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Table of contents
1 Getting started with SINAMICS V90 PN on S7-1500 Motion Control...........................................................5
1.1 Fundamental safety instructions..............................................................................................5
1.1.1 General safety instructions.......................................................................................................5
1.1.2 Security information.................................................................................................................5
1.1.3 Note regarding the general data protection regulation.............................................................6
1.1.4 Danger to life due to software manipulation when using removable storage media................6
1.2 Introduction..............................................................................................................................6
1.2.1 Drive system - Overview..........................................................................................................6
1.2.2 "Getting started" objectives......................................................................................................7
1.2.3 Sample project.........................................................................................................................8
1.3 Prepare the configuration.........................................................................................................9
1.3.1 Requirements...........................................................................................................................9
1.3.2 Restoring factory settings.........................................................................................................9
1.3.3 Result of the preparations......................................................................................................10
1.4 Create a project......................................................................................................................10
1.4.1 Overview................................................................................................................................10
1.4.2 Create new project.................................................................................................................10
1.4.3 Result in the sample project...................................................................................................11
1.5 Creating devices....................................................................................................................12
1.5.1 Adding devices from the hardware catalog............................................................................12
1.5.2 Connecting devices................................................................................................................13
1.5.3 Operate devices in isochronous mode...................................................................................14
1.5.4 Result in the sample project...................................................................................................15
1.6 Configuring and optimizing a SINAMICS V90 PN..................................................................15
1.6.1 Overview................................................................................................................................15
1.6.2 Connect online.......................................................................................................................15
1.6.3 Checking drive configuration..................................................................................................16
1.6.4 Performing an optimization....................................................................................................17
1.6.5 Loading the optimized data from the device..........................................................................19
1.6.6 Saving data in the drive..........................................................................................................19
1.6.7 Result in the sample project...................................................................................................19
1.7 Configure the axis..................................................................................................................20
1.7.1 Overview................................................................................................................................20
1.7.2 Technology object axis...........................................................................................................20
1.7.3 Creating an axis.....................................................................................................................20
1.7.4 Configuring the hardware interface........................................................................................21
1.7.5 Result in the sample project...................................................................................................25
1.8 Going online with devices......................................................................................................25
1.9 Test the axis with the axis control panel................................................................................26
1.9.1 Overview................................................................................................................................26
1.9.2 Working with the axis control panel........................................................................................27
1.9.3 Result in the sample project...................................................................................................28
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 3
2 Configuring drives.......................................................................................................................................29
2.1 Drives in the hardware catalog...............................................................................................29
2.2 Parameters.............................................................................................................................30
2.2.1 Overview................................................................................................................................30
2.2.2 Compare values.....................................................................................................................30
2.2.3 Setting parameters.................................................................................................................31
2.2.4 Motors and encoders.............................................................................................................31
2.2.5 Encoder types........................................................................................................................32
2.2.6 Brake control..........................................................................................................................34
2.3 Commissioning.......................................................................................................................36
2.3.1 Overview................................................................................................................................36
2.3.2 Control panel..........................................................................................................................36
2.3.3 Using the control panel..........................................................................................................37
2.3.4 Drive control panel and axis control panel.............................................................................39
2.3.5 Optimization...........................................................................................................................39
2.3.6 Optimization phases...............................................................................................................40
2.3.7 Performing an optimization....................................................................................................41
2.3.8 Loading the optimized data from the device..........................................................................43
2.3.9 Device replacement in the hardware configuration................................................................43
2.4 Diagnostics.............................................................................................................................44
2.4.1 General..................................................................................................................................44
2.4.2 Active messages....................................................................................................................45
2.4.3 Message history.....................................................................................................................46
2.4.4 Save/reset..............................................................................................................................46
2.4.5 Setting the time of day...........................................................................................................49
2.4.6 Current values........................................................................................................................51
2.5 Extended functions.................................................................................................................52
2.5.1 Torque control via PROFIdrive supplementary telegram.......................................................52
2.5.1.1 Overview................................................................................................................................52
2.5.1.2 Configuring the supplementary telegram for torque control...................................................53
2.5.2 Automatically synchronizing the drive object with technology object offline..........................56
2.5.2.1 Overview................................................................................................................................56
2.5.2.2 Automatically synchronizing the drive object with technology object offline..........................57
3 Alarms and parameters..............................................................................................................................61
3.1 SINAMICS V90 PN CU alarms..............................................................................................61
3.2 SINAMICS V90 PN drive alarms............................................................................................61
3.3 SINAMICS V90 PN CU parameters.......................................................................................61
3.4 SINAMICS V90 PN drive parameters....................................................................................61
Index...........................................................................................................................................................63
Table of contents
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
4Configuration Manual, 10/2018, A5E45778869B AB
Getting started with SINAMICS V90 PN on S7-1500
Motion Control 1
1.1 Fundamental safety instructions
1.1.1 General safety instructions
WARNING
Danger to life if the safety instructions and residual risks are not observed
The non-observance of the safety instructions and residual risks stated in the associated
hardware documentation can result in accidents with severe injuries or death.
● Observe the safety instructions given in the hardware documentation.
● Consider the residual risks for the risk evaluation.
WARNING
Danger to life caused by machine malfunctions caused by incorrect or changed
parameterization
Incorrect or changed parameterization can cause malfunctions on machines that can result
in injuries or death.
● Protect the parameterization (parameter assignments) against unauthorized access.
● Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY
STOP or EMERGENCY OFF).
1.1.2 Security information
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be connected
to an enterprise network or the internet if and to the extent such a connection is necessary
and only when appropriate security measures (e.g. firewalls and/or network segmentation) are
in place.
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 5
For additional information on industrial security measures that can be implemented, please
visit (https://www.siemens.com/industrialsecurity).
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 customers' exposure to cyber
threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed visit (https://www.siemens.com/industrialsecurity).
1.1.3 Note regarding the general data protection regulation
Siemens observes the principles of data protection, in particular the principle of data
minimization (privacy by design). For this product this means:
The product does not process / store any personal data, only technical functional data (e.g.
time stamp). If the user links this data with other data (e.g. shift plans) or stores personal data
on the same medium (e.g. hard disk) and thus establishes a personal reference, the user must
ensure compliance with data protection regulations.
1.1.4 Danger to life due to software manipulation when using removable storage media
WARNING
Danger to life due to software manipulation when using removable storage media
The storage of files on removable storage media involves a high risk of infection, e.g. via
viruses or malware. Incorrect parameter assignment can cause machines to malfunction,
which can lead to injuries or death.
● Protect the files on removable storage media against harmful software through appropriate
protective measures, e.g. virus scanners.
1.2 Introduction
1.2.1 Drive system - Overview
This document describes the engineering of a SINAMICS V90 PN integrated in the TIA Portal.
This engineering can be installed later with the HSP 0185 hardware support package.
SINAMICS V90 PN with this engineering can be operated only on a technology object (TO)
for the Axis type of a SIMATIC S7-1500 and must be interconnected with this via PROFINET.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.2 Introduction
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
6Configuration Manual, 10/2018, A5E45778869B AB
Configuration and parameter assignment
The TIA Portal is available for the configuration and parameter assignment of the SINAMICS
V90 PN drive system.
With the TIA Portal and SINAMICS V90 PN, you can perform the following tasks, for example:
● Create a project.
● Add the drive system to the project and interconnect it with a higher-level controller.
● Configure the drives (selection of the variants).
● Create a technology object.
● Go online on the drive and test the parameter assignment via the axis control panel.
● Perform diagnostics when an error occurs.
User interface
The graphic user interface provides support during the configuration and parameter
assignment:
● Select the drive in the hardware catalog.
● In the "Network view", interconnect the drive with a higher-level controller and assign
parameters for the communication via PROFINET.
● In online mode, test the drive with the drive control panel and load the parameter
assignment to the drive.
Further information at a glance
Getting Started
● SINAMICS V90 PROFINET, SIMOTICS S-1FL6 Getting Started (https://
support.industry.siemens.com/cs/de/en/view/109737879)
Device documentation
● SINAMICS V90 PN / SIMOTICS S-1FL6 operating instructions (https://
support.industry.siemens.com/cs/de/en/view/109737880)
1.2.2 "Getting started" objectives
"Getting Started" provides an introduction to configuring SINAMICS V90 PN in conjunction
with a technology object Axis of a SIMATIC S7-1500 in the TIA Portal Engineering System.
You create a simple sample project by performing the typical optimization and configuration
steps for the device, drive and axis configuring. You become acquainted with the most
important tools that the TIA Portal provides for the configuring, commissioning and diagnostics
of the SINAMICS V90 PN.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.2 Introduction
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 7
1.2.3 Sample project
Create a simple sample project based on "Getting Started".
Configuration steps
Preparing the configuration
● If necessary, restore the factory settings (Page 9) for the devices.
● You configure the interface for the network communications (Page 21) of the PG/PC with
SINAMICS V90 PN and SIMATIC S7-1500.
Creating a project, configuring the devices and the network communications with the PG/PC
● Create a project (Page 10).
● Create SINAMICS V90 PN and SIMATIC S7-1500 (Page 12) and define the
communications between the PG/PC and devices (Page 13).
Configuring SIMATIC S7-1500 and the technology object Positioning axis
● Configure a SIMATIC S7-1500 controller (Page 15).
● Define an axis (Page 20).
● Interconnect the axis with the drive (Page 21).
Commissioning and optimizing a drive
● Commission the drive and perform the optimization (Page 17).
● Test the axis with the axis control panel (Page 26).
Figure 1-1 SINAMICS V90 PN on S7-1500 Motion Control
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.2 Introduction
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
8Configuration Manual, 10/2018, A5E45778869B AB
1.3 Prepare the configuration
1.3.1 Requirements
Device requirements
You require the following components to create the sample project:
● SINAMICS V90 PN with a 1FL6 motor
● SIMATIC S7-1500
● PG/PC with free Ethernet interface
● TIA Portal Engineering System as of V14 with the associated HSP 0185 (SINAMICS V90
PN)
Preparing the system
Your system is prepared for configuring with the TIA Portal:
● The hardware is preassembled and wired.
● The latest firmware of the V90 PN is available.
● PG/PC is connected directly with the PROFINET interface of the controller (S7-1500) via
the Ethernet line.
● TIA Portal (at least V14) is installed on the PG/PC.
● HSP 0185 (SINAMICS V90 PN) is installed on the PG/PC.
● The TIA Portal is open. The portal view is open on the PG/PC screen.
1.3.2 Restoring factory settings
The reset to the factory settings is not normally necessary. If the current settings of the drive
are not known or the settings cause errors that can no longer be reproduced, you can restore
the factory settings of the drive. You so restore the default parameters.
If required you can restore the factory settings of the drive with "Online & diagnostics" > "Save/
reset".
The following parameters are not affected by the factory settings:
● p8920[0...239] PN: Name of station
● p8921[0...3] PN: IP address of station
● p8922[0...3] PN: Default gateway of station
● p8923[0...3] PN: Subnet mask of station
If necessary, also reset these interface parameters to the factory settings via "Online &
Diagnostics" > "Functions" > "Reset interface parameters".
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.3 Prepare the configuration
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 9
See also
Save/reset (Page 46)
1.3.3 Result of the preparations
● The devices are prepared and the requirements have been checked.
● If necessary, the devices are reset to the factory settings.
● The requirements for online communication are satisfied.
1.4 Create a project
1.4.1 Overview
In this "Getting started" section, you create the "Sample_1" sample project in the TIA Portal.
All of the subsequent configuring steps refer to this sample project.
1.4.2 Create new project
After opening the TIA Portal, you find yourself in the portal view. The portal view offers a task-
oriented view of the tools, and provides the basic functions for the individual task areas.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.4 Create a project
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
10 Configuration Manual, 10/2018, A5E45778869B AB
To create a new project
You begin a new configuring by creating a new project in the TIA Portal.
1. Select "Start" > "Create new project" in the portal view navigation. The "Create new project"
dialog opens.
Figure 1-2 Create project
2. Enter the project name at "Project name", e.g. "Sample_1".
3. Enter the project location at "Path". The default path is already set.
4. Confirm with "Create". Your project is now created.
1.4.3 Result in the sample project
The sample project is created in the TIA Portal. You are in the portal view of the TIA Portal.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.4 Create a project
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 11
1.5 Creating devices
1.5.1 Adding devices from the hardware catalog
To add devices directly from the hardware catalog:
1. Open the project view of the TIA Portal by clicking the "Open project view" button and
double-click "Devices and networks" in the Project Navigator.
The network view opens. The hardware catalog appears on the right-hand side.
2. Select an appropriate controller (S7-1500) from "Controller" > "CPU" in the hardware
catalog and drag it with drag-and-drop to the network view.
3. Select an appropriate SINAMICS V90 PN from "SINAMICS drives" in the hardware catalog
and drag it with drag-and-drop to the network view.
Result
Both devices are now in the network view.
Cyclic data exchange
Telegram 105 will be added automatically when the drive is created. If necessary, you can
select a different telegram from "Properties" > "General" > "Cyclic data exchange".
Configuring the hardware interface (Page 21) describes how you use the telegram. The cyclic
data exchange has not yet been parameterized at this time. This is set automatically after
creating a positioning axis / synchronous axis and assigning the drive for the axis. The
sequence with which you add devices does not matter.
Motor selection
The creation of the drive specifies the motor selection as the default setting. Further information
is available at Setting parameters (Page 31).
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.5 Creating devices
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
12 Configuration Manual, 10/2018, A5E45778869B AB
1.5.2 Connecting devices
After adding the drive, it must first be assigned to an IO Controller or to a PLC. This
automatically makes the assignment to an appropriate subnet.
Provided no subnet has been assigned the drive, it will be displayed as "not assigned device"
in the Project Navigator (PNV). The nodes of a subnet form a PROFINET IO system. To
synchronize the PROFINET IO devices, a sync domain is also required. The sync domain
assures that all nodes are synchronized. The creation of the subnet creates a new sync domain.
● Assign the drive to the controller. Click the "Not assigned" link in the network view and
select an interface (PLC_1.PROFINET-interface_1) to which you assign the drive.
Figure 1-3 Assigning a drive
Result
After assigning the drive, a sync domain and a PROFINET IO system are created automatically.
Figure 1-4 The drive is assigned
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.5 Creating devices
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 13
Automatic generation of the IP addresses
The default IP address device setting is 0.0.0.0. When creating a device in the TIA Portal, a
new IP address is generated by the TIA Portal and the appropriate subnet mask set. You can
see this in the "General" > "Ethernet addresses" tab.
Both the controller and the drive receive the same IP addresses (e.g. 192.168.0.1) and subnet
mask (255.255.255.0). This means no communication is possible.
Figure 1-5 Not connected devices
Because the IP addresses are adapted automatically when connecting the devices in the
network view or assigning the drive to the controller, a valid combination is set automatically.
The drive receives a new IP address, e.g. 192.168.0.2.
Figure 1-6 Connected devices
1.5.3 Operate devices in isochronous mode
Use the isochronous PROFINET interface X150 on the V90 PN and the PROFINET interface
X1 on the controller. Switch to the topology view and connect the appropriate interface ports
on the drive with the interface on the controller per drag-and-drop.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.5 Creating devices
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
14 Configuration Manual, 10/2018, A5E45778869B AB
1.5.4 Result in the sample project
The devices have been created. The Ethernet addresses have been defined and the topology
configured. The drive is stored in the "Not grouped devices" folder in the Project Navigator.
1.6 Configuring and optimizing a SINAMICS V90 PN
1.6.1 Overview
The following step of the example concerns both the optimization of the drive in conjunction
with an S7-1500 controller and also with a drive not assigned to any controller.
1.6.2 Connect online
The drive is connected with the controller
If the drive is connected with the controller via isochronous interfaces, it goes into cyclic
operation automatically in accordance with the wiring and configuration.
Establish an online connection:
1. Select the drive in the Project Navigator.
2. To do this, click the button.
3. Enter the PG/PC interface type and the PG/PC interface in the "Connect online" window.
4. Select "PN/IE_1" from "Connection with interface/subnet".
5. Click "Start search".
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.6 Configuring and optimizing a SINAMICS V90 PN
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 15
Figure 1-7 "Going online" window
The compatible nodes in the target subnet appear after a successful search. Select the found
device and click "Connect".
1.6.3 Checking drive configuration
In online mode, check the drive settings, especially the settings for motor and encoder type.
1. In the drive settings, open the dialog "Parameter" > "Motor and encoder".
2. Make the settings for your deployed motor under "Motor".
3. If necessary, modify additional parameters, e.g. Basic settings or Brake control.
4. Load the configuration to the device.
Note
The drive configuration has to be checked before starting or optimizing the drive.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.6 Configuring and optimizing a SINAMICS V90 PN
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
16 Configuration Manual, 10/2018, A5E45778869B AB
1.6.4 Performing an optimization
Optimize the drive by performing a turning measurement with coupled load. The appropriate
procedure is described in the following section.
The "Optimization" window is opened from "Drive" > "Commissioning" > "Control panel /
optimization" in the Project Navigator; select the second tab at the top right.
1. First fetch master control.
2. Configure the settings and, if necessary, the extended settings.
Set the maximum motion angle for each direction manually (phase 2 of the measurement).
We recommend that you enter 360 degrees manually.
Note
When setting the maximum motion angle, consider how the axis should move with coupled
load.
3. Click the "Start optimization" button.
The turning measurement is performed.
4. Return the master control after the successful optimization.
5. Load the data to the drive to save the settings permanently.
WARNING
Danger for persons and machinery caused by a turning motor.
The motor must be able to turn freely by +/-720 degrees for incremental encoders.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.6 Configuring and optimizing a SINAMICS V90 PN
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 17
Figure 1-8 Optimization
Result of the optimization
After performing the optimization, the new and old values are displayed as follows. The new
values are transferred automatically unless you reset them to their original values by clicking
the button at the bottom in the screen. After checking the values, the data still needs to be
loaded from the device (Page 19).
Figure 1-9 Result of the optimization
See also
Optimization (Page 39)
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.6 Configuring and optimizing a SINAMICS V90 PN
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
18 Configuration Manual, 10/2018, A5E45778869B AB
1.6.5 Loading the optimized data from the device
After the optimization, the optimized values are located in the volatile memory on the device.
You can change the online value directly and then copy it to the drive. The actual value can
also be changed for directly editable parameters. The change is transferred directly to the
drive.
See also
Compare values (Page 30)
1.6.6 Saving data in the drive
The online values are located in the volatile work memory of the drive whose content is lost
when switched off. To store the values permanently in the drive, copy the data from memory
card to the drive.
Note
The "Save data in the drive" function saves not only the values changed by the optimization,
but also all values in the drive.
To do this, navigate to:
● "Commissioning" > "Optimization"
● Save the data.
● Then save the project.
Figure 1-10 Copying RAM to ROM
The same function can be called from "Online & Diagnostics" > "Save/Reset" > "Save data in
the drive".
1.6.7 Result in the sample project
You have created and optimized a drive. The data that results from the optimization is saved
in the drive and in the project.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.6 Configuring and optimizing a SINAMICS V90 PN
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 19
1.7 Configure the axis
1.7.1 Overview
This section describes how you create and configure a positioning axis in the project, and
interconnect it with the SINAMICS V90 PN drive.
Requirement
You have created the drive as described in the Creating devices (Page 12) section.
1.7.2 Technology object axis
Technology objects (TOs) represent the associated real objects (e.g. a positioning axis) in the
controller.
The technology object Positioning axis / Synchronous axis provides a technological view of
the drive and the encoder (actuator and sensor), provides technological functions for them and
contains the concrete hardware interconnection.
The technology object Positioning axis / Synchronous axis contains extensive functionality,
e.g. communication with the drive, actual value processing, position control, and positioning
functionality. It executes control and motion commands and indicates states and actual values.
Technological limitations and values for the mechanical system for the axis and encoder are
set on the axis. You can then work exclusively with technological variables.
1.7.3 Creating an axis
Create the "PositioningAxis_1" axis for the sample project. Assign a drive to the axis.
How to create an axis in the project
1. Open the Controller folder in the Project Navigator and select "Technology objects".
2. Double-click "Add new object". The "Add new object" dialog opens.
3. Select from "Motion Control" a "TO_PositioningAxis" positioning axis.
4. Enter a name for the axis. Use the designation "PositioningAxis_1" for the axis of the sample
project.
5. Leave the other preset values to their default values.
6. Click "OK".
The "Basic parameters" window opens in the function view.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.7 Configure the axis
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
20 Configuration Manual, 10/2018, A5E45778869B AB
See also
Configuring and optimizing a SINAMICS V90 PN (Page 15)
1.7.4 Configuring the hardware interface
To complete the configuration of the axis, you must assign a drive to it. The red icon in the
configuration of the axis indicates that no assignment to the drive has been made (see figure).
Figure 1-11 The hardware interface is incomplete.
Icons in the area navigation
Icons in the area navigation of the configuration show additional details about the status of the
configuration:
The configuration contains preset values and is complete. The configuration contains only preset values. With
these preset values you can use the technology object without additional changes.
The configuration contains user-defined or automatically adapted values and is complete. All input fields of the
configuration contain valid values and at least one preset value has been changed.
The configuration is incorrect. At least one input field or drop-down list contains an invalid value. The corresponding
field or the drop-down list is displayed on a red background. Clicking the field shows the roll-out error message
that indicates the cause of error.
Assigning a drive
● Open the "Hardware interface". The "Drive" window opens:
● Assign the drive as follows:
Select the drive.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.7 Configure the axis
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 21
Setting the encoder type
The encoder type is not compared with the data adaptation. Configure the encoder type
(incremental, absolute or cyclic absolute) in the "Encoder" configuration window.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.7 Configure the axis
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
22 Configuration Manual, 10/2018, A5E45778869B AB
Data exchange between the drive and controller
Data is exchanged between the drive and controller for the data adaptation. The data
adaptation on the axis is selected with HSP by default when a V90 PN is used. During the data
adaptation, the reference values and motor/encoder data are compared with the drive/encoder
parameterization required for the data exchange. The "Automatic transfer of the drive
parameters" and "Automatic transfer of the encoder parameters" settings to the TO Axis are
set only when they are connected with the drive in the offline project. The setting for the drive
(actuator) or encoder can be activated or deactivated independently of each other.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.7 Configure the axis
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 23
Which data is adapted?
All actuator and encoder data that must be set identical in the technology object Axis to the
associated data in the drive is adapted:
● Actuator data on the TO Axis: "Reference speed", "Reference torque", "Maximum speed"
● Encoder data on the TO Axis: "Increments per revolution", "Number of revolutions", "Fine
resolution Xact1", "Fine resolution Xact2"
The following is always performed for activated adaptation:
● For each TO Power up (after controller power up or loading the TO to the controller).
● For each restoration after drive failure, namely always after a station restoration of the drive
that belongs to the associated technology object.
● For each restart of a technology object.
After a successful adaptation
After a successful adaptation, the actual values of the adapted data are overwritten in the
associated TO-DB. The adapted data, however, is not stored automatically on the memory
card of the drive and also not transferred as initial values in an offline project.
If the adapted data should not be stored permanently, the following two possibilities are
available:
●Save the adapted data in the offline project and the subsequent download: If the adapted
data should be saved in the offline project, TIA Portal functions can be used: Call the
"Snapshot of the actual values" function to store the actual values of the associated TO-DB
as snapshot in the offline project, then call the "Copy the momentary values to the initial
values" function to transfer them to the initial values of the associated TO-DB in the offline
project and finally load the TO-DB stored in the offline project to the CPU.
●Save the adapted data on the memory card: Call the SFC "WRIT_DBL" in the user program
to save the actual values of the adapted data on the memory card.
Setting the position control
Ensure that position control in the drive (DSC enabled) is set. Dynamic Servo Control (DSC)
depends on the deployed drive telegram. The setting acts only after the telegram selection (5,
6, 105 or 106). Use "Position control on the PLC" for all other telegrams.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.7 Configure the axis
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
24 Configuration Manual, 10/2018, A5E45778869B AB
Result
The drive is assigned and the configuration is complete.
1.7.5 Result in the sample project
The technology object Axis is fully configured.
1.8 Going online with devices
Load the sample project with the axis configuration to the controller so that the function of the
axis can be tested with the axis control panel in the next step.
Load the project
1. Save the project
2. Compile the project
3. Select the controller in the Project Navigation.
4. Load the project to the device.
The "Going online" dialog opens:
Figure 1-12 Connect online
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.8 Going online with devices
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 25
Going online
To permit an online connection, your PG/PC and the controller must be in the same subnet.
The TIA Portal supports you if your PG/PC does not have any appropriate settings by setting
them automatically.
1. Select the appropriate PG/PC interface type and the PG/PC interface.
In the example, PN/IE and Intel(R) Gigabit Network Connection (the name of the network
card).
2. Select the appropriate interface on the controller.
3. Search for accessible network nodes.
4. Connect with the appropriate node (appropriate S7-1500 controller).
1.9 Test the axis with the axis control panel
1.9.1 Overview
In this "Getting Started" section, you test the configured axis. TIA Portal provides the axis
control panel for this purpose.
Requirements
● The devices have been created and configured, see Section Creating devices (Page 12).
● You have configured the motor in the drive, see Configuring and optimizing a SINAMICS
V90 PN (Page 15).
● The drive configuration is loaded to the device, see Configuring and optimizing a SINAMICS
V90 PN (Page 15).
● Motor, encoder and motor holding brake are connected to the drive.
● The drive is supplied with power, 24 V and 230/400 V.
● The ports of the PROFINET interfaces are wired in accordance with the port interconnection.
● The STO must be connected correctly.
● An axis in the sample project has been created and configured, see Section Configure the
axis (Page 20).
● The project with the axis configuring is loaded to the target system.
● The axis is not switched on via a motion command (
MC_Power
).
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.9 Test the axis with the axis control panel
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
26 Configuration Manual, 10/2018, A5E45778869B AB
Note
Further information concerning the requirements
Further information for the V90 PN is available in the
SINAMICS V90, SIMOTICS S-1FL6
operating instructions
.
Further information concerning technology objects and motion topics is available in the online
help for the TIA Portal at "Deploying technology functions" > "Motion control".
1.9.2 Working with the axis control panel
You traverse individual axes with the axis control panel.
A user program is not necessary for the operation of the axis control panel. With the axis control
panel, you take over master control for a technology object and control the axis motions.
WARNING
Uncontrolled axis motions
During operation with the axis control panel, the axis can execute uncontrolled motions (e.g.
due to erroneous configuration of the drive, or of the technology object). Furthermore, any
synchronized following axis is moved as well when moving a leading axis with the axis control
panel.
Therefore, perform the following protective measures before operation with the axis control
panel:
● Ensure that the EMERGENCY OFF switch is within the reach of the operator.
● Enable the hardware limit switches.
● Enable the software limit switches.
● Ensure that following error monitoring is enabled.
● Make sure that no following axis is coupled to the axis to be moved.
Traversing the drive with the axis control panel
1. Open the axis control panel of the technology object Positioning axis from "Technology
object > Commissioning" in the Project Navigator.
The "Axis control panel" window opens.
2. Fetch master control.
3. Set the drive enable.
4. Select "Jogging" operating mode.
5. Click the "Forward" or "Backward" button to start a motion.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.9 Test the axis with the axis control panel
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 27
Figure 1-13 Axis control panel
Note
Changes made to the axis configuration performed online have no effect on operation with the
axis control panel.
Note
No transfer of the parameters
The configured parameter values are discarded when master control is returned. Transfer the
values as needed into your configuration.
If you have changed configuration values with the axis control panel during operation, they
have no effect on the operation of the axis control panel.
1.9.3 Result in the sample project
You have traversed the axis of the sample project with the axis control panel and thus ensured
its correct functioning. Configuring the axis is thus completed.
Getting started with SINAMICS V90 PN on S7-1500 Motion Control
1.9 Test the axis with the axis control panel
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
28 Configuration Manual, 10/2018, A5E45778869B AB
Configuring drives 2
2.1 Drives in the hardware catalog
Selecting devices via the hardware catalog
Devices are administered in the TIA Portal using the hardware catalog. This is anchored as a
tab in the right-hand margin of the TIA Portal.
For example, you can add drive units using drag-and-drop in the device view and network view
from the hardware catalog.
All device variants are listed in the catalog view that can be restricted via filters:
Figure 2-1 SINAMICS V90 PN in the hardware catalog
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 29
2.2 Parameters
2.2.1 Overview
Figure 2-2 Parameter
2.2.2 Compare values
The online data can be transferred individually to the project. Use the "Compare values"
function to perform a comparison between the values in the drive and the values in the project:
● Comparison of the offline values in the project with the online values in the drive
● Direct editing of the actual values and the initial values of the project
● Immediate detection and display of input errors with suggested corrections
● Backup of the online values in the project
Icons and operator controls
If an online connection to the drive exists, the actual values are displayed for the parameters.
In addition to the actual values of the parameters, the following icons appear:
Icon Description
The online value in the drive matches the configured offline value in the project
The online value in the drive does not match the configured offline value in the project
The comparison between the online value in the drive with the configured offline value in the project
cannot be performed
Click this button to show the offline value of the drive and the offline value of the project for the
associated parameter.
Configuring drives
2.2 Parameters
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
30 Configuration Manual, 10/2018, A5E45778869B AB
2.2.3 Setting parameters
You change the parameters in online and offline mode.
Setting parameters online
All changes that you perform online take effect immediately. Then load them to the project.
Setting parameters offline
1. Set the desired parameters.
2. Load the set parameters from "Load to the device".
2.2.4 Motors and encoders
Motors and encoders
Depending on the encoder type used, dependencies result in the settings for motors and
encoders:
● Motors with incremental encoders
● Motors with absolute encoders
The setting of the motor can be changed only when no online connection exists to the drive.
Fetching motor and encoder settings
Note
Motor and encoder settings can be fetched via an upload to the project.
Motors with incremental encoders
1FL6 motors with incremental encoders do not have any electronic name plate. The V90 PN
device detects that a motor with incremental encoder is connected and makes the settings for
an appropriate default motor for the associated device. Adding a V90 PN to a project selects
a default motor with incremental encoder. Make the settings for your deployed motor with
incremental encoder in the project. Load the settings to the device.
Motors with absolute encoders
1FL6 motors with absolute encoders have an electronic name plate. The motor is detected by
the SINAMICS V90 PN converter. The parameter assignment in the drive is set appropriately
for the detected motor. Select in the project the appropriate motor and encoder so that a
download can be performed.
Configuring drives
2.2 Parameters
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 31
Basic settings
The settings in the Parameters window depend on the motor selection. The parameters
appropriate for the motor are preassigned in the TIA Portal for S7-1500 motion control
applications. The parameters appropriate for this motor are set when you reselect the motor.
If necessary, the settings can be changed.
See also
Brake control (Page 34)
Encoder types (Page 32)
2.2.5 Encoder types
The following encoder types are used in conjunction with V90 PN:
● Incremental encoder with TTL (Transistor Transistor Logic) interface and 2500 pulses/
revolution
● Single-turn absolute encoder with 21-bit resolution and BiSS interface
● Multi-turn absolute encoder with 20-bit resolution, 12-bit rotational resolution and BiSS
interface
Incremental encoders
Incremental encoders supply a defined number of pulses/revolution and a so-called zero pulse
pro revolution. Two digital output signals (A and B track) displaced by a quarter pulse (90
degrees electrical) are output. The position value is determined by counting the pulses. The
digital output signals displaced by 90 degrees determine the direction of rotation that specifies
whether the position value should be counted in the positive or negative direction. The edge
evaluation of the pulses quadruplicates the encoder resolution. Consequently, the incremental
encoder deployed in the V90 PN can resolve a revolution with 2500 x 4 (= 10000) increments.
The reference between the position of an axis and its mechanical position must be established
for an incremental encoder by homing.
Absolute encoders
Absolute encoders provide the position value as an absolute numerical value. Because this
numerical value is unique over the resolution range of an absolute encoder, no initial homing
as for incremental encoders is necessary. The absolute numerical value is transferred from
the absolute encoder to the V90 PN via the BiSS (Bidirectional Serial Synchronous) interface.
For rotatory absolute encoders, a differentiation is made between those that can resolve only
one revolution and then restart at 0 again (single-turn), and those that can resolve several
revolutions (multi-turn).
Absolute encoder adjustment
The absolute position value supplied by an absolute encoder must be assigned to the
associated mechanical position using an absolute encoder adjustment. The absolute encoder
adjustment only needs to be performed once. The absolute encoder adjustment results in an
Configuring drives
2.2 Parameters
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
32 Configuration Manual, 10/2018, A5E45778869B AB
absolute value offset saved permanently even when the controller is switched off and on. The
absolute encoder adjustment is performed on the positioning axis / synchronous axis.
Single-turn absolute encoders
For a single-turn absolute encoder, absolute position values are assigned only to the angle
positions within one revolution. This means that the angle position is known only within one
revolution. However, in order to determine the position values also over multiple revolutions,
the revolutions of the encoder for the positioning axis / synchronous axis are accumulated.
When the CPU is switched off, the revolutions counted for a positioning axis / synchronous
axis are stored permanently. When the CPU is switched on again, the permanently stored
revolution counts are included in the calculation of the actual position. To ensure that a
positioning axis / synchronous axis continues travel from the correct position after switch on,
it must be guaranteed that the single-turn absolute encoder does not turn more than half a
revolution when switched off. The single-turn absolute encoder used in the V90 PN has a 21-
bit resolution and so provides 221 (= 2097152) absolute position values for one revolution.
Single-turn rotary transducers have a measuring range of 360 degrees.
Multi-turn rotary transducers
For a multi-turn rotary transducer, an absolute position value is formed from each angle position
within a revolution together with the number of complete revolutions. Unlike its single-turn
equivalent, the multi-turn rotary transducer may turn more than half a revolution when switched
off. The multi-turn absolute encoder used in the V90 PN has a 20-bit resolution and a 12-bit
rotational resolution; it so resolves a revolution with 220 (1048576) angle positions and 212
(4096) revolutions. Multi-turn rotary transducers have a measuring range of n x 360 degrees.
Where n represents the number of revolutions that the encoder can resolve.
Configuring drives
2.2 Parameters
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 33
Position control for positioning axes /synchronous axes
Positioning axes /synchronous axes require for their position control an actual position as a
position value of an encoder. This actual position is transferred from the drive to the CPU as
PROFIdrive telegram. The relationship between the position values of an encoder and a
defined position of a positioning axis / synchronous axis is established by parameterizing the
mechanical properties and encoder settings as well as with a homing operation / absolute
encoder adjustment. Positioning axes / synchronous axes support the following types of actual
position values in the "Encoder type" setting:
● Incremental actual position value with the "Incremental" setting
– This setting must be selected when an incremental encoder is connected.
● Absolute actual position value with the "Absolute" setting
– The maximum traversing range of the axis lies within the measuring range of the
encoder.
– The actual position value so results directly from the absolute encoder value.
– Consequently, the zero crossings (measuring range overflow) of the encoder must not
lie within the maximum traversing range of the axis, because they are not counted by
the positioning axis / synchronous axis with this setting.
● Absolute actual position value with the "Cyclic absolute" setting
– The maximum traversing range of the axis lies outside the measuring range of the
encoder.
– The actual position value so does not result directly from the absolute encoder value.
– The encoder within its measuring range supplies an absolute encoder value. The axis
accumulates the performed zero crossings (overflow of the measuring range) of the
encoder and so determines the correct actual position value beyond the measuring
range of the encoder.
– When the CPU is switched off, the traversed zero crossings are saved in the retentive
memory area.
The "Cyclic absolute" and "Absolute" settings do not have any reference to the absolute
encoder type (single-turn or multi-turn), rather they affect the maximum traversing range of an
axis in the measuring range of the absolute encoder. If the maximum traversing range of an
axis lies within the measuring range of the single-turn absolute encoder, "absolute" must be
set. If this is not the case, "cyclic absolute" must be set. If the maximum traversing range of
an axis does not lie within the measuring range of the multi-turn absolute encoder, "cyclic
absolute" must be set.
2.2.6 Brake control
The motor holding brake prevents drives from making unwanted motions when they are
switched off.
Configuring drives
2.2 Parameters
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
34 Configuration Manual, 10/2018, A5E45778869B AB
You can configure the motor holding brake of the selected motor here.
Note
In online mode, the "motor holding brake configuration" cannot changed if the "operation
enabled" state is pending on the drive.
Holding brake configuration
● No holding brake available. For this setting and a motor with holding brake, the motor
holding brake must remain closed.
● Motor holding brake, like sequential control: The motor holding brake acts as specified by
the sequential control.
● Motor holding brake always open. The motor holding brake has no effect.
Opening and closing times.
For motors with integrated holding brake, the opening and closing times are preset
automatically. The start of the brake closing time depends on the sequence of the shorter of
the two intervals, the stationary state detection monitoring time and the trigger pulse
suppression delay.
Note
The following parameters cannot be changed in the "operation enabled" state
P29001: Motor rotational direction reversal
P29006: Line voltage
P29023: Configuration OBT (One Button Tuning)
P29026: Duration of the test signal
P29027: Optimization: Limitation of the motor rotation
P1215: Motor holding brake configuration
P2000: Reference speed, reference frequency
P2003: Reference torque
Configuring drives
2.2 Parameters
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 35
2.3 Commissioning
2.3.1 Overview
Figure 2-3 Commissioning
2.3.2 Control panel
Drive control panel
The drive control panel is used for the control and monitoring of individual drives. You traverse
drives with the control panel by specifying values. You choose one of the various operating
modes; depending on the operating mode, this is, for example, the speed setpoint. For more
information, see Drive control panel and axis control panel (Page 39)
Calling up the control panel
Call the control panel via "Commissioning" > "Control panel".
When an online connection has been established, the bar in the header area is shown in color.
Except for the Master control: "Fetch" button, the control elements are grayed-out. The other
control elements are active only when you fetch the master control and switch on the drive.
Operating the control panel
You can use the drive control panel to traverse the drive and test the settings that have been
made.
WARNING
This control panel may be used only when the associated safety instructions are observed!
Failure to comply with these instructions can result in injury or material damage!
The function is released exclusively for commissioning, diagnostic and service purposes. The
function should generally only be used by authorized technicians. The safety shutdowns from
the higher-level controller have no effect.
Configuring drives
2.3 Commissioning
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
36 Configuration Manual, 10/2018, A5E45778869B AB
Note
Drive reacts immediately
Although all enables are removed before returning the master control, the setpoints and
commands still come from the original parameterized sources after the master control is
returned.
Fetch master control
You can activate the control panel by fetching the master control of the drive. The control panel
can only be activated for one drive.
To activate the control panel, proceed as follows:
1. Activate the control panel at "Commissioning > Control panel" with master control: "Fetch".
2. Read the alarm carefully and check the value for the monitoring time. The monitoring time
specifies the time during which the connection from the PG/PC to the drive is monitored
cyclically. The minimum value is 1000 ms.
3. Click "OK" to confirm. The control panel is then active.
Relinquish master control
You deactivate the drive control panel by relinquishing master control. Master control cannot
be relinquished unless the drive is switched off.
To relinquish master control, proceed as follows:
1. Click "Relinquish" to return the master control.
Result
You can now traverse the drive with the control panel. Enables and faults are displayed at
"Drive status". In addition to "Active fault", the currently pending fault is displayed.
2.3.3 Using the control panel
Operating the control panel
You can use the drive control panel to traverse the drive and test the settings that have already
been made.
Configuring drives
2.3 Commissioning
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 37
WARNING
This control panel may be used only when the associated safety instructions are observed!
Failure to comply with these instructions can result in injury or material damage!
This function is for commissioning, diagnostic and service purposes, and may be used only
by authorized personnel. The safety settings of the PLC will be switched off.
The "Stop with the space key" function cannot be guaranteed for all operating situations of
the drive. Consequently, it is important to implement a hardware solution for an emergency
stop. You must adopt the required measures.
The drive can be controlled manually only when a connection to the PC exists. The connection
is monitored cyclically.
Note
Drive reacts immediately
Although all enables are removed before returning the master control, the setpoints and
commands still come from the original parameterized sources after the master control is
returned.
Activating the control panel
You can activate the control panel by fetching the master control of the drive. The control panel
can always only be activated for one drive.
To activate the control panel, proceed as follows:
1. Activate the control panel at "Commissioning > Control panel" with master control: "Fetch".
2. Read the warning carefully and check the value for the monitoring time. The monitoring
time specifies the time during which the connection from the PG/PC to the drive is
monitored. The minimum value is 1000 ms.
3. Click "OK" to confirm. The operating panel is then active.
Deactivating the control panel
You deactivate the control panel by returning master control. The control panel cannot be
deactivated until the drive is switched off ("0" button).
To deactivate the control panel, proceed as follows:
1. Click "Relinquish" to return the master control.
2. The user interface of the control panel is grayed-out.
Result
You can now traverse the drive with the control panel. If a fault is pending, it is displayed as
"Active fault".
Configuring drives
2.3 Commissioning
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
38 Configuration Manual, 10/2018, A5E45778869B AB
2.3.4 Drive control panel and axis control panel
Drive control panel
The drive control panel is used for the control and monitoring of individual drives. You traverse
drives with the control panel by specifying values. You choose one of the various operating
modes; depending on the operating mode, this is, for example, the speed setpoint.
Axis control panel
You traverse individual axes with the axis control panel. A user program is not necessary for
the operation of the axis control panel. With the axis control panel, you take over master control
for a technology object and control the movements of the axis.
Master control
You fetch the master control for the drive control panel or the axis control panel.
Operation
The control panel can be operated only when an online connection is established to the CPU
or the drive.
2.3.5 Optimization
Motor optimization
The motor optimization assists with determining the closed-loop control settings. Perform the
motor optimization under load to improve the closed-loop control properties of the motor.
The optimization can be used to determine the proportional gain (P-gain) of the speed controller
provided "Set speed loop gain" (p29023.0) is set.
The P-gain determined by the optimization is multiplied by the "Optimization: dynamic
response factor" (p29020) and the result of the multiplication written to the "Closed-loop speed
control gain" (p29120) parameter.
The setting for the "Optimization: Dynamic response factor" (p29020) can be used to influence
the P-gain of the speed controller.
● The lower the "Optimization: Dynamic response factor" (p29020), the lower the P-gain, the
"softer" the speed controller is set.
● The higher the "Optimization: Dynamic response factor" (p29020), the greater higher P-
gain, the "harder" the speed controller is set.
The optimization consists of two phases. These phases differ for motors with incremental
encoders and motors with absolute encoders.
Configuring drives
2.3 Commissioning
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 39
See also
Performing an optimization (Page 41)
Optimization phases (Page 40)
Encoder types (Page 32)
2.3.6 Optimization phases
Set the motor parameters before optimizing it. As standard, the parameters are set to their
initial settings.
Incremental encoder / absolute encoder
The optimization depends on the motor type. The following motors are differentiated:
Motor with incremental encoder
The motor optimization is performed in two phases. Motors with incremental encoder must be
able to turn freely by 720 degrees during the first optimization phase. This corresponds to two
rotations, in both the positive and negative directions. The maximum motion angle to be set
applies to the second optimization phase.
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Motors with absolute encoder
The motor optimization is performed in two phases. In the first phase, the motor moves in the
area of the zero point.
The specification of the maximum motion angle in each direction applies to the second phase.
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Configuring drives
2.3 Commissioning
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
40 Configuration Manual, 10/2018, A5E45778869B AB
Duration of the test signal
The mechanical drive train is measured using test signals. This allows the closed-loop control
parameters to be calculated so that the drive train is set with best-possible dynamic response.
2.3.7 Performing an optimization
Optimize the drive by performing a turning measurement with coupled load. The appropriate
procedure is described in the following section.
The "Optimization" window is opened from "Drive" > "Commissioning" > "Control panel /
optimization" in the Project Navigator; select the second tab at the top right.
1. First fetch master control.
2. Configure the settings and, if necessary, the extended settings.
Set the maximum motion angle for each direction manually (phase 2 of the measurement).
We recommend that you enter 360 degrees manually.
Note
When setting the maximum motion angle, consider how the axis should move with coupled
load.
3. Click the "Start optimization" button.
The turning measurement is performed.
4. Return the master control after the successful optimization.
5. Load the data to the drive to save the settings permanently.
WARNING
Danger for persons and machinery caused by a turning motor.
The motor must be able to turn freely by +/-720 degrees for incremental encoders.
Configuring drives
2.3 Commissioning
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
Configuration Manual, 10/2018, A5E45778869B AB 41
Figure 2-4 Optimization
Result of the optimization
After performing the optimization, the new and old values are displayed as follows. The new
values are transferred automatically unless you reset them to their original values by clicking
the button at the bottom in the screen. After checking the values, the data still needs to be
loaded from the device.
Figure 2-5 Result of the optimization
See also
Optimization (Page 39)
Configuring drives
2.3 Commissioning
SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500
42 Configuration Manual, 10/2018, A5E45778869B AB
2.3.8 Loading the optimized data from the device
After the optimization, the optimized values are located in the volatile memory on the device.
You can change the online value directly and then copy it to the drive. The actual value can
also be changed for directly editable parameters. The change is transferred directly to the
drive.
2.3.9 Device replacement in the hardware configuration
All SINAMICS V90 PN device types can be replaced with each other.
Replace the device in the TIA Portal by right-clicking "Replace device" in the PNV or in the
device, network or topology view.
● To do this, select a new device from the hardware catalog. The version to be replaced is
displayed at "Version:".
Motor selection
Each device type has a default motor. Like adding a device, the associated default motor is
preset when a device is replaced.
WARNING
Automatic setting to the default settings
All parameters are set to their default setting when a device is replaced.
● Check the parameter settings after a module replacement.
Configuring drives
2.3 Commissioning
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2.4 Diagnostics
2.4.1 General
You can use the "Online & Diagnostics" functions only when an online connection exists.
Figure 2-6 Online & Diagnostics in the Project Navigator
See also
Going online with devices (Page 25)
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2.4.2 Active messages
Description
"Active messages" displays the currently pending alarms and faults in the drive. Faults must
be acknowledged after the cause has been corrected.
Figure 2-7 Active messages
Faults and alarms
Column Description
Fault code / alarm code Number of the fault/alarm
Alarm Description of the fault/alarm
Time Time stamp that shows when the fault/alarm occurred.
Configuring drives
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Acknowledging faults
● To acknowledge all active faults, click the "Acknowledge faults" button.
After acknowledgement, faults and alarms are moved to the message history, see also
Message history (Page 46).
2.4.3 Message history
Message history
The drive has a message history in which all alarms and faults are recorded. You can read out
this message history in online mode.
Delete fault buffer
1. Click the "Delete fault buffer" button to delete the fault buffer.
2. Click the "Export message history" button to export the fault and alarm buffer as a CSV file.
Messages
Column Description
Fault buffer / alarm buffer Designation of the fault/alarm
Fault code / alarm code Number of the fault/alarm
Alarm Description of the message
Fault time / alarm time "come" The time stamp that shows the time when a fault/alarm oc‐
curred.
Fault time / alarm time "rectified" The time stamp that shows the time when the cause of the
fault/alarm was rectified. The error must also be acknowl‐
edged for faults.
2.4.4 Save/reset
Saving data in the drive
Online changes to parameter values are always made in volatile memory. To make permanent
changes, they must be stored in the drive.
To save the data retentively, proceed as follows:
1. Establish an online connection to the drive.
2. Open "Online & Diagnostics > Save/Reset" at the drive.
3. Click the "Save" button in the "Save/Reset" dialog at "Save data in drive".
Configuring drives
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Figure 2-8 Saving data in the drive
After the successful execution of the function, the parameter values are saved in the drive. If
a memory card is inserted, the data is also saved there automatically.
All parameter values in volatile memory are saved protected against power failure in the drive.
Restarting drives
The drive is restarted with the new values saved in the ROM (or with those on the optional
inserted memory card). All data not saved previously in the drive is lost.
1. Establish an online connection to the drive.
2. Open "Online & Diagnostics > Save/Reset" at the drive.
3. In the "Save/Reset" dialog, click the "Restart" button at "Restart drive".
Figure 2-9 Restarting drives
The drive is restarted. The online connection to the drive is interrupted and re-established
automatically.
Restoring factory settings
To restore the factory settings, proceed as follows:
1. Establish an online connection to the drive.
2. Open "Online & Diagnostics > Save/Reset" at the drive.
3. In the "Save/Reset" dialog, click the "Start" button at "Restore factory settings".
Configuring drives
2.4 Diagnostics
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Figure 2-10 Restoring factory settings
The parameter values are reset to the delivery condition (in volatile memory).
You can select whether the factory settings in the drive should be saved; otherwise, they will
be lost after a restart or being switched off.
Note
Some settings, such as the PROFINET interface parameters and the IP address, are retained
after restoring the factory settings.
For more information, refer to Restoring factory settings (Page 9).
Loading data from the memory card to the drive
The function writes to the drive the parameter values saved on the memory card.
To transfer the settings to the drive, proceed as follows:
1. Insert the memory card into the drive.
2. Establish an online connection to the drive.
3. Open "Online & Diagnostics > Save/Reset" at the drive.
4. Go to "Load data from the memory card to the drive".
5. Click "Load" to load the data from the memory card to the drive.
6. Click "Safely remove card" to ensure that there is currently no access to the memory card
and the card can be safely removed.
Figure 2-11 Loading data from the memory card to the drive
Configuring drives
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The data from the memory card is now saved in the drive.
Note
If the parameters on the memory card do not match the parameters present in the drive memory
(RAM), you must restart the servo drive in order to transfer the changes.
Copying data from the drive to the memory card
The function saves the parameter values from the drive to the memory card. This allows, for
example, the configurations to be transferred from one drive to another drive for a series
commissioning.
To save the settings on a memory card, proceed as follows:
1. Insert the memory card into the drive.
2. Establish an online connection to the drive.
3. Open "Online & Diagnostics > Save/Reset" at the drive.
4. Go to "Copy data from the drive to the memory card".
5. Click "Copy" to save the data to the memory card.
6. Click "Safely remove card" to ensure that there is currently no access to the memory card
and the card can be safely removed.
Figure 2-12 Copying data from the drive to the memory card
2.4.5 Setting the time of day
The drive has a preset time, whereby the time relative to the preset time and switch-on time
of the drive is stored for faults and messages. You can overwrite this time-of-day setting.
Normally, the drive receives the time-of-day from the PG/PC; this requires a manual
synchronization. The default time is restored after each restart or power on/off of the drive.
The currently set time is useful for evaluating messages, for example.
Configuring drives
2.4 Diagnostics
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To synchronize the times-of-day between the PG/PC and the drive, proceed as follows:
1. Establish an online connection to the drive.
2. Open "Online & Diagnostics > Functions > Set time-of-day" at the drive.
3. Activate the "Take from PG/PC" option in the "Set time-of-day" dialog and click the "Apply"
button.
Figure 2-13 Setting the time-of-day
The drive now accepts the time-of-day from the PG/PC.
See also
SIMATIC S7-1200/S7-1500 and SIMOTION: Acyclic communication (https://
support.industry.siemens.com/cs/ww/en/view/109479553)
Configuring drives
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2.4.6 Current values
The actual values and the status bits are displayed at "Actual values".
Actual values
The actual values of various parameters are displayed at "Actual values".
Configuring drives
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Status bits
The status bits show the current status / alarm bit / fault bit; also refer to the following table:
Color of the status bit Meaning
Green/gray (state) Indicates that a state with one of the following designations is active:
● Ready to start
● Ready for operation
● Operation enabled
● Actual speed value ≥ 0
● "Open holding brake" active
Yellow/gray (alarm bit) Indicates that one of the alarms with the following designations is pending:
● Coasting active
● Quick stop active
● Switching on inhibited active
● Alarm effective
● Torque limit reached
● Alarm motor overtemperature
● Alarm power unit thermal overload
● Safety release missing
Red/gray (fault bit) Indicates that a fault is pending
● Fault effective
The status bits are visible online and offline. All bits are inactive in offline mode. The current
status is displayed in offline mode.
2.5 Extended functions
2.5.1 Torque control via PROFIdrive supplementary telegram
2.5.1.1 Overview
For some applications, the option of torque control is required. Examples:
● Collision detection through evaluation of the torque in the automation of robot applications
● Compensation of friction, inertia and acceleration torque through transmission of an
additional torque in winder applications
PROFIdrive supplementary telegram 750 for torque control
An additional transmission channel for torque control is provided via the PROFIdrive
supplementary telegram 750.
Supplementary telegram 750 supplements the actual drive telegram (e.g. "Siemens telegram
105, PZD-10/10"). With the supplementary telegram, the PLC can exchange data with the
Configuring drives
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Control Unit (CU) of the drive. The supplementary telegram becomes active once a connection
has been established between the PLC and the drive CU.
2.5.1.2 Configuring the supplementary telegram for torque control
The supplementary telegram is dependent on the drive telegram. You therefore need to define
the drive telegram first (e.g. "SIEMENS telegram 105, PZD-10/10"). In the default setting, no
supplementary telegram is used.
Note
Dependencies in the drive when using supplementary telegram 750
For the drive, the parameterization of the supplementary telegram is stored in parameter p8864:
●p8864 = 999 (default setting: no supplementary telegram)
The torque limits in parameters p29050 and p29051 are evaluated.
●p8864 = 750 (supplementary telegram 750)
The torque limits in parameters p29050 and p29051 are not evaluated.
Configuring drives
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Configuring the supplementary telegram
You can configure the supplementary telegram under "Cyclic data exchange" of the
PROFINET interface:
1. Select the drive telegram under "Telegram".
Figure 2-14 Cyclic data exchange – Default setting no supplementary telegram
Representation in the "Device view" under "Device overview" without supplementary
telegram:
Figure 2-15 Device overview – default setting: no supplementary telegram
2. Under "Supplementary telegram", select "Supplementary telegram 750. PZD-3/1". The
"supplementary telegram" is then displayed under "Cyclic data exchange".
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Figure 2-16 Cyclic data exchange – supplementary telegram
Representation in the "Device view" under "Device overview" with supplementary telegram:
Figure 2-17 Device overview – with supplementary telegram
3. Parameterize the "Actual value (drive → PLC)" for the supplementary telegram. The
direction of transfer is from the drive to the higher-level PLC.
Parameterize the "Setpoint (PLC → drive)" for the supplementary telegram. The direction
of transfer is from the higher-level PLC to the drive.
Parameter Description
Start address Next free start address for the configured module. You can change the
address.
End address Next free end address for the configured module. You can change the
address.
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Parameter Description
Organization block If you have connected the drive to a PLC, you need an organization block
(OB) for communication.
If you have created a technology object of the "positioning axis" type for
a SIMATIC S7-1500, for example, and assigned it to a drive axis, you need
an organization block of the type "MC-Servo [OB91]". In this case, you
need to disable "Isochronous mode".
Other OBs include the "Main [OB1]" block for the user program or the
"FOB_RTG1 [OB123]" block for Safety functions.
Process image Select the process image to which the data are to be continuously trans‐
ferred (e.g. "OB1-PI"). You can find more information on the topic of proc‐
ess images in the TIA Portal information system by searching for "process
image".
2.5.2 Automatically synchronizing the drive object with technology object offline
2.5.2.1 Overview
During the configuration, you can automatically synchronize the drive object (DO) with the
technology object (TO) offline. When doing this, parameters from the drive and/or encoder are
transferred into the technology object:
● When configuring, drive values are automatically accepted (offline)
● Encoder values are automatically exchanged (offline)
Drive values are automatically synchronized offline with TO parameters
The following drive values are automatically synchronized with the TO offline:
●p0922 PROFIdrive PZD telegram selection
●p2000 Reference speed reference frequency
●p1082 Maximum speed
●p2003 Reference torque
Encoder values are automatically synchronized offline with TO parameters
The following encoder values are automatically synchronized with the TO offline:
●p0922 PROFIdrive PZD telegram selection
●p0404.0 Encoder configuration effective, measuring system (rotary, linear)
●p0404.1 Encoder configuration effective, encoder type (incremental, absolute)
●p0407 Linear encoder grid division
●p0408 Rotary encoder, pulse number
●p0418 Fine resolution Gx_XIST1 (in bits)
●p0419 Fine resolution absolute value Gx_XIST2 (in bits)
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●p0421 Absolute encoder rotary multiturn resolution
●p0423 Absolute encoder rotary singleturn resolution
2.5.2.2 Automatically synchronizing the drive object with technology object offline
For the drive and encoder, you can independently activate or deactivate the automatic offline
synchronization of the drive values or encoder values with the technology object (TO) during
the configuration.
Activating automatic offline synchronization of the drive values during configuration
Proceed as follows to activate automatic offline synchronization of the drive values during the
configuration:
1. Under "Hardware interface", open "Data exchange with the drive" and activate option
"Automatically apply drive values during configuration (offline)".
Figure 2-18 Activating automatic offline synchronization of the drive values during configuration
Configuring drives
2.5 Extended functions
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Activating automatic offline synchronization of the encoder values during configuration
Proceed as follows to activate automatic offline synchronization of the encoder values during
the configuration:
1. Under "Hardware interface", open "Data exchange with encoder" - and activate option
"Automatic data exchange for encoder values (offline)".
Figure 2-19 Activating automatic offline synchronization of the encoder values during configuration
Drive values or encoder values automatically synchronized offline during the configuration
After the drive values or encoder values have been automatically synchronized offline during
the configuration, the background color in the selection list under "Drive telegram" or "Encoder
telegram" changes to orange.
Configuring drives
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Figure 2-20 Drive values automatically synchronized offline during the configuration (orange background color below the
drive telegram)
Note
Compile the PLC program to overwrite the values automatically synchronized offline in the
associated TO-DB
You must compile the PLC program to overwrite the drive and/or encoder values automatically
synchronized offline in the associated technology object data block (TO-DB).
Configuring drives
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Alarms and parameters 3
3.1 SINAMICS V90 PN CU alarms
3.2 SINAMICS V90 PN drive alarms
3.3 SINAMICS V90 PN CU parameters
3.4 SINAMICS V90 PN drive parameters
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Alarms and parameters
3.4 SINAMICS V90 PN drive parameters
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Index
S
SINAMICS V90 PN
Drive system - Overview, 6, 7
SINAMICS V90 PN on S7-1500 Motion Control
Active messages, 45
Control panel, 36
Control panel enable, 36, 37
Drives in the hardware catalog, 29
Optimization, 39
Performing an optimization, 17, 41
Save/reset, 46
Setting parameters, 31
Setting the time-of-day, 50
V
V90 PN with SIMATIC S7-1500 "Getting Started"
Adding devices from the hardware catalog, 12
Configuring the hardware interface, 21
Connecting devices, 13
Connecting online, 15
Create new project, 11
Creating an axis, 20
Defining the topology, 14
Going online with devices, 25
Loading the optimized data from the device, 19,
30, 43
Restoring factory settings, 10
Sample project, 8
Saving data in the drive, 19
Technology object Axis, 20
Working with the axis control panel, 27
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Index
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