Commissioning LinMot P10-70 Linear Motors at SINAMICS S120

Size: px

Start display at page:

Download "Commissioning LinMot P10-70 Linear Motors at SINAMICS S120"

Gregory Robbins
6 years ago
Views:

1 FAQ 02/2016 Commissioning LinMot 70 Linear Motors at SINAMICS S120 S120 CONTROL UNIT CU320 / SIMOTION DRIVE-BASED CONTROL UNIT

2 This document is an entry from the Siemens Industry Online Support. The following Terms of Use apply ( Security information Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. 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. Siemens products and solutions only form one element of such a concept. Customer is responsible to prevent 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 necessary 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 visit 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 product updates, subscribe to the Siemens Industrial Security RSS Feed under Table of Contents 1 Task Solution Connection Motor cable connection diagram Connection layout encoder cable Encoder cable at SMC Encoder cable at SME Create axis Configuration with script Manual Configuration Motor data Configuring the temperature sensor Configuration i²t model Checking the limit and reference values Optimization of the electrical current controller Optimizing the velocity controller Document History IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/2016 2

3 1 Task 1 Task This document describes how to commission the LinMot linear motors of the 70 series at a Siemens frequency converter SINAMICS S120, as available in the device versions SIMOTION D4xx-2 or SINAMICS CU Solution Topics not covered in this application This document does not contain a description of: General procedure for drive optimization Integrating the drive as technological axis in SIMOTION Security-related configuration of the SINAMICS Application of axis expansion module SINAMICS CX32-2 Assumed knowledge Basic knowledge on working with SCOUT/STARTER and SIMOTION/SINAMICS S120 is assumed. This application is valid for SCOUT 4.2 or higher STARTER 4.2 or higher SINAMICS S120 FW or higher Configurations script LinMotAuswahl.txt version The application was tested with the following components: SCOUT D445-2 DP/PN with version 4.3 SINAMICS FW ; Order no. 6AU1445-2AD00-0AA0 Controller module CU320-2 PN SINAMICS FW Order no. 6SL3040-1MA01-0Axx Sensor evaluation SMC20; order no. 6SL3055-0AA0-5Bxx Power unit single motor module 4.8 kw 9.0 A Order no. 6SL3420-1TE21-0Axx Feed ALM 16 kw order no. 6SL3130-7TE21-6Axx Network filter AIM 400 V 16 kw order no. 6SL3100-0BE21-6AB0 Linear motor LinMot 70x320U The necessary information was taken from the current LinMot data sheet, the list manual LH1 as well as the GH1 SINAMICS S120 device manual. IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/2016 3

4 2 Solution The LinMot 70 series includes type 80, 160, 240, 320 und 400. For each motor type, three possible cooling types must be selected: 1. Water cooling 2. Forced ventilation (fan cooling) 3. Non-ventilated (passive cooling) Commissioning as linear motor requires adjusting a number of drive parameters depending on motor type and cooling type. These changes particularly affect motor model and encoder configuration and could simply be entered manually or preferably script-supported. IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/2016 4

5 3 Connection 3 Connection 3.1 Motor cable connection diagram Table 3-1 LinMot 70x.-D01 Motor connection, circular connector* Motor cable SIEMENS SINAMICS S120 X1 motor module connection, screw terminal Pin Signal name Terminal 1 U U2 2 PE PE connection (ring terminal) 3 W V2 4 V V2 *connector: Intercontec SpeedTec series 923 BEDC 110 NN Cable: Shielded motor cable 1.5mm² Figure 3-1 For problems with the phase sequence, a test measurement according to list manual SINAMICS S120 p1990 suggestion 2: set electrical current limit to 0 (p0640 = 0), activate moving to fixed stop (p1545 = 1), record r0089[0] (phase voltage U) and r0093 (pole position electrically standardized) in drive trace while motor is moved externally The rising zero crossing of the phase voltage must match the > 0 jump of r0093. For the phase voltage U and the encoder signals, the connection executed according to the above layout outputs the following signal picture displayed in Figure 3-1 for a positive motion direction according to the LinMot documentation. Legend: LinMot.r93: Pole position angle electrically scaled LinMot.r89[0] Actual phase voltage, Phase U IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/2016 5

6 3 Connection 3.2 Connection layout encoder cable Encoder cable at SMC Table 3-2 Encoder cable LinMot 70x.-D01 Encoder connection, circular connector* Pin Signal name Wire color Pin Signal name VDC white 1 P encoder 2 GND brown 2 M encoder 3 Supply sense +5V green 14 P sense 4 Supply sense GND yellow 16 M sense 5 n.c. 6 n.c. 7 Sin+ gray 7 B* 8 Sin - pink 6 B 9 Cos+ blue 4 A* 10 Cos- red 3 A 11 Ref.+ black 17 R 12 Ref.- purple 18 R* 13 Hall U gray/pink 14 Hall V red/blue 15 Hall W white/green 16 Temp+ yellow/brown or brown/green Siemens SMC20 Encoder connection, DSUB Temp 17 Temp- white/yellow 25 -Temp n.c. *connector: Intercontec SpeedTec, series 617, AEDA 874 NN A 000 yellow/brown or brown/green Encoder cable: double-shielded with twisted pairs of twin wires 5 Grounding inner shielding (A/A*) 8 Grounding inner shielding (B/B*) 9 Reserved, do not assign 10 Clock (cycle EnDat, SSI) 11 Reserved, do not assign 12 Clock* (cycle EnDat, SSI) 15 Data (data EnDat, SSI) 19 C 20 C* 21 D 22 D* 23 Data* (data EnDat, SSI) 24 Grounding inner shielding (R/R*) IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/2016 6

7 3 Connection Encoder cable at SME Table 3-3 Encoder cable LinMot 70x.-D01 Encoder connection, circular connector* Siemens SME20 Encoder connection, DSUB 25 Pin Signal name Wire color Pin Signal name Bridges VDC white 2 P5 2 GND brown 10 M 3 Supply sense +5V green 4 Supply sense GND yellow 5 n.c. 6 n.c. 7 Sin+ gray 1 B* 8 Sin - pink 8 B 9 Cos+ blue 6 A* 10 Cos- red 5 A 11 Ref.+ black 3 R 12 Ref.- purple 4 R* 13 Hall U gray/pink 14 Hall V red/blue 15 Hall W white/green 16 Temp+ gb/bn or bn/gn 9 +Temp 17 Temp- white/yellow 7 -Temp n.c. gb/bn or bn/gn 11 M *connector: Intercontec SpeedTec, series 617, AEDA 874 NN A P5 ** connector: 12-pole, Order no.: 6FX2003-0SA12 Encoder cable: double-shielded with twisted pairs of twin wires IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/2016 7

8 4.1 Create axis Creating a servo axis in the SINAMICS device requires running the following procedure as usual: 1. Create a servo-type drive object Figure Select Control type [21] speed control with encoder Figure 4-2 IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/2016 8

3. Select the motor module Figure 4-3 4.

9 3. Select the motor module Figure Select the infeed enable signal Figure 4-4 IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/2016 9

10 5. Select motor type [4] synchronous motor (linear, permanent-magnet) Figure Enter motor data. The values entered here are later overwritten by the configuration script. It is sufficient to select any list motor from the Template button ; so the plausibility of the inputs enables exiting the input mask with Next. Figure 4-6 IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

11 7. In Equivalent circuit diagram data just klick on Next without entering any data Figure In Calculation of motor data select complete calculation without equivalent circuit diagrams ) Figure 4-8 IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

12 9. Select No motor holding brake Figure The subsequently required encoder configuration leads through a submenu with several tabs after choosing Enter data and Encoder data : a. First select Code number/encoder type: [0] no encoder and klick on Encoder data Figure 4-10 IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

13 b. In the submenu Encoder Data, the following inputs are required in the General tab : Measuring system incremental sine/cosine Grid line spacing 40,000,000 nm (corresponds to 40 mm) Several zero marks at a distance of 40 mm Coarse synchronization via Hall sensors (this setting will later be changed to None by editing the expert list) Fine synchronization: None (direct evaluation of encoder tracks A/B is sufficient) Pole position identification procedure Saturation-based 1 st and 2 nd harmonics. (The saturation-based procedure is default here; however, it is not automatically executed in standard operation.) Figure 4-11 c. In the Details tab, enter the Fine resolution: G1_XIST = 10 bit Figure 4-12 IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

d. After the input of encoder data, Code number/encoder type: [9999]/User defined is active Figure 4-13 11.

14 d. After the input of encoder data, Code number/encoder type: [9999]/User defined is active Figure Select the communication of the axis Figure 4-14 IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

15 12. Finally, the generation process needs to be completed. Figure 4-15 The drive has now been created and requires further configurations which are described in the following section 4.2 Configuration with script. IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

First, a script folder must be entered below the drive to be configured.

16 4.2 Configuration with script Note It is recommended to make the inputs by means of the configuration script LinMotSelection.txt. The current version of the script must be used as specified in chapter 2 Solution. First, a script folder must be entered below the drive to be configured. Figure 4-16 The configuration script is available as ASCII file and is now manually imported into the previously created script folder. Figure 4-17 IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

17 Make sure the name is LinMotSelection. Figure 4-18 Now establish the online connection with the CU. Reset the CU to factory setting and load the drive device (CU) into the target device. Start the script. (The script only starts, if drive device is online.) Figure 4-19 IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

The Progress window is open throughout the entire script run-time.

Figure 4-21 The script starts with a security query which shows on which device and for which

(Motor length), cooling type, motor mass, cable resistance and series inductance, and then

18 The Progress window is open throughout the entire script run-time. Figure 4-20 It may happen that the executing the script is cancelled due to a missing online connection or an exceeded time limit. In this case, it is necessary to restart the script for a second time. Figure 4-21 The script starts with a security query which shows on which device and for which axis the configuration shall be performed: Figure 4-22 Then the script polls for motor type (Motor length), cooling type, motor mass, cable resistance and series inductance, and then processes all of the parameter inputs described in the following chapters 4.3 Manual Configuration to Checking the limit and reference values. Figure 4-23 IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

sample check of the drive parameters in the Expert list of the CU and the Expert list of the drive.

19 The drive parameters are only described fully after the script was terminated without errors. Note the outputs of the Scripting tab in the Details view: Figure 4-24 Verify the successful execution of the script by means of a final random sample check of the drive parameters in the Expert list of the CU and the Expert list of the drive. Figure 4-25 All drive parameters listed in the following sections (of section 4.3 Manual Configuration to section 4.5 Optimizing the velocity controller) now need to match the drive object. IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

20 4.3 Manual Configuration Motor data Note The following list contains all SINAMICS parameters regarding the general motor data. When working with the configuration script, the script handles the adjustment of the parameters listed here (see chapter 4.2 Configuration with script). The motor data is designed for the event where a field weakening mode is not desired. This refers to the parameters p320[0] and p348[0]. The parameter values p305[0], p312[0], p318[0], p319[0] and p1800[0] must be selected depending on the cooling type. P341[0] must be calculated from the mass of the rotor bars + load mass depending on the application. Parameter value p1982[0] generally depends on the existence of an absolute start position: [0] with absolute information, [1] without absolute information. In the current configuration of motors and encoders, the encoder tracks A and B are at the same time also used as absolute position tracks. The pole position angle can hence be derived from it. A pole position identification is therefore not necessary. The color coding of the table rows for Table 4-1 is: Value depends on script input (free entry possible) Value only valid for certain cooling type (selection) Value is valid for all cooling types (possibly depending on motor type) Table 4-1 Param. no. Designation Unit 70x80 p115[0] Current controller µs 62.5 p115[1] Velocity controller µs x160 70x240 70x320 70x400 p300[0] Motor type selection - [4] synchronous motor, linear, permanent-magnet p301[0] Motor code number selection p304[0] Rated motor voltage Veff p305[0] Rated motor current Liquid cooling Rated motor current Forced ventilation Rated motor current non-ventilated [0] Aeff Aeff Aeff IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

21 Param. no. p306[0] Designation Unit 70x80 Number of motors connected in parallel p307[0] Rated motor output kw 0.0 p310[0] Rated motor frequency Hz x160 70x240 70x320 70x400 p311[0] Rated motor velocity m/min p312[0] Rated motor power Liquid cooling Rated motor power Forced ventilation Rated motor power non-ventilated p315[0] Motor pole pair width mm 40.0 N N N p316[0] Motor power constant N/Aeff p317[0] Motor voltage constant Veff s/m p318[0] p319[0] p320[0] Motor standstill current liquid cooling Motor standstill current forced ventilation Motor standstill current non-ventilated Motor standstill power liquid cooling Motor standstill power forced ventilation Motor standstill power non-ventilated Rated motor magnetizing current / short-circuit current Aeff Aeff Aeff N N N Aeff 1.e-003 p322[0] Maximum motor velocity m/min p323[0] Maximum motor current Aeff p324[0] p326[0] Maximum winding velocity Motor stall torque correction factor m/min 0.0 % p327[0] Motor load angle optimal 90.0 p328[0] p329[0] Motor reluctance torque constant Motor pole position identification current mh 0.0 Aeff p338[0] Motor limit current Aeff p341[0] Motor mass kg x x x x x p348[0] p350[0] Application veloicity of field weakening Vdc = 600 V Motor stator resistance cold m/min p352[0] Cable resistance Ohm x Ohm IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

22 Param. no. Designation Unit 70x80 p353[0] Motor series inductance mh x p356[0] p391[0] p392[0] p393[0] p404[0] p431[0] p1441[0] P1800[0] Motor stator leakage inductance Current controller adaption starting point KP Current controller adaption starting point KP adapted Current controller adaptation P gain adaptation Encoder configuration active: p404.5=0 track C/D p404.6=0 Hall sensor Angular commutation offset Actual velocity value smoothing time Nominal pulse frequency Liquid cooling Nominal pulse frequency Forced ventilation Nominal pulse frequency non-ventilated 70x160 70x240 70x320 mh Aeff x400 Aeff % ms 0.25 khz 4 khz 8 khz H p1980[0] Pol-Id procedure [0] saturation-based 1 st +2 nd harmonics p1981[0] Pol-Id distance max electrical 20 p1982[0] Pol-Id selection [0] pole position identification off IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

23 4.3.2 Configuring the temperature sensor Note The following list contains all SINAMICS parameter regarding the temperature monitoring by means of temperature sensors. When working with the configuration script, the script handles the adjustment of the parameters listed here (see chapter 4.2 Configuration with script). Table 4-2 Param. no. p600[0] Designation Unit 70x80 Motor temperature sensor for monitoring p601[0] Motor temperature sensor - sensor type p604[0] KTY alarm threshold C 90.0 p605[0] KTY fault threshold I²T alarm threshold C 90.0 p606[0] KTY timer s x160 70x240 [1] temperature sensor via encoder 1 [2] KTY84 70x320 70x Configuration i²t model Note The following list contains all SINAMICS parameters to be input regarding the temperature monitoring by means of the thermal motor model. When working with the configuration script, the script takes on the adjustment of the parameters listed here (see chapter 4.2 Configuration with script). Table 4-3 Param. no. Designation Unit 70x80 70x160 70x240 70x320 70x400 p611[0] I²T motor model thermal time constant s 4200 p612[0].0 Activate motor temperature model 1 (I²T) Yes p612[0].1 Activate motor temperature model 2 No p612[0].2 Activate motor temperature model 3 No p615[0] Mot_temp_mod 1 (I²T) fault threshold C 90 Note Parameter p605[0] to be set in KTY monitoring also defines the alarm threshold of the I²T model. IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

24 4.3.4 Checking the limit and reference values Note When working with the configuration script, the script takes on the adjustment of the parameters listed here (see chapter 4.2 Configuration with script) as well as the calculation of the controller parameters. After manual parameter input, an automatic calculation of the control parameters (p340 = [4]) must be triggered here. For the following parameters for current and velocity, it should be checked after commissioning has been completed whether the limit values configured for the motor are exceeded. Table 4-4 Param. no. Designation Unit 70x80 70x160 70x240 70x320 70x400 p640[0] Current limit Aeff p323[0] p1082[0] Maximum velocity m/min p322[0] r1084[0] Positive velocity limit effective m/min p322[0] r1087[0] Negative velocity limit effective m/min - p322[0] p2000[0] Reference velocity m/min = p1082[0] NOTICE p640 and p1082 are absolute limit values. r1084[0] and r1087[0] are limit values with signs! IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

25 4.4 Optimization of the electrical current controller After completing the drive configuration, select the function Controller optimization / pending measurement and execute the steps up to automatic current controller optimization. The current control values in the table below are exemplary and not generally valid. They origin from a certain test configuration and only serve as a rough orientation to interpret the result of the automatic calculation. NOTICE The already configured setting value smoothing time for the actual velocity value is overwritten by automatic current controller optimization. The overwritten parameter must be reset to the desired value after the calculation. Table 02/ Param. no. Designation Unit 70x80 70x160 70x240 70x320 p1715[0] Current controller p gain V/A p1717[0] Current controller integral time ms x400 Additional information: The aim of optimizing the current controller is achieved if the guide frequency response (after nominal current filter) runs up to the -3dB limit frequency without overshoot. Checking this criterion is possible using a drive trace/function generator. The option for higher dynamics of current controller p is automatically set firmware internally prior to first commissioning if certain preconditions of CU device and firmware version apply. The values for the current controller adaptation p391[0] p393[0] are contained in the entered motor data and need not be optimized further. Note If you change drive parameters online in the course of manual optimization, the following sequence must be kept in order to accept the values changed online on a permanent basis, and to keep drive parameters and project consistent: 1. Saving drive device RAM to ROM 2. Uploading drive device into the project 3. Saving project IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

26 5 Document History 4.5 Optimizing the velocity controller Please execute the function automatic speed controller setting. Table 4-6 Param. no. The values of the following table are exemplary and not generally valid. They origin from a certain test configuration and only serve as a rough orientation to interpret the result of the automatic calculation. Designation Unit 70x80 70x160 70x240 70x320 70x400 p1460 [0] Velocity controller P gain Ns/m p1462[0] Velocity controller integral time ms 3.05 After executing this optimization, the limit values must be rechecked according to Checking the limit and reference values. 5 Document History Table 5-1 Version Date Modifications V Unformatted preliminary version for script V1.1 V Preliminary version in Prodis format V Cleared by editor, adjustment to script v1.2 V Changed parameterization regarding pole position identification, SINAMICS and adaptation to script V1.3 V1.4 09/2016 Change of the layouts and adaptation to script V1.4.2 IBS LinMot 70 at SINAMICS Entry ID: , V1.4, 02/

How to use a project file with an out of date firmware with actual firmware version

FAQ 02/2017 How to use a project file with an out of date firmware with actual firmware version SINAMICS V90 https://support.industry.siemens.com/cs/ww/en/view/109745062 This entry is from the Siemens