Page 1 SINAMICS V90, SIMOTICS S-1FL6...
Page 3 Preface Fundamental safety instructions SINAMICS/SIMOTICS General information Mounting SINAMICS V90, SIMOTICS S-1FL6 Connecting Commissioning Operating Instructions Basic operator panel (BOP) Control functions PROFINET communication Safety Integrated function Tuning Parameters Diagnostics Appendix PROFINET (PN) interface 04/2020 A5E37208830-008...
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 PN servo system for planners, operators, mechanical engineers, electrical engineers, commissioning engineers, and service engineers. Technical support...
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 since the date of manufacture of the product. ● 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 ..........................54 Technical data ......................... 55 2.6.1 Technical data - servo drives ....................55 2.6.1.1 SINAMICS V90 PN 200 V variant ................... 55 2.6.1.2 SINAMICS V90 PN 400 V variant ................... 58 2.6.2 Technical data - servo motors ....................61 2.6.2.1...
Page 10 BOP overview ........................139 6.1.1 LED status indicators ......................140 6.1.2 BOP display ......................... 141 6.1.3 Control buttons ........................144 Parameter structure ......................145 Actual status display ......................146 Basic operations........................147 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 11 STW2 control word (for telegrams 102, 105) ................ 212 8.3.5 STW1 control word (for telegrams 7, 9, 110, 111) ..............213 8.3.6 STW2 control word (for telegrams 9, 110, 111) ..............214 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 12 Probability of failure of the safety function ................242 9.3.5 Response time ........................242 9.3.6 Residual risk ......................... 243 Safety Integrated basic function ................... 243 9.4.1 Safe Torque Off (STO) ......................243 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 13 Encoder connector assembly ....................344 A.3.3 Brake connector assembly ....................348 Motor selection ........................349 A.4.1 Selection procedure ......................349 A.4.2 Parameter description ......................350 A.4.3 Selection examples ....................... 352 Replacing fans ........................355 Index..............................357 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 14 Table of contents SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
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, 04/2020, A5E37208830-008...
Page 16 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. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 17 • Install built-in units in a suitable metal cabinet in such a way that personnel are protected against fire and smoke, or take other appropriate measures to protect personnel. • Ensure that smoke can only escape via controlled and monitored paths. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 18 • Therefore, if you move closer than 20 cm to the components, be sure to switch off radio devices or mobile telephones. • Use the "SIEMENS Industry Online Support app" only on equipment that has already been switched off. NOTICE...
Page 19 • 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. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 20 • 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. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 21: 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, 04/2020, A5E37208830-008...
Page 22: Security Information
Siemens’ products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customer’s exposure...
Page 23: 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, 04/2020, A5E37208830-008...
Page 24 Fundamental safety instructions 1.5 Residual risks of power drive systems SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 25: General Information
General information The SINAMICS V90 drives with the PROFINET interface (referred to as SINAMICS V90 PN) 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 26 General information 2.1 Scope of delivery Components in the SINAMICS V90 PN 400 V variant drive package Component Illustration Rated pow- Outline dimension Frame size Article number er (kW) (Width x Height x Depth, mm) SINAMICS V90 PN, 60 x 180 x 200...
Page 27 ③ ⑨ Output data QR code ④ ⑩ Degree of protection and supported Product serial number motor rated power ⑤ Article number ⑪ Rated short-circuit current ⑥ ⑫ MAC address Copper wire SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 28 General information 2.1 Scope of delivery Article number explanation (example) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 29 General information 2.1 Scope of delivery Serial number explanation (example) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 30: Motor Components
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 the angular connector version is available. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 31 ❑❑1 1FL6092-1AC61- ❑ ❑❑1 1FL6094-1AC61- ❑ ❑❑1 1FL6096-1AC61- ❑ ❑❑1 Straight connectors with a fixed outlet direction Angular connectors with a flexible outlet direction User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 32 Rated current ⑤ ⑭ Static torque Holding brake ⑥ ⑮ Rated voltage Motor ID ⑦ ⑯ Rated power Weight ⑧ Encoder type and resolution ⑰ Maximum speed ⑨ ⑱ Thermal class Rated speed SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 33 General information 2.1 Scope of delivery Article number explanation SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 34: 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, 04/2020, A5E37208830-008...
Page 35 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, 04/2020, A5E37208830-008...
Page 36 The last four numbers in the cable article number (..) 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 37: Product Overview
General information 2.3 Product overview Product overview SINAMICS V90 PN servo drives ● SINAMICS V90 PN 200V variant FSA and FSB FSC and FSD SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 38 General information 2.3 Product overview ● SINAMICS V90 PN 400V variant FSAA and FSA FSB and FSC SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 39 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 the angular connector version is available. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 40 General information 2.3 Product overview ● High inertia motors with straight connectors ● High inertia motors with angular connectors SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 41: Accessories
2CT10-..3 x 2 x 0.22 + 2 x 2 x 0SB14 0SL11 encoder cable 0.25 Absolute 2DB10-..3 x 2 x 0.22 + 2 x 2 x 0DB11 encoder cable 0.25 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 42 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 69)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 43 The quantity of connectors in the package will change to 5 pieces in the near future due to product package upgrading. Consult with your Siemens representative to confirm the packaging quantity before purchasing. For more information about assembling cable connectors on both the drive and motor sides, see Sections "Assembly of cable terminals/connectors on the drive side (Page 337)"...
Page 44: Profinet Cable And Connector
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, 04/2020, A5E37208830-008...
Page 45: External 24 V Dc Power Supply
Note The maximum length of the cable used to connect the 24 V power supply to the drive is 10 m. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 46: Fuse/Type E Combination Motor Controller
National Electrical Code and any other additional local codes. Refer to the table below for the selection of fuses and Type E combination motor controllers: SINAMICS V90 200 V variant Recommended fuse SINAMICS V90...
Page 47 3RV 2011-4AA10 10 to 16 230/240 3RV 2021-4AA10 The above types for Type E combination motor controllers are listed in compliance with both CE and UL/cUL standards. SINAMICS V90 400 V variant Recommended fuse SINAMICS V90 CE-compliant fuse UL/cUL-compliant fuse Frame Rated power Article No.
Page 48 • Clamping voltage VPR = 2000 V, IN = 3kA min, MCOV = 508 V AC • Suitable for Type 2 SPD application • Clamping shall be provided between phases and also between phase and ground SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 49: Braking Resistor
General information 2.4 Accessories 2.4.7 Braking resistor The SINAMICS V90 PN has a built-in braking resistor. The table below shows the information of the built-in resistor: SINAMICS V90 PN Resistance (Ω) Max. power (kW) Rated power (W) Max. energy (kJ) 1/3-phase, 200 V AC to 240 V AC FSA (0.2 kW)
Page 50: Line Filter
The line filter restricts the conductive interference emitted from the SINAMICS V90 PN to the permissible values. The SINAMICS V90 PN drives with these external line filters have been tested in accordance with the emission requirements of the Category C2 environment.
Page 51 General information 2.4 Accessories Outline dimensions (mm) Filter used on the single phase power network Filter used on the three phase power network Rated current (A) W ø1 176.7 176.7 251.7 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 52 Noise frequency (MHz) 0.15 CM (dB) DM (dB) Rated current 18 A Noise frequency (MHz) 0.15 CM (dB) DM (dB) Rated current 20 A Noise frequency (MHz) 0.15 CM (dB) DM (dB) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 53 General information 2.4 Accessories Connecting (example) Filter used on the single phase power network SINAMICS V90 PN Rated current Max. tightening Wire gauge (AWG) Stripping length L torque (Nm) (mm) 200 V variant (6SL3210-5FB..-..) 10-1UF2 14 to 12 10-2UF2 10-4UF1...
Page 54 General information 2.4 Accessories Filter used on the three phase power network SINAMICS V90 PN Rated current Tightening torque Wire gauge (AWG) Stripping length L (Nm) (mm) 200 V variant (6SL3210-5FB..-..) 10-1UF2 0.7 to 0.8 14 to 12 10-2UF2 10-4UF1...
Page 55: Micro Sd Card/Sd Card
Optionally a micro SD card/SD card can be used to copy drive parameters or perform a firmware update. Micro SD card is used for 200 V variant servo drive and SD card is used for 400 V variant servo drive. Siemens recommends you to use the Siemens SD card (article number: 6SL3054-4AG00-2AA0).
Page 56: Function List
Control signals and status signals can be assigned to four EPOS, S (Page 110) programmable digital inputs and two digital outputs PROFINET communication Supports communication between the SINAMICS V90 PN EPOS, S (Page 205) servo drive and PLC with PROFINET communication proto- SINAMICS V-ASSISTANT...
Page 57: Technical Data
General information 2.6 Technical data Technical data 2.6.1 Technical data - servo drives 2.6.1.1 SINAMICS V90 PN 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 58 V90 PN 400 V servo drive has an overvoltage threshold of 820 V DC and an undervoltage threshold of 320 V DC. Motor temperature is calculated by motor thermal model and protected by the output current from the drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 59 The values here are calculated at rated load. When SINAMICS V90 PN works with a motor with a brake, the voltage tolerance of 24 V DC power supply must be - 10% to +10% to meet the voltage requirement of the brake.
Page 60: Sinamics V90 Pn 400 V Variant
General information 2.6 Technical data 2.6.1.2 SINAMICS V90 PN 400 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 , overvoltage/undervoltage protection , drive I...
Page 61 V90 PN 400 V servo drive has an overvoltage threshold of 820 V DC and an undervoltage threshold of 320 V DC. Motor temperature is calculated by motor thermal model and protected by the output current from the drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 62 The values here are calculated at rated load. When SINAMICS V90 PN works with a motor with a brake, the voltage tolerance of 24 V DC power supply must be - 10% to +10% to meet the voltage requirement of the brake.
Page 63: Technical Data - Servo Motors
Maximum torque (Nm) 0.48 0.96 1.91 3.82 9.54 14.3 19.1 Rated speed (rpm) 3000 Maximum speed (rpm) 5000 Rated frequency (Hz) Rated current (A) 10.6 11.6 Maximum current (A) 14.2 18.9 31.8 34.8 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 64 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, 04/2020, A5E37208830-008...
Page 65 General information 2.6 Technical data Torque-Speed characteristics SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 66 • The feature in short-term operating area varies with power supply voltages. • The continuous operating area becomes smaller and the voltage consumption on the cables grows larger when the cables in the major loop exceed 20 m. Permissible radial and axial forces SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 67: 1Fl6 Servo Motor - High Inertia
17.7 23.4 33.0 36.9 35.6 Moment of inertia (10 ) 2.7 15.3/1 15.3 22.6 29.9 47.4 69.1 90.8 134.3 Moment of inertia, with brake 16.4/1 16.4 23.7 31.0 56.3 77.9 99.7 143.2 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 68 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, 04/2020, A5E37208830-008...
Page 69 General information 2.6 Technical data Torque-Speed characteristics SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 70 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, 8 mm, and 5 mm. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 71: Power Derating
+ high inertia motors of 0.4 kW to 7 kW Minimum bending radius, 5 x outer diameter static (mm) Minimum bending radius, dynamic (mm) Oil resistance EN60811-2-1 fulfilled Flame-retardant EN60332-1-1 to 1-3 fulfilled Certification RoHS, CE RoHS RoHS SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 72 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, 04/2020, A5E37208830-008...
Page 73: Address Of Ce-Authorized Manufacturer
SINAMICS V90 drive Siemens AG Digital Industries Motion Control Frauenauracher Straße 80 DE-91056 Erlangen Germany SIMOTICS S-1FL6 motor Siemens AG Digital Industries Motion Control Industriestraße 1 DE-97615 Bad Neustadt a. d. Saale Germany SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 74 General information 2.6 Technical data SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 75: Mounting
• Avoid coming into direct contact with the drive surface. For mounting conditions, see Technical data - servo drives (Page 55). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 76: Mounting Orientation And Clearance
3.1 Mounting the drive 3.1.1 Mounting orientation and clearance The SINAMICS V90 PN 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 77 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, 04/2020, A5E37208830-008...
Page 78: Drill Patterns And Outline Dimensions
Mounting 3.1 Mounting the drive 3.1.2 Drill patterns and outline dimensions SINAMICS V90 PN 200V variant (unit: mm) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 79 Mounting 3.1 Mounting the drive SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 80 Mounting 3.1 Mounting the drive SINAMICS V90 PN 400V variant (unit: mm) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 81 Mounting 3.1 Mounting the drive SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 82: 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 61). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 83: 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, 04/2020, A5E37208830-008...
Page 84 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, 04/2020, A5E37208830-008...
Page 85 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, 04/2020, A5E37208830-008...
Page 86 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, 04/2020, A5E37208830-008...
Page 87 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, 04/2020, A5E37208830-008...
Page 88 268.5 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, 04/2020, A5E37208830-008...
Page 89 271.5 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, 04/2020, A5E37208830-008...
Page 90 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, 04/2020, A5E37208830-008...
Page 91 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, 04/2020, A5E37208830-008...
Page 92: Mounting The Motor
If the motors are used in applications which use oil-containing, creeping and/or aggressive cooling lubricants, you must take additional measures to protect the motors (for example, using suitable covers). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 93: 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, 04/2020, A5E37208830-008...
Page 94: Motor Heat Dissipation Conditions
The actual temperature rise depends on how the flange (motor mounting section) is fixed on the installation surface, the material of the motor mounting section, and motor speed. Always check the actual motor temperature. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 95: Connecting
When the equipment is working, hazardous touch current can be present at the PE connectors; if touched, this can result in death or severe personal injury. • Do not touch the PE connector during operation or within a certain period since power disconnection. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 96 For low inertia motors of shaft heights 20 mm, 30 mm and 40 mm, the encoder cable connectors may only be accessible to electrically skilled personnel. Note The mini-USB interface of the SINAMICS V90 PN is used for fast commissioning and diagnostics with SINAMICS V-ASSISTANT installed in the PC. Do not use it for long-term monitoring.
Page 97: Using Several Single-Phase Converters In Machines And Plants
● 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 98 1 m. ● The harmonic current value of SINAMICS V90 exceed the class A limit of IEC 61000-3-2, but the SINAMICS V90 system installed within the Category C2 First Environment require supply authority acceptance for connection to the public low-voltage power supply network.
Page 99: System Connection Diagrams
4.1 System connection 4.1.4 System connection diagrams The SINAMICS V90 PN servo drive is integrated with digital input/output interface and PROFINET communication port. It can be connected either to a Siemens controllers like S7- 1200 or S7-1500. The following illustrations show the examples of the SINAMICS V90 PN servo system connection.
Page 100 Connecting 4.1 System connection ① ⑩ SINAMICS V90 PN servo drive Micro SD card ② ⑪ Fuse/Type-E combination motor controller Host controller (option) ③ ⑫ Line filter (option) PROFINET I/O cable (20 pins) ④ ⑬ 24 V DC power supply (option) Encoder cable ⑤...
Page 101 Connecting 4.1 System connection FSD on the three phase power network ① ⑩ SINAMICS V90 PN servo drive Micro SD card ② ⑪ Fuse/Type-E combination motor controller Host controller (option) ③ ⑫ Line filter (option) PROFINET I/O cable (20 pins) ④...
Page 102 Connecting 4.1 System connection SINAMICS V90 PN 400 V variant FSB on the three phase power network ① ⑨ SINAMICS V90 PN servo drive SD card ② ⑩ Fuse/Type-E combination motor controller (option) Host controller ③ ⑪ Line filter (option) PROFINET I/O cable (20 pins) ④...
Page 103: 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, 04/2020, A5E37208830-008...
Page 104 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, 04/2020, A5E37208830-008...
Page 105 ● 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 69)" for details. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 106: 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 337)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 107 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, 04/2020, A5E37208830-008...
Page 108: 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, 04/2020, A5E37208830-008...
Page 109 • 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, 04/2020, A5E37208830-008...
Page 110 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, 04/2020, A5E37208830-008...
Page 111: Control/Status Interface - X8
Motor holding brake control signal, nega- tive None Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved * The pins are used to connect the brake control signals for 200 V variant drive only. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 112: Digital Inputs/Outputs (Dis/Dos)
DO1 and DO2 by setting the bit 0 and bit 1 of parameter p0748. 4.3.1.1 You can assign a maximum of seven internal digital input signals to the SINAMICS V90 PN servo drive. For detailed information about these signals, see the table below:...
Page 113 1: condition for operation • 1→0: quick stop (OFF3) • 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, 04/2020, A5E37208830-008...
Page 114: Dos
Connecting 4.3 Control/status interface - X8 4.3.1.2 You can assign a maximum of 10 internal digital output signals to the SINAMICS V90 PN servo drive. For detailed information about these signals, see the table below: Name Descriptions Servo ready 1: the drive is ready.
Page 115 Note: STO_EP is only a status signal for STO input terminals but not a safe DO for the Safety Integrated function. Wiring The digital outputs 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, 04/2020, A5E37208830-008...
Page 116: Standard Application Wiring (Factory Setting)
Connecting 4.3 Control/status interface - X8 4.3.2 Standard application wiring (factory setting) Example 1 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 117 Digital inputs, supporting both PNP and NPN types. The pins are used to connect the brake control signals for 200 V variant drive only. Re- fer to section "Motor holding brake (Page 124)" for the detailed connections. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 118: Connection Example With Plcs
Connecting 4.3 Control/status interface - X8 4.3.3 Connection example with PLCs 4.3.3.1 SIMATICS S7-1200 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 119: Simatics S7-1500
Connecting 4.3 Control/status interface - X8 4.3.3.2 SIMATICS S7-1500 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 120: Power Supply/Sto
Material damages and personal injuries by the drop of a hanging axis Unexpected drop of the hanging axis can cause material damages and personal injuries. • It is not allowed to use the STO with a hanging axis because the axis may drop. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 121 V90 PN 200 V servo drives. For more information, see Section "Assembly of cable terminals/connectors on the drive side (Page 337)". Plugging the 24 V power supply and STO cables SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 122: Encoder Interface - X9
Connecting 4.5 Encoder interface - X9 Encoder interface - X9 The SINAMICS V90 200 V variant servo drive supports three 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 400 V variant servo drive supports two kinds of encoders: ●...
Page 123 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, 04/2020, A5E37208830-008...
Page 124 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, 04/2020, A5E37208830-008...
Page 125: External Braking Resistor - Dcp, R1
Shielding External braking resistor - DCP, R1 The SINAMICS V90 PN 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 126: Motor Holding Brake
Brake- Phase Brake- Low inertia motor, shaft height: 50 mm High inertia motor, shaft height: 45 mm, 65 mm, and 90 mm Straight connectors: Brake+ Phase Brake+ Brake- Phase Brake- Angular connectors: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 127 Assignment of digital output 1 p29331 1 to 14 9 (OLL) Assignment of digital output 2 Note Refer to Section "Digital inputs/outputs (DIs/Dos) (Page 110)" for detailed information about the digital outputs. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 128 (P24 V) separately to avoid electro-magnetic interference to electronic components. Install a varistor as shown above to suppress the surge voltage or surge current generated by an ON/OFF action of the relay (RY). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 129 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 130 = motor brake opening time + relay opening time p1217 = motor brake closing time + relay closing time SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 131 Delay time for pulse suppression. The start of the closing time p1217 for the brake depends on the expiration of the shorter of p1227 (zero speed detection monitoring time) and p1228 (pulse suppression delay time). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 132: Profinet Interface - X150
LED. This allows the following status information about the respective PROFINET port to be displayed: Name Color Status Meaning Link Green Transfer rate 100 Mbit/s No or faulty connection Activity Orange Data exchange No data exchange SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 133 Note When connecting the ports P1 and P2, you need to make sure that the physical input and output connections are the same with the connections in the topology. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 134 Connecting 4.8 PROFINET interface - X150 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 135: 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 might be overwritten. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 136 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 PN 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 (article number: 6SL3255-0AA00-2CA0).
Page 137: Commissioning In Jog Mode
Is the line supply within the permissible range? • Are all the terminals firmly and correctly connected? • Are all the connected system components well • grounded? Refer to "Connecting (Page 93)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 138 When you run the servo motor with an incremental encoder in JOG mode, the servo motor makes a short buzzing sound indicating that it is identifying the magnetic pole position of the rotor. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 139: Commissioning In Basic Positioner Control Mode (Epos)
Velocity (p2585, p2586) • Incremental (p2587, p2588) • Switch on the main line supply. Set up the PROFINET configuration with TIA Portal. Select the telegram for PROFINET communication with parameter p0922. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 140: Commissioning In Speed Control Mode (S)
Send and receive the process data (PZD) with TIA Portal. The actual speed of the servo motor can be viewed from the BOP operating display. The default display is the actual speed. Refer to "Actual status display (Page 146)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 141: Basic Operator Panel (Bop)
Basic operator panel (BOP) BOP overview Overview The SINAMICS V90 PN 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 ●...
Page 142: Led Status Indicators
PROFINET communication is working with RT Flash at 2 Hz Micro SD card/SD card operating (read or write) Continuously lit Communication error (always put the PROFINET communica- tion error as the first consideration) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 143: Bop Display
1. xxx.xxx Negative parameter value xxx.xx<> Current display can be moved to left or right xxxx.xx> Current display can be moved to right xxxx.xx< Current display can be moved to left SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 144 The zero position has been set Refer to "Adjusting an absolute encoder (Page 158)". r xxx Actual speed (positive direction) r -xxx Actual speed (negative direction) T x.x Actual torque (positive direction) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 145 The communication between the commissioning tool SINAMICS V- ASSISTANT and the servo drive is established. In this case, the BOP is protected from any operations except clearing alarms and ac- knowledging faults. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 146: 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, 04/2020, A5E37208830-008...
Page 147: Parameter Structure
Basic operator panel (BOP) 6.2 Parameter structure Parameter structure The overall parameter structure of SINAMICS V90 PN BOP is designed as follows: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 148: Actual Status Display
With p29002, you define which of the following drive operating status data is to be displayed on the BOP: Parameter Value Meaning p29002 0 (default) Actual speed DC voltage Actual torque Actual position Position following error Note Make sure you save p29002 after modification. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 149: 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, 04/2020, A5E37208830-008...
Page 150: 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, 04/2020, A5E37208830-008...
Page 151 ● Method 2: move the cursor to a digit with the SHIFT button, then change the digit value with the UP or DOWN button Note Parameters p1414 and p1656 cannot be changed using the SHIFT button. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 152: 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, 04/2020, A5E37208830-008...
Page 153: Auxiliary Functions
Adjust absolute encoder NOTE: This function is available only when the servo motor with an absolute encoder is connected. ④ Copy parameter set from a drive to a mi- cro SD card/SD card SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 154: Jog
To run the connected motor with the JOG function and view the JOG torque, proceed as follows: 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, 04/2020, A5E37208830-008...
Page 155: 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 148) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 156: 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 153) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 157: 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 PN. 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 158: Transferring Data (Sd To Drive)
Note Parameter inconsistency If the parameters on the micro SD card/SD card are inconsistent with existing parameters in the drive memory, you must restart the servo drive to apply the changes. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 159: Updating Firmware
Note Update the firmware by restarting the drive. After inserting the micro SD card/SD card with proper firmware files, you can also update the firmware by restarting the drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 160: 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, 04/2020, A5E37208830-008...
Page 161: Control Functions
Parame- Value Description Setpoint Positive Negative p29001 CW is forward direction Analog monitoring: Analog monitoring: • • (factory setting) CCW is forward direc- Analog monitoring: Analog monitoring: • • tion SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 162: 300% Overload Capacity
Control functions 7.1 General functions 7.1.2 300% 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 163 Servo motor is ready to run. Quick stop. For detailed information about the PROFINET control word and the digital input signal EMGS, refer to Section "Control word definition (Page 210)" and "Digital inputs/outputs (DIs/Dos) (Page 110)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 164: Travel To Fixed Stop
Function behavior in speed (S) control mode When SINAMICS V90 PN is working in the speed (S) control mode, the "travel to fixed stop" function can be used in all the telegrams except the standard telegram 1, because the function through telegram is part of STW2 and ZSW2 and they are not included in standard telegram 1.
Page 165 – In this example, the active torque limit is the internal torque limit TLM (torque limit = 300% × rated torque) – MOMRED = 3600 hex (13824 dec) Actual torque limit value = 300% × 1.27 Nm × (1 - 13824/16384) = 0.5953 Nm SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 166 The preset acceleration and deceleration overrides and the current speed override are also effective. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 167 (position setpoint = actual position value). Fixed stop monitoring and controller enable are active. Note If the drive is in fixed stop, it can be referenced using the control signal "Set reference point". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 168 3. Configure the traversing task to be "FIXED STOP". p2621[0] = 2 4. Set the torque limit to 0.1 Nm. p2622[0] = 10 5. Set the maximum following error by p2634 and the monitoring window by p2635. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 169: Position Tracking
7.1 General functions 6. Perform referencing. Note: When the SINAMICS V90 PN is working in EPOS traversing block mode, referencing must be performed before moving the axis. 7. After the drive performs referencing successfully, trigger traversing block 0 by control word STW1.6.
Page 170 ● If you activate the position tracking function (p29243 = 1), and set the virtual multi-turn p29244 = 24, and the gear ratio p29248/p29249 = 1, the position for +/- 12 encoder revolutions (+/- 12 load revolutions with load gear) can be reproduced. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 171 = (p29244 × 29247)/p29246 Example ● Gear ratio = p29248 : p29249 = 1 : 3 ● The absolute encoder can count eight encoder revolutions ● The position tracking function is deactivated (p29243 = 0) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 172 Overview of important parameters Position tracking activate • p29243 Absolute encoder virtual rotary revolutions • p29244 Mechanical gear: Numerator • p29248 Mechanical gear: Denominator • p29249 LR position actual value • r2521[0] SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 173: Basic Positioner (Epos)
N times accordingly. Otherwise, the fault F7450 or F7452 occurs. Relevant parameters Parameter Range Factory setting Unit Description p29247 1 to 2147483647 10000 LU per load revolution p29248 1 to 1048576 Load revolutions p29249 1 to 1048576 Motor revolutions SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 174: 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 PN servo drive. The modular axis has an unrestricted traversing range. The value range of the position repeats itself after a value is specified in p29246.
Page 175: Backlash Compensation
Set signal source for start direction of searching cam: 0: start in positive direction • 1: start in negative direction • When telegram 111 is used, the value of p2604 is assigned by control word POS_STW2.9. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 176: Over-Travel
• In EPOS 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, 04/2020, A5E37208830-008...
Page 177 When either of signals CWL and CCWL is not assigned to any DI, the signal will be at a high level automatically. Note DI parameterization Refer to Section "Digital inputs/outputs (DIs/Dos) (Page 110)" for detailed information about DI parameterization. Refer to Chapter "Parameters (Page 263)" for detailed information about parameters. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 178: Software Position Limit
Activation of software limit switch: 0: deactivate • 1: activate • 7.2.6 Speed limit Refer to Section "Speed limit (Page 199)" for details. 7.2.7 Torque limit Refer to Section "Torque limit (Page 200)" for details. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 179: Referencing
Starting referencing by PROFINET When using the telegrams 7, 9, 110, and 111, you can start referencing by configuring the PROFINET control word STW1.11: Control word Setting Description STW1.11 Start referencing. Stop referencing. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 180: Setting Reference Point With The Digital Input Signal Ref (P29240 = 0)
The current position is set to zero at a rising edge of the signal REF and the servo drive is referenced: CAUTION The referencing point may not be fixed during referencing The servo motor must be in "servo on" state so that the referencing point is fixed during referencing. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 181: Referencing With The External Reference Cam (Signal Ref) And Encoder Zero Mark (P29240 = 1)
When the servo motor reaches the reference point (p2599), the signal REFOK is output (0→1). Set STW1.11 to 0 and the referencing finishes successfully. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 182 When telegram 111 is used, the value of p2604 is assigned by control word POS_STW2.9. 2. Configure signal REF if telegrams 7 and 9 are used. Refer to Section "Digital inputs/outputs (DIs/Dos) (Page 110)" for reference. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 183 When the servo motor reaches the reference point (p2599), the signal REFOK is output (0→1). Set STW1.11 to 0 and the referencing finishes successfully. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 184 Speed for searching the cam (p2605) ② Speed for searching zero mark (p2608) ③ Speed for searching reference point (p2611) The running direction when travelling to the zero mark is opposite to the direction defined in p2604 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 185 Speed for searching the cam (p2605) ② Speed for searching zero mark (p2608) ③ Speed for searching reference point (p2611) The running direction when traveling to the zero mark is the direction defined in p2604 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 186 During the referencing, if STW1.11 is set to 0, the referencing stops. 5. After the servo motor reaches the reference point, the signal REFOK (ZSW1.11) is output (0→1). 6. Set control word STW1.11 to 0, and the referencing finishes successfully. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 187: Referencing With The Encoder Zero Mark Only (P29240 = 2)
(p2599), the signal REFOK is output (0→1). Set control word STW1.11 to 0 and the referencing finishes successfully. ① Speed for searching zero mark (p2608) ② Speed for searching reference point (p2611) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 188 When the servo motor reaches the reference point (p2599), the signal REFOK is output (0→1). Set control word STW1.11 to 0 and the referencing finishes successfully. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 189 Speed for searching zero mark (p2608) ② Speed for searching reference point (p2611) The searching direction against the reference cam ① Speed for searching zero mark (p2608) ② Speed for searching reference point (p2611) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 190 During the referencing, if STW1.11 is set to 0, the referencing stops. 4. After the servo motor reaches the reference point, the signal REFOK (ZSW1.11) is output (0→1). 5. Set control word STW1.11 to 0, and the referencing finishes successfully. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 191: Traversing Blocks
Activating a traversing task When telegrams 7, 9, 110, and 111 are used, activate a traversing task with the PROFINET control word STW1.6: Control word Setting Description STW1.6 Traversing task activation. Traversing task deactivation. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 192 This is the same as CONTINUE_EXTERNAL_WAIT, except that alarm A07463 "External traversing block change in traversing block x not requested" is output when "External block change" is not triggered by the time the drive comes to a standstill. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 193 The FIXED STOP task triggers a traversing movement with reduced torque to fixed stop. The following parameters are relevant: ● p2616[x] Block number ● p2617[x] Position ● p2618[x] Velocity ● p2619[x] Acceleration override ● p2620[x] Deceleration override SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 194 The following parameters are relevant: ● p2622[x] Task parameter = delay time in milliseconds ≥ 0 ms, but is rounded-off to a multiple of numeral 8 ● p2623[x] Task mode SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 195 When telegrams 7, 9, 110, and 111 are used, reject a traversing task with the PROFINET control word STW1.4: Control word Setting Description STW1.4 Do not reject a traversing task. Reject a traversing task (ramp-down with the maximum deceleration). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 196: Direct Setpoint Input (Mdi)
When telegrams 7, 9, and 110 are used, the direct setpoint input function can be configured with the PROFINET control word SATZANW.15: Control word Setting Description SATZANW.15 MDI selection. Traversing block selection. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 197 POS_STW1.9 and POS_STW1.10: Control word Setting Description POS_STW1.9 Absolute positioning through the shortest distance. POS_STW1.10 Absolute positioning/MDI direction selection, positive. Absolute positioning/MDI direction selection, negative. Absolute positioning through the shortest distance. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 198 POS_STW1.12: Control word Setting Description POS_STW1.12 Continuous transfer. Activate MDI block change with of a traversing task (STW1.6). Note When telegrams 7, 9, and 110 are used, a rising edge is fixed. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 199 MDI velocity, fixed setpoint • p2691 MDI acceleration override, fixed setpoint • p2692 MDI deceleration override, fixed setpoint • p2693 For more information about the parameters above, see Section "Parameter list (Page 264)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 200: Ejog
When telegrams 7 and 9 are used, set the following jogging setpoint with the appropriate parameters: ● Velocity (p2585, p2586) When telegrams 110 and 111 are used, set the following jogging setpoints with the appropriate parameters: ● Velocity (p2585, p2586) ● Incremental (p2587, p2588) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 201: Speed Control (S)
(Page 309)" for information about the acknowledgment of this fault. Refer to "DIs (Page 110)" for more information about the digital input signal SLIM. Overall speed limit Besides the above two channels, an overall speed limit is also available. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 202: Torque Limit
Note You can switch between the two sources and modify their values when the servo drive is running. Refer to "DIs (Page 110)" for more information about the digital input signal TLIM. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 203 The following diagram shows how the internal torque limit functions: Torque limit reached (TLR) When the generated torque has nearly (internal hysteresis) reached the value of the positive torque limit or negative torque limit, the signal TLR is output. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 204: Ramp-Function Generator
● the acceleration (p1120) and deceleration (p1121) ramps ● the initial (p1130) and final (p1131) rounding-off times You can see the properties of the S-curve ramp-function generator from the diagram below: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 205 0 to 999999 Ramp-function generator ramp-up time p1121 0 to 999999 Ramp-function generator ramp-down time p1130 0 to 30 Ramp-function generator initial rounding-off time p1131 0 to 30 Ramp-function generator final rounding-off time SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 206 Control functions 7.3 Speed control (S) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 207: Profinet Communication
100 ms. Supported telegrams SINAMICS V90 PN supports standard telegrams and Siemens telegrams for speed control mode and basic positioner control mode. From the perspective of the drive unit, the received process data represents the receive words and the process data to be sent represents the send words.
Page 208 One PZD = one word Standard telegram 5 and Siemens telegram 105 can only be used when the V90 PN connects to the SIMATICS S7-1500 and the TIA Portal version is V14 or higher. The supplementary telegram can only be used together with a main telegram. It cannot be used sepa- rately.
Page 209 PZDs of the main telegram. Note When you use the telegram 750 in the application of rewinding and unwinding, the built-in braking resistor of the drives is not sufficient to absorb the excess regenerative energy. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 210: I/O Data Signals
Send word 4000 hex ≙ p2000 NIST_B Speed actual value B (32 bit) Send word 40000000 hex ≙ p2000 G1_STW Encoder 1 control word Receive word G1_ZSW Encoder 1 status word Send word SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 211 When you use the auto-tuning function, values of the torque feedforward and speed feedforward can be overwritten after the tuning function is enabled. If you want to use functions of the torque feedforward and speed feedforward, you need to set their values to the required values again. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 212: Control Word Definition
0 = Inhibit setpoint (set the ramp-function generator input to zero) STW1.7 = 1. Acknowledge faults STW1.8 Reserved STW1.9 Reserved STW1.10 1 = Control via PLC STW1.11 1 = Setpoint inversion STW1.12 Reserved STW1.13 Reserved STW1.14 Reserved STW1.15 Reserved SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 213: Stw2 Control Word (For Telegrams 2, 3, 5)
1 = No OFF3 (enable is possible) 0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited) STW1.3 1 = Enable operation (pulses can be enabled) 0 = Inhibit operation (suppress pulses) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 214: Stw2 Control Word (For Telegrams 102, 105)
1 = Traverse to fixed endstop STW2.9 Reserved STW2.10 Reserved STW2.11 Reserved STW2.12 Master sign-of-life, bit 0 STW2.13 Master sign-of-life, bit 1 STW2.14 Master sign-of-life, bit 2 STW2.15 Master sign-of-life, bit 3 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 215: Stw1 Control Word (For Telegrams 7, 9, 110, 111)
1 = Jog 2 signal source STW1.10 1 = Control via PLC STW1.11 1 = Start referencing 0 = Stop referencing STW1.12 Reserved STW1.13 = External block change STW1.14 Reserved STW1.15 Reserved SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 216: Stw2 Control Word (For Telegrams 9, 110, 111)
1 = Traverse to fixed endstop STW2.9 Reserved STW2.10 Reserved STW2.11 Reserved STW2.12 Master sign-of-life, bit 0 STW2.13 Master sign-of-life, bit 1 STW2.14 Master sign-of-life, bit 2 STW2.15 Master sign-of-life, bit 3 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 217: G1_Stw Encoder 1 Control Word
Reserved G1_STW.10 Reserved G1_STW.11 Reserved G1_STW.12 Reserved G1_STW.13 1 = Request value cyclic transfer of the absolute position value in Gn_XIST2 G1_STW.14 1 = Request parking encoder G1_STW.15 = Acknowledge encoder fault SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 218: Satzanw Control Word
3 = Absolute positioning through the shortest distance MDI_MOD.3 Reserved MDI_MOD.4 Reserved MDI_MOD.5 Reserved MDI_MOD.6 Reserved MDI_MOD.7 Reserved MDI_MOD.8 Reserved MDI_MOD.9 Reserved MDI_MOD.10 Reserved MDI_MOD.11 Reserved MDI_MOD.12 Reserved MDI_MOD.13 Reserved MDI_MOD.14 Reserved MDI_MOD.15 Reserved SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 219: Pos_Stw Control Word
POS_STW.11 Reserved POS_STW.12 Reserved POS_STW.13 Reserved POS_STW.14 Reserved POS_STW.15 Reserved Note If the tracking mode is activated, the position setpoint follows the actual position value, i.e. position setpoint = actual position value. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 220: Pos_Stw1 Positioning Control Word
1 = Continuous transfer 0 = Activate MDI block change with of a traversing task (STW1.6) POS_STW1.13 Reserved POS_STW1.14 1 = Signal setting-up selected 0 = Signal positioning selected POS_STW1.15 1 = MDI selection SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 221: Pos_Stw2 Positioning Control Word
1 = Software limit switch activation POS_STW2.15 1 = STOP cam active Note If the tracking mode is activated, the position setpoint follows the actual position value, i.e. position setpoint = actual position value. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 222: Status Word Definition
1 = Traverse to fixed endstop ZSW2.9 Reserved ZSW2.10 1 = Pulses enabled ZSW2.11 Reserved ZSW2.12 Slave sign-of-life, bit 0 ZSW2.13 Slave sign-of-life, bit 1 ZSW2.14 Slave sign-of-life, bit 2 ZSW2.15 Slave sign-of-life, bit 3 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 223: Zsw1 Status Word (For Telegrams 102, 105)
1 = Traverse to fixed endstop ZSW2.9 Reserved ZSW2.10 Reserved ZSW2.11 Reserved ZSW2.12 Slave sign-of-life, bit 0 ZSW2.13 Slave sign-of-life, bit 1 ZSW2.14 Slave sign-of-life, bit 2 ZSW2.15 Slave sign-of-life, bit 3 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 224: Zsw1 Status Word (For Telegrams 7, 9, 110, 111)
1 = Traverse to fixed endstop ZSW2.9 Reserved ZSW2.10 1 = Pulses enabled ZSW2.11 Reserved ZSW2.12 Slave sign-of-life, bit 0 ZSW2.13 Slave sign-of-life, bit 1 ZSW2.14 Slave sign-of-life, bit 2 ZSW2.15 Slave sign-of-life, bit 3 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 225: G1_Zsw Encoder 1 Status Word
Reserved G1_ZSW.11 1 = Acknowledge encoder fault active G1_ZSW.12 Reserved (for reference point offset) G1_ZSW.13 Absolute value is cyclically transferred G1_ZSW.14 Parking encoder active G1_ZSW.15 Encoder fault, the fault is in Gn_XIST2 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 226: Meldw Status Word
1 = Jogging active POS_ZSW1.11 1 = Reference point approach active POS_ZSW1.12 Reserved POS_ZSW1.13 1 = Traversing Block active POS_ZSW1.14 1 = Set-up active POS_ZSW1.15 1 = MDI active 0 = MDI inactive SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 227: Pos_Zsw2 Positioning Status Word
1 = Direct output 2 via traversing block POS_ZSW2.12 1 = Fixed stop reached POS_ZSW2.13 1 = Fixed stop clamping torque reached POS_ZSW2.14 1 = Travel to fixed stop active POS_ZSW2.15 1 = Traversing command active SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 228 PROFINET communication 8.4 Status word definition SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 229: 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, 04/2020, A5E37208830-008...
Page 230: Functional Safety
The basic safety and health requirements specified in Annex I of the Directive must be fulfilled for the safety of machines. The protective goals must be implemented responsibly to ensure compliance with the Directive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 231: Harmonized European Standards
C standards are product-specific standards (e.g. for machine tools, woodworking machines, elevators, packaging machines, printing machines etc.). Product standards cover machine- specific requirements. The requirements can, under certain circumstances, deviate from the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 232: Standards For Implementing Safety-Related Controllers
EN ISO 13849-1 or EN 62061 should be applied depending on the technology (mechanics, hydraulics, pneumatics, electrics, electronics and programmable electronics), risk classification and architecture. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 233: Din En Iso 13849-1
The standard describes how the performance level (PL) is calculated for safety-related components of the controller on the basis of designated architectures. In the event of any deviations from this, EN ISO 13849-1 refers to EN 61508. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 234 For electromechanical devices, a manufacturer specifies a failure rate λ with reference to the number of operating cycles. The failure rate per unit time and the lifetime must be determined using the switching frequency for the particular application. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 235: Series Of Standards En 61508 (Vde 0803)
● A harmonized European standard (e.g. EN 62061, EN ISO 13849, EN 60204-1) references EN 61508. This ensures that the appropriate requirements of the directives are fulfilled ("standard that is also applicable"). When manufacturers apply EN 61508 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 236: 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, 04/2020, A5E37208830-008...
Page 237: Risk Reduction
The required SIL is also determined in accordance with the risk assessment principle according to ISO 12100 (EN 1050). Annex A of the standard describes a method for determining the required Safety Integrity Level (SIL). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 238: Residual Risk
"forced" to fulfill the requirement to use state-of-the-art technology. Third-party insurance companies generally demand that their customers fulfill the applicable standards of the standards organizations. Self-insured companies are not initially subject to SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 239: Nrtl Listing
Internet at the following address: http://www.ul.com → certifications directory → UL Category code/ Guide information → search for category "NRGF" TUV Rheinland of North America, Inc. is also an NRTL for these applications. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 240: Ansi B11
Instead of legal requirements to apply standards have been defined, an administrative recommendation to apply JIS (Japanese Industrial Standard) is in place: Japan bases its approach on the European concept and uses basic standards as national standards (see table). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 241: Equipment Regulations
1:2015, as well as IEC 61800-5-2. Controlling the STO Function The STO function can be controlled via terminals. For the details about STO wiring, refer to the chapter "24 V power supply/STO (Page 118)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 242: System Features
● 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 PN has been certified by independent institutes. An up-to-date list of certified components is available on request from your local Siemens office.
Page 243 • When the safety function is deactivated, an automatic restart is permitted under certain circumstances depending on the risk analysis (except when Emergency Stop is reset). For example, an automatic start is permitted when a protective door is closed. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 244: Probability Of Failure Of The Safety Function
Hardware fault tolerance (HFT) The HFT value of SINAMICS V90 PN drive system is one. It means that the system can handle one fault without brake down. SINAMICS V90 PN STO function is a subsystem from type A, and only the discrete components are involved in the STO function.
Page 245: Residual Risk
● This function is integrated in the drive; this means that a higher-level controller is not required. ● The function is drive-specific, i.e. it is available for each drive and must be individually commissioned. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 246 If the input signal contains pluses whose high level duration are less than 500 ms, you need to decrease the sensitivity of the STO sensor or filter the input pulses by a PLC program or by a physical filter. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 247 For 200 V variant servo drives, the STO response time in the worst case is 15 ms. For 400 V variant servo drives, the STO response time in the worst case is 5 ms. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 248: 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, 04/2020, A5E37208830-008...
Page 249: Tuning
Current loop > speed loop > position loop Since the current loop of SINAMICS V90 PN 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 250 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 Value range Default value Unit Description p29111 0 to 200 Speed pre-control factor (feed forward) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 251: 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 PN servo drive. Select a tuning mode by setting parameter p29021:...
Page 252: 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, 04/2020, A5E37208830-008...
Page 253 Tuning 10.3 One-button auto tuning One-button auto tuning procedure Proceed as follows to perform one-button auto tuning for the SINAMICS V90 PN servo drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 254 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 PN servo drive: Dynamic factor (p29020) Machine rigidity ↑...
Page 255 Current setpoint filter 1 denominator damping p2533 0 to 1000 LR position setpoint filter time constant p2572 1 to 2000000 100 1000 EPOS maximum acceleration LU/s p2573 1 to 2000000 100 1000 EPOS maximum deceleration LU/s SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 256 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, 04/2020, A5E37208830-008...
Page 257: 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 PN servo drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 258 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. 35 dynamic factors are available for the SINAMICS V90 PN servo drive: Dynamic factor (p29020) Machine rigidity ↑...
Page 259 In such cases, use the one-button auto tuning or manual tuning to optimize the drive. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 260: Manual Tuning
● p29021 = 0: auto tuning function is disabled without changing control parameters. Procedure for manual tuning Follow the procedure below to perform manual tuning: Note Resonance suppression For detailed information about the resonance suppression, refer to Section "Resonance suppression (Page 259)". SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 261: Resonance Suppression
Now four current setpoint filters are available for the V90 PN 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, 04/2020, A5E37208830-008...
Page 262 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, 04/2020, A5E37208830-008...
Page 263 , 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, 04/2020, A5E37208830-008...
Page 264: 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 "servo on" state. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 265: Parameters
Parameters 11.1 Overview The section below lists all the parameters of the SINAMICS V90 PN 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 266: Parameter List
Parameters 11.2 Parameter list Parameter groups The SINAMICS V90 PN parameters are divided into the following groups: Parameter group Available parameters Parameter group display on the BOP Basic parameters p07xx, p10xx to p16xx, p21xx Application parameters p29xxx Communication parameters p09xx, p89xx...
Page 267 2: Standard telegram 2, PZD-4/4 • 3: Standard telegram 3, PZD-5/9 • 5: Standard telegram 5, PZD-9/9 • 102: SIEMENS telegram 102, PZD-6/10 • 105: SIEMENS telegram 105, PZD-10/10 • For basic positioner control mode: 7: Standard telegram 7, PZD-2/2 •...
Page 268 When saving, only the adjustable parameters intended to be saved are taken into account. Value = 0: Inactive • Value = 1: Save in non-volatile memory - downloaded at POWER ON • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 269 Effective: IM Can be changed: T, U Description: The ramp-function generator ramps-up the speed setpoint from standstill (setpoint = 0) up to the maximum speed (p1082) in this time. Dependency: Refer to p1082 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 270 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, 04/2020, A5E37208830-008...
Page 271 Notice: The setpoint is not equal to zero dependent on the selected value. This can therefore cause the monitoring time in p1227 to be exceeded. In this case, for a driven motor, the pulses are not sup- pressed. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 272 0: Low pass filter PT1 • 1: Low pass filter PT2 • 2: General 2 order filter • Dependency: PT1 low pass filter: p1416 PT2 low pass filter: p1417, p1418 General filter: p1417 ... p1420 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 273 0: Low pass filter PT1 • 1: Low pass filter PT2 • 2: General 2 order filter • Dependency: PT1 low pass filter: p1422 PT2 low pass filter: p1423, p1424 General filter: p1423 ... p1426 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 274 For interpolation axes, the value of p1433 needs to be set to a same value manually. p1441 Actual speed smoothing time Min: 0.00 Max: 50.00 Factory setting: 0.00 Unit: ms Data type: Float Effective: IM Can be changed: T, U SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 275 Can be changed: T, U Description: Sets the denominator natural frequency for current setpoint filter 1 (PT2, general filter). Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 276 Can be changed: T, U Description: Sets the numerator natural frequency for current setpoint filter 3 (general filter). Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 277 Description: Sets the reference quantity for currents. All currents specified as relative value are referred to this reference quantity. The reference quantity corresponds to 100% or 4000 hex (word) or 4000 0000 hex (double word). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 278 The message type can only be changed for messages with the appropriate identification (exception, value = 0). Example: F12345(A): Fault F12345 can be changed to alarm A12345. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 279 LR position setpoint filter time constant Min: 0.00 Max: 1000.00 Factory setting: 0.00 Unit: ms Data type: Float Effective: IM Can be changed: T, U Description: Sets the time constant for the position setpoint filter (PT1). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 280 After the positioning monitoring time expires, it is checked once as to whether the difference between the setpoint and actual position lies within the positioning window and if required an appropriate fault is output. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 281 Max: 2000000 Factory setting: 100 Unit: 1000 LU/s Data type: U32 Effective: IM Can be changed: T Description: Sets the maximum deceleration for the "basic positioner" function (EPOS). Dependency: Refer to: p2620 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 282 Description: Sets the signal source to activate the "software limit switch". Dependency: Refer to p2580, p2581 Caution: Software limit switch effective: Axis is referenced. • Software limit switch ineffective: Modulo correction active. • Search for reference is executed. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 283 Unit: 1000 Min: -40000000 Max: 40000000 Factory setting: 300 LU/min Data type: I32 Effective: IM Can be change: T, U Description: Sets the setpoint speed for jog 2. Dependency: Refer to: p2588 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 284 Factory setting: 2147482647 Unit: LU Data type: U32 Effective: IM Can be changed: T, U Description: Sets the maximum distance after the start of the search for reference when traversing to the reference cam. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 285 Can be changed: T, U Description: Sets the velocity for the traversing block. Dependency: Refer to: p2617, p2619, p2620, p2621, p2622, p2623 Note: The velocity can be influenced using the velocity override. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 286 JERK: 0 - deactivate, 1 - activate p2623[0...15] EPOS traversing block task mode Min: 0 Max: 65535 Factory setting: 0 Unit: - Data type: U16 Effective: IM Can be changed: T, U SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 287 MDI acceleration override, fixed setpoint Min: 0.100 Max: 100.000 Factory setting: 100.000 Unit: % Data type: Float Effective: IM Can be changed: T, U Description: Sets a fixed setpoint for the acceleration override. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 288 Description: Sets the subnet mask for the onboard PROFINET interface on the Control Unit. The active subnet mask is displayed in r8933. Note: The interface configuration (p8920 and following) is activated with p8925. The parameter is not influenced by setting the factory setting. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 289 Min: 1 Max: 100 Factory setting: 100 Unit: % Data type: Float Effective: IM Can be changed: T Description: Alarm triggering threshold for the capacity of the internal braking resistor. Alarm number: A52901 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 290 The time in p29028 should be set according to the axis with the lowest dynamic response. p29024 Tuning: Real-time auto tuning configuration Min: 0000 hex Max: FFFF hex Factory setting: 004C hex Unit: - Data type: U16 Effective: IM Can be changed: T SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 291 Working with the 400 V drives – Working in all control modes except for the S control mode (p29003 ≠ 2). You can set the bit 4 of p29025 manually in all control modes. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 292 Can be changed: T, U Description: Positive torque limit. Two internal torque limits in total are available. You can select the internal parameters as the source of the torque limit with the digital input signals TLIM. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 293 G-CHANGE or setting relevant condition parameters. The first position loop gain is the default setting. Dependency: The parameter value will be set to default after configuring a new motor ID (p29000). SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 294 1: Activates the function of setting the EPOS reference point coordinate value via the PZD user2 • p29230 MDI direction selection Min: 0 Max: 2 Factory setting: 0 Unit: - Data type: I16 Effective: IM Can be changed: T SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 295 Axis mode state Min: 0 Max: 1 Factory setting: 0 Unit: - Data type: U32 Effective: IM Can be changed: T Description: Linear/modulo mode: 0: Linear axis • 1: Modulo axis • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 296 Digital input 4 assignment Min: 0 Max: 29 Factory setting: 0 Unit: - Data type: I16 Effective: IM Can be changed: T Description: Defines the function of digital input signal DI4 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 297 The default value is automatically adjusted with the encoder type. p31581 VIBSUP filter type Min: 0 Max: 1 Factory setting: 0 Unit: - Data type: I16 Effective: IM Can be changed: T SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 298 Float Description: Displays the smoothed absolute actual current value. Notice: This smoothed signal is not suitable for diagnostics or evaluation of dynamic operations. In this case, the unsmoothed value should be used. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 299 • [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, 04/2020, A5E37208830-008...
Page 300 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, 04/2020, A5E37208830-008...
Page 301 Description: Displays additional information about the fault that occurred (as integer number). Dependency: Refer to r0945 Note: The buffer parameters are cyclically updated in the background. The structure of the fault buffer and the assignment of the indices is shown in r0945. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 302 11.2 Parameter list Parameter Name Unit Data type r0964[0...6] Device identification Description: Displays the device identification. Index: [0]: Company (Siemens = 42) • [1]: Device type • [2]: Firmware version • [3]: Firmware data (year) • [4]: Firmware data (day/month) •...
Page 303 Unit Data type Note: Example: r0975[0] = 42 → SIEMENS r0975[1] = SERVO drive object type r0975[2] = 102 → First part of the firmware version V01.02 (for second part, refer to index 10) r0975[3] = 2003 → Year 2003 r0975[4] = 1401 →...
Page 304 PROFIdrive: MDI_MOD receive bit-serial for telegram 9 Description: Binector output for bit-serial onward interconnection of a PZD word received from the PROFIdrive controller. r2122[0...63] Alarm code Description: Displays the number of faults that have occurred. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 305 Description: Displays the active default gateway for the onboard PROFINET interface on the Control Unit. r8933[0...3] PROFIdrive: Active subnet mask of station Description: Displays the active subnet mask for the onboard PROFINET interface on the Control Unit. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 306 Bit 8: OLL • Bit 9: Reserved • Bit 10: Reserved • Bit 11: Reserved • Bit 12: Reserved • Bit 13: RDY_ON • Bit 14: STO_EP • Bit15: PZD1 • Bit16: PZD2 • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 307: Diagnostics
The message classes that are available are shown in the table below, which provides the text of the message class, their number according to PROFIdrive, and a brief help text regarding the cause and remedy. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 308 Check the set thresholds. Application/technological function faulty The application/technological function has exceeded a (set) limit (position, (17) velocity, torque …). Identify and check the relevant limit. Check the setpoint specification of the higher-level controller. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 309 NOTICE Faults are displayed in prior to alarms If both faults and alarms occur, faults are displayed prior to alarms. Alarms are displayed only after all faults have been acknowledged. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 310 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, 04/2020, A5E37208830-008...
Page 311: List Of Faults And Alarms
Carry out a POWER ON (power off/on) for • all components. Message class: Hard- ware/software error (1) Upgrade firmware to the latest version. • Reaction: OFF2 Contact the Hotline. • Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 312 Carry out a POWER ON (power off/on) for • STO. error (10) all components. Reaction: OFF2 Upgrade software. • Acknowledgement: Replace the Control Unit. • IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 313 • tion/configuration/commissionin have exceeded the dynamic limits. g procedure (18) They cannot be used due to the fact • Reaction: NONE that the hardware detected not hav- Acknowledgement: ing certain features. IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 314 Motor not connected or motor con- • Check the Motor Module. • (17) tactor open. Reaction: OFF2 No DC link voltage present. • Acknowledgement: Motor Module defective. • IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 315 Maximum permissible value for the ref- lated by the following formula: Reaction: OFF1 (OFF2, OFF3) erence point coordinate. For multi-turn encoders: • Acknowledgement: (4096 * p29247) / 2 IMMEDIATELY For single-turn encoders: • p29247 / 2 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 316 Reaction: OFF1 Position monitoring time parameter- • Acknowledgement: ized too short (p2545). IMMEDIATELY Position loop gain is too low. • Position loop gain is too high (insta- • bility/oscillation). Drive mechanically locked. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 317 Message class: Applica- without detecting an edge at the binector tion/technological function faulty input "reference cam". (17) Maximum traversing range: - Reaction: OFF1 (OFF2, OFF3) 2147483648 [LU] ... -2147483647 [LU] Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 318 Change software limit switch plus (CI: • switch plus. Message class: Applica- p2581). tion/technological function faulty See also: p2580 (EPOS software limit switch (17) minus), p2582 (EPOS software limit switch Reaction: OFF1 (OFF2, OFF3) activation) Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 319 STOP cam plus was reached, i.e. the the valid traversing range. (17) wiring of the STOP cam is incorrect. Check the wiring of the STOP cam. • Reaction: OFF3 Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 320 EPOS: p29247 * p29244 IMMEDIATELY Motor encoder without position tracking: For multiturn encoders: • EPOS: p29247 * p29248 * 4096 / p29249 For singleturn encoders: • EPOS: p29247 * p29248 / p29249 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 321 (17) speed actual value is oscillating and the speed controller output repeatedly goes Check the motor encoder connection. • Reaction: OFF2 to its limit. Check the encoder pulse number. • Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 322 Increase the current limit of the infeed or • Reaction: OFF2 Line phase interrupted. • use a larger module. Acknowledgement: Check the device supply voltage. • IMMEDIATELY Check the line supply phases. • SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 323 • Message class: Ground Ground fault in the power cables. • Check the motor. • fault/inter-phase short-circuit Winding fault or ground fault at the • detected (7) motor. Reaction: OFF2 Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 324 This means that if Reaction: ENCODER a zero mark is missing, depending on Acknowledgement: PULSE the pair generation, this cannot result in INHIBIT a fault and also has no effect in the system. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 325 C/D, check the connection. available (11) Fine synchronization was not carried Check the connection of track C or D. • Reaction: ENCODER out. Acknowledgement: PULSE Replace the encoder or encoder cable. • INHIBIT SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 326 Use a suitable absolute encoder motor. motor mismatched cannot be operated. The servo drive in use does not support the Motor ID. Message class: General drive fault (19) Reaction: OFF1 Acknowledgement: IMMEDIATELY SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 327 The write access to the removable data Remove and check the removable data me- able data medium unsuccess- medium was unsuccessful. dium. Then run the data backup again. Message class: Over- temperature of the electronic component (6) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 328 Drive Bus clock cycle. Message class: Communica- chronization (ensure To > Tdx). tion to the higher-level con- Note: troller faulted (9) To: Time of setpoint acceptance Tdx: Data exchange time SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 329 The following applies for the tolerance See also: p29006 (Line supply voltage) range: 1.16 × p29006 < r0026 < 1.6 × p29006 Note: The fault can only be acknowledged when the drive is switched off. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 330 Reduce the velocity override. • (p2571) and is therefore limited. Message class: Applica- Increase the maximum velocity (p2571). • tion/technological function Check the signal source for the externally faulty (17) • limited velocity. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 331 STW1.13. traversing block CONTINUE_EXTERNAL_ALARM, the external block change was not requested. Message class: Applica- Alarm value (r2124, interpret decimal): tion/technological function faulty (17) Number of the traversing block. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 332 A7474: EPOS: End of trav- When traversing, the axis has moved to Move away in the negative direction. ersing range reached the traversing range limit. Message class: Applica- tion/technological function faulty (17) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 333 In the EPOS control mode, no servo on Send servo on command to the drive via possible command is sent to the drive via PROFINET. PROFINET. Message class: Applica- tion/technological function faulty (17) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 334 (18) the motor data identification request will be lost. If motor data identification is required, it will need to be selected again manually fol- lowing ramp-up. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 335 EMC. Message class: Actual posi- Check the motor temperature. • tion/speed value incorrect or Replace the motor/encoder. • not available (11) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 336 A52902: Quick stop (EMGS) Implement servo on when the digital input Switch on the digital input (EMGS) and then missing (EMGS) is switched off. implement servo on. Message class: General drive fault (19) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 337: Appendix
If you use non-Siemens cable assemblies, for example, cables you made by 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. If you use...
Page 338 ● 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, 04/2020, A5E37208830-008...
Page 339: 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 exposed wires with tin.) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 340: Encoder Connector Assembly
For drives of all the frame sizes, the basic assembly procedures for the encoder connector on the drive side are the same. The only thing you need to pay attention to is the different signal connections for the absolute encoder connector and the incremental encoder connector. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 341: Brake Terminal Assembly
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 337)" for details. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 342: Setpoint Connector Assembly
The shielding wire may inadvertently be short-circuited to the unused pin on the to-be- assembled setpoint connector. This can cause damage to the drive. • When assembling the connector, exercise caution when connecting the shielding cable to the setpoint connector. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 343: Assembly Of Cable Connectors On The Motor Side
Appendix A.3 Assembly of cable connectors on the motor side Assembly of cable connectors on the motor side A.3.1 Power connector assembly Power cable used for low inertia motors (SH20, SH30, SH40) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 344 Appendix A.3 Assembly of cable connectors on the motor side Power cable used for motors with straight connectors (low inertia motors SH50 and high inertia motors) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 345 Appendix A.3 Assembly of cable connectors on the motor side Power cable used for motors with angular connectors (low inertia motors SH50 and high inertia motors) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 346: Encoder Connector Assembly
Appendix A.3 Assembly of cable connectors on the motor side A.3.2 Encoder connector assembly Incremental encoder cable used for low inertia motors (SH20, SH30, SH40) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 347 Appendix A.3 Assembly of cable connectors on the motor side Absolute encoder cable used for low inertia motors (SH20, SH30, SH40) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 348 Appendix A.3 Assembly of cable connectors on the motor side Encoder cable used for motors with straight connectors (low inertia motors SH50 and high inertia motors) SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 349 Encoder cable used for motors with angular connectors (low inertia 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, 04/2020, A5E37208830-008...
Page 350: 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 344)" for details. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 351: 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, 04/2020, A5E37208830-008...
Page 352: Parameter Description
Inertia refers to the force required to keep a certain physical state. Inertia ratio indicates dynamic response performance of motors. The smaller the inertia ratio is the better response performance a motor has. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 353 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, 04/2020, A5E37208830-008...
Page 354: Selection Examples
0.5 m Gravitational acceleration 9.81 m/s Frictional coefficient μ 0.025 Calculating velocity: Maximum travelling velocity: Calculating forces, pitch angle and friction angle Frictional force: Accelerating force/decelerating force: Pitch angle of the ball screw: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 355 Accelerating torque and decelerating torque for the ball screw + coupling: Preselecting the motor Based on the calculated torques, if we select the 1FL6062 motor: = 2000 rpm, M = 4.78 Nm, J = 1.57 × 10 motor Then the inertia ratio: SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 356 If the expression in brackets has a negative sign, the sign of β changes to minus Final selection According to the above calculated speed, torque, and inertia ratio, 1FL6062 motor is suitable. SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 357: 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, 04/2020, A5E37208830-008...
Page 358 Appendix A.5 Replacing fans SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 359: Index
Connecting the cable shields, 101 Iterative process for achieving safety, 234 Copy parameter set from a micro SD card/SD card to drive, 156 Copy parameters from the servo drive to a micro SD card/SD card, 155 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...
Page 360 Quick stop (OFF3), 161 Operating display, 146 Ramp-down (OFF1), 161 OSHA, 236 System connection diagrams, 97 Over-travel, 174 Overview of SINAMICS V90 PN BOP functions, 151 Technical data Cables, 69 Preface Torque control mode Documentation components, 3 Internal speed limit, 200...
Page 361 Index Manual tuning, 258 Real-time auto tuning, 255 Servo gains, 248 Tuning methods, 249 Tuning with SINAMICS V-ASSISTANT, 250 Update firmware, 157 Wiring and connecting Adjusting cable orientations, 102 SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2020, A5E37208830-008...

This manual is also suitable for:

Simotics s-1fl6

Siemens SINAMICS V90 Operating Instructions Manual

1 Fundamental Safety Instructions

2 General Information

3 Mounting

4 Connecting

5 Commissioning

6 Basic Operator Panel (BOP)

7 Control Functions

8 PROFINET Communication

9 Safety Integrated Function

10 Tuning

11 Parameters

12 Diagnostics

Appendix

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Summary of Contents for Siemens SINAMICS V90