Siemens Sinamics V90 Operating Instructions Manual
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Siemens Sinamics V90 Operating Instructions Manual

Pulse train, uss/modbus interface
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SINAMICS V90, SIMOTICS S-1FL6

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Summary of Contents for Siemens Sinamics V90

  • Page 1 SINAMICS V90, SIMOTICS S-1FL6...
  • Page 3 Preface Fundamental safety instructions General information SINAMICS/SIMOTICS Mounting SINAMICS V90, SIMOTICS S-1FL6 Connecting Commissioning Operating Instructions Basic operator panel (BOP) Control functions Safety Integrated function Tuning Parameters Diagnostics Appendix Pulse train, USS/Modbus interface 04/2019 A5E36037884-007...
  • Page 4 Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.

  • Page 5: Preface

    Help nostics for the SINAMICS V90 drives via the SINAMICS V-ASSISTANT engineering tool. Target group This manual provides information about the SINAMICS V90 servo system for planners, operators, mechanical engineers, electrical engineers, commissioning engineers, and service engineers. Technical support Country...
  • Page 6 Siemens does not accept any warranty for the properties of third-party products. Compliance with the General Data Protection Regulation Siemens respects the principles of data protection, in particular the data minimization rules (privacy by design). For this product, this means: The product does not process neither store any person-related data, only technical function data (e.g.
  • Page 7 24 months after manufactured. ● Warranty scope Siemens shall replace or repair a defective product free of charge if a defect attributable to Siemens occurs during the warranty period stated above. This warranty does not cover defects caused by the product reaching the end of its service life and replacement of consumables or parts with limited service life.
  • Page 8 ● The indemnity obligation of Siemens for all losses of the customer attributable to Siemens does not exceed the total amount paid by the customer for purchasing the relevant product.

  • Page 9: Table Of Contents

    Function list ..........................59 Technical data ......................... 61 2.7.1 Technical data - servo drives ....................61 2.7.1.1 SINAMICS V90 200 V variant ....................61 2.7.1.2 SINAMICS V90 400 V variant ....................64 2.7.2 Technical data - servo motors ....................68 2.7.2.1...
  • Page 10 Motor holding brake ......................168 RS485 interface - X12 ......................174 Commissioning ............................ 175 General commissioning information..................175 Initial commissioning in JOG mode..................176 Commissioning in pulse train position control mode (PTI) ..........178 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 11 Inhibiting pulse train input setpoint (P-TRG) ................. 228 7.3.8 Speed limit ..........................229 7.3.9 Torque limit ........................... 230 7.3.10 Clearing droop pulses (CLR) ....................233 7.3.11 Referencing (only for absolute encoder)................234 7.3.12 PTO function ......................... 234 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 12 Harmonized European Standards..................295 8.1.2.3 Standards for implementing safety-related controllers ............296 8.1.2.4 DIN EN ISO 13849-1 ......................297 8.1.2.5 EN 62061 ..........................298 8.1.2.6 Series of standards EN 61508 (VDE 0803) ................. 299 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 13 PI/P switching using speed setpoint ..................338 9.9.4 PI/P switching using acceleration setpoint ................338 9.9.5 PI/P switching using pulse deviation ..................339 Parameters ............................341 10.1 Overview ..........................341 10.2 Parameter list ........................343 Diagnostics ............................383 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 14 A.1.2.3 Brake connector assembly ....................421 Motor selection ........................422 A.2.1 Selection procedure ......................422 A.2.2 Parameter description ......................423 A.2.3 Selection examples ......................425 Replacing fans ........................426 Index ..............................427 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 15: Fundamental Safety Instructions

    • You must use an additional residual-current device (RCD) if a conductor-ground short circuit does not reach the short-circuit current required for the protective device to respond. The required short-circuit current can be too low, especially for TT supply systems. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 16 Hazardous voltages can be present at the enclosure or at exposed components on damaged motors or devices. • Ensure compliance with the limit values specified in the technical data during transport, storage and operation. • Do not use any damaged motors or devices. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 17 • Tighten all power connections to the prescribed torque. • Check all power connections at regular intervals, particularly after equipment has been transported. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 18 • If you come closer than around 2 m to such components, switch off any radios or mobile phones. • Use the "SIEMENS Industry Online Support app" only on equipment that has already been switched off. SINAMICS V90, SIMOTICS S-1FL6...
  • Page 19 • Check that the warning labels are complete based on the documentation. • Attach any missing warning labels to the components, where necessary in the national language. • Replace illegible warning labels. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 20 As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death. • Protect the parameterization against unauthorized access. • Handle possible malfunctions by taking suitable measures, e.g. emergency stop or emergency off. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 21 • Mount the motor so that it is not accessible in operation. Measures when maintenance is required: • Allow the motor to cool down before starting any work. • Use the appropriate personnel protection equipment, e.g. gloves. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 22: Equipment Damage Due To Electric Fields Or Electrostatic Discharge

    As the user you yourself are responsible for ensuring that the products described are operated correctly. Application examples do not relieve you of your responsibility for safe handling when using, installing, operating and maintaining the equipment. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 23: Industrial Security

    In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial security concept. Products and solutions from Siemens constitute one element of such a concept.
  • Page 24 • Protect files stored on exchangeable storage media from malicious software by with suitable protection measures, e.g. virus scanners. • On completion of commissioning, check all security-related settings. • Protect the drive against unauthorized changes by activating the "Know-how protection" converter function. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 25: Residual Risks Of Power Drive Systems

    6. Influence of network-connected communication systems, e.g. ripple-control transmitters or data communication via the network For more information about the residual risks of the drive system components, see the relevant sections in the technical user documentation. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 26 Fundamental safety instructions 1.5 Residual risks of power drive systems SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 27: General Information

    General information The SINAMICS V90 drives are available in two variants, 400 V variant and 200 V variant. The 200 V variant is available in four frame sizes: FSA, FSB, FSC, and FSD. Frame sizes A, B, and C are used on the single phase or three phase power network while frame size D is used on the three phase power network only.
  • Page 28 General information 2.1 Scope of delivery Components in SINAMICS V90 400 V variant drive package Component Illustration Rated power Outline dimen- Frame Article number (kW) sion size (Width x Height x Depth, mm) SINAMICS V90, 60 x 180 x 200...
  • Page 29 Pollution degree and overvoltage crite- ② Power input ⑧ QR code ③ ⑨ Power output Product serial number ④ ⑩ Rated motor power Rated short-circuit current ⑤ ⑪ Article number Copper wire ⑥ Part number SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 30 General information 2.1 Scope of delivery Article number explanation (example) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 31 General information 2.1 Scope of delivery Serial number explanation (example) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 32: Motor Components

    1FL6042-2AF21-1❑❑1 1FL6044-2AF21-1❑❑1 1.5/2.0 1FL6052-2AF21-0❑❑1 1FL6054-2AF21-0❑❑1 1.5/2.0 1FL6052-2AF21-2❑❑1 1FL6054-2AF21-2❑❑1 User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide Note: For the SH50 motors with a multi-turn absolute encoder, only angular connector version is available. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 33 1FL6092-1AC61- ❑ ❑❑1 1FL6094-1AC61- ❑ ❑❑1 1FL6096-1AC61- ❑ ❑❑1 Straight connectors with a fixed outlet direction Angular connectors with a flexible outlet direction User docu- SIMOTICS S-1FL6 Servo Motors Installation Guide mentation SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 34 Rated current ⑤ ⑭ Stall torque Holding brake ⑥ ⑮ Rated voltage Motor ID ⑦ ⑯ Rated power Weight ⑧ ⑰ Encoder type and resolution Maximum speed ⑨ ⑱ Thermal class Rated speed SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 35 General information 2.1 Scope of delivery Article number explanation SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 36: Device Combination

    Cable length 1AD0 1AF0 10 m 1BA0 20 m 1CA0 Low inertia motor with straight connectors Low inertia motor with angular connectors The last four numbers in the cable article number (..) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 37 Absolute encoder 20-bit + 12-bit multi-turn Absolute encoder 20- bit + 12-bit multi-turn Cable length 1AD0 1AF0 1AH0 10 m 1BA0 15 m 1BF0 20 m 1CA0 The last four numbers in the cable article number (..) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 38 Absolute encoder DB10 20-bit + 12-bit multi- turn Cable length 1AD0 1AF0 1AH0 10 m 1BA0 15 m 1BF0 20 m 1CA0 The last four numbers in the cable article number (..) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 39 2.2 Device combination Note You can select a SINAMICS V90 servo drive for all the SIMOTICS S-1FL6 servo motors whose rated power values are equal to or smaller than that specified as matching with this servo drive in the table above.

  • Page 40: Product Overview

    General information 2.3 Product overview Product overview SINAMICS V90 servo drives ● SINAMICS V90 200 V variant FSA and FSB FSC and FSD SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 41 General information 2.3 Product overview ● SINAMICS V90 400V variant FSAA and FSA FSB and FSC SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 42 General information 2.3 Product overview SIMOTICS S-1FL6 servo motors ● Low inertia motors Note For the SH50 motors with a multi-turn absolute encoder, only angular connector version is available. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 43 General information 2.4 System configuration ● High inertia motors with straight connectors ● High inertia motors with angular connectors SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 44: System Configuration

    The SINAMICS V90 servo drive is integrated with digital input/output interface, pulse train interface and analog interface. It can be connected either to a Siemens controller like S7-200, S7-1200 or S7-200 SMART, or to a third-party controller. Absolute position information can be read from the servo drive by the PLC via RS485 port.
  • Page 45 General information 2.4 System configuration FSD on the three phase power network SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 46 General information 2.4 System configuration SINAMICS V90 400 V variant FSA on the three phase power network CAUTION Personal injury and damage to property from inadequate protection Inadequate protection may cause minor personal injury or damage to property. • Route a second PE conductor with the cross section of the supply system lead in...

  • Page 47: Accessories

    2CT10-..3 x 2 x 0.22 + 2 x 2 x 0.25 0SB14 0SL11 encoder cable Absolute 2DB10-..3 x 2 x 0.22 + 2 x 2 x 0.25 0DB11 encoder cable SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 48 The "..." in the article number indicates the code for cable length, in which 1AD0 = 3 m, 1AF0 = 5 m, 1AH0 = 7 m, 1BA0 = 10 m, 1BF0 = 15 m, 1CA0 = 20 m. For more information about the cables, see Section "Technical data - cables (Page 78)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 49 For more information about how to assemble cable connectors on both the drive and motor sides, see Sections "Assembly of cable terminals/connectors on the drive side (Page 411)" and "Assembly of cable connectors on the motor side (Page 414)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 50: Setpoint Cables And Connectors

    FSAA 6SL3200-0WT00-0AA0 6SL3200-0WT01-0AA0 You can obtain the connectors for SINAMICS V90 400V servo drives of FSB and FSC from the connector kits for SINAMICS V90 400V servo drives of FSAA or FSA. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 51: External 24 V Dc Power Supply

    Note The max. length of the cable used to connect the 24 V DC power supply to the drive is 10 m. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 52: Fuse/Type-E Combination Motor Controller

    14 to 20 380/480 4BA10 3NA3 810 (25 A) 25 A 20 to 25 380/480 4DA10 The above types for Type-E combination motor controllers are listed in compliance with both CE and UL/cUL standards. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 53: Braking Resistor

    • Suitable for Type 2 SPD application • Clamping shall be provided between phases and also between phase and ground 2.5.6 Braking resistor The SINAMICS V90 has a built-in braking resistor. The table below shows the information of the built-in resistor: SINAMICS V90 Resistance (Ω) Max.

  • Page 54: Line Filter

    2.5.7 Line filter Siemens recommends you to use a line filter to protect the system from high frequency noise. The line filter restricts the conductive interference emitted from the SINAMICS V90 to the permissible values. The SINAMICS V90 drives with these external line filters have been tested in accordance with the emission requirements of the Category C2 environment.
  • Page 55 Degree of protection 3-phase, 200 VAC to 240 VAC 6SL3203-0BE15-0VA0 IP20 6SL3203-0BE21-2VA0 3-phase, 380 VAC to 480 VAC FSAA 6SL3203-0BE15-0VA0 IP20 6SL3203-0BE21-2VA0 6SL3203-0BE22-0VA0 Outline dimensions (mm) Filter used on the single phase power network SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 56 < 7 W Weight 0.68 kg 1.01 kg 1.33 kg Package size (H × W 140 mm × 200 mm × 260 mm 140 mm × 200 mm × 330 mm × D) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 57 Noise frequency 0.15 (MHz) CM (dB) DM (dB) Rated current 18 A Noise frequency 0.15 (MHz) CM (dB) DM (dB) Rated current 20 A Noise frequency 0.15 (MHz) CM (dB) DM (dB) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 58 SINAMICS V90 Rated current (A) Max. tightening Wire gauge Stripping length L torque (Nm) (AWG) (mm) 200 V variant (6SL3210-5FB..-..) 10-1UA2 14 to 12 10-2UA2 10-4UA1 18 to 16 10-8UA0 14 to 12 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 59 14 to 12 12-0UA0 400 V variant (6SL3210-5FE..-..) 10-4UA0 0.7 to 0.8 15 to 13 10-8UA0 11-0UA0 11-5UA0 0.7 to 0.8 15 to 14 12-0UA0 13-5UA0 0.7 to 0.8 11 to 10 15-0UA0 17-0UA0 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 60: Micro Sd Card/Sd Card

    Optionally you can use a micro SD card/SD card to copy drive parameters or perform a firmware update. Micro SD card is used for the 200 V variant servo drive and SD card is used for the 400 V variant servo drive. Siemens recommends you to use the Siemens SD card (article number: 6SL3054-4AG00-2AA0).

  • Page 61: Function List

    Stops motor and clamps the motor shaft when motor speed setpoint is below a parameterized threshold level Cyclic communication (Page 271) Supports the communication between the SINAMICS V90 PTI, IPos, S, T, Fast servo drive and PLC with the standard Modbus communica-...
  • Page 62 S-curve profile with a parameterized time constant SINAMICS V-ASSISTANT You can perform parameter settings, test operation, ad- PTI, IPos, S, T, Fast justment and other operations with a PC SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 63: Technical Data

    General information 2.7 Technical data Technical data 2.7.1 Technical data - servo drives 2.7.1.1 SINAMICS V90 200 V variant General technical data Parameter Description Overload capability 300% Control system Servo control Dynamic brake Built-in Protective functions Earthing fault protection, output short-circuit protection...
  • Page 64 Quantity of shocks: 3 per direction × 6 directions Duration of shock: 1 s Vibration Operational area II 10 Hz to 58 Hz: 0.075 mm deflection 58 Hz to 200 Hz: 1 g vibration SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 65 The V90 200 V servo drive has an overvoltage threshold of 410 V DC and an undervoltage threshold of 150 V DC; the V90 400 V servo drive has an overvoltage threshold of 820 V DC and an undervoltage threshold of 320 V DC. SINAMICS V90 does not support motor overtemperature protection. Motor overtemperature is calculated by I t and protected by the output current from the drive.

  • Page 66: Sinamics V90 400 V Variant

    PELV The values here are calculated at rated load. When SINAMICS V90 works with a motor with a brake, the voltage tolerance of 24 VDC power supply must be -10% to +10% to meet the voltage requirement of the brake.
  • Page 67 Operating environment Indoors (without direct sunlight), free from corrosive gas, combustible gas, oil gas, or dust Altitude ≤ 1000 m (without power derating) Degree of protection IP 20 Degree of pollution Class 2 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 68 The V90 200 V servo drive has an overvoltage threshold of 410 V DC and an undervoltage threshold of 150 V DC; the V90 400 V servo drive has an overvoltage threshold of 820 V DC and an undervoltage threshold of 320 V DC. SINAMICS V90 does not support motor overtemperature protection. Motor overtemperature is calculated by I t and protected by the output current from the drive.
  • Page 69 PELV The values here are calculated at rated load. When SINAMICS V90 works with a motor with a brake, the voltage tolerance of 24 VDC power supply must be -10% to +10% to meet the voltage requirement of the brake.

  • Page 70: Technical Data - Servo Motors

    0.96 1.91 3.82 9.54 14.3 19.1 [Nm] Rated speed [rpm] 3000 Maximum speed 5000 [rpm] Rated frequency [Hz] 200 Rated current [A] 10.6 11.6 Maximum current [A] 3.6 14.2 18.9 31.8 34.8 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 71 The former value indicates the data for low inertia motors with straight connectors; the latter value indicates the data for low inertia motors with angular connectors. Note The data of rated torque, rated power, maximum torque, and armature resistance in the above table allows a tolerance of 10%. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 72 General information 2.7 Technical data Torque-Speed characteristics SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 73 • The feature in short-term operating area varies with power supply voltages. • The continuous operating area becomes smaller and the voltage consumptions on the cables grow larger when the cables in the major loop exceed 20 m. Permissible radial and axial forces SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 74: 1Fl6 Servo Motor - High Inertia

    This lifetime is only for reference. When a motor keeps running at rated speed under rated load, replace its bearing after 20,000 to 30,000 hours of service time. Even if the time is not reached, the bearing must be replaced when unusual noise, vibration, or faults are found. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 75 IP65, with shaft oil seal Weight of incremental encoder motor [kg] With brake 4.6/ 6.4/ 8.6/ 11.3/ 11.3/ 14.0/ 16.6/ 21.3/ 25.7/ 30.3/ 39.1/ 10.1 11.5 14.2 16.8 21.5 25.9 30.5 39.3 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 76 This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is 30 °C, the encoder lifetime can be ensured. Note The data of rated torque, rated power, and maximum torque in the above table allows a tolerance of 10%. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 77 General information 2.7 Technical data Torque-Speed characteristics SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 78 1FL604❑ and 1FL609❑ have a 5 mm of shaft sheltered in sleeves, and 1FL606❑ has an 8 mm of shaft in sleeves. Therefore, the distances to flange in the above three figures begin respectively from 5 mm, 8mm, and 5 mm. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 79: Power Derating

    0.89 0.84 2000 1.00 0.94 0.90 0.86 0.82 2500 0.96 0.90 0.86 0.83 0.78 3000 0.92 0.86 0.82 0.79 0.75 3500 0.88 0.82 0.79 0.75 0.71 4000 0.82 0.77 0.74 0.71 0.67 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 80: Technical Data - Cables

    0.4 kW to 1 kW 4 x 2.5: • For low inertia motors of 1.5 kW to 2 kW and high inertia motors of 1.5 kW to 7 kW Rated voltage (V) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 81 1.5 kW to 2 kW and high inertia motors of 1.5 kW to 7 kW Degree of protection (motor- IP65 side only) Bending cycles 1000000: Maximum acceleration 3 m/s , maximum speed 40 m/min SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 82: Address Of Ce-Authorized Manufacturer

    SINAMICS V90 drive Siemens AG Digital Factory Motion Control Frauenauracher Straße 80 DE-91056 Erlangen Germany SIMOTICS S-1FL6 motor Siemens AG Digital Factory Motion Control Industriestraße 1 DE-97615 Bad Neustadt a. d. Saale Germany SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 83: Mounting

    • Avoid coming into direct contact with the drive surface. For mounting conditions, see Technical data - servo drives (Page 61). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 84: Mounting Orientation And Clearance

    3.1 Mounting the drive 3.1.1 Mounting orientation and clearance The SINAMICS V90 200 V variant servo drives with rated power of 400 W and 750 W support vertical mounting and horizontal mounting. Other drives support vertical mounting only. Mount the drive in a shielded cabinet by observing the mounting orientation and clearance specified in the following illustrations.
  • Page 85 20 mm. Note When mounting the drive in the cabinet, you need to consider the temperature change of the cooling air. The rapid temperature change of the cooling air is forbidden. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 86: Drill Patterns And Outline Dimensions

    Mounting 3.1 Mounting the drive 3.1.2 Drill patterns and outline dimensions SINAMICS V90 200 V variant (unit: mm) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 87 Mounting 3.1 Mounting the drive SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 88 Mounting 3.1 Mounting the drive SINAMICS V90 400 V variant (unit: mm) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 89 Mounting 3.1 Mounting the drive SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 90: Mounting The Drive

    Shocks at the motor shaft end can cause an encoder damage. Do not exert any shock at the shaft end. • For mounting conditions, see Technical data - servo motors (Page 68). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 91: Mounting Orientation And Dimensions

    (weight force of the drive elements) and the necessary degree of protection. SIMOTICS S-1FL6 Low inertia servo motors (unit: mm) Shaft height 20 mm Rated power Rated torque 0.05 kW 0.16 Nm 38.5 0.1 kW 0.32 Nm 38.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 92 Rated torque 0.2 kW 0.64 Nm 39.5 132.5 0.4 kW 1.27 Nm 39.5 157.5 Shaft height 40 mm Rated power Rated torque 0.75 kW 2.39 Nm 178.3 1.0 kW 3.18 Nm 158.8 198.1 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 93 3.2 Mounting the motor Shaft height 50 mm, with straight connectors Shaft height 50 mm, with angular connectors Rated power Rated torque a 1.5 kW 4.78 Nm 143.5 177.5 2.0 kW 6.37 Nm 167.5 201.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 94 Shaft height 45 mm, with the incremental encoder and straight connectors Shaft height 45 mm, with the incremental encoder and angular connectors Rated power Rated torque 0.4 kW 1.27 Nm 154.5 169.5 61.5 0.75 kW 2.39 Nm 201.5 216.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 95 Shaft height 45 mm, with the absolute encoder and straight connectors Shaft height 45 mm, with the absolute encoder and angular connectors Rated power Rated torque 0.4 kW 1.27 Nm 203.5 61.5 0.75 kW 2.39 Nm 250.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 96 268.5 2.0 kW 9.55 Nm 301.5 The former value indicates the dimension for high inertia motors with straight connectors; the latter value indicates the dimension for high inertia motors with angular connectors. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 97 271.5 2.0 kW 9.55 Nm 304.5 The former value indicates the dimension for high inertia motors with straight connectors; the latter value indicates the dimension for high inertia motors with angular connectors. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 98 Shaft height 90 mm, with the incremental encoder and angular connectors Rated power Rated torque 2.5 kW 11.9 Nm 189.5 210.5 98.5 3.5 kW 16.7 Nm 211.5 236.5 5.0 kW 23.9 Nm 237.5 262.5 7.0 kW 33.4 Nm 289.5 314.5 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 99 Shaft height 90 mm, with the absolute encoder and angular connectors Rated power Rated torque 2.5 kW 11.9 Nm 98.5 3.5 kW 16.7 Nm 5.0 kW 23.9 Nm 7.0 kW 33.4 Nm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 100: Mounting The Motor

    The 1FL609❑ motor (90 mm shaft height) has two M8 screw holes for screwing in two eyebolts. Lift the 1FL609❑ motor only at the eyebolts. Eyebolts that have been screwed in must be either tightened or removed after mounting. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 101: Attaching Output Elements

    Reduce the bending torque load applied to the shaft and the bearing by appropriately arranging the output elements. Mount the output elements as close as possible to the motor bearing. Optimum Unfavorable Low stress on shafts and bearings High stress on shafts and bearings SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 102: Motor Heating Conditions

    Make sure that you use a suitable flange according to Siemens-recommended flange sizes. Note The actual temperature rise depends on how the flange (motor mounting section) is fixed on the installation surface, what material is used for the motor mounting section, and motor speed.

  • Page 103: Connecting

    • You must use an additional residual-current device (RCD) if a conductor-ground short circuit does not reach the short-circuit current required for the protective device to respond. The required short-circuit current can be too low, especially for TT systems. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 104 Our products comply with EN61800-5-1: 2007 standards and Low Voltage Directive (Low Voltage Directive 2006/95/EC). Note For low inertia motors with shaft-heights of 20 mm, 30 mm and 40 mm, the encoder cable connectors may only be accessible to electrically skilled personnel. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 105: Emc Instructions

    ● To comply with the EMC standards, all cables connected with the SINAMICS V90 system must be shielded cables, which include line supply cables (cables from the line supply to the line filter and from the line filter to the SINAMICS V90 drive), power cable, encoder cable and brake cable.
  • Page 106 • In order to meet EMC requirements, all cables must be shielded cables. • Make sure that you connect the cable shields of shielded twisted-pair cables to the shielding plate or the hose clamp of the servo drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 107: System Connection Diagrams

    Connecting 4.1 System connection 4.1.3 System connection diagrams SINAMICS V90 200 V variant FSB on the single phase power network SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 108 "Braking resistor (Page 51)" for selec- tion) ⑥ Extertal relay (third party device) ⑮ Shielding plate (in V90 package) ⑦ ⑯ SIMOTICS S-1FL6 servo motor Hose clamp (attached on Siemens pow- er cable) ⑧ ⑰ Serial cable (RS485) Power cable ⑨ ⑱ Mini USB cable...
  • Page 109 Connecting 4.1 System connection FSD on the three phase power network SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 110 "Braking resistor (Page 51)" for selec- tion) ⑥ Extertal relay (third party device) ⑮ Shielding plate (in V90 package) ⑦ ⑯ SIMOTICS S-1FL6 servo motor Hose clamp (attached on Siemens pow- er cable) ⑧ ⑰ Serial cable (RS485) Power cable ⑨ ⑱ Mini USB cable...
  • Page 111 Connecting 4.1 System connection SINAMICS V90 400 V variant FSB on the three phase power network SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 112 External braking resistor (option, see Shielding plate (in V90 package) "Braking resistor (Page 51)" for selec- tion) ⑥ SIMOTICS S-1FL6 servo motor ⑮ Hose clamp (attached on Siemens pow- er cable) ⑦ ⑯ Serial cable (RS485) Power cable ⑧ ⑰...

  • Page 113: Cable Connection

    2. Slip the hose clamps over the cable shields and the shielding plate; tighten the screws to press the cable shields onto the shielding plate as well as to fix the grounding lugs. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 114 After connecting the cable to the motor, you can rotate the incremental encoder connector within 270° and rotate the absolute encoder connector within 180°. For other connectors, you can rotate them within 360°. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 115 ● For installation on a machine where the servo motor will move, the bending radius should be made as large as possible. Refer to Section "Technical data - cables (Page 78)" for details. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 116: Main Circuit Wiring

    The procedure of assembling a line supply cable terminal is the same as that for a power cable terminal on the drive side. For more information, see Section "Assembly of cable terminals/connectors on the drive side (Page 411)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 117 The FSB and FSC servo drives are equipped with barrier terminals for line supply connection. You can fix the line supply cable on the servo drives by using the M4 screws with a tightening torque of 2.25 Nm (19.91 lbf.in). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 118: Motor Power - U, V, W

    Low inertia motor, shaft-height: 50 mm High inertia motor, shaft-height: 45 mm, 60 mm, and 90 mm Straight connectors: Black Phase U Black Phase V Black Phase W Yellow-green Protective earthing Angular connectors: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 119 • Make sure you first assemble the motor power connector to the drive and tighten the fixing screw on the connector, and then attach the cable to the connector. 200 V variant ● FSA and FSB SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 120 The FSB and FSC servo drives are equipped with barrier terminals for motor power connection. You can fix the motor power cable on the servo drives by using the M4 screws with a tightening torque of 2.25 Nm (19.91 lbf.in). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 121: Control/Status Interface - X8

    The pin definition updates are applicable only when the FS (function state) version is as follows: • V90 200 V: FS02 and the later • V90 400 V: FS04 and the later Refer to the rating plate on the drive housing for the FS version of a SINAMICS V90 servo drive. Pin No. Signal...
  • Page 122 White-Green Digital input 9 DI10 Brown-Green Digital input 10 Brake White-Red Motor holding brake control signal (for SINAMICS V90 200 V variant only) P24V_DO Yellow-Gray External 24 V supply for digital outputs 29 * DO4+ Green Digital output 4+ Yellow...
  • Page 123 The original pin definitions are applicable only when the FS version is as follows: • V90 200 V: FS01 • V90 400 V: FS03 and the earlier Refer to the rating plate on the drive housing for the FS version of a SINAMICS V90 servo drive. Pin No.

  • Page 124: Digital Inputs/Outputs (Dis/Dos)

    4.3 Control/status interface - X8 4.3.1 Digital inputs/outputs (DIs/DOs) SINAMICS V90 supports free assignment of signals to the following digital input and output terminals depending on the control mode selected: DI1 to DI8 -- Assignable with parameters p29301 to p29308...

  • Page 125: Dis

    Connecting 4.3 Control/status interface - X8 4.3.1.1 You can assign a maximum of 28 internal digital input signals to the SINAMICS V90 servo drive. For detailed information about these signals, see the table below: Name Type Description Control mode IPos...
  • Page 126 Level Zero speed clamps. ✓ 1 = when the motor speed setpoint is an • analog signal and lower than the threshold level (p29075), the motor is clamped. 0 = no action • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 127 1 : 0 : 0: fixed position setpoint 5 • 1 : 0 : 1: fixed position setpoint 6 • 1 : 1 : 0: fixed position setpoint 7 • 1 : 1 : 1: fixed position setpoint 8 • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 128 • During a trial run test, DI signal SON is invalid; meanwhile, DI7 and DI8 are occupied by SINAMICS V-ASSISTANT. Direct signal map Force the following six signals to logical "1" with parameter p29300 (P_DI_Mat): ● SON ● CWL ● CCWL ● TLIM1 ● SPD1 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 129 The bit 6 of p29300 is used for quick stop. You are not allowed to modify it when the drive is in "S ON" state. Wiring The digital inputs support both PNP and NPN types of wirings. You can find detailed information from the following diagrams: NPN wiring PNP wiring SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 130: Dos

    Connecting 4.3 Control/status interface - X8 4.3.1.2 You can assign a maximum of 15 internal digital output signals to the SINAMICS V90 servo drive. For detailed information about these signals, see the table below: Name Descriptions Control mode IPos Fast Servo ready ✓...
  • Page 131 1: the second mode in five compound control • modes (PTI/S, IPos/S, PTI/T, IPos/T, S/T). 0: the first mode in five compound control modes • or four basic modes (PTI, IPos, S, T). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 132 Lifetime detection: the life expectancy of the capacity or the fan is shorter than the specified time. Note If the warning condition(s) assigned to p29340 occur, WARNING1 becomes ON. If the warning condition(s) assigned to p29341 occur, WARNING2 becomes ON. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 133 The digital outputs 1 to 3 only support the wiring of the NPN type as illustrated below: The digital outputs 4 to 6 support the wiring of both the NPN and the PNP types as illustrated below: NPN wiring PNP wiring SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 134: Pulse Train Inputs/Encoder Outputs (Ptis/Ptos)

    Pulse train inputs/encoder outputs (PTIs/PTOs) 4.3.2.1 PTIs Two channels of pulse train input are available for the SINAMICS V90 servo drive: ● 24 V single end pulse train input ● High-speed 5 V differential pulse train input (RS485) When using the 24 V single end PTI:...

  • Page 135: Ptos

    When not using the open collector: When using the open collector: 4.3.3 Analog inputs/outputs (AIs/AOs) 4.3.3.1 SINAMICS V90 has two analog input terminals. The input voltage at each analog input varies with control modes. Pin No. Analog input Input voltage...

  • Page 136: Aos

    The command voltage of the analog inputs always follows the formula below: = (AI+) - (AI-) input 4.3.3.2 The SINAMICS V90 has two analog outputs. You can find detailed information about these two analog outputs from the table below: Pin No. Analog output...
  • Page 137 Remaining number of pulses (reference 1 k) Remaining number of pulses (reference 10 k) Remaining number of pulses (reference 100 k) Remaining number of pulses (reference 1000 k) Wiring Do wiring of analog outputs as follows: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 138: Standard Application Wiring (Factory Setting)

    Connecting 4.3 Control/status interface - X8 4.3.4 Standard application wiring (factory setting) 4.3.4.1 Pulse train input position control (PTI) Standard wiring for pulse train input position control mode: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 139 For detailed information about these two wiring types, see Section "DOs (Page 128)". The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.

  • Page 140: Fast Pulse Train Input Position Control (Fast Pti)

    Connecting 4.3 Control/status interface - X8 4.3.4.2 Fast pulse train input position control (Fast PTI) Standard wiring for fast pulse train input position control mode: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 141 For detailed information about these two wiring types, see Section "DOs (Page 128)". The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.

  • Page 142: Internal Position Control (Ipos)

    Connecting 4.3 Control/status interface - X8 4.3.4.3 Internal position control (IPos) Standard wiring for internal position control mode: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 143 For detailed information about these two wiring types, see Section "DOs (Page 128)". The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.

  • Page 144: Speed Control (S)

    Connecting 4.3 Control/status interface - X8 4.3.4.4 Speed control (S) Standard wiring for speed control mode: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 145 For detailed information about these two wiring types, see Section "DOs (Page 128)". The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.

  • Page 146: Torque Control (T)

    Connecting 4.3 Control/status interface - X8 4.3.4.5 Torque control (T) Standard wiring for torque control mode: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 147 For detailed information about these two wiring types, see Section "DOs (Page 128)". The 24 V power supplies in the connection diagram are as follows: 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90.

  • Page 148: Connection Examples With Plcs

    You can assign different digital inputs/outputs based on your actual requirement. 4.3.5.1 SIMATIC S7-200 SMART Pulse train input position control (PTI) When connecting to different axes, the outputs are different. The diagram below takes the connection with axis 0 for example. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 149 The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the zero position exceeds 300 rpm. The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if the PTI input frequency exceeds 100 KHz. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 150 The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the zero position exceeds 300 rpm. The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if the PTI input frequency exceeds 100 KHz. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 151 Connecting 4.3 Control/status interface - X8 Internal position control (IPos) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 152 Connecting 4.3 Control/status interface - X8 Speed control (S) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 153 Connecting 4.3 Control/status interface - X8 Torque control (T) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 154: Simatic S7-200

    The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the zero position exceeds 300 rpm. The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if the PTI input frequency exceeds 100 KHz. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 155 The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the zero position exceeds 300 rpm. The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if the PTI input frequency exceeds 100 KHz. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 156 Connecting 4.3 Control/status interface - X8 Internal position control (IPos) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 157 Connecting 4.3 Control/status interface - X8 Speed control (S) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 158 Connecting 4.3 Control/status interface - X8 Torque control (T) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 159: Simatic S7-1200

    The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the zero position exceeds 300 rpm. The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if the PTI input frequency exceeds 100 KHz. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 160 The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the zero position exceeds 300 rpm. The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if the PTI input frequency exceeds 100 KHz. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 161 Connecting 4.3 Control/status interface - X8 Internal position control (IPos) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 162 Connecting 4.3 Control/status interface - X8 Speed control (S) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 163 Connecting 4.3 Control/status interface - X8 Torque control (T) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 164: Power Supply/Sto

    2). If you do not need to use it any more, you must reinsert the short-circuit stick; otherwise, the motor will not run. For detailed information about the STO function, refer to "Safety Integrated basic functions (Page 309)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 165 V90 200 V servo drives. For more information, see Section "Assembly of cable terminals/connectors on the drive side (Page 411)". Plugging the 24 V power supply and STO cables SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 166: Encoder Interface - X9

    Connecting 4.5 Encoder interface - X9 Encoder interface - X9 The SINAMICS V90 200V variant servo drive supports two kinds of encoders: ● Incremental encoder TTL 2500 ppr ● Absolute encoder single-turn 21-bit ● Absolute encoder 20-bit + 12-bit multi-turn The SINAMICS V90 400V variant servo drive supports two kinds of encoders: ●...
  • Page 167 Phase A+ n. c. Not connected Phase A- Clock_N Inverted clock Phase B+ Data_P Data Phase B- Clock_P Clock Angular con- Phase R+ n. c. Not connected nectors: Phase R- Data_N Inverted data SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 168 Connecting 4.5 Encoder interface - X9 Internal structure of encoder cable 6FX3002-2CT../6FX3002-2DB..Wiring of encoder cable Low inertia motor, shaft-height: 20 mm, 30 mm and 40 mm 6FX3002-2CT20-..6FX3002-2DB20-..SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 169 Connecting 4.5 Encoder interface - X9 Low inertia motor, shaft-height: 50 mm High inertia motor, shaft-height: 45 mm, 65 mm, and 90 mm 6FX3002-2CT10-../6FX3002-2CT12-..6FX3002-2DB10-../6FX3002-2DB12-..Twisted-pair wires Shielding SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 170: External Braking Resistor - Dcp, R1

    4.6 External braking resistor - DCP, R1 External braking resistor - DCP, R1 The SINAMICS V90 has been designed with an internal braking resistor to absorb regenerative energy from the motor. When the internal braking resistor cannot meet the braking requirements (e.g. the alarm A52901 is generated), you can connect an external braking resistor.
  • Page 171 Status MBR (DO) Brake control Motor brake func- Motor shaft (B+, B-) tion Brake engage- High level (1) Opened Cannot run ment Brake release Low level (0) 24 V Closed Can run SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 172 Wiring for the 200 V variant servo drive The following shows the example when the brake is controlled through the motor holding brake signal (Brake) of the 200 V variant servo drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 173 Maximum operating DC voltage 26 V Average power dissipation 0.2 W Voltage at 1 mA 33 V±10% Clamping voltage at 20 A (8/20 μs) 65 V Energy absorption (2 ms) at a time 18 J SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 174 Relay (R) used for the power supply of the brake Siemens recommends you to select a Siemens relay (article number: 3RQ3018-2AB00). You can find more information about Siemens relays from Chapter 05 of Catalog IC 10 - SIRIUS 2016 at the following Web site: Siemens relays (http://w3app.siemens.com/mcms/infocenter/content/en/Pages/order_form.aspx?nodeKey=k...
  • Page 175 4.7 Motor holding brake Note For SINAMICS V90 200 V variant servo drives, the actual motor holding brake time consists of the time delay of the motor brake and the time delay of the current amplifying component (a relay in the example above); therefore, you can set the values of p1216 and p1217 as...

  • Page 176: Rs485 Interface - X12

    Connecting 4.8 RS485 interface - X12 RS485 interface - X12 The SINAMICS V90 servo drives support communication with the PLCs through the RS485 interface over the USS or Modbus protocol. Pin assignment Illustration Signal name Description Reserved Do not use...

  • Page 177: Commissioning

    • Before starting up the drive with a micro SD card/SD card, check whether the micro SD card/SD card contains user setting data. Otherwise, the existing data on the drive may be overwritten. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 178: Initial Commissioning In Jog Mode

    SINAMICS V-ASSISTANT is a software tool that can be installed on a PC and runs on the Windows operating system. It communicates with the SINAMICS V90 servo drive with a USB cable (To ensure the stability of online commissioning, Siemens recommends you to use a shielded USB cable of no longer than 3 m with ferrite cores on both ends.).
  • Page 179 The default Jog speed is 100 rpm. You can change it by setting the parameter p1058. Save parameters with the BOP. For detailed information about the parameter saving with the BOP, refer to "Saving parameters (RAM to ROM) (Page 201)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 180: Commissioning In Pulse Train Position Control Mode (Pti)

    = 1: AB track, positive logic • p29010 = 2: pulse + direction, negative logic • p29010 = 3: AB track, negative logic • Refer to "Selecting a setpoint pulse train input form (Page 223)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 181 Calculate the electronic gear ratio by selecting me- • chanical structure. – For more information, see SINAMICS V90 V- ASSISTANT Online Help. Refer to "Electronic gear ratio (Page 225)". Set the torque limitation and speed limitation. Refer to "Torque control (T) (Page 261)" and "Speed control (S) (Page 256)".

  • Page 182: Commissioning In Fast Pulse Train Position Control Mode (Fast Pti)

    Calculate the electronic gear ratio by selecting me- • chanical structure. – For more information, see SINAMICS V90 V- ASSISTANT Online Help. Refer to "Electronic gear ratio (Page 225)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 183: Commissioning In Internal Position Control Mode (Ipos)

    • see Section "Motor components (Page 30)". servo drive can identify the servo motor automatical- Refer to "Basic operations (Page 195)" for information about how to change a parameter with the BOP. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 184 DI8 • Refer to "Digital inputs/outputs (DIs/DOs) (Page 122)". NOTE You must configure the digital input signal REF or SREF according to your selection of referencing mode. Refer to "Referencing (Page 241)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 185 (Page 250)". The system commissioning in internal position control You can check the system performance. If it is not satis- mode ends. fied, you can adjust it. Refer to "Tuning (Page 313)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 186: Commissioning In Speed Control Mode (S)

    • p29305[2]: DI5 • p29306[2]: 13 (CCWE) • p29306[2]: DI6 • p29307[2]: 15 (SPD1) • p29307[2]: DI7 • p29308[2]: 16 (SPD2) • p29308[2]: DI8 • Refer to "Digital inputs/outputs (DIs/DOs) (Page 122)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 187: Commissioning In Torque Control Mode (T)

    Refer to "Torque control with external analog torque scaling (percentage of the rated torque) for analog torque setpoint (Page 262)". setpoint corresponding to 10 V by setting parameter p29041[0]. Set the speed limitation. Refer to "Speed limit (Page 263)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 188 Refer to "Actual status display (Page 194)". The system commissioning in torque control mode ends. You can check the system performance. If it is not satisfied, you can adjust it. Refer to "Tuning (Page 313)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 189: Basic Operator Panel (Bop)

    Basic operator panel (BOP) BOP overview The SINAMICS V90 servo drive is designed with a Basic Operator Panel (BOP) on the front panel of the servo drive. You can use the BOP for the following operations: ● Standalone commissioning ● Diagnosis ●...

  • Page 190: Led Status Indicators

    Communication with PC is not active Green Flash at 0.5 Hz Communication with PC is active Flash at 2 Hz Micro SD card/SD card operating (read or write) Continuously lit Communication with PC is in error SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 191: Bop Display

    Current display can be moved to right xxxx.xx< Current display can be moved to left S Off Operating display: servo off Para Editable parameter group Refer to the section "Editing parameters (Page 196)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 192 Only the last six digits displays due to a lim- ited display length. xxxxxx. Actual position (negative direction) Only the last six digits displays due to a lim- ited display length. T -x.x Actual torque (negative direction) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 193 The motor is running The communication between the In this case, the BOP is protected from any SINAMICS V-ASSISTANT and the operations except clearing alarms and ac- servo drive is established. knowledging faults. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 194: Control Buttons

    Moves current display to the left page when is displayed at the upper right corner, for example Moves current display to the right page when is displayed at the lower right corner, for example SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 195: Parameter Structure

    The overall parameter structure of the BOP is designed as follows. Note There is no ABS menu function for a servo motor with an incremental encoder. The ABS menu function is only available for a servo motor with an absolute encoder. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 196: Actual Status Display

    0 to 4 0: Actual speed • 1: DC voltage • 2: Actual torque • 3: Actual position • 4: Position following error • Note Make sure you save p29002 after modification. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 197: Basic Operations

    You can only read values of these parameters. Parameters with index Some parameters have several indices. Each index has its own meaning and corresponding value. Parameters without index All parameters that do not have indices are parameters without index. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 198: Editing Parameters

    Basic operator panel (BOP) 6.4 Basic operations 6.4.1 Editing parameters You can edit a parameter value in two methods: ● Method 1: change the value directly with the UP or DOWN button SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 199 ● Method 2: move the cursor to a digit with the SHIFT button, then change the digit value with the UP or DOWN button Note The parameters p1414 and p1656 cannot be changed using the SHIFT button. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 200: Viewing Parameters

    If you do not know which group that a parameter belongs to, you can search for in the "P ALL" menu. Note Invalid parameter number If the input parameter number is unavailable, the nearest parameter number to the input value is displayed. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 201: Auxiliary Functions

    Adjust absolute encoder SD card/SD card NOTE: This function is available only when the servo motor with an absolute encoder is connected. ⑤ Copy parameter set from a micro SD card/SD card to drive SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 202: Jog

    With the Jog function, you can run the connected motor and view Jog speed or Jog torque. Jog in speed (example) Jog in torque (example) NOTICE Exit the Jog mode after completing Jog run. The servo motor cannot run if the servo drive is in the Jog mode. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 203: Saving Parameters (Ram To Rom)

    • If a micro SD card/SD card has been inserted, the parameter set will be saved onto the micro SD card/SD card simultaneously. • All signal functions become inactive during the saving process. Use the signal functions afterwards. Reference Editing parameters (Page 196) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 204: Setting Parameters To Default

    You must save the parameter set after setting the parameter set to the default values; otherwise, the default values will not be saved to drive ROM. Reference Saving parameters (RAM to ROM) (Page 201) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 205: Transferring Data (Drive To Sd)

    Do not plug or unplug the micro SD card/SD card during transferring; otherwise, the transferring operation will fail. Note Write protection function is not supported by SINAMICS V90. Data in the micro SD card/SD card will be overwritten even if the write protection function of the micro SD card/SD card is enabled.

  • Page 206: Updating Firmware

    Before updating the firmware, you can back up the drive data on a micro SD card/SD card. If you want to use them after the update, you can copy the data from the micro SD card/SD card to the drive (Page 203). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 207: Adjusting Ai Offsets

    Refer to section "Analog inputs (Page 133)". With the BOP function menu "A OFF1" or "A OFF2", AI offset can be adjusted automatically. To use this, function proceed as follows. ● Adjust AI1 offset SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 208 AI offset. Parameter range p29042 and p29061 range from -0.5 V to +0.5 V. A value that is out of this range causes an alarm. Refer to chapter "Parameter list (Page 341)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 209: Adjusting An Absolute Encoder

    With the BOP function menu "ABS", you can set the current position of an absolute encoder to the zero position. To do this, proceed as follows. Note Save parameter The position value is set in parameter p2525. You must save the parameters after setting the zero position. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 210 Basic operator panel (BOP) 6.5 Auxiliary functions SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 211: Control Functions

    Control functions Compound controls Control modes Nine control modes are available for the SINAMICS V90 servo drive: Basic control modes Pulse train input position control mode (PTI) Internal position control mode (IPos) Speed control mode (S) Torque control mode (T)
  • Page 212 INP (in position) signal is at high level. For the switching from S or T to PTI or IPos, you can perform control mode switching only after the motor speed is lower than 30 rpm. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 213: General Functions

    • After the drive is powered on, it will be set to "S ON" state automatically. • After a fault is acknowledged, the drive will be set to "S ON" state automatically. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 214: Motor Direction Of Rotation

    Analog monitoring: • • PTO: PTO: • • Note After modifying parameter p29001, the reference point will lost. When the drive is working in IPos control mode, you must perform referencing again. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 215: 300% Overload Capacity

    Control functions 7.2 General functions 7.2.3 300% overload capacity SINAMICS V90 servo drives can work with 300% overload capacity for a specific time period. The following diagrams show in details: 200 V variant servo drive Without load With load 400 V variant servo drive...

  • Page 216: Over-Travel

    • In PTI or IPos control mode, the motor cannot rotate with F7491/F7492 being triggered again, if you only acknowledge the fault without returning the axis to a position within the valid traversing range. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 217 Set signal CCWL at a high level or rising edge forcedly. Note DI parameterization Refer to Section "Digital inputs/outputs (DIs/DOs) (Page 122)" for detailed information about DI parameterization. Refer to Chapter "Parameters (Page 341)" for detailed information about parameters. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 218: Stopping Method At Servo Off

    EMGS X8-13 (fixed) Servo drive is ready to run. Quick stop. For detailed information about the digital input signals SON and EMGS, refer to Section "Digital inputs/outputs (DIs/DOs) (Page 122)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 219: Travel To Fixed Stop

    The generated torque has not reached any torque limit. The generated torque has nearly (internal hys- teresis) reached the value of the positive torque limit, negative torque limit or analog torque limit. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 220 3. Servo on the motor and it traverses to the fixed stop. The motor runs at the set speed until it reaches the stop and continues to work against the stop until the torque limit has been reached. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 221 (fixed stop: maximum following error), fixed stop is reached. Once the "Fixed stop reached" status has been detected, the traversing task "Travel to fixed stop" is ended. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 222 3. Set the required torque limit. The smaller value of the internal torque limit TLM and the overall torque limit will be the active one. 4. Set the maximum following error by p2634 and the monitoring window by p2635. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 223 7.2 General functions 5. Perform referencing. Note: When the SINAMICS V90 is working in IPos traversing block mode, referencing must be performed before moving the axis. 6. After the drive performs referencing successfully, trigger traversing block 0 by the DI signal P-TRG.

  • Page 224: Pulse Train Input Position Control (Pti)

    Pulse train input position control (PTI) 7.3.1 Sequence of SON When the SINAMICS V90 servo drive operates in pulse train input position control mode (PTI), the pulse train setpoint must be send out after the RDY signal is ok. Timing diagram 7.3.2...

  • Page 225: Selecting A Setpoint Pulse Train Input Form

    7.3 Pulse train input position control (PTI) 7.3.3 Selecting a setpoint pulse train input form The SINAMICS V90 servo drive supports two kinds of setpoint pulse train input forms: ● AB track pulse ● Pulse + Direction For both forms, positive logic and negative logic are supported.

  • Page 226: In Position (Inp)

    S-curve profile with a time constant specified in p2533. Parameter setting Parameter Range Default Unit Description p2533 0 to 1000 Smoothes the parameter in response to a sudden position setpoint SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 227: Electronic Gear Ratio

    The minimum traveling distance of load shaft according to one setpoint pulse is called a length unit (LU); for example, one pulse results in 1 µm movement. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 228 The range of electronic gear ratio is from 0.02 to 200. The electronic gear ratio can be set only at SERVO OFF state. After the setting, you need to reference the drive again. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 229 = 36000 LU distance per load shaft revolution Calculate the electronic (1/6000)/(1/1) × 10000 = 10000/6000 (1/36000)/(1/3) × 10000 = 10000/12000 gear ratio Set parameters 10000/6000 = 5/3 10000/12000 = 5/6 p29012/p29013 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 230: Inhibiting Pulse Train Input Setpoint (P-Trg)

    • The signal P-TRG is active only when the digital input signal SON is in OFF state. • When the signal P-TRG is active in the PTI mode or a compound mode with PTI, the alarm A7585 occurs. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 231: Speed Limit

    The overall speed limit can be configured by setting the following parameters. Parameter Range Default Unit Description p1083 0 to 210000 210000 Overall speed limit (positive) p1086 -210000 to 0 -210000 Overall speed limit (negative) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 232: Torque Limit

    TLIM1 and TLIM2. Digital input Torque limit TLIM2 TLIM1 Internal torque limit 1 External torque limit (analog input 2) Internal torque limit 2 Internal torque limit 3 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 233 Internal torque limit 3 (positive) p29051[0] -300 to 150 -300 Internal torque limit 1 (negative) p29051[1] -300 to 150 -300 Internal torque limit 2 (negative) p29051[2] -300 to 150 -300 Internal torque limit 3 (negative) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 234 Torque limit reached (TLR) When the generated torque has nearly (internal hysteresis) reached the value of the positive torque limit, negative torque limit or analog torque limit, the signal TLR is output. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 235: Clearing Droop Pulses (Clr)

    You can clear the droop pulses with the DI signal CLR after p29242 is set. The signal CLR is the factory setting of pin 11 (DI7) on the control/status interface (X8). p29242 = 0 p29242 = 1 p29242 = 2 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 236: Referencing (Only For Absolute Encoder)

    The electronic gear ratio is a multiplier factor to the PTO to a controller. It is realized with a numerator and a denominator. One numerator (p29031) and one denominator (p29032) are used for the PTO electronic gear ratio: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 237: Fast Pulse Train Input Position Control (Fast Pti)

    The control mode specific functions of Fast PTI control mode are mostly the same as that of PTI control mode. For detailed function descriptions, you can refer to Section "Pulse train input position control (PTI) (Page 222)" for reference. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 238: Internal Position Control (Ipos)

    N times accordingly. Otherwise, the fault F7450 or F7452 occurs. Relevant parameters Parameter Range Default Unit Description p29247 1 to 10000 LU per load revolution 2147483647 p29248 1 to 1048576 Load revolutions p29249 1 to 1048576 Motor revolutions SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 239: Setting Fixed Position Setpoint

    IPos maximum acceleration p2573 IPos maximum deceleration Fixed position setpoint 4 p2617[3] Fixed position setpoint 4 (P_pos4) p2618[3] Speed of fixed position setpoint 4 (P_pos_spd4) p2572 IPos maximum acceleration p2573 IPos maximum deceleration SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 240 When the motor is working in the IPos control mode, you need to check that whether the values of the parameters p2542, p2544, p2546, p2573, and p2574 are your desired values. The values are set automatically by the drive based on the encoder resolution. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 241: Selecting A Positioning Mode - Absolute/Incremental

    • the axis has been referenced for incremental measuring system. Refer to Section "Referencing (Page 241)" for detailed information about referencing. • the axis has been adjusted for absolute measuring system. Refer to Section "Adjusting an absolute encoder (Page 207)" for reference. Example SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 242: Configuring The Linear/Modular Axis

    You can choose to use a linear axis or a modular axis depending on your actual application. The linear axis has a restricted traversing range, which is the factory setting of the SINAMICS V90 servo drive. The modular axis has an unrestricted traversing range. The value range of the position repeats itself after a value is specified in p29245.

  • Page 243: Referencing

    If the servo motor has an absolute encoder, the five referencing modes are available. You can also adjust the absolute encoder (by setting current position as the zero position) with the BOP function "ABS". Refer to Section "Adjusting an absolute encoder (Page 207)" for details. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 244 – when switching from another control mode to internal position control mode The current position is set to zero at a rising edge of the signal REF and the servo drive is referenced: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 245 When the servo motor reaches the reference point (p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing finishes successfully. The whole process is shown in the diagram below: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 246 When the servo motor reaches the reference point (p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing finishes successfully. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 247 Speed for searching zero mark LU/mi p2609 0 to 2147482647 20000 Maximum distance for searching the zero mark p2611 1 to 40000000 1000 Speed for searching reference point LU/mi 2. Configure the signal SREF. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 248 When the servo motor reaches the reference point (p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing finishes successfully. The whole process is shown in the diagram below: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 249 During the referencing, if SREF is OFF, the referencing stops. 4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output. 5. Switch off the signal SREF, and the referencing finishes successfully. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 250 • For the safety purpose, the maximum distance for searching the cam (p2606) and the maximum distance for searching the zero mark (p2609) must be set. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 251 During the referencing, if SREF is OFF, the referencing stops. 4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output. 5. Switch off the signal SREF, and the referencing finishes successfully. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 252: Software Position Limit

    ● use the rising edge of the signal STEPF, STEPB or STEPH Refer to Chapter "Digital inputs/outputs (DIs/DOs) (Page 122)" for detailed information about the signals POS1, POS2, POS3, P-TRG, STEPF, STEPB, STEPH. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 253 The digital input signal P-TRG is the default assignment of DI6 in the internal position control mode: Signal type Signal Pin assign- Setting Description name ment P-TRG X8-10 (factory 0→1 Starts positioning according to selected setting) fixed position setpoint SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 254 POS2 and POS3 because of a fault after the signal STEPB (traversing to POS2) is given, the drive assumes that POS2 has been reached. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 255: Position Tracking

    When the drive is power-off, if the axis moves, the drive does not store the multi-turn position (when using the virtual multi-turn encoder). The actual position loses. • Make sure that the motor holding brake function is enabled when you use the position tracking function. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 256 = (4096 × p29247 × p29248)/(p29249 × p29246) – For single-turn encoders: v = (p29247 × p29248)/(p29249 × p29246) ● Motor encoder with position tracking (p29243 = 1): v = (p29244 × 29247)/p29246 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 257 In this case, if you activate the position tracking function (set p29243 = 1), and set the virtual multi-turn p29244 = 24, the gear ratio is calculated with the encoder actual position value. Note Be sure to perform the "ABS" function again after you set p29243 to 1. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 258: Speed Control (S)

    (V_max) and this maximum speed setpoint can be specified by parameter p29060. Parameter Range Default Unit Description p29060 6 to 210000 3000 Maximum analog speed setpoint correspond- ing to 10 V SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 259 ● Automatic adjustment with BOP function: refer to "Adjusting AI offsets (Page 205)" for details. ● Manual input of an offset value (p29061) Parameter Range Default Unit Description p29061 -0.5000 to 0.0000 Offset adjustment for analog input 1 (speed 0.5000 setpoint) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 260: Speed Control With Fixed Speed Setpoint

    In S mode or T mode, when the servo motor is ready to run, signal CWE or CCWE is a must to start running the motor. For more information about signals CWE and CCWE, refer to "DIs (Page 123)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 261: Speed Limit

    DI configuration Signal type Signal name Pin assign- Setting Description ment ZSCLAMP To be as- When the motor speed setpoint is below signed zero speed clamp threshold, the motor is locked. No action SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 262: Ramp-Function Generator

    You can also use the S-curve ramp-function generator by setting p1115 to 1. The S-curve ramp-function generator is realized with the following parameters: ● the acceleration (p1120) and deceleration (p1121) ramps ● the initial (p1130) and final (p1131) rounding-off times SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 263: Torque Control (T)

    These two resources can be selected with the digital input signal TSET. Signal Level Source of torque setpoint TSET 0 (default) Analog torque setpoint (analog input 2) Fixed torque setpoint (p29043) Refer to "DIs (Page 123)" for detailed information about the signal TSET. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 264: Torque Control With External Analog Torque Setpoint

    ● Automatic adjustment with BOP function: refer to "Adjusting AI offsets (Page 205)" for details. ● Manual input of an offset value (p29042) Parameter Range Default Unit Description p29042 - 0.50 to Offset adjustment for analog input 2 (torque set- 0.50 point) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 265: Torque Control With Fixed Torque Setpoint

    In S mode or T mode, when the servo motor is ready to run, signal CWE or CCWE is a must to start running the motor. For more information about the signals CWE and CCWE, refer to "DIs (Page 123)". 7.7.3 Speed limit Refer to "Speed limit (Page 229)" for details. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 266: Communicating With The Plc

    7.8 Communicating with the PLC Communicating with the PLC The SINAMICS V90 supports communication with the PLC on the RS485 interface. You can parameterize whether the RS485 interface applies USS or Modbus RTU protocol. USS is the default bus setting. A shielded twisted pair cable is recommended for RS485 communication.
  • Page 267 • r2556, and r2521 Note The USS protocol communication libraries of S7-200, S7-200 SMART V1.0, and S7-1200 do not support the communication with the SINAMICS V90 servo drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 268: Modbus Communication

    Modbus communication 7.8.2.1 Overview The SINAMICS V90 servo drive can communicate with the PLC through an RS485 cable by using the standard Modbus communication protocol. There are two ways of sending a message to a slave. ● Unicast mode (addresses 1 to 31): The master sends a message to a sepcific slave directly.
  • Page 269 High High High High Mapping table The SINAMICS V90 servo drive supports the following registers. "R", "W", "R/W" in the column access stand for read, write, read/write. Modbus register Description Modbus Unit Scaling factor Range or...
  • Page 270 0 to 8 p29003 40326 Reference mode 0 to 4 p29240 40340 Speed setpoint -16250 to r0020 16250 40341 Actual speed value -16250 to r0021 16250 40344 DC-link voltage 0 to 32767 r0026 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 271 2147482647 40812/40813 Fixed position setpoint -2147482648 to p2617[6] 2147482647 40814/40815 Fixed position setpoint -2147482648 to p2617[7] 2147482647 40840/40841 Speed of the fixed posi- 1000 1 to 40000000 p2618[0] tion 1 LU/min SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 272 100% × motor 210000.00 rated speed 40934 MDI acceleration over- 0.1 to 100 p2692 ride 40935 MDI deceleration over- 0.1 to 100 p2693 ride 40950 Fixed torque setpoint -100 to 100 p29043 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 273: Cyclic Communication

    6: 9600 baud • 7: 19200 baud • 8: 38400 baud • 9: 57600 baud • 10: 76800 baud • 11: 93750 baud • 12: 115200 baud • 13: 187500 baud • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 274 • p29008 = 1 Set the transmission baud rate by p29009. • p29009 = 8 (38400 baud) Set the drive work mode to S control mode. Save the parameters and restart the drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 275 For example, we write 0x41E to the register 40100 firstly and then write 0x41F to the register. The motor now is in SON status. You can check the control word definition table below to see the meaning of "0x41E" and "0x41F". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 276 Save the parameters and restart the drive. Configure the PLC parameters. Note: Keep the PLC baud rate the same as the drive setting. Set even parity check for the PLC (parity = 2). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 277 Select Modbus control source by p29008. • p29008 = 1 Set the transmission baud rate by p29009. • p29009 = 8 (38400 baud) Set the drive work mode to IPos control mode. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 278 For example, we write 0x46E to the register 40100 firstly and then write 0x46F to the register. The motor now is in SON status. You can check the control word definition table below to see the meaning of "0x46E" and "0x46F". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 279 OFF2 1: No OFF2 (enable is possible) OFF2 1: No OFF2 (enable is possible) 0: OFF2 (immediate pulse cancelation 0: OFF2 (immediate pulse cancelation and power on inhibit) and power on inhibit) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 280 0: Inhibit operation (cancel pulses) EN_RAMP 1: Operating condition (the ramp function Reserved generator can be enabled) 0: Inhibit ramp function generator (set the ramp function generator output to zero) Reserved Reserved SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 281 Modbus, you can select the MDI direction with parameter p29230. Note In T control mode, the motor cannot be stopped with OFF1 via Modbus. Note All the reserved bits in register 40100 must be set to 0. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 282 40283 to enable the DI signal. For example, if you have set bit 0 = 1 for register 40281, to enable signal DI1, you need to set the trigger condition (rising edge or high level) for bit 0 of register 40283. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 283: Acyclic Communication

    The motor is now in "S ON" state. 7.8.2.3 Acyclic communication The SINAMICS V90 servo drive supports acyclic communication via data set 47. The maximum data length per request is 240 bytes. Note Values in italics Values in italics in the following tables mean that you have to adjust these values for a specific request.
  • Page 284 01 hex ... 27 hex Address, parameter 1 10 hex: Parameter value Number of indices 00 hex ... EA hex (00 hex and 01 hex are equivalents) 0001 hex ... FFFF hex Parameter number SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 285 44 hex: Error (change request for this data 01 hex or 02 hex block not executed) Only for "Error" - error value 1 You can find the error values in the table at the end of this section. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 286 "Parameter list (Page 343)".) 6C hex Unknown unit 77 hex Change request is not possible during download 81 hex Change request is not possible during download 82 hex Accepting the master control is inhibited SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 287 Function code (write multiple) 0258 h Register start address 000A h Number of registers to be read (40601 … 40610) 14 h Number of data bytes (10 registers, each 2 bytes = 20 bytes) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 288 40606: First parameter value = 1 0801 h 15,16 40607: Format, number of elements of the second parameter 4142 h 17,18 40608: Second paramter value = 12.15 (41426666 h) 6666 h 19,20 40609: Second paramter value SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 289 Function code (write multiple) 0258 h Register start address 000A h Number of registers to be written to (40601 … 40615) 1E h Number of data bytes (15 registers, each 2 bytes = 30 bytes) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 290 40602: Function code 2F h (47), response length 4 bytes 8002 h 40603: Request reference mirrored = 80 h, response identifier = 2 (change parameter) 0202 h 9,10 40604: V90 = 2 h, number of parameters = 2 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 291 40601: DS47 Control = 1 (request is processed) 2F00 h 40602: Function 2F h(47), response length 0 (fault) 0004 h 40603: Error code: 0004 Response Not Ready (response has still not been issued) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 292: Absolute Position System

    7.9.1 Overview When the SINAMICS V90 servo drive uses a servo motor with an absolute encoder. the current absolute position can be detected and transmitted to the controller. With this function of the absolute position system, you can perform motion control task immediately after the servo system is powered on, which means you do not have to carry out referencing or zero position operation beforehand.

  • Page 293: Transmitting Sequence For The Absolute Position Data

    The servo motor has been changed. • An alarm occurs. • ⑤ Select a communication protocol with p29007. Set value for p29007. 0: no protocol • 1: USS protocol • 2: Modbus protocol • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 294 1), the PLC sends a data request to the drive through the RS485 cable. 2. In response to the data request from the PLC, the servo drive transmits the absolute position data (r2521) to the PLC. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 295: Safety Integrated Function

    For example, the control system for a machine that is to be used in the US must fulfill local US requirements even if the machine manufacturer (OEM) is based in the European Economic Area (EEA). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 296: Functional Safety

    Machinery Directive and the Low-Voltage Directive apply). 8.1.2.1 Machinery Directive The basic safety and health requirements specified in Annex I of the Directive must be fulfilled for the safety of machines. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 297: Harmonized European Standards

    ● Type B2 standards for protective safety devices are defined for different machine types (e.g. EMERGENCY STOP devices, two-hand operating circuits, interlocking elements, contactless protective devices, safety-related parts of controls). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 298: Standards For Implementing Safety-Related Controllers

    EC Machinery Directive are fulfilled. These standards ensure that the relevant safety requirements of the Machinery Directive are fulfilled. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 299: Din En Iso 13849-1

    Performance levels (PL), which are based on the categories, are used. The following safety-related characteristic quantities are required for devices/equipment: ● Category (structural requirement) ● PL: Performance level SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 300 PFHD value of the sub-system. Safety-related characteristic quantities for subsystem elements (devices): ● λ: Failure rate ● B10 value: For elements that are subject to wear ● T1: Lifetime SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 301: Series Of Standards En 61508 (Vde 0803)

    ● If no harmonized standard exists for the application in question. In this case, the manufacturer can use EN 61508, although no presumption of conformity exists here. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 302: Risk Analysis/Assessment

    A decision must be made here as to whether the residual risk needs to be reduced. If the risk is to be further reduced, suitable protective measures must be selected and applied. The risk assessment must then be repeated. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 303: Risk Reduction

    IEC/EN 62061 uses "Safety Integrity Level" (SIL) for classification purposes. This is a quantified measure of the safety-related performance of a controller. The required SIL is also determined in accordance with the risk assessment principle according to ISO 12100 (EN SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 304: Residual Risk

    NFPA and ANSI must be carefully observed and the extensive product liability legislation that exists in the US taken into account. Due to the product liability legislation, it is in the interests of manufacturing and operating companies that they carefully maintain the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 305: Nrtl Listing

    A precise description of the category and a list of devices that fulfill this requirement can be found on the Internet at the following address: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 306: Ansi B11

    Safety-related issues (e.g. operating modes, operator actions with access to hazardous areas, EMERGENCY STOP concepts, etc.) should be clarified with customers early on so that they can be integrated in the risk assessment/risk reduction process. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 307: Machine Safety In Japan

    Safety-related issues (e.g. operating modes, operator actions with access to hazardous areas, EMERGENCY STOP concepts, etc.) should be clarified with customers early on so that they can be integrated in the risk assessment/risk reduction process. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 308: General Information About Sinamics Safety Integrated

    ● Performance Level (PL) d to ISO 13849-1:2015 ● Safety integrity level 2 (SIL 2) to IEC 61508 In addition, the safety function of SINAMICS V90 has been certified by independent institutes. An up-to-date list of certified components is available on request from your local Siemens office.

  • Page 309: Safety Instructions

    • No personnel is present in the immediate danger zone in this phase. • The drives of vertical axes must be in torque state. • A complete forced dormant error detection cycle is required after power on. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 310: Probability Of Failure Of The Safety Function

    Hardware fault tolerance (HFT) The HFT value of SINAMICS V90 drive system is one. It means that the system can handle one fault without brake down. SINAMICS V90 STO function is a subsystem from type A, and only the discrete components are involved in the STO function.

  • Page 311: Response Time

    When the function is selected, the drive unit is in a "safe status". The switching on inhibited function prevents the drive unit from being restarted. The two-channel pulse suppression function integrated in the Motor Modules/power units is a basis for this function. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 312 • Take suitable measures to prevent unexpected drive movement, for example, by using a brake equipped with safety monitoring. Note Closing delay of the holding brake The closing signal (low level) of the holding brake is output 30 ms after the STO is triggered. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 313 2. Issue drive enable signals. 3. Switch the drive back on. – 1/0 edge at input signal "ON/OFF1" – 0/1 edge at input signal "ON/OFF1" (switch on drive) 4. Operate the drives again. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 314: Forced Dormant Error Detection

    The timer will be reset if the associated forced dormant error detection is executed. The corresponding alarm is not triggered. The forced dormant error detection procedure of Safety Function (STO) always has to be executed through the terminals. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 315: Tuning

    Current loop > speed loop > position loop Since the current loop of SINAMICS V90 servo drive already has a perfect frequency width, it is only necessary for you to adjust the speed loop gain and the position loop gain.
  • Page 316 You can slowly adjust the position loop feed forward gain. The effect of feed forward function is not obvious if the position loop gain is too big. Parameter Range Default Unit Description p29111 0.00 to Position loop feed forward gain 200.00 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 317: Tuning Mode

    The tuning function only uses the first group of servo gains (position loop gain 1, speed loop gain 1 and speed loop integral time 1). The following tuning functions are available for the SINAMICS V90 servo drive. Select a tuning mode by setting the parameter p29021.

  • Page 318: One-Button Auto Tuning

    – For the motor with an absolute encoder: position limitation is defined by p29027 – For the motor with an incremental encoder: the motor must be allowed to rotate freely about two rounds when tuning starts SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 319 Tuning 9.3 One-button auto tuning One-button auto tuning procedure Proceed as follows to perform one-button auto tuning for the SINAMICS V90 servo drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 320 Higher dynamic factor means higher tracking ability and shorter settling time but also higher possibility of resonance. You should find a desired dynamic factor within a resonance-free range. A total of 35 dynamic factors are available for the SINAMICS V90 servo drive: Dynamic factor (p29020) Machine rigidity ↑...
  • Page 321 Actual speed smoothing time p1656 0 to 15 Activates current setpoint filter p1658 0.5 to 16000 1999 Current setpoint filter 1 denominator natural frequency p1659 0.001 to 10 Current setpoint filter 1 denominator damping SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 322 One-button auto tuning may cause some changes of the control parameters. When the system rigidity is low, this may lead to a situation that when you set EMGS = 0, the motor needs take long time to stop. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 323: Real-Time Auto Tuning

    ● Make sure that the motor has multiple accelerations and decelerations. Step command is recommended. ● Machine resonance frequency changes when the machine is running. Real-time auto tuning procedure Proceed as follows to perform real-time auto tuning for the SINAMICS V90 servo drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 324 You can configure the dynamic factor of the servo system with the parameter p29020. Higher dynamic factor means higher tracking ability and shorter settling time but also higher possibility of resonance. You should find a desired dynamic factor within a resonance-free range. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 325 Tuning 9.4 Real-time auto tuning 35 dynamic factors are available for the SINAMICS V90 servo drive. Dynamic factor (p29020) Machine rigidity ↑ Middle ↓ High If the dynamic factor setting cannot be increased up to the desired level because of machine resonance beyond 250 Hz, the function of resonance suppression can be used to suppress machine resonance and thus increase dynamic factor.
  • Page 326 In such cases, use the one-button auto tuning or manual tuning to optimize the drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 327: Manual Tuning

    ● p29021=5: auto tuning function is disabled and all control parameters are reset to tuning default values. ● p29021=0: auto tuning function is disabled without changing control parameters. Procedure for manual tuning Follow the procedure below to perform manual tuning: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 328: Resonance Suppression

    Now four current setpoint filters are available for the V90 servo drive. Filter 1 is lowpass filter. Filter 2, filter 3 and filter 4 are band damp filters. The gain decreasing frequency, width as well as depth can be set by setting the notch filter: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 329 Notch filter remains active when the resonance suppression function is activated automatically. After one-button tuning is completed, four filters can be activated at most. You can deactivate the notch filters by setting the parameter p1656. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 330 , notch width is f , and notch depth is K, then the filter parameters can be calculated as follows: p1663=p1665=f p1664=f / (2 × f p1666=(f × 10 )/ (2 × f (k/20) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 331: Low Frequency Vibration Suppression

    Set the control mode for the drive by p29003. ⑥ Enable the vibration suppression function by Set p29035 = 1 to activate the function. p29035. ⑦ Set the drive to "S ON" state. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 332: Gain Switching

    In the speed control mode, gain switching can be decided by actual speed. If the actual speed is below preset value; otherwise, the second one is selected. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 333: Gain Switching Using An External Digital Input Signal (G-Change)

    Speed loop integral time 2 p29139 8 to 1000 Time constant to smooth the switching be- tween gain sets Timing diagram Note If the pulse duration is shorter than 10 ms, there is no reaction. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 334: Gain Switching Using Position Deviation

    0.00 to 1.00 1000/mi Position loop gain 2 300.00 p29120[0] 0 to 999999 Motor de- Nms/rad Speed loop gain 1 pendent p29120[1] 0 to 999999 Nms/rad Speed loop gain 2 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 335: Gain Switching Using Actual Speed

    0 to 100000 Speed loop integral time 2 p29133 0 to Speed threshold for automatically triggering 2147000064 gain switching p29139 8 to 1000 Time constant to smooth the switching be- tween gain sets SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 336: Pi/P Switching

    Selection of a switching mode for PI/P switching Five switching modes in total are available for PI/P switching: ● using torque setpoint ● using an external digital input signal (G-CHANGE) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 337 The mode switching function suppresses torque saturation and eliminates the over- shooting or undershooting of the motor speed. Example 2: The function of PI/P switching can be used to suppress overshooting and undershooting when speed loop gain is increased SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 338: Pi/P Switching Using Torque Setpoint

    Speed loop integral time 1 Note Speed setpoint For detailed information about speed setpoint, refer to "Configuring speed setpoint (Page 256)". Torque setpoint For detailed information about torque setpoint, refer to "Torque setpoint (Page 261)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 339: Pi/P Switching Using An External Digital Input Signal (G-Change)

    Switches PI control to P control using an external digital input signal (G-CHANGE) p29120[0] 0 to 999999 0.3 (default) Nms/rad Speed loop gain 1 p29121[0] 0 to 100000 15 (default) Speed loop integral time 1 Timing diagram SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 340: Pi/P Switching Using Speed Setpoint

    For detailed information about speed setpoint, refer to "Configuring speed setpoint (Page 256)". 9.9.4 PI/P switching using acceleration setpoint When the motor acceleration exceeds the preset acceleration rate (p29143), the speed loop is switched from PI control to P control. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 341: Pi/P Switching Using Pulse Deviation

    Nms/rad Speed loop gain 1 p29121[0] 0 to 100000 15 (default) Speed loop integral time 1 Note Speed setpoint For detailed information about speed setpoint, refer to "Configuring speed setpoint (Page 256)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 342 Tuning 9.9 PI/P switching SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 343: Parameters

    Parameters 10.1 Overview The section below lists all the parameters of the SINAMICS V90 servo drive. Parameter number Numbers prefixed with an "r" indicate that parameter is a read-only parameter. Numbers prefixed with a "p" indicate that the parameter is an editable parameter.
  • Page 344 16-bit unsigned integer Unsigned32 32-bit unsigned integer FloatingPoint32 Float 32-bit floating point number Parameter groups The SINAMICS V90 parameters are divided into the following groups: Parameter group Available parameters Parameter group display on the BOP Basic parameters p290xx Gain adjustment parameters...

  • Page 345: Parameter List

    Value definition for a bit: • – 0: read only – 1: read and write Note: If p927.0 = 0, the V-ASSISTANT can only be used to read parameters, all other functions won't work. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 346 Note: The parameter values displayed on the BOP are integers. p1115 Ramp-function generator selection Description: Sets the ramp-function generator type. Note: Another ramp-function generator type can only be selected when the motor is at a standstill. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 347 Note: For a motor with integrated brake, this time is pre-assigned the value saved in the motor. For p1216 = 0 ms, the monitoring and the message A7931 "Brake does not open" are deactivated. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 348 Notice: The setpoint is not equal to zero dependent on the selected value. This can therefore cause the moni- toring time in p1227 to be exceeded. In this case, for a driven motor, the pulses are not suppressed.. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 349 Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter. The filter is only effective if the natural frequency is less than half of the sampling frequency. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 350 Description: Sets the denominator damping for speed setpoint filter 2 (PT2, general filter). Dependency: Refer to p1414, p1421 Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 351 0.700 Float T, U denominator damping Description: Sets the denominator damping for current setpoint filter 1. Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 352 10.000 0.300 Float T, U denominator damping Description: Sets the denominator damping for current setpoint filter 4. Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 353 LR position setpoint filter 0.00 1000.00 0.00 Float T, U time constant Description: Sets the time constant for the position setpoint filter (PT1). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 354 Refer to: p2543, p2544, and F07451 Note: The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly re- sponding due to operational control sequences (for example, during load surges). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 355 The programmed deceleration override acts on the maximum deceleration. "Direct setpoint input/MDI" mode: The deceleration override is effective. "Jog" and "search for reference" modes: No deceleration override is effective. The axis brakes with the maximum deceleration. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 356 If the axis is already outside the valid traversing range, then an appropriate fault is output. The fault can be acknowledged at standstill. Traversing blocks with valid position can be activated. Note: The traversing range can also be limited using STOP cams. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 357 Note: When traversing to the reference cam, the velocity override is effective. If, at the start of the search for reference, the axis is already at the reference cam, then the axis immediately starts to traverse to the zero mark. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 358 Note: The target position is approached in either relative or absolute terms depending on p29241. p2618[0... EPOS traversing block 40000000 T, U velocity Description: Sets the velocity for the traversing block. Dependency: Refer to p2617 Note: The velocity can be influenced using the velocity override. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 359 BOP display selection T, U Description: Selection of BOP operating display. 0: Actual speed (default) • 1: DC voltage • 2: Actual torque • 3: Actual position • 4: Position following error • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 360 Description: Select the Modbus control source: 1: Setpoint and control word from Modbus PZD • 2: No control word • – No setpoint and control word from Modbus PZD Note: Changes only become effective after power on. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 361 Four numerators in total are available. You can select one of the numerators by configuring the digital input signal EGEAR. For detailed information about the calculation of a numerator, refer to the SINAMICS V90 Operating Instruc- tions or use SINAMICS V-ASSISTANT to do the calculation.
  • Page 362 Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is necessary • for interpolating axes. The time in p29028 should be set according to the axis with the lowest dynamic re- sponse. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 363 Working with the 400 V drives – Working in all control modes except for the S controm mode (p29003 ≠ 2). You can set the bit 4 of p29025 manually in all control modes. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 364 Description: The numerator of the electronic gear ratio for the output pulses. For detailed information about the calculation of a numerator, refer to the SINAMICS V90 Operating Instruc- tions or use the SINAMICS V-ASSISTANT to do the calculation.
  • Page 365 With this parameter, you can specify the speed setpoint corresponding to full analog input (10 V). p29061 Offset adjustment for -0.5000 0.5000 0.0000 Float analog input 1 Description: Offset adjustment for the analog input 1. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 366 Dependency: The parameter value will be set to default after configuring a new motor ID (p29000). p29111 Speed pre-control factor 0.00 200.00 0.00 Float T, U (feed forward) Description: Setting to activate and weight the speed pre-control value. Value = 0%: The pre-control is deactivated. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 367 Switch from the first group of control parameters to the second group when the position deviation is larger • than the threshold. Switch from the second group of control parameters to the first group when the position deviation is small- • er than the threshold. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 368 Switch from the PI control to the P control when the actual torque is larger than the threshold. • Switch from the P control to the PI control when the actual torque is smaller than the threshold. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 369 3: NEG Mod • p29242 CLR pulse mode Description: Select clear pulse mode 0: Disabled • 1: Means clear pulse on high level • 2: Means clear pulse on rising edge • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 370 Note: The drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 371 [1]: DI1 for the control mode 1 • [2]: DI1 for the control mode 2 • [3]: DI1 for the control mode 3 • [4...8]: Reserved • [9]: DI1 for the control mode 9 • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 372 [1]: DI5 for the control mode 1 • [2]: DI5 for the control mode 2 • [3]: DI5 for the control mode 3 • [4...8]: Reserved • [9]: DI5 for the control mode 9 • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 373 [1]: DI8 for the control mode 1 • [2]: DI8 for the control mode 2 • [3]: DI8 for the control mode 3 • [4...8]: Reserved • [9]: DI8 for the control mode 9 • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 374 • 4: Encoder warning • 5: Motor overtemperature warning: 85% of overtemperature threshold has been reached. • 6: Capacitor service life warning: The capacitor has reached its expiry, so replace it. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 375 9: Remaining number of pulses (reference 1k) • 10: Remaining number of pulses (reference 10k) • 11: Remaining number of pulses (reference 100k) • 12: Remaining number of pulses (reference 1000k) • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 376 Description: Sets the value for the damping of the natural mechanical vibration to be filtered. Typically, the damping value is about 0.03, and can be optimized by performing the appropriate positioning tests. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 377 The signal is not suitable as a process quantity and may only be used as a display quantity. The torque actual value is available smoothed (r0031) and unsmoothed. r0032 Active power actual value smoothed Float Description: Displays the smoothed actual value of the active power. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 378 • [16]: Depletion layer 4 • [17]: Depletion layer 5 • [18]: Depletion layer 6 • [19]: Cooling unit liquid intake • Dependency: Refer to A01009 Notice: Only for internal Siemens troubleshooting. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 379 Update time = 4 * LCM(250 μs, 125 μs) = 4 * 250 μs = 1 ms – Example 2: infeed, servo, vector Update time = 4 * LCM(250 μs, 125 μs, 500 μs) = 4 * 500 μs = 2 ms SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 380 [1]: In speed control mode, means speed setpoint from host controller. • [2] and [3]: In internal position control mode, means position setpoint(Hword/Lword) from host controller • [4] to [19]: Reserved. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 381 Description: Display and connector output for the position setpoint after setpoint smoothing. r2563 LR following error dynamic model Description: Displays the dynamic following error. This value is the deviation, corrected by the velocity-dependent component, between the position setpoint and the position actual value. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 382 Bit 22: POS3 • Bit 23: REF • Bit 24: SREF • Bit 25: STEPF • Bit 26: STEPB • Bit 27: STEPH • Bit 28: EMGS • Bit 29: C-MODE • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 383 Bit 12: CM_STA • Bit 13: RDY_ON • Bit 14: STO_EP • r29979 Index of actual electronic gear Description: Displays the status of position loop. Bit 0 to Bit 1: Actual EGear index • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 384 Parameters 10.2 Parameter list SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 385: Diagnostics

    ● General properties of faults and alarms – Triggering on selected messages possible. – Contain the component number for identifying the affected SINAMICS component. – Contain diagnostic information on the relevant message. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 386 NOTICE Faults are displayed in prior to alarms If both faults and alarms occur, faults are displayed in prior to alarms. Alarms are displayed only after all faults have been acknowledged. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 387 BOP operations for faults and alarms To view faults or alarms, proceed as follows: ● Faults ● Alarms To exit from fault or alarm display, proceed as follows: ● Faults ● Alarms SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 388 • You can acknowledge faults using RESET signal. For details of the signal, refer to DIs (Page 123). • You can acknowledge faults on the SINAMICS V-ASSISTANT. For details, refer to SINAMICS V-ASSISTANT Online Help. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 389: List Of Faults And Alarms

    An internal software error has occurred. Carry out a POWER ON (power off/on) for • all components. Reaction: OFF2 Acknowledgement: POWER Upgrade firmware to the latest version. • Contact the Hotline. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 390 Acknowledgement: Wire breakage or sensor not connected Check the wiring and the connection. • • IMMEDIATELY Motor temperature model incorrectly Check the motor temperature model pa- • • parameterized rameters. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 391 Reaction: OFF2 Check the DC link voltage. • Motor not connected or motor contactor • Acknowledgement: Check the Motor Module. • open. IMMEDIATELY No DC link voltage present. • Motor Module defective. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 392 Do not attempt to change over to encoder- • coderless operation not pos- verter cannot change over to encoderless less operation. sible operation. Check the encoder cable connection. • Reaction: OFF2 Acknowledgement: POWER SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 393 IMMEDIATELY value after the measuring gear - if one is being used. The sign designates the trav- ersing direction. Note: The deviation (difference) window is pre-assigned quarter of the encoder range. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 394 Reaction: OFF1 (OFF2, to the reference cam (p2606). cam without actually finding the reference OFF3) See also: p2606 (EPOS search for reference cam. Acknowledgement: reference cam maximum distance) IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 395 Correct the target position. • software limit switch plus than the position of the software limit Change software limit switch plus (CI: • switch plus. Reaction: OFF1 (OFF2, p2581). OFF3) Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 396 Reaction: OFF3 STOP cam plus was reached, i.e. the the valid traversing range. wiring of the STOP cam is incorrect. Acknowledgement: Check the wiring of the STOP cam. • IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 397 IPos: p29247 * p29248 * 4096 / p29249 – PTI: 1048576 * p29012[X] * 4096 / p29013 For singleturn encoders: • – IPos: p29247 * p29248 / p29249 – PTI: 1048576 * p29012[X] / p29013 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 398 This signal can also be initiated if the IMMEDIATELY speed actual value is oscillating and the Check the motor encoder connection. • speed controller output repeatedly goes to Check the encoder pulse number. • its limit. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 399 Line supply voltage below the permis- • IMMEDIATELY sible value. Check the line supply phases. • Line supply infeed failed or interrupted. • Check the line supply voltage setting. • Line phase interrupted. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 400 Power unit has detected a ground fault. Check the power cable connections. • Reaction: OFF2 Ground fault in the power cables. • Check the motor. • Acknowledgement: Winding fault or ground fault at the • IMMEDIATELY motor. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 401 The number of actual value telegrams from Replace the module if necessary. ues received from the power the power unit that have failed has ex- unit ceeded the permissible number. Reaction: OFF2 Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 402 2 zero marks. for track C/D, check the connection. INHIBIT Fine synchronization was not carried out. Check the connection of track C or D. • Replace the encoder or encoder cable. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 403 One of negative torque limitation values Configure all of negative torque limitation limitation value error (p29051, p1521) becomes greater than 0. values (p29051, 1521) not greater than 0. Reaction: OFF2 Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 404 Reaction: OFF1 The firmware of the servo drive does • Acknowledgement: not support the Motor ID. IMMEDIATELY F52987: Absolute encoder Incorrect absolute encoder data. Contact the Hotline. replaced Reaction: OFF1 Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 405 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 406 1000 ms. See also: p2572 (IPos maximum accelera- Note: tion), p2573 (IPos maximum deceleration), The alarm is also output if jerk limiting is p2574 (IPos jerk limiting) not active. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 407 The axis is at the position of the software Correct the target position. • switch minus reached limit switch minus. An active traversing Change software limit switch minus (CI: • block was interrupted. p2580). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 408 This alarm automatically disappears after the defined and has still not been saved. data has been saved. In order to permanently accept the new value, it must be saved in a non-volatile fashion. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 409 Carry out a POWER ON (power off/on) for • serial protocol serial protocol. all components. Check that the cables are routed in com- • pliance with EMC. Check the plug connections. • Replace the encoder. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 410 Change PTO ratio. quency exceeds 280K, drive will output A52932 to remind that exceed limitation. For absolute encoder, when PTO frequen- cy exceeds 120K, drive will output A52932 to remind that exceed limitation. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 411: Appendix

    CE standards and EMC requirements. If you use cables you made yourself or cables from a third party, Siemens does not guarantee that the drive system composed of V90 servo drive and 1FL6 servo motor meets the CE standards.
  • Page 412 ● Connecting cable shields When you assemble the drive side encoder connectors, the cable shields must be connected to the ground plate and then connected to the housing. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 413: Assembly Of Cable Terminals/Connectors On The Drive Side

    2. Remove the insulation from the wire. • 3. Insert the stripped end into the spade • terminal. 4. Crimp the spade terminal using a crimp tool for cable lugs. (Note: Coat any ex- posed wires with tin.) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 414: Encoder Connector Assembly

    The shielding wire may inadvertently be short-circuited to the unused pin on the to-be- assembled encoder connector. This can cause damage to the drive. • When assembling the connector, exercise caution when connecting the shielding cable to the encoder connector. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 415: Brake Terminal Assembly

    The assembly of a brake terminal follows the procedure as described for a power terminal of the 200 V variant servo drive. See Section "Power terminal assembly (Page 411)" for details. A.1.1.4 Setpoint connector assembly SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 416: Assembly Of Cable Connectors On The Motor Side

    • When assembling the connector, exercise caution when connecting the shielding cable to the setpoint connector. A.1.2 Assembly of cable connectors on the motor side A.1.2.1 Power connector assembly Power cable used for low inertia motors (SH20, SH30, SH40) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 417 Appendix A.1 Cable assembly Power cable used for motors with straight connectors (low inerita motors SH50 and high inertia motors) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 418 Appendix A.1 Cable assembly Power cable used for motors with angular connectors (low inerita motors SH50 and high inertia motors) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 419: Encoder Connector Assembly

    Appendix A.1 Cable assembly A.1.2.2 Encoder connector assembly Incremental encoder cable used for low inertia motors (SH20, SH30, SH40) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 420 Appendix A.1 Cable assembly Absolute encoder cable used for low inertia motors (SH20, SH30, SH40) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 421 Appendix A.1 Cable assembly Encoder cable used for motors with straight connectors (low inerita motors SH50 and high inertia motors) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 422 Encoder cable used for motors with angular connectors (low inerita motors SH50 and high inertia motors) Note No matter which type of the encoder connectors is (incremental or absolute), the assembly procedures for them are the same if they have the same look. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 423: Brake Connector Assembly

    The assembly of a brake terminal follows the procedure as described for an encoder connector used for motors with angular connectors. See Section "Encoder connector assembly (Page 417)" for details. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 424: Motor Selection

    Calculate the torque according to the load inertia, acceleration time, deceleration time, and constant motion time. 6. Select the motor. Select the motor that matches the data in step 3 to step 5. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 425: Parameter Description

    Maximum speed: It refers to the motor's maximum speed in operation, which is generally lower than the rated speed. When a motor operating at the maximum speed, pay attention to its torque and temperature rise. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 426 W: Mass (kg) W: Mass (kg) D: Pulley wheel diameter (m) : Speed of each motor Reducer (rpm) : Pulley inertia (kg·m Object hung with pulley : Inertia of each motor (kg·m SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 427: Selection Examples

    ) / t = 1.71 Nm < 4.78 Nm (rated torque) 6. Final selection According to the above calculated speed, torque, and inertia ratio, you are recommended to select 1000 W motors, i.e. 1FL6062. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 428: Replacing Fans

    When re-assembling the fan, make sure that the arrow symbol (" "in the illustration) on the fan points to the drive rather than the fan housing. Replacing the fan (example) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

  • Page 429: Index

    EN 61508, 299 Initial commissioning, 176 EN 62061, 298 Connecting 24 V power supply/STO, 162 Equipment regulations, 305 Connecting an external braking resistor, 168 Connecting the cable shields, 111 Connecting the RS485 interface, 174 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...
  • Page 430 OSHA, 302 Over-travel, 214 Overview of absolute position system, 290 Harmonized European Standards, 295 Restrictions, 290 Overview of SINAMICS V90 BOP functions, 199 Internal position control mode (IPos) Linear/modular axis, 240 Parameter value, 281 Position setpoint, 237 PI to P switching using torque setpoint, 336...
  • Page 431 Zero speed clamp, 259 Speed limit, 229 Overall speed limit, 229 Standards for implementing safety-related controllers, 296 Stopping method at servo OFF, 216 Coast-down (OFF2), 216 Quick stop (OFF3), 216 Ramp-down (OFF1), 216 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2019, A5E36037884-007...

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