Siemens SINAMICS V90 Bedienungsanleitung

A5E36037886-003, 04/2017 1

SINAMICS V90, SIMOTICS S-1FL6

Pulse train, USS/Modbus interface

Getting Started

Compact Operating Instructions

Table of contents

1 Fundamental safety instructions ..............................................................................................................................3

1.1 General safety instructions......................................................................................................................3

1.2 Handling electrostatic sensitive devices (ESD) .......................................................................................7

1.3 Industrial security ....................................................................................................................................7

1.4 Residual risks of power drive systems.....................................................................................................8

2 General information ................................................................................................................................................9

2.1 Deliverables.............................................................................................................................................9

2.1.1 Drive components....................................................................................................................................9

2.1.2 Motor components.................................................................................................................................14

2.2 Device combination ...............................................................................................................................17

2.3 Accessories...........................................................................................................................................20

2.4 Function list ...........................................................................................................................................22

2.5 Technical data.......................................................................................................................................23

2.5.1 Technical data - servo drives.................................................................................................................23

2.5.2 Technical data - servo motors ...............................................................................................................27

2.5.3 Address of CE-authorized manufacturer ...............................................................................................30

3 Mounting ..............................................................................................................................................................31

3.1 Mounting the drive.................................................................................................................................31

3.2 Mounting the motor................................................................................................................................35

4 Connecting ........................................................................................................................................................... 42

4.1 System connection ................................................................................................................................42

4.2 Main circuit wiring..................................................................................................................................48

4.2.1 Line supply - L1, L2, L3.........................................................................................................................48

4.2.2 Motor power - U, V, W ...........................................................................................................................49

4.3 Control/Status interface - X8 .................................................................................................................51

4.3.1 Interface definition .................................................................................................................................51

4.3.2 Standard wiring .....................................................................................................................................53

4.4 24 V power supply/STO.........................................................................................................................57

4.5 Encoder interface - X9...........................................................................................................................58

4.6 External braking resistor - DCP, R1 ......................................................................................................61

4.7 Motor holding brake...............................................................................................................................61

4.8 RS485 interface - X12 ...........................................................................................................................62

5 Commissioning.....................................................................................................................................................63

5.1 Introduction to the BOP .........................................................................................................................64

5.2 Initial commissioning in JOG mode .......................................................................................................69

5.3 Commissioning in pulse train position control mode (PTI).....................................................................72

Getting Started

2A5E36037886-003, 04/2017

5.4 Commissioning control functions........................................................................................................... 73

5.4.1 Selecting a control mode....................................................................................................................... 73

5.4.2 Selecting a setpoint pulse train input channel....................................................................................... 74

5.4.3 Selecting a setpoint pulse train input form ............................................................................................ 74

5.4.4 In position (INP) .................................................................................................................................... 75

5.4.5 Calculating electronic gear ratio............................................................................................................ 75

5.4.6 Absolute position system ...................................................................................................................... 77

6 Parameters ...........................................................................................................................................................78

6.1 Overview............................................................................................................................................... 78

6.2 Parameter list........................................................................................................................................ 79

7 Diagnostics .........................................................................................................................................................111

7.1 Overview............................................................................................................................................. 111

7.2 List of faults and alarms ...................................................................................................................... 113

Getting Started

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Fundamental safety instructions

1.1

General safety instructions

DANGER

Danger to life due to live parts and other energy sources

Death or serious injury can result when live parts are touched.

•Only work on electrical devices when you are qualified for this job.

•Always observe the country-specific safety rules.

Generally, six steps apply when establishing safety:

1. Prepare for shutdown and notify all those who will be affected by the procedure.

2. Disconnect the machine from the supply.

–Switch off the machine.

–Wait until the discharge time specified on the warning labels has elapsed.

–Check that it really is in a no-voltage condition, from phase conductor to phase conductor and phase

conductor to protective conductor.

–Check whether the existing auxiliary supply circuits are de-energized.

–Ensure that the motors cannot move.

3. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or water.

4. Isolate or neutralize all hazardous energy sources by closing switches, grounding or short-circuiting or

closing valves, for example.

5. Secure the energy sources against switching on again.

6. Ensure that the correct machine is completely interlocked.

After you have completed the work, restore the operational readiness in the inverse sequence.

WARNING

Danger to life through a hazardous voltage when connecting an unsuitable power supply

Touching live components can result in death or severe injury.

•Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV- (Protective Extra Low

Voltage) output voltages for all connections and terminals of the electronics modules.

WARNING

Danger to life when live parts are touched on damaged motors/devices

Improper handling of motors/devices can damage them.

For damaged moto

rs/devices, hazardous voltages can be present at the enclosure or at exposed components.

•Ensure compliance with the limit values specified in the technical data during transport, storage and

operation.

•

Do not use any damaged motors/devices.

WARNING

Danger to life through electric shock due to unconnected cable shields

Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected cable shields.

•As a minimum, connect cable shields and the cores of cables that are not used at one end at the grounded

housing potential.

Getting Started

4A5E36037886-003, 04/2017

WARNING

Danger to life due to electric shock when not grounded

For missing or incorrectly implemented protective conductor connection for devices with protection class I, high

voltages can be present at open, exposed parts, which when touched, can result in death or severe injury.

•

Ground the device in compliance with the applicable regulations.

WARNING

Danger to life due to electric shock when opening plug connections in operation

When opening plug connections in operation, arcs can result in severe injury or death.

•Only open plug connections when the equipment is in a no-

voltage state, unless it has been explicitly stated

that they can be opened in operation.

WARNING

Danger to life through electric shock due to the residual charge of the power component capacitors

Because of the capacitors, a hazardous voltage is present for up to 5 minutes after the power supply has been

switched off. Contact with live parts can result in death or serious injury.

•

Wait for 5 minutes before you check that the unit really is in a no-voltage condition and start work.

NOTICE

Material damage due to loose power connections

Insufficient tightening torques or vibrations can result in loose electrical connections. This can result in damage due to fire,

device defects or malfunctions.

•Tighten all power connections with the specified tightening torques, e.g. line supply connection, motor connection, DC

link connections.

•

Check all power connections at regular intervals. This applies in particular after transport.

WARNING

Danger to life due to fire spreading if housing is inadequate

Fire and smoke development can cause severe personal injury or material damage.

•Install devices without a protective housing in a metal control cabinet (or protect the device by another equivalent

measure) in such a way that contact with fire is prevented.

•

Ensure that smoke can only escape via controlled and monitored paths.

WARNING

Danger to life from electromagnetic fields

Electromagnetic fields (EMF) are generated by the operation of electrical power equipment, such as transformers,

converters, or motors.

People with pacemakers or implants are at particular risk in the immediate vicinity of this equipment.

•

If you have a heart pacemaker or implant, maintain a minimum distance of 2 m from electrical power equipment.

WARNING

Danger to life from permanent-magnet fields

Even when switched off, electric motors with permanent magnets represent a potential risk for persons with heart

pacemakers or implants if they are close to converters/motors.

•If you have a heart pacemaker or implant, maintain a minimum distance of 2 m.

•When transporting or storing permanent-magnet motors always use the original packing materials with the warning

labels attached.

•Clearly mark the storage locations with the appropriate warning labels.

•

IATA regulations must be observed when transported by air.

Getting Started

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WARNING

Danger to life through unexpected movement of machines when using mobile wireless devices or mobile phones

Using mobile wireless devices or mobile phones with a transmit power > 1 W closer than approx. 2 m to the components

may cause the devices to malfunction, influence the functional safety of machines therefore putting people at risk or

causing material damage.

•

Switch the wireless devices or mobile phones off in the immediate vicinity of the components.

WARNING

Danger to life due to the motor catching fire in the event of insulation overload

There is higher stress on the motor insulation through a ground fault in an IT system. If th

e insulation fails, it is possible that

death or severe injury can occur as a result of smoke and fire.

•Use a monitoring device that signals an insulation fault.

•Correct the fault as quickly as possible so the motor insulation is not overloaded.

WARNING

Danger to life due to fire if overheating occurs because of insufficient ventilation clearances

Inadequate ventilation clearances can cause overheating of components with subsequent fire and smoke. This can cause

severe injury or even death. This can also result in increased downtime and reduced service lives for devices/systems.

•

Ensure compliance with the specified minimum clearance as ventilation clearance for the respective component.

WARNING

Danger of an accident occurring due to missing or illegible warning labels

Missing or illegible warning labels can result in accidents involving death or serious injury.

•Check that the warning labels are complete based on the documentation.

•Attach any missing warning labels to the components, in the national language if necessary.

•

Replace illegible warning labels.

NOTICE

Device damage caused by incorrect voltage/insulation tests

Incorrect voltage/insulation tests can damage the device.

•Before carrying out a voltage/insulation check of the system/machine, disconnect the devices as all converters and

motors have been subject to a high voltage test by the manufacturer, and therefore it is not necessary to perform an

additional test within the system/machine.

WARNING

Danger to life when safety functions are inactive

Safety functions that are inactive or that have not been adjusted accordingly can cause operational faults on machines that

could lead to serious injury or death.

•Observe the information in the appropriate product documentation before commissioning.

•Carry out a safety inspection for functions relevant to safety on the entire system, including all safety-related

components.

•Ensure that the safety functions used in your drives and automation tasks are adjusted and activated through

appropriate parameterizing.

•Perform a function test.

•Only put your plant into live operation once you have guaranteed that the functions relevant to safety are running

correctly.

Getting Started

6A5E36037886-003, 04/2017

Note

Important safety notices for Safety Integrated functions

If you want to use Safety Integrated functions, you must observe the safety notices in the Safety Integrated manuals.

WARNING

Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization

As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death.

•Protect the parameterization (parameter assignments) against unauthorized access.

•

Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY STOP or EMERGENCY OFF).

WARNING

Risk of injury caused by moving parts or parts that are flung out

Touching moving motor parts or drive output elements and loose motor parts that are flung out (e.g. feather keys) in

operation can result in severe injury or death.

•Remove any loose parts or secure them so that they cannot be flung out.

•Do not touch any moving parts.

•Safeguard all moving parts using the appropriate safety guards.

WARNING

Danger to life due to fire if overheating occurs because of insufficient cooling

Inadequate cooling can cause overheating resulting in death or severe injury as a result of smoke and fire. This can also

result in increased failures and reduced service lives of motors.

•

Comply with the specified coolant requirements for the motor.

WARNING

Danger to life due to fire as a result of overheating caused by incorrect operation

When incorrectly operated and in the case of a fault, the motor can overheat resulting in fire and smoke. This can result in

severe injury or death. Further, excessively high temperatures destroy motor components and result in increased failures

as well as shorter service lives of motors.

•Operate the motor according to the relevant specifications.

•Only operate the motors in conjunction with effective temperature monitoring.

•

Immediately switch off the motor if excessively high temperatures occur.

CAUTION

Risk of injury due to touching hot surfaces

In operation, the motor can reach high temperatures, which can cause burns if touched.

•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.

Getting Started

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1.2

Handling electrostatic sensitive devices (ESD)

Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules or devices that may be

damaged by either electric fields or electrostatic discharge.

NOTICE

Damage through electric fields or electrostatic discharge

Electric fields or electrostatic discharge can cause malfunctions through damaged individual components,

integrated circuits, modules or devices.

•

Only pack, store, transport and send electronic components, modules or devices in their original packaging

or in other suitable materials, e.g conductive foam rubber of aluminum foil.

•Only touch components, modules and devices when you are grounded by one of the following methods:

–Wearing an ESD wrist strap

–Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring

•Only place electronic components, modules or devices on conductive surfaces (table with ESD surface,

conductive ESD foam, ESD packaging, ESD transport container).

1.3

Industrial security

Note

Industrial security

Siemens provides products and solutions with industrial security functions that support the secure operation of plants,

systems, machines and networks.

order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement – and

continuously maintain

– a holistic, state-of-the-

art industrial security concept. Siemens products and solutions only represent

one component

of such a concept.

The customer is responsible for preventing unauthorized access to its plants, systems, machines and networks. Systems,

machines and components should only be connected to the enterprise network or the internet if and to the extent neces

sary

and with appropriate security measures (e.g. use of firewalls and network segmentation) in place.

Additionally, Siemens’ guidance on appropriate security measures should be taken into account. For more information about

industrial security, please vi

sit:

Industrial security (

http://www.siemens.com/industrialsecurity).

Siemens’ products and solutions undergo continuous development to make them more secure. Siemens strongly

recommends to apply

product updates as soon as available and to always use the latest product versions. Use of product

versions that are no longer supported, and failure to apply latest updates may increase customer’s exposure to cyber

threats.

To stay informed about produc

t updates, subscribe to the Siemens Industrial Security RSS Feed at:

Industrial security (

http://www.siemens.com/industrialsecurity).

WARNING

Danger to life as a result of unsafe operating states resulting from software manipulation

Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating states in your system that

may lead to death, serious injury, and property damage.

•Keep the software up to date.

•Incorporate the automation and drive components into a holistic, state-of-the-art industrial security concept for the

installation or machine.

•Make sure that you include all installed products into the holistic industrial security concept.

•Protect files stored on exchangeable storage media from malicious software by with suitable protection measures, e.g.

virus scanners.

Getting Started

8A5E36037886-003, 04/2017

1.4

Residual risks of power drive systems

When assessing the machine- or system-related risk in accordance with the respective local regulations (e.g., EC Machinery

Directive), the machine manufacturer or system installer must take into account the following residual risks emanating from

the control and drive components of a drive system:

1. Unintentional movements of driven machine or system components during commissioning, operation, maintenance, and

repairs caused by, for example,

–Hardware and/or software errors in the sensors, control system, actuators, and cables and connections

–Response times of the control system and of the drive

–Operation and/or environmental conditions outside the specification

–Condensation/conductive contamination

–Parameterization, programming, cabling, and installation errors

–Use of wireless devices/mobile phones in the immediate vicinity of electronic components

–External influences/damage

–X-ray, ionizing radiation and cosmic radiation

2. Unusually high temperatures, including open flames, as well as emissions of light, noise, particles, gases, etc., can occur

inside and outside the components under fault conditions caused by, for example:

–Component failure

–Software errors

–Operation and/or environmental conditions outside the specification

–External influences/damage

3. Hazardous shock voltages caused by, for example:

–Component failure

–Influence during electrostatic charging

–Induction of voltages in moving motors

–Operation and/or environmental conditions outside the specification

–Condensation/conductive contamination

–External influences/damage

4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a risk to people with a pacemaker,

implants or metal replacement joints, etc., if they are too close

5. Release of environmental pollutants or emissions as a result of improper operation of the system and/or failure to

dispose of components safely and correctly

6. Influence of network-connected communication systems, e.g. ripple-control transmitters or data communication via the

network

For more information about the residual risks of the drive system components, see the relevant sections in the technical user

documentation.

Getting Started

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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.

The 400 V variant is also available in four frame sizes: FSAA, FSA, FSB, and FSC. All the frame sizes are used on three

phase power network only.

2.1

Deliverables

2.1.1

Drive components

Components in SINAMICS V90 200 V variant drive package

Component

Illustration

Rated power

(kW)

Outline dimension

(Width x Height x

Depth, mm)

Frame size

Article number

SINAMICS V90,

single/three-phase,

200 V

0.1/0.2 45 x 170 x 170 FSA 6SL3210-5FB10-

1UA0

6SL3210-5FB10-

2UA0

0.4 55 x 170 x 170 FSB 6SL3210-5FB10-

4UA1

0.75 80 x 170 x 195 FSC 6SL3210-5FB10-

8UA0

SINAMICS V90,

three-phase, 200 V

1.0/1.5/2.0 95 x 170 x 195 FSD 6SL3210-5FB11-

0UA1

6SL3210-5FB11-

5UA0

6SL3210-5FB12-

0UA0

Connectors For FSA and FSB 6SL3200-0WT02-

0AA0

For FSC and FSD 6SL3200-0WT03-

0AA0

Shielding plate

For FSA and FSB

For FSC and FSD

User documentation

Information Guide

English-Chinese bilingual version

Getting Started

10 A5E36037886-003, 04/2017

Components in SINAMICS V90 400 V variant drive package

Component

Illustration

Rated power

(kW)

Outline dimension

(Width x Height x

Depth, mm)

Frame size

Article number

SINAMICS V90,

three-phase, 400 V

0.4 60 x 180 x 200 FSAA 6SL3210-5FE10-

4UA0

0.75/1.0 80 x 180 x 200 FSA 6SL3210-5FE10-

8UA0

6SL3210-5FE11-

0UA0

1.5/2.0 100 x 180 x 220 FSB 6SL3210-5FE11-

5UA0

6SL3210-5FE12-

0UA0

3.5/5.0/7.0 140 x 260 x 240 FSC 6SL3210-5FE13-

5UA0

6SL3210-5FE15-

0UA0

6SL3210-5FE17-

0UA0

Connectors For FSAA 6SL3200-0WT00-

0AA0

For FSA 6SL3200-0WT01-

0AA0

For FSB and FSC *

Shielding plate

For FSAA and FSA

For FSB and FSC

User documentation Information Guide English-Chinese bilingual version

* 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.

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