M
3~ 3~
...
Line =
contactor Motor
Module
G_D211_EN_00033
Motor Modules are designed for multi-axis drive systems and are
controlled by a CU320-2 Control Unit, a SIMOTION D4x5-2 or M
CX32-2 Controller Extension. Motor Modules are interconnected 3
by means of a shared DC busbar. Since the Motor Modules have
a common DC link, they can exchange energy with one another,
i.e. if one Motor Module operating in generator mode produces
energy, the energy can be used by another Motor Module oper-
ating in motor mode. The voltage-source DC link is supplied with
main line voltage by a Line Module.
■ Overview (continued)
Active Line Modules Type of cooling
Active Line Modules can supply energy and return regenerative Depending on the frame size, there are several cooling options:
energy to the supply system. A Braking Module and braking
resistor are required only if the drives need to be decelerated in
a controlled manner after a power failure (when energy cannot
be recovered to the supply). In contrast to Basic Line Modules
and Smart Line Modules, however, Active Line Modules gener-
3 ate a regulated DC voltage which remains constant despite fluc-
tuations in the line voltage. In this case, the line voltage must
remain within the permissible tolerance range. Active Line Mod-
ules draw a virtually sinusoidal current from the supply which lim-
its any harmful harmonics.
In order to operate an Active Line Module, it is absolutely essen-
tial to use the Active Interface Module for the appropriate rating.
A line filter can be installed optionally in order to restrict con-
ducted interference to Class C2 limits (EN 61800-3).
internal external cold-plate liquid
air cooling air cooling cooling cooling
G_D211_EN_00044a
Switch disconnector Active Interface Active Line
and fuses or Module Module
circuit-breaker
Internal air cooling
... In this standard solution, the power loss from the electronics and
power units of the drive components is removed by natural cool-
ing or by a forced-ventilation system and routed to the interior of
= the control cabinet.
Motor External air cooling
G_D211_EN_00035a
Module
External air cooling uses the "through-hole" method. The compo-
nents' power unit heat sinks pass through the mounting surface
M in the control cabinet and can thus release the heat losses of the
3 power circuit to a separate external cooling circuit. The only heat
loss that remains in the cabinet is that emitted by the electronics.
Degree of protection IP54 can be achieved at this "mechanical
interface" – the external heat sink. The heat sink, with its cooling
Please refer to chapter System description – Dimensioning for fins and the fan unit (part of the scope of supply), protrudes
more information about designing a drive system with through the back into a separate ventilation duct, which can also
SINAMICS S120. open outwards.
Power Modules, Motor Modules and Line Modules are available Cold plate cooling
in booksize, booksize compact, blocksize and chassis format:
Units designed with cold plate cooling can pass the power unit
• Power Modules in blocksize and chassis format heat losses to an external heat sink via a thermal interface on the
• Motor Modules and Line Modules in booksize, booksize unit's rear panel. This external heat sink is water-cooled, for
compact and chassis format. example.
Liquid cooling
On liquid-cooled units, the power semiconductors are mounted
on a heat sink through which the cooling medium flows. Most of
the heat produced by the unit is absorbed by the cooling
medium and can be dissipated outside the control cabinet.
■ Overview (continued)
Customized applications System components
The devices can be purchased in the different formats as a System components are divided into the following categories:
complete system solution. The user profits from the know-how of • DC link components
the drive specialists and no longer has to consider the thermal e.g. Braking Modules and braking resistors
design of the application. Especially in applications with devices
that use cold plate cooling, external air cooling and liquid- • Power components on the output side
cooled devices in chassis format, the user obtains a technically e.g. motor reactors
reliable solution and saves time on engineering. The system • Supplementary system components 3
solution ranges, for example, from a drive line-up in booksize e.g. Terminal Modules, Operator Panels and Communication
format with cold plate cooling completely installed on a common Boards
cooling plate through to complete control cabinets with a cooling • Encoder system interface
system and temperature/condensation control. for connecting various types of encoders to SINAMICS S120
Further information on request.
Energy efficiency
The SINAMICS S120 drive system saves energy by recovering
energy from the axes and using it within the DC link group of a
multi-axis configuration and by feeding it back into the supply
system. Even at full infeed capacity, no unnecessary heat is
generated in the control cabinet.
Because the Active Line Modules prevent capacitive and induc-
tive reactive currents, SINAMICS S120 also ensures that no un-
necessary power losses occur in the power supply and that no
current harmonics occur. This not only prevents detrimental
effects on other loads, but it also reduces the heat generated in
the control cabinet.
■ Overview (continued)
Booksize format Blocksize format
Booksize format units are optimized for multi-axis applications Blocksize format units are optimized for single-axis applications
and are mounted adjacent to one another. The connection for the and are supplied only as Power Modules.
shared voltage-source DC link is an integral feature. The book-
size format offers the full range of cooling options: Internal air The CU310-2 Control Unit can be snapped onto them directly.
cooling, external air cooling, cold plate cooling and liquid cool- The units are cooled by internal air cooling or liquid cooling.
ing in some cases.
3
Chassis format
Booksize compact format Higher-output units (approximately 100 kW and above) are con-
Derived from the booksize format we developed the booksize structed in chassis format. These are available as Line Modules,
compact format for machines with particularly high requirements Power Modules and Motor Modules. Chassis format units are
for the compactness of their drives. The booksize compact for- cooled by an internal air cooling circuit as standard. For special
mat combines all benefits of the booksize format and provides applications, e.g. for extrusion or marine applications, liquid-
the same performance with an even smaller overall height and cooled devices can be ordered. The CU310-2 Control Unit can
an extended overload capability. The booksize compact format be integrated in the Power Modules.
is thus particularly suitable for integration into machines with
high dynamic requirements and confined installation conditions.
The booksize compact format has the same design for the cool-
ing methods of internal air cooling and cold plate cooling.
■ Overview (continued)
Cabinet Module format all components to be combined to meet requirements in a
closed cabinet system.
Apart from the built-in converter units described in this catalog,
SINAMICS S120 Cabinet Modules represent a cabinet-mounted For the Cabinet Modules, apart from Motor Modules, the three
system that is specially designed for use in plant construction Basic Line Module, Smart Line Module and Active Line Module
and can be combined with drive cabinet series with a total infeeds are available as well as special Braking Modules and
output of up to 4500 kW (6000 HP). Auxiliary Modules. The system is available with the degrees of
protection IP20, IP21, IP23, IP43 and IP54. Communication
The modular system is ideally suited to multi-motor drives with a
central supply infeed and a common DC busbar, of the type
between the Power Modules and the central Control Unit takes 3
place via DRIVE-CLiQ.
typically used in, for example, paper-making machines, roller
mills, test stands, or hoisting gear. The modular concept allows
=
~
= = = = = = = = = =
~ ~ ~ ~ ~ ~ ~ ~ ~ ~
G_D211_XX_00203
M M M M M M M M M M M M
3~ 3~ 3~ 3~ 3~ 3~ 3~ 3~ 3~ 3~ 3~ 3~
Example of a drive line-up with SINAMICS S120 Cabinet Modules for a multi-motor drive
The power range can be extended as required by means of a
parallel connection of up to 4 individual modules.
Further information is available on request.
■ Technical specifications
Unless specified otherwise, the following technical specifica-
European standards
tions are valid for all the following components of the
SINAMICS S120 drive system. EN 954-1 Safety of machinery – safety-related parts of
control systems;
Electronics power supply 24 V DC, -15 %/+20 % Part 1: General design principles
Vibratory load EN 61508-1 Functional safety of electrical/electronic/
• Transport 1) acc. to EN 60721-3-2 programmable electronic safety-related systems
3 - All units and components
except for chassis format
Class 2M3
EN 50370-1
Part 1: General requirements
Electromagnetic compatibility (EMC) –
- Chassis format units Class 2M2 Product family standard for machine tools
• Operation Part 1: Radiated interference
Test values acc. to EN 60068-2-6 Test Fc
EN 55011 Industrial, scientific and medical high-frequency
10 ... 58 Hz: Constant deflection devices (ISM devices) – radio interference –
0.075 mm (0.0030 in) limit values and measuring techniques
58 ... 150 Hz: Constant
acceleration = 9.81 m/s2 (1 × g) EN 60204-1 Electrical equipment of machines
Part 1: General definitions
Shock stressing
• Transport 1) acc. to EN 60721-3-2 EN 61800-3 Variable-speed electric drives
Part 3: EMC product standard including specific
- All units and components Class 2M3
test methods
except for chassis format
- Chassis format units Class 2M2 EN 61800-5-1 Adjustable-speed electrical power drive systems
• Operation Part 5: Safety requirements
Test values acc. to EN 60068-2-27 Test Ea Main section 1: Electrical and thermal
requirements
- Booksize and blocksize formats 147 m/s2 (15 × g)/11 ms
FSA to FSC North American standards
- Blocksize format FSD to FSF 49 m/s2 (5 × g)/30 ms UL508C Power Conversion Equipment
- Chassis format 98 m/s2 (10 × g)/20 ms
CSA C22.2 No. 14 Industrial Control Equipment
Ambient conditions
• Protection class acc. to Class I (with protective conductor Approvals
EN 61800-5-1 system) and Class III (PELV) cULus Testing by UL (Underwriters Laboratories,
• Touch protection DIN VDE 0106 Part 100 and www.ul.com) according to UL and CSA standards
BGV A 3 when used properly
• Type of cooling Internal/external air cooling,
power units with forced air cooling ■ More information
by means of built-in fan
For satisfactory and reliable operation of the drive system,
Permissible ambient/ original components of the SINAMICS system and the original
coolant temperature (air) Siemens accessories as described in this Catalog and the
during operation Configuration Manuals, in the functional descriptions or user
• For line-side components, 0 ... 40 °C (32 ... 104 °F) manuals should be used.
Power Modules, Line Modules without derating,
and Motor Modules > 40 ... 55 °C (104 ... 131 °F), The user must observe the configuring instructions.
see derating characteristics
• For Control Units, supplementary 0 ... 55 °C (32 ... 131 °F)
Combinations that differ from the configuring instructions (also in
system components, DC link up to 2000 m (6562 ft) conjunction with non-Siemens products) require a special
components, and Sensor Modules above sea level agreement.
Climatic ambient conditions If no original components are used, for example, for repairs,
• Storage 1) acc. to EN 60721-3-1 Class 1K4 approvals such as UL, EN and Safety Integrated can become
Temperature invalid and thus the operation authorization for the machine with
-25 ... +70 °C (-77 ... +158 °F) the non-Siemens components installed becomes invalid.
• Transport 1) acc. to EN 60721-3-2 Class 2K4
Temperature All of the approvals, certificates, declarations of conformity,
-40 … +70 °C (-104 ... +158 °F) test certificates, e.g. CE, UL, Safety Integrated etc. have been
Max. air humidity performed with the associated system components as they are
95 % at 40 °C (104 °F) described in the Catalogs and Configuration Manuals. The
• Operation acc. to EN 60721-3-3 Class 3K3 certificates are only valid if the products are used with the
Temperature described system components, are installed according to the
0 ... 55 °C (32 ... 131 °F) Installation Guidelines and are used for their intended purpose.
Condensation, splashwater, and In other cases, the vendor of these products is responsible for
ice formation are not permitted arranging that new certificates are issued.
(EN 60204, Part 1)
Environmental class/ Please refer to chapter System description – Dimensioning for
harmful chemical substances more engineering guidance to design a drive system with
• Storage 1) acc. to EN 60721-3-1 Class 1C2 SINAMICS S120.
• Transport 1) acc. to EN 60721-3-2 Class 2C2 Note: The products described in this catalog may cause
• Operation acc. to EN 60721-3-3 Class 3C2 high-frequency disturbances in a residential environment and
Organic/biological influences necessitate the implementation of interference-suppression
• Storage 1) acc. to EN 60721-3-1 Class 1B1 measures.
• Transport 1) acc. to EN 60721-3-2 Class 2B1
• Operation acc. to EN 60721-3-3 Class 3B1
Degree of contamination 2
acc. to EN 61800-5-1
■ Overview
Innovative system architecture with a central Control Unit Each of these Control Units is based on an object-oriented
SINAMICS S120 standard firmware which contains all of the
Electronically coordinated single drives work together to per- most popular control modes and can be scaled to meet even the
form your drive tasks. Higher-level controllers operate the drives most advanced performance requirements.
to achieve the required coordinated movement. This requires
cyclic data exchange between the controller and the drives. This The drive controls are supplied as ready-to-configure drive
exchange usually took place via a field bus, which required a objects:
great deal of time and effort for installation and configuration.
SINAMICS S120 takes a different approach: A central Control
• Infeed Control for line infeed,
• Vector Control for the broad scope of rugged asynchronous
3
Unit controls the drives for all connected axes and also estab-
lishes the technological links between the drives and/or axes. (induction) motor applications
Since all the required data is stored in the central Control Unit, it • Servo Control for permanent-field synchronous motors with
does not need to be transferred. Inter-axis connections can be demanding dynamic requirements
established within a Control Unit and easily configured in the • V/f control modes for simple applications such as group drives
STARTER commissioning tool using a mouse. with SIEMOSYN motors
• Simple technological tasks can be carried out automatically
by the SINAMICS S120 Control Unit
• The CU310-2 DP or CU310-2 PN Control Unit are available for
single drives
• The CU320-2 Control Unit is designed for multi-axis applications
• Sophisticated Motion Control tasks can be implemented with
the support of the more powerful D410-2, D425-2, D435-2,
D445-2 and D455-2 Control Units of SIMOTION D (graded
according to performance)
Drive objects
A drive object is a self-contained software function with its own
parameters and, if necessary, its own fault messages and
alarms.
Option
Board
Line Motor Motor Terminal Terminal
G_D211_EN_00057a
1) In transport packaging.
■ Overview (continued)
Overview of key open-loop and closed-loop control functions
Closed-loop control types Open-loop control types Main functions S120 for Comment, note
S120 S120 booksize/chassis
Infeed • Booksize • Booksize/chassis • Mains identification The mains sensor is the VSM 10
Control - Current control with/without - Basic Mode • Controller optimization Voltage Sensing Module;
mains sensor Rectification only "current" is the line current;
• Harmonics filter 3-phase with line frequency
3 - VDC control with/without
mains sensor
- Smart Mode
Rectification and
• Automatic restart
■ Overview (continued)
BICO technology CompactFlash card
Every drive object contains a large number of input and output The functions of the SINAMICS S120 drives are stored on a
variables which can be freely and independently interconnected CompactFlash card. This card contains the firmware and
using Binector Connector Technology (BICO). A binector is a parameter settings for all drives in the form of a project.
logic signal which can assume the value 0 or 1. A connector is a The CompactFlash card can also hold additional projects, which
numerical value, e.g. the actual speed or current setpoint. means that the correct project can be accessed immediately
when series machines of different types are commissioned.
Drive Control Chart (DCC) When the Control Unit has booted, the data on the 3
DCC Drive Control Chart for SINAMICS S120 for simple, graphi- CompactFlash card are read and loaded to the RAM.
cal configuration of control, logic and calculation functions at the The firmware is organized in objects. Drive objects are used to
drive level. implement open-loop and closed-loop control functions for
It expands the possibilities for easy configuring of technology Line Modules, Motor Modules, Power Modules and other system
functions for the SIMOTION Motion Control system as well as for components connected by DRIVE-CLiQ.
the SINAMICS S120 drive system. Diagnostics optimally supported by trace function
The user-friendly DCC editor supports easy graphical configura- The time characteristics of input and output variables associated
tion and a clear presentation of control loop structures. with drive objects can be measured by the integrated trace
The associated block library contains a large choice of closed- function and displayed using the STARTER commissioning tool.
loop control, calculation and logic modules as well as more The trace can record up to 4 signals simultaneously. A recording
complex open-loop and closed-loop control functions. can be triggered dependent on freely selectable boundary
conditions, e.g. the value of an input or output variable.
Drive Control Chart for SINAMICS S120 therefore provides a
convenient basis for resolving drive-level open-loop and closed-
loop control tasks directly in the converter.
Function module
The basic positioner EPos can be called on all SINAMICS S120
Control Units as an additionally activatable function module. The
basic positioner can be used to resolve basic Motion Control
tasks without additional external technological outlay from the
drive itself.
The Technology controller is designed as a PID controller. It is
suitable for implementing controls for regulating variables such
as fill level, temperature, tension, pressure, flow rate and dancer
position.
Integral safety functions (Safety Integrated)
The Control Units support comprehensive safety functions.
The integrated safety functions are the Safety Integrated Basic
Functions
• STO = Safe Torque Off
• SBC = Safe Brake Control
• SS1 = Safe Stop 1
and the Safety Integrated Extended Functions that require a
license
• SS2 = Safe Stop 2
• SOS = Safe Operating Stop
• SLS = Safely-Limited Speed
• SSM = Safe Speed Monitor
• SDI = Safe Direction
• SLP = Safely-Limited Position
(abbreviations in accordance with IEC 61800-5-2)
If the extended integrated safety functions are used, licenses,
supplementary system components such as TM54F terminal
modules, or suitable safety controls will be necessary.
For further information on the integrated safety functions
see chapter Safety Integrated.
■ Overview
Integrated functionality for absolute and relative positioning Functionality of the EPos basic positioner
of linear and rotary axes with motor encoders or machine
encoders. Lower-level closed-loop position control with the following
essential components
• Position actual value sensing (including the lower-level
measuring probe evaluation and reference mark search)
• Position controller (including limits, adaptation and pre-control
3 calculation)
• Monitoring functions (standstill, positioning and dynamic
following error monitoring, cam signals)
Mechanical system
• Backlash compensation
• Modulo offset
Limits
• Speed/acceleration/delay/jerk limitation
• Software limit switch (traversing range limitation by means of
position setpoint evaluation)
• Stop cams (traversing range limitation by means of hardware
limit switch evaluation)
Homing and alignment
• Set reference point (for an axis at standstill that has reached
its target position)
• Search for reference (separate mode including reversing cam
functionality, automatic reversal of direction, homing to "output
cam and encoder zero mark" or only "encoder zero mark" or
"external zero mark (BERO)")
• Flying referencing (seamless homing possible during "normal"
traversing with the aid of the measuring input evaluation; gen-
erally evaluation, e.g. of a BERO. Subordinate function for the
modes "jog", "direct setpoint specification/MDI" and "traversing
blocks").
• Absolute encoder alignment
Traversing blocks mode (64 traversing blocks)
The EPos basic positioner in the SINAMICS S120 drive system • Positioning using traversing blocks that can be stored in the
provides powerful and precise positioning functions. Due to its drive unit including block change enable conditions and
flexibility and adaptability, the basic positioner can be used for a specific tasks for an axis that was previously referenced
wide range of positioning tasks. • Traversing block editor using STARTER
The functions are easy to handle both during commissioning • A traversing block contains the following information:
and during operation, and the comprehensive monitoring - Job number and job (e.g. positioning, waiting, GOTO set
functions are outstanding. jump, setting of binary outputs, travel to fixed stop)
- Motion parameters (target position, velocity, override for
In many applications, external position controls can thus be acceleration and deceleration)
dispensed with. - Mode (e.g.: hide block, continuation conditions such as
The EPos basic positioner is used to position linear and rotary "Continue_with_stop", "Continue_flying" and
axes (modulo) in absolute/relative terms with rotary as well as "Continue_externally using high-speed probe inputs")
linear motor encoder or machine encoder (indirect or direct - Job parameters (e.g. wait time, block step conditions)
measuring system). Direct setpoint input (MDI) mode
EPos is a function module that can be activated in Servo Control • Positioning (absolute, relative) and setting-up (endless
and in Vector Control. closed-loop position control) using direct setpoint inputs
(e.g. via the PLC using process data)
User-friendly configuring and commissioning including control
panel (operation using PC) and diagnostics with the STARTER • It is always possible to influence the motion parameters during
commissioning tool. traversing (on-the-fly setpoint acceptance) as well as for
on-the-fly change between the setup and positioning modes
In addition to extremely flexible positioning functions, EPos
offers a high degree of user-friendliness and reliability thanks to • The direct setpoint specification operating mode (MDI) can
integral monitoring and compensation functions. also be used in the relative positioning or setup mode if the
axis is not homed. This means that on-the-fly synchronization
Different operating modes and their functionality increase flexi- and re-homing can be carried out using "flying referencing".
bility and plant productivity, for example, by means of "on-the-fly"
and bumpless correction of the Motion Control. Jog mode
• Closed-loop position-controlled traversing of the axis with the
Preconfigured PROFIdrive positioning frames are available "endless position controlled" or "jog incremental" modes,
which, when selected, automatically establish the internal which can be toggled between (traverse through a "step
"connection" to the basic positioner. width")
■ Integration 3
The CU310-2 Control Unit drives Power Modules in blocksize
format via the PM-IF interface. DRIVE-CLiQ motors or Sensor
Modules (SMC) can also be connected to the integrated
DRIVE-CLiQ socket to permit the operation of motors without a
DRIVE-CLiQ interface.
Parameters can be changed directly on the device with the
BOP20 Basic Operator Panel. The BOP20 Basic Operator Panel
can also be snapped onto the CU310-2 Control Unit during
operation to perform troubleshooting procedures.
■ Integration
+
8) ext. M ext.
24 V X22
24 V
X21 PROFIBUS
2 3 5 X100 X23
24 V M 24 V2 M2
X150 P1 X150 P2
3
RxD
TxD
DRIVE-CLiQ socket 0
PROFINET
X124
Encoder interface
+ serial interface
24 V
+
M
M
M
M
X120 X121
1 DI 0 1
DI 0
+Temp 1)
2 DI 1 2
DI 1
-Temp 1)
24 V1 DI 2 DI 2 3
3 DI 16
DI 3 4
Curr. sourcing 24 V1 4 DI 17+ F-DI 0 DI 3
6) 3)
Curr. sinking M2 5
5 DI 17-
2) M 6
M1 6 DI 18 24 V
4) DI/DO 8 7
24 V1 7 DI 19+ F-DI 1
4) DI/DO 9 8
7) Curr. sourcing M1 8 DI 19-
Curr. sourcing 2) M 9
9 DI 20
4) DI/DO 10 10
M1 10 DI 21+ F-DI 2
4) DI/DO 11 11
11 DI 21- 6)
2)
M1 12 M1 M 12
ext.
24 V
24 V1 M1 X130 X131
24 V
1 DI 22+ 4) DI/DO 12 1
DI 22 4) DI/DO 13 2
2 DI 22-
M2 M 3
3
4) DI/DO 14 4
4 M
M1 5 M1 4) DI/DO 15 5
6)
6 24 V1 M 6
24 V1 F-DO 0
7 AI 0+ 7
DO 16+
AI 0- 8 ± 10 V
8 DO 16-
Control Unit 5)
CU310-2
G_D211_EN_00278
Memory card
■ Technical specifications
CU310-2 Control Unit CU310-2 Control Unit
PROFINET: 6SL3040-1LA01-0AA0 PROFINET: 6SL3040-1LA01-0AA0
PROFIBUS: 6SL3040-1LA00-0AA0 PROFIBUS: 6SL3040-1LA00-0AA0
Current requirement, max. 0.35 A for CU310-2 + 0.5 A Encoder evaluation • Incremental encoder
At 24 V DC, for PM340 Power Module TTL/HTL
without taking account of digital outputs • SSI encoder without
and DRIVE-CLiQ supply incremental signals
Conductor cross-section, max. 2.5 mm2 • Input impedance
3
Fuse protection, max. 20 A - TTL 570 Ω
Digital inputs in accordance with - HTL, max. 16 mA
IEC 61131-2 Type 1
5 floating digital inputs • Encoder supply 24 V DC/0.35 A or
8 bidirectional non-floating 5 V DC/0.35 A
digital inputs/digital outputs • Encoder frequency, max. 300 kHz
3 parameterizable, fail-safe
digital inputs (isolated) or • SSI baud rate 100 ... 250 kBaud
alternatively 6 parameteriz- • Resolution absolute position SSI 30 bit
able digital inputs (isolated)
• Cable length, max.
• Voltage -3 … +30 V
- TTL encoder 100 m (328 ft)
• Low level (an open digital input is -3 … +5 V (only bipolar signals
interpreted as "low") permitted) 3)
• High level 15 … 30 V - HTL encoder 100 m (328 ft) for
• Current consumption at 24 V DC, typ. 10 mA unipolar signals
300 m (984 ft) for
• Delay time of bipolar signals 3)
digital inputs 1), approx.
- SSI encoder 100 m (328 ft)
- L→H 50 µs
Power loss < 20 W
- H→L 100 µs
PE connection M5 screw
• Delay time of high-speed
digital inputs 1), approx. Dimensions
(high-speed digital inputs can be used • Width 73 mm (2.87 in)
for position detection)
• Height 191 mm (7.52 in)
- L→H 5 µs
• Depth 75 mm (2.95 in)
- H→L 50 µs
Weight, approx. 0.95 kg (2 lb)
• Conductor cross-section, max. 1.5 mm2
Approvals, according to cULus
Digital outputs 8 bidirectional non-floating
(sustained short-circuit strength) digital outputs/digital inputs
• Voltage 24 V DC ■ Selection and ordering data
• Load current per digital output 2), max. 500 mA Description Order No.
1) CU310-2 PN Control Unit 6SL3040-1LA01-0AA0
• Delay time , typ./max.
- L→H 150 µs/400 µs Without CompactFlash card
1)
The specified delay times refer to the hardware. The actual reaction time
depends on the time slice in which the digital input or output is processed.
2)
In order to use the digital outputs, an external 24 V power supply must be
connected to terminal X124.
3)
Signal cables twisted in pairs and shielded.
■ Overview ■ Design
CU320-2 Control Units feature the following interfaces as
standard:
• 4 × DRIVE-CLiQ sockets for communication with other
DRIVE-CLiQ devices, e.g. Motor Modules, Active Line
Modules, Sensor Modules, Terminal Modules
• CU320-2 PN: 1 PROFINET interface with 2 ports
(RJ45 sockets) with PROFIdrive V4 profile
• CU320-2 DP: 1 PROFIBUS interface with
3
PROFIdrive V4 profile
• 12 parameterizable digital inputs (floating)
• 8 parameterizable bidirectional digital inputs/digital outputs
(non-floating)
• 1 serial RS232 interface
• 1 interface for the BOP20 Basic Operator Panel
• 1 slot for the CompactFlash card on which firmware and
parameters are stored
• 1 slot for mounting an option module
(e.g. TB30 Terminal Board)
• 2 rotary coding switches for manually setting the
PROFIBUS address
• 1 Ethernet interface for commissioning and diagnostics
• 3 test sockets and one reference ground for commissioning
The communication, open-loop and closed-loop control func- support
tions for one or more Motor Modules and the Line Module are
• 1 connection for the electronics power supply via the
executed in a CU320-2 Control Unit. The CU320-2 Control Unit
24 V DC power supply connector
is designed for multi-axis operation.
• 1 PE (protective earth) connection
• 1 ground connection
A shield connection for the signal cable shield on the option
module is located on the CU320-2 Control Unit.
The available option slot is used to expand the interfaces, for
example, to include additional terminals or for communication
purposes.
The status of the CU320-2 Control Unit is indicated via
multi-color LEDs.
As the firmware and parameter settings are stored on a plug-in
CompactFlash card, the Control Unit can be changed without
the need for software tools.
The CU320-2 Control Unit can be mounted on the side of the
Line Module in booksize format via brackets integrated in a
Line Module. The CU320-2 Control Unit can also be fixed to the
wall of the control cabinet using the integrated fixing lugs. As the
CU320-2 Control Unit is not as deep as the Line Modules,
suitable spacers are available to increase the depth of the
CU320-2 Control Unit to 270 mm (10.6 in).
■ Integration
DRIVE-CLiQ components, for example, Motor Modules and
CU320-2 DP Control Unit with BOP20 Basic Operator Panel Active Line Modules, can be connected to a CU320-2 Control
Unit. The number of modules depends on the performance
required, including duty type and additional functions.
The BOP20 Basic Operator Panel can also be snapped onto the
CU320-2 Control Unit during operation to perform troubleshoot-
ing procedures.
The CU320-2 Control Unit and other connected components are
commissioned and diagnosed with the STARTER commission-
ing tool.
The CU320-2 PN Control Unit requires a CompactFlash card
with firmware V4.4 or higher.
The CU320-2 DP Control Unit requires a CompactFlash card
with firmware V4.3 or higher.
■ Integration (continued)
ext. M
24 V
X100 X101 X102 X103
X124
+ M +
DRIVE-CLiQ socket 0
DRIVE-CLiQ socket 1
DRIVE-CLiQ socket 2
DRIVE-CLiQ socket 3
3 +
+ 24 V
M
M
M
M
X122
1 DI 0
2 M1
DI 1
M1
3 DI 2
X126
4 M1
DI 3
PROFIBUS
5 M1
DI 16
6 M1
DI 17
X\WGwY
7 M1
wyvmpul{
M1
2) 8
M wyvmpul{
9 X\WGwX
DI/DO 8 1)
Option board
10
DI/DO 9 1) XY^
11 Control Unit
M shu
12 CU320-2
DI/DO 10 1)
13
DI/DO 11 1)
14
M
3)
X132
1 DI 4
2 M2
DI 5
M2
3 DI 6
4 M2
DI 7
5 M2
DI 20
6 M2
DI 21
7 M2
M2
2) 8
M
9
DI/DO 12 1)
10
DI/DO 13 1)
11
M
12
DI/DO 14 1)
G_D211_EN_00285
13
DI/DO 15 1)
14 T1 M
RxD
TxD
M
M
3) T0 T2
• Delay time of
digital inputs 1), approx.
- L→H 5 µs
- H→L 50 µs
• Conductor cross-section, max. 1.5 mm2
Digital outputs 8 bidirectional non-floating
(sustained short-circuit strength) digital outputs/digital inputs
• Voltage 24 V DC
• Load current per digital output, max. 500 mA
• Delay time 1), typ./max.
- L→H 150 µs/400 µs
- H→L 75 µs/100 µs
• Conductor cross-section, max. 1.5 mm2
Power loss 24 W
PE connection M5 screw
Ground connection M5 screw
Dimensions
• Width 50 mm (1.97 in)
• Height 300 mm (11.8 in)
• Depth 226 mm (8.90 in)
Weight, approx. 2.3 kg (5 lb)
Approvals, according to cULus
1) The specified delay times refer to the hardware. The actual reaction time
depends on the time slice in which the digital input or output is processed.
G_D211_EN_00275
with CPUs with integrated DP interface or with CP 443-5
(DRVDPS7, POSMO function block libraries) and
SIMATIC S7-300 with CP 342-5 (DRVDPS7C function block
library)
Drive ES is the engineering system used to integrate Siemens • "USS protocol" communications software for
drive technology into the SIMATIC automation world easily, SIMATIC S7-300 with integral PtP interfaces or with
efficiently and cost-effectively in terms of communication, CP 340/341 and SIMATIC S7-400 with CP 441
configuration and data management. (DRVUSSS7 function block library)
• STEP 7 slave object manager for easy configuration of
It is based on the operator interface of the STEP 7 Manager, the
drives as well as for non-cyclic PROFIBUS DP communication
essential element when it comes to engineering.
with the drives
Various software packages are available for selection: • STEP 7 device object manager for easy configuration of
• Drive ES Basic drives with PROFINET IO interfaces (V5.4 and higher)
• Drive ES SIMATIC • SETUP program for installing the software in the STEP 7
• Drive ES PCS 7 environment
• "PROFINET IO" communications software for
■ Application SIMATIC S7-300 with CPUs with integrated PN interface,
SIMATIC S7-400 with CPUs with integrated PN interface or
Drive ES Basic with CP (DRVDPS7 block library, respectively). PROFINET IO
and PROFIBUS DP use the same blocks from the DRVDPS7
Drive ES Basic is for first-time users of the world of Totally Inte- library, i.e. the blocks are able to serve both buses with a
grated Automation and the basic software for setting the param- common block (only for V5.4 and higher)
eters of all drives online and offline in this environment. Drive ES
Basic enables both the automation system and the drives to be Drive ES PCS 7
handled using the SIMATIC Manager user interface. Drive ES Drive ES PCS 7 links the drives with a PROFIBUS DP interface
Basic is the starting point for common data archiving for com- into the SIMATIC PCS 7 process control system, and it requires
plete projects and for extending the use of the SIMATIC routing that SIMATIC PCS 7, V6.1 and higher has first been installed.
and teleservice to drives. Drive ES Basic provides the configura- Drive ES PCS 7 provides a function block library with function
tion tools for the new Motion Control functions, slave-to-slave blocks for the drives and the corresponding faceplates for the
communication, equidistance mode and isochronous mode with operator station which enables the drives to be operated from
PROFIBUS DP and ensures that drives with PROFINET IO are the PCS 7 process control system. From version V6.1 and
simply integrated into the SIMATIC environment. higher, drives will also be able to be represented in the PCS 7
Drive ES SIMATIC Maintenance Station.
Drive ES SIMATIC is used for simple parameterization of STEP 7 Detailed contents of the Drive ES PCS 7 package
communication instead of time-consuming programming. It • Block library for SIMATIC PCS 7 Faceplates and control
requires STEP 7 to be installed. blocks for SIMOVERT MASTERDRIVES VC and MC, as well as
It features a SIMATIC function block library; this means that the MICROMASTER/MIDIMASTER of the third and fourth
PROFIBUS and/or PROFINET IO interface can be simply and generation and SIMOREG DC MASTER and SINAMICS
reliably programmed in the SIMATIC CPU for the drives. • STEP 7 slave object manager for easy configuration of drives
There is no need for separate, time-consuming programming of as well as for non-cyclic PROFIBUS DP communication with
the data exchange between the SIMATIC CPU and the drive. the drives
All Drive ES users need to remember is:
Copy – Modify – Load – finished. • SETUP program for installing the software in the PCS 7
environment
*)
Orders are automatically supplied with the latest Service Pack (SP).
■ Design
The PM340 Power Modules in blocksize format feature the Power Modules without integrated line filter can be connected to
following connections and interfaces as standard: grounded TN/TT and non-grounded IT systems.
• Line connection Power Modules with integrated line filter are suitable only for
connection to TN systems with grounded star point.
• PM-IF interface for connection of the PM340 Power Module
and CU310-2/SIMOTION D410-2 Control Unit or The integrated Braking Unit (Braking Chopper) is rated with the
CUA31/CUA32 Control Unit Adapter. The PM340 Power capability to continuously utilize the external braking resistor.
Module also supplies power to the CU310-2/SIMOTION The temperature of the external braking resistor must be
D410-2 Control Unit or CUA31/CUA32 Control Unit Adapter monitored to provide protection against thermal overloading.
by means of an integrated power supply
• Terminals DCP/R1 and R2 for connection of an external
braking resistor
• Motor connection made with screw-type terminals or screw
studs
• Control circuit for the Safe Brake Relay for controlling a
holding brake
• 2 PE (protective earth) connections
■ Integration
PM340 Power Module in blocksize format PM340 Power Module in blocksize format
with CU310-2 DP Control Unit with CUA31 Control Unit Adapter
■ Integration (continued)
The PM340 Power Modules in blocksize format communicate
with the CU310-2/SIMOTION D410-2 Control Unit or the
CUA31/CUA32 Control Unit Adapter via the PM-IF interface.
W1/L3
U1/L1
V1/L2
PE
PE
N
L
Power
Module only with PM340
PM340 with integrated
filter
PM-IF interface to
CU310-2 Control Unit/ P24 =
D410-2 SIMOTION
or =
CUA31/CUA32
Control Unit Adapter
R2
Braking resistor
DCP/R1
Microprocessor
DCN
G_D211_EN_00061
W2
PE
U2
V2
24 V DC Safe
supply Brake M
for brake Relay 3~
■ Integration (continued)
Many system components for PM340 Power Modules are de-
signed as base components, i.e. the component is mounted on
the baseplate and the PM340 Power Module in front of them in a Power
supply Motor
space-saving construction. Up to two base components can be Line reactor
mounted in front of one another reactor
Power
FSA FSB FSC FSD FSE FSF Module
G_D211_EN_00080a
3 Line filter
Line reactor
✓
✓ ✓
– –
✓ ✓
–
✓
– –
O
Braking resistor ✓ ✓ O O O O
Motor reactor ✓ ✓ ✓ O O O
✓ = suitable as base-type
O = not suitable as base-type
– = not available (use Power Modules with integrated
line filter) to the motor
Power supply PM340 Power Module in frame size FSA with line reactor and
motor reactor
Line
Power reactor
Module Power Modules of frame size FSB and higher are available with
integrated line filters, alleviating the need for an external line filter
in this case.
G_D211_EN_00078a
Motor
Line reactor
Power filter
Module Line
reactor
G_D211_EN_00081a
Basic layout of a PM340 Power Module with line reactor as base compo-
nent
PM340 Power Module in frame size FSA with line filter, line reactor and
motor reactor
Line For configurations involving more than two base-type system
Line reactor components, e.g. line reactor + motor reactor + braking resistor,
Power filter
individual components must be mounted to the side of the Power
Module Module. In this instance, the line and motor reactors must be
G_D211_EN_00079a
Power supply
PM340 Power Module in frame size FSA with line reactor and line filter