SITRAIN

Digital Industry Academy

siemens.com/sitrain
 Overview of the Solution Partner
1
Program

2 SINAMICS S120 and Startdrive

SINAMICS
3 News and new license concept as of FW
5.1.x
SITRAIN
Digital Industry Academy PFC converter functions with
4
SINAMICS G120P / G120X

Solution Partner
5 SIMOGEAR
Program
Drives and Motion
certification workshop 6 SINAMICS S210 with Startdrive

Course SP-DRM-ZWS
7 Controller optimization with Starter

8 SINAMICS drive based Safety Functions

Name:

Course from: to: 9 SINAMICS Safety acceptance test

Lecturer:

Training site: 10 Exercises

This document was produced for training purposes.

SIEMENS assumes no responsibility for its contents. The
reproduction, transmission, communication or use exploitation
of this document or its contents is not permitted without 11 Certification
express written consent authority. Offenders will be liable to
damages. Non-compliances with this prohibition make the
offender inter alia liable for damages.

Copyright © Siemens AG 2020. All rights, including

particularly the rights created by to file a by patent and/or 12
other industrial property right application and/or cause the
patent and/or other industrial property right to be granted
grant or registration of a utility model or design, are reserved.

SITRAIN courses on the internet: www.siemens.com/sitrain 13

Course folder version: V 16.01.02 for TIA Portal V16
 Christian Mueller
GMC Partner Management

Unrestricted © Siemens AG 2020 siemens.com/answers

Unrestricted © Siemens AG 2020

Siemens Global Partner Program
Siemens Partner Management – Our Vision

With our partners, we are the leader

in the industrial and infrastructure market

§ Our partners are an integral part of our sales strategy

and consequently an important channel for growth at
Siemens.
§ With our partners we drive digitalization, and inspire
customers to choose innovative solutions.
§ End users prefer Siemens partners, and our partner
program is best in class.

Unrestricted © Siemens AG 2020

Siemens Global Partner Program
Global partner network with unified quality standards

Austria Estonia Latvia Portugal Switzerland

Belgium Finland Lithuania Romania Turkey

Europe
Bosn. Herzeg. France Luxembourg Russia Ukraine

Bulgaria Germany Malta Serbia United Kingdom

Byelorussia Greece Moldova Slovakia

Croatia Hungary Netherlands Slovenia

Czech Republic Ireland Norway Spain

Worldwide the best Partner Denmark Italy Poland Sweden

Program in Industry
Australia Japan Pakistan
Canada Colombia

USA Algeria Jordan Philippines

Ecuador

Asia / Africa
Azerbaijan
Create competitive advantages Mexico Peru Kasachstan Quatar

Americas
Argentina Cameroon Libanon Saudi Arabia
Venezuela
for our Customers Brazil Bolivia China Libya Singapore

Chile Egypt Malaysia South Africa

Hong Kong Morocco South Korea

Siemens Global Partners India Namibia Taiwan

are the first choice worldwide Iraq New Zealand Tunisia

Israel Nigeria UAE

Indonesia Oman

Unrestricted © Siemens AG 2020

Siemens Global Partner Program
Global partner network with unified quality standards

Presence in >80 Countries >180 Approved Partners

contracted in > 30 countries
Solution Partners
>1.500 contracted globally Qualified sales > 2.500
Sales Booster
Certified engineers > 3.500 >130 Trainings conducted
above average distribution
>2.300 published References +4% growth (revenue in FY2018)
Unrestricted © Siemens AG 2020
Our End Customers are confronted with continuously increasing
challenges

Siemens Customers

n Competence in Products / Systems

n Technology Leader
n Worldwide Sales and Service
n Sustainability
n Quality
Increasing Challenges:

+ n Improve Quality n Reduce Time to Market

n Enter new Markets n Shorter Product Cycles
Global Network of Partners n Increase Availability n Increase Energy
n Raise Throughput Efficiency
n Experts in different fields (Sales&Availability / Industrial Solutions / n Increase Flexibility n Reduce Operating
Service …) n Expand Costs
n Proximity to the customers geographical n Ensure Security
n Agility coverage n …
n Efficiency
n Quality

Siemens collaborating with a global network of Partners to increase competitiveness of our customers

Unrestricted © Siemens AG 2020

Siemens Solution Partner Program covers all technologies

Covered technologies from Siemens Adressed industry markets

Technologies are covered in Solution Partner Program by specific modules

Drives/ Networks/
Automation/HMI Process Control
Motion Control Communication

Unrestricted © Siemens AG 2020

New structure - merge of programs
Large Drives and Drives & Motion

Portfolio
Expert Modules
Modules

Converting/Printing
Large Drives

Handling *)
Drives & Motion

„Drive Applications for

Intralogistics“ *)
Drives & Motion
„Drive Applications for
Automotive“ *)

*) in definition
Unrestricted © Siemens AG 2020
Module Drives & Motion covers complete power range of components
in Drives portfolio

Unrestricted © Siemens AG 2020

Worldwide successful network for Drives & Motion / Large Drives with
340 Partners in 58 countries in the global SOP program

210 Partners in Europe

82 Partners Americas 33 Partners Asia

15 Africa/Middle East * incl. MC Specialists /Large Drives

**to be migrated into Drives & Motion

Unrestricted © Siemens AG 2020

How do we reach this
in collaboration with you as our Partners?

Long term loyal partnership

High quality of partners

Qualified like Siemens own technical experts

Performance and profitability orientation

Performance tracking

Unrestricted © Siemens AG 2020

Make use of the comprehensive offerings to generate benefits for you
as our Partner

Time and cost savings regarding engineering, education, sales and marketing, technical support

Continuous qualification and tailored share

of know how
• Comprehensive share of know how concept
• High level certification
Ease of doing business and preferred
• Drives & Motors Academy
collaboration
• Access to business relevant
information by Partner Portal
• Comprehensive software packages
Increased market • Discount on demo cases
awareness • Access to remote equipment
• Extended warranty
• Solution Partner Emblem
• Solution Partner Finder
• Global marketing campaigns

Unrestricted © Siemens AG 2020

Certification
Sure signs of excellence for Drives & Motion

Certificates show highest and graded expertise up to

Motion Control applications

Siemens emblem represents

• the best partner program in the
world
• first-class quality
• the highest expertise for
Siemens automation and drive
technology

Unrestricted © Siemens AG 2020

Solution Partner Finder ensures
increased market awareness and international setup

Our offer… u Your benefit…

End users, OEMs, Partners,
Siemens using Partner Finder • Integration in Partner Finder • Support of international business
• For global account approach and business contacts
• Worldwide access via internet
to recommend Solution Partners • Direct contact to you as partner
• To have localized know how • Partner profile with specific
and resources in international company information • Increase of your awareness on
market
projects • Different criteria to find partners
• Reduction of your marketing efforts

www.siemens.com/partnerfinder

Unrestricted © Siemens AG 2020

Continuous and tailored share of know how by comprehensive
concept keeps you always up to date

Partner Portal
High level certification

Periodical expert web seminars

Expert workshops and academies

Product news and application examples

Discount on SITRAIN trainings

Unrestricted © Siemens AG 2020

The Partner Portal as exclusive Drives & Motion related platform for
share of information with you as our Partners

Partner Portal
Periodical program related news

Technical information

Be always
up to date
Sales and Marketing information

Web seminars, Trainings, and conferences

Access to Remote Platform

Unrestricted © Siemens AG 2020

Remote Platform opens new, additional and innovative ways for tests
and trainings

Benefits Use by Partners

Flexibility by 24/7 access Tests

Reduced efforts for test

equipment on site Initial job trainings

Efficient initial job

Education
training

Cost reduction for tests

and education Click here to get access
Login to Remote Platform
DE EN
Unrestricted © Siemens AG 2020
Remote Platform
Equipment

16+ individual training places

Each place equipped with PLC, Drives &

Motors

Drives : G120, S120, S210, G120X

PLC S7-1200 for G120 / G120X

PLC S7-1500 TF for S120 and S210

16+ software working stations

Unrestricted © Siemens AG 2020

Thank you for your attention!

Quiz

Subject to changes and errors. The information given in this document only contains general descriptions and/or performance features which may
not always specifically reflect those described, or which may undergo modification in the course of further development of the products. The
requested performance features are binding only when they are expressly agreed upon in the concluded contract.
All product designations, product names, etc. may contain trademarks or other rights of Siemens AG, its affiliated companies or third parties.
Their unauthorized use may infringe the rights of the respective owner.

siemens.com

Unrestricted © Siemens AG 2020

 chapter 2

SINAMICS S120 and Startdrive

SITRAIN © Siemens AG 2020 course SP-DRM-ZWS

Frei verwendbar
Learning objectives

• You know the basic operation of the TIA Portal for drive configuration
• You know the procedure for project creation
• You know the project structure with objects and components
• You can create an offline project

course SP-DRM-ZWS page 2 - 2 SITRAIN © Siemens AG 2020

Automation levels

G_D011_EN_00337P

course SP-DRM-ZWS page 2 - 3 SITRAIN © Siemens AG 2020

TIA Portal V16

Totally Integrated
Automation Portal

STEP 7 V16 Safety V16 WinCC V16 Startdrive V16 Synchroni-

zation

SCOUT

SIMATIC PLC Safety SIMATIC HMI SINAMICS

SIMOTION C,D

A common engineering framework for production automation

course SP-DRM-ZWS page 2 - 4 SITRAIN © Siemens AG 2020

TIA Portal Information Center

https://support.industry.siemens.com
Entry ID 65601780

course SP-DRM-ZWS page 2 - 5 SITRAIN © Siemens AG 2020

TIA Portal
Range of functions of the products

SIMATIC STEP 7 SIMATIC WinCC SINAMICS Startdrive

Programming languages Machine-level

operator control and monitoring Integration
LAD, FBD, SCL, STL*), S7-GRAPH*) of drives
*) for S7-300/400/1500/WinAC only and process visualization (SCADA)
S120
WinAC CU320-2 from
SCADA
FW V4.8
S7-1500

Professional
Professional
S210

Startdrive
PC single-user FW from V5.2
S7-400

Advanced
G120

Comfort
S7-300 Comfort Panels CUxxx-2 from
ET 200 CPU FW V4.4
Basic
Basic

S7-1200 Basic Panels G115D

Communication
§ PROFIBUS, PROFINET, AS-i, IO-Link, ET200, Network topology
Common functions
§ System diagnostics, Import/export to/from Excel, Undo, …

course SP-DRM-ZWS page 2 - 6 SITRAIN © Siemens AG 2020

TIA Portal
Startdrive product range

SINAMICS Startdrive Functions:

● Assign, commission, test drive parameters
● Safety Integrated, acceptance test
Integration of drives
● DCC
S210 / S120 / DC Supported product lines:
CU310/320-2 PN ³V4.8 ● SINAMICS S120 modular and AC/AC
Startdrive

● SINAMICS G130, G150, S150, MV …all with

G120 CU320-2 PN >= V4.8
CUxxx and CUxxxX-2 ³V4.4 ● SINAMICS G120-series
● SIMATIC Drive Controller
G110M
G115D ● SINAMICS G110M
CU240M ³V4.6 ● SINAMICS S210 >= V5.2

Communication
PROFIBUS, PROFINET, AS-i, IO-Link, Network topology…
Common functions
System diagnostics, Import/export to/from Excel, Undo, …

STEP 7 Professional

course SP-DRM-ZWS page 2 - 7 SITRAIN © Siemens AG 2020

TIA Portal
Drive engineering with Startdrive

Basic
commissioning
P_D211_XX_00372P

Adaptation and
optimization

P_FS10_XX_00867P
Data
backup

Diagnostics
during servicing

course SP-DRM-ZWS page 2 - 8 SITRAIN © Siemens AG 2020

TIA Portal
Portal view and Project view

Project view
· Hierarchical project structure
· All editors, parameters and data
can be accessed

Portal view
· Task-based
· Quick entry to project

course SP-DRM-ZWS page 2 - 9 SITRAIN © Siemens AG 2020

 TIA Portal
Project view

Indicates
which portal is
being used

Work area
Project
tree

Task cards

Reference projects
Inspector window
- Properties
Task bar - Information
(opened - Diagnostics
Details view editors)

course SP-DRM-ZWS page 2 - 10 SITRAIN © Siemens AG 2020

TIA Portal
Project tree

Project CPU

PLC
Hardware configuration
Devices - Group
CPU - Program

PLC - Tags

Block - Group
Language settings
for entire project

Online access Drive unit

of accessible
devices Drive object
course SP-DRM-ZWS page 2 - 11 SITRAIN © Siemens AG 2020
TIA Portal
Inspector window

Indicates
new
entries

course SP-DRM-ZWS page 2 - 12 SITRAIN © Siemens AG 2020

TIA Portal
Saving a project

The entire project is

always saved!

Also incomplete
objects or objects with errors

course SP-DRM-ZWS page 2 - 13 SITRAIN © Siemens AG 2020

TIA Portal
Software updates

Automatic

Manual

course SP-DRM-ZWS page 2 - 14 SITRAIN © Siemens AG 2020

TIA Portal
Adding a drive unit to a project

From Project view

From Portal view

course SP-DRM-ZWS page 2 - 15 SITRAIN © Siemens AG 2020

TIA Portal
Project structure

Basic structure of a project Expanded structure

Drive units

Drive unit

Drive objects

course SP-DRM-ZWS page 2 - 16 SITRAIN © Siemens AG 2020

Drive objects
Drive components

Object Control Unit

Object name Object name
Infeed LM
Object number Object number
components Components Object name
Drive axes
DRIVE-CLiQ components Object number
Components without DRIVE-CLiQ ComponentsObject name
Object number
Components
DRIVE-CLiQ components
Components without DRIVE-CLiQ

• Drive objects (DO) are software components • Drive components are hardware
that have their own encapsulated components with specific functionality
functionality: (encoder, Motor Module, motor, ALM)
• Custom parameter lists • Each drive component is assigned to at least
• Custom fault and alarm messages one drive object (DO). The DO assumes the
• Custom masks in Startdrive control and monitoring of the HW component
• Communication: Own PROFIDRIVE • Drive components are identified with their
telegram component number

course SP-DRM-ZWS page 2 - 17 SITRAIN © Siemens AG 2020

Drive objects
Device configuration: Names and numbers

MoMo 4 Drive object "DriveAxis_2",

Object number: 4
X202 Component Number
X201 Jumper Motor Module_1 5
X200
Sensor Evaluation_1 16

SMC Measuring system_1 15

14 M 16
Motor_1 14
15 ~ X500

course SP-DRM-ZWS page 2 - 18 SITRAIN © Siemens AG 2020

Topology
Communication via DRIVE-CLiQ

CU320 ALM MM MM

X103
X202 X202 X202
X102
TM15 X101
X201 X201 X201

X501 X200 X200 X200

X100
X500
SMC
M M
Line
~ ~ X500
VSM SMI

course SP-DRM-ZWS page 2 - 19 SITRAIN © Siemens AG 2020

Topology
Interconnection information of components

DRIVE-CLiQ connections
are automatically created
when components are
added. They can be
changed afterwards (select
and delete, drag-and-drop).

course SP-DRM-ZWS page 2 - 20 SITRAIN © Siemens AG 2020

Configuring the drive unit
Adding a unit

To create a drive configuration, Startdrive provides the "Add new device" function from both the
Project view and Portal view.

As of Version 15, units with CU320-2

PN and at least FW 4.8 are
supported.
If older FW or a Profibus CU is used,
the drive units must be configured
with STARTER and can be integrated
in a TIA project using GSD files.
Drive units with other Control Units,
e.g. G120 converters, are already
integrated in TIA Portal.
Not currently supported:
- CU320-2 DP
- S120, G130, S150…FW < 4.8
- Scripting
- TM54F, CBC10
- DO encoder

course SP-DRM-ZWS page 2 - 21 SITRAIN © Siemens AG 2020

Configure the drive unit
Adding hardware

Additional components can be added from the hardware catalog using drag-and-drop.

Infeeds, power modules, motors, encoder systems and

supplementary components such as communication
modules and terminal modules are available for
selection. Modules that are unspecified initially are
read out during the download (e.g. motors with
DRIVE-CLiQ) or parameterized in a further step.

course SP-DRM-ZWS page 2 - 22 SITRAIN © Siemens AG 2020

Configuring the drive unit
Specifying hardware

Components are moved from the HW Catalog using drag-and-drop. Parallel connections are created
by "dropping" a second identical component on the previous one.

Automatically
assigned names
can be changed
in the navigator,
for example.

course SP-DRM-ZWS page 2 - 23 SITRAIN © Siemens AG 2020

Configuring the drive unit
Specifying hardware

Operational components are shown with a dark gray background. White fields indicate that these
modules must be specified in more detail.
Select the component
to be specified by
double-clicking and
selecting it in the
Details view.

course SP-DRM-ZWS page 2 - 24 SITRAIN © Siemens AG 2020

Configuring the drive unit
Specifying hardware

For Motor Modules, their type (servo or vector) is also defined.

Filters make the selection easier.

course SP-DRM-ZWS page 2 - 25 SITRAIN © Siemens AG 2020

End

Quiz

course SP-DRM-ZWS page 2 - 26 SITRAIN © Siemens AG 2020

 chapter 3

SINAMICS
News and new license concept
SITRAIN © Siemens AG 2020 course SP-DRM-ZWS

Frei verwendbar
Learning objectives

• You become familiar with the concept of the options for the SINAMICS drive system that
require a license
• You know the licensing procedure
• You can assign licensed options
• You can activate licenses
• You know the SIMATIC Technology concept
• You know the SIMATIC S7 Drive Controller

course SP-DRM-ZWS page 3 - 2 SITRAIN © Siemens AG 2020

GMC Motion Application Technology
Assignment

http://www.siemens.com/sinamics-applications

Technological

Complexity (à more support required)

Applications

Advanced
Applications

Basic Applications

Product Properties

Number of customers

course SP-DRM-ZWS page 3 - 3 SITRAIN © Siemens AG 2020

GMC Motion Application Technology
Portfolio

course SP-DRM-ZWS page 3 - 4 SITRAIN © Siemens AG 2020

GMC Motion Application Technology
Advanced Technology

Solution with technology integrated in the drive

Standard function modules:

• Basic positioner
• Free function blocks
• PID technology controller Standard
• …
Technology
Add on function/ technology modules: Functions
• Oscillation damping
• Servo coupling
• Setpoint input for test stands
• Control Unit coupling
• …..

Using available drive control charts with SIMATIC S7 control option:

• Winders, closed-loop tension control... Advanced
• Synchronous operation, flying saws, cross cutters...
Technology
Creating graphic drive control charts with a standard library Functions
• Extensive closed-loop control, arithmetic and logic blocks

Creating graphic drive control charts with an extended library

• GMC (synchronous operation, cams,…)
• Math extension (mathematical functions)
• ….

Programming your own libraries with an additional development tool

course SP-DRM-ZWS page 3 - 5 SITRAIN © Siemens AG 2020

SINAMICS S120 Lizenzen
Certificate of License – License Manager

• Generieren des Lizenzschlüssels im

License Manager
• Grundlage: Certificate of License
• Generierter Schlüssel – „keys.txt“ -
kann via Parameter, Maske im Starter,
Maske in Startdrive, Webserver oder
einfach per copy-paste auf die CF-Karte
geschrieben werden

http://www.siemens.com/automation/license

course SP-DRM-ZWS page 3 - 6 SITRAIN © Siemens AG 2020

SINAMICS S120 Licenses
Concept

• Certain drive system options require licensing

• Licenses can be ordered or retrofitted before commissioning (Web License Manager)
• Runtime licenses are provided to the CU as a license key on the CF card
• License keys are generated individually to match the serial number of the CF and are not
transferable
• Trial licenses can be activated for testing (3 x 300 h)
• Without sufficient licensing, the drive control is deactivated (all axes!)
• The actual license is the CoL: "Certificate of License“
• Combinations of licenses result into one alphanumeric key ("keys.txt")

course SP-DRM-ZWS page 3 - 7 SITRAIN © Siemens AG 2020

SINAMICS S120 Lizenzen
Licensekey anzeigen / wiederherstellen

• License key wiederherstellen / anzeigen im Web License Manager

• Der Schlüssel kann gleich hier in eine Datei „keys.txt“ zum Kopieren auf CF Karte
gespeichert werden

course SP-DRM-ZWS page 3 - 8 SITRAIN © Siemens AG 2020

SINAMICS S120 Licenses
Certificate of License – License Manager

• Generating the license key in the License

Manager
• Basis: Certificate of License
• Generated key - "keys.txt" - can be
written via parameter, mask in Starter,
mask in Startdrive, web server or simply
by copy-paste on the CF card

http://www.siemens.com/automation/license

course SP-DRM-ZWS page 3 - 9 SITRAIN © Siemens AG 2020

SINAMICS S120 Licenses
Display / restore license key

• Restore / display license key in the Web License Manager

• The key can be stored immediately in a file "keys.txt" for copying to CF card

course SP-DRM-ZWS page 3 - 10 SITRAIN © Siemens AG 2020

SINAMICS S120 Licenses
Firmware 5.1 or higher - Licenses

Communication / programming
PN Gate, option G01, 6SL3074-0AA03-0AA0
OALINK, 6SL3077-0AA01-0AB0, communication between 2 CUs via Drive-CLiQ
DCB Extensions, 6SL3077-0AA00-0AB0
SINAMICS DCC (Drive Control Chart) V15.1, 6SL3070-4FA01-0XG5, Optional TIA
Portal engineering tool as option package for Startdrive Basic / Advanced V15.1, incl.
Combo License Key (floating license) for parallel use of SINAMICS DCC V3.3 and
SINAMICS DCC V15.1

Technology
Advanced Reluctance Control, 6SL3074-0AA06-0AA0
Active Vibration Suppressions (APC / AVS), 6SL3074-0AA05-0AA0
Technology Extension POLYGON, 6SL3077-0AA00-7AB0
Technology Extension VIBX, 6SL3077-0AA00-5AB0
HF, 6SL3074-0AA02-0AA0; Cogging torque compensation, 6SL3074-0AA15-0AA0

Safety
Extended Safety RT / per axis, 6SL3074-0AA10-0AA0
Advanced Safety RT / per axis, 6SL3074-0AA20-0AA0
SIMOTION Extended Safety RT / per axis, 6AU1820-2AF20-0AB0
SIMOTION Advanced Safety RT / per axis, 6AU1820-2AG20-0AB0

course SP-DRM-ZWS page 3 - 11 SITRAIN © Siemens AG 2020

Control Unit CU320-2
Quantity structure

Servo Vector U/f

Servo Servo Servo U/f U/f
Vector CU320
Vector Vector
500 µs 500 µs
250 250 250
U/f U/f
µs µs µs
500 µs 500 µs
62,5 62,5 62,5
µs µs µs U/f U/f
500 µs 500 µs
Performance
U/f U/f
requirement
500 µs 500 µs
Servo Servo Servo Servo Servo Servo U/f U/f

125 125 125 125 125 125 Vector Vector Vector 500 µs 500 µs
µs µs µs µs µs µs U/f U/f
500 µs 500 µs 500 µs
Vector Vector Vector 500 µs 500 µs

500 µs 500 µs 500 µs

With Performance Expansion

From the 4th axis in closed loop operation or from the 7th axis in open loop operation (U / f), a
Performance Enpansion license is required

course SP-DRM-ZWS page 3 - 12 SITRAIN © Siemens AG 2020

Control Unit CU320-2
Generate or display the License Key

Licenses:
• Performance Expansion per CU
• Extended Safety functions per axis
• Runtime license „Sinamics DCB Extension“
(DCC blocks extension) per CU
• „OALINK“ license per CU (open application
link)

"WEB License Manager"

http://www.siemens.com/automation/license
Example CF card: T-A6AC05032

course SP-DRM-ZWS page 3 - 13 SITRAIN © Siemens AG 2020

Safety Licensing drive based Safety Integrated
Firmware 5.1 or higher

basic functions
License free
STO, SS1, SBC

extended functions
STO, SS1, SBC, SOS, SS2, SLS, SSM, SDI, SSGS, SLA,
SBT
SINAMICS Extended Safety RT / per axis 6SL3074-0AA10-0AA0

advanced functions
SLP, SP, SSP, SCA
SINAMICS Advanced Safety RT / per axis 6SL3074-0AA20-0AA0

course SP-DRM-ZWS page 3 - 14 SITRAIN © Siemens AG 2020

Web server
Licenses

Licenses: Overview, Activate trial, Enter Key

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 SIMATIC Technology – Motion Control
General Information

Internet • www.siemens.com/simatic-technology ( Link )

Siemens Industry • www.siemens.com/onlinesupport/simatic-technology ( Link )

Online Support • TIA Portal Tutorial Center ( Link )

( Link )
Customer Forum • SIMATIC
( Link )
Technology

• Automation - SIMATIC Technology ( Link )

YouTube
• Automation Tasks in 10 minutes or less ( Link )
SIEMENS Channel
• Industry: Automation – TIA Portal – Mister Automation ( Link )

Reference Center • SIMATIC Technology Referenzen ( Link )

Unrestricted © Siemens 2020

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 SIMATIC Technology – Motion Control
Option 1/2: SIMATIC & SINAMICS Starter-Kits

SIMATIC SINAMICS
Starter-Kits Starter-Kits

• SIMATIC S7-1500 • SINAMICS V90-PN

Compact-CPU
• Art.-Nr.: 6SL3200-0AE40-
• Art.-Nr.: 6ES7511-1CK03- 0AA0
4YB5

• SIMATIC S7-1500
• SINAMICS S210
Technology-CPU
• Art.-Nr.: 6SL3200-0AE61-
• Art.-Nr.: 6ES7511-1TK02-
0AA0
4YB5

www.siemens.com/industrymal
l
Unrestricted © Siemens 2020

course SP-DRM-ZWS page 3 - 17 SITRAIN © Siemens AG 2020

 SIMATIC Technology – Motion Control
Option 2/2: SIMATIC Starter-Kits & SINAMICS Demo-
Kits

SIMATIC SINAMICS
Starter-Kits Demo-Kits

• SINAMICS V90-PN 1)
• Art.-Nr.: 6AG1067-1AA32-
• SIMATIC S7-1500 0AA0
Compact-CPU
• Art.-Nr.: 6ES7511-1CK03- • SINAMICS S210 1)
4YB5 • Art.-Nr.: 6AG1067-1AA33-
0AA0

• SIMATIC S7-1500
• SINAMICS S120 1)
Technology-CPU
• Art.-Nr.: 6ZB2480-0CT00
• Art.-Nr.: 6ES7511-1TK02-
4YB5

www.siemens.com/industrymal
l
1) Prepared for SIMATIC S7-1500(T). SIMATIC Controller not part of delivery.
Unrestricted © Siemens 2020

course SP-DRM-ZWS page 3 - 18 SITRAIN © Siemens AG 2020

 SIMATIC Technology – Motion Control
Single axes with SIMATIC S7-1500/1500 T-CPU (1/2)

• SIMATIC S7-1500 S7-1500 Motion Control V4.0 in TIA Portal V15 ( Entry-ID: 109749262 )
Manual
• SIMATIC S7-1500 S7-1500T Motion Control V4.0 in TIA Portal V15 ( Entry-ID: 109749263 )
• SIMATIC/SINAMICS Getting started with SINAMICS V90 PN on S7-1500 Motion Control
( Entry-ID: 109739497 )

• How Can You Integrate a Drive into the TIA Portal via the Device Master File (GSD)?
FAQ
( Entry-ID: 73257075 )
• Which SINAMICS drives can you use with Motion Control and a SIMATIC S7-1500(T) controller?
( Entry-ID: 109750431 )
• How to you operate the SINAMICS S120 drive via a Technology object (TO) on a SIMATIC S7-1500?
( Entry-ID: 109482718 )
• How should you configure the encoder settings in the TO (Technology Object) for the SINAMICS V90
PN? ( Entry-ID: 109747183 )
• How can you realize the encoder configuration for the “positioning axis” technology object?
( Entry-ID: 109486133 )

Unrestricted © Siemens 2020

course SP-DRM-ZWS page 3 - 19 SITRAIN © Siemens AG 2020

 SIMATIC Technology – Motion Control
Single axes with SIMATIC S7-1500/1500 T-CPU (2/2)

• Technology Objects of the SIMATIC S7-1500(T) ( Entry-ID: 109743134 )

Application example
• SIMATIC S7-1500 / S7-1500T: Standard application axis control ( Entry-ID: 109749348 )
• Configuring Technology Objects with SIMATIC S7 1500 and SINAMICS S210 in TIA-Portal
( Entry-ID: 109749795 )
• Position Control of SINAMICS V90 with SIMATIC S7-1500 via IRT PROFINET
( Entry-ID: 109739053 )
• SINAMICS G: Speed Control of a G110M / G120 (Startdrive) with S7-1500 (TO) via PROFINET or
PROFIBUS with Safety Integrated (via Terminal) and HMI ( Entry-ID: 78788716 )
• SINAMICS Positioning a G110M/G120 (Startdrive) with S7-1500 (TO) via PROFINET/PROFIBUS with
Safety Integrated and HMI ( Entry-ID: 81666970 )
• SINAMICS G: Guide for Commissioning a Position-Controlled Drive
( Entry-ID: 109479977 )

YouTube • SIMATIC Technology - Motion Control with SIMATIC S7-1500 ( Link )

SIEMENS Channel • SIMATIC S7-1500: AT 7 - Integrated Drives and Motion ( Link )
• SIMATIC S7-1500: AT 8 - Integrated Positioning( Link )

Unrestricted © Siemens 2020

course SP-DRM-ZWS page 3 - 20 SITRAIN © Siemens AG 2020

 SIMATIC Technology – Motion Control
Coordinated axes with SIMATIC S7-1500/1500 T-CPU
(1/2)

• SIMATIC S7-1500 S7-1500 Motion Control V4.0 in TIA Portal V15 ( Entry-ID: 109749262 )
Manual
• SIMATIC S7-1500 S7-1500T Motion Control V4.0 in TIA Portal V15 ( Entry-ID: 109749263 )

• Camming with "MC_CamIn" in the S7-1500T ( Entry-ID: 109740188 )

FAQ
• How does a slave axis of camming behave during "Direct synchronous setting“
(SyncProfileReference = 2)? ( Entry-ID: 109758886 )
• S7-1500T: Set synchronization in simulation - Retain a synchronized connection when locking the
slave axis, for example ( Entry-ID: 109741930 )

Unrestricted © Siemens 2020

course SP-DRM-ZWS page 3 - 21 SITRAIN © Siemens AG 2020

 SIMATIC Technology – Motion Control
Coordinated axes with SIMATIC S7-1500/1500 T-CPU
(2/2)

• Technology Objects of the SIMATIC S7-1500(T) ( Entry-ID: 109743134 )

Application example
• Switchover and generation of cams with SIMATIC S7-1500T ( Entry-ID: 109749460 )
• SIMATIC S7-1500T Flying Saw ( Entry-ID: 109744840 )
• SIMATIC S7-1500T RotaryKnife (Entry-ID: 109757260 )
• S7-1500T: Circular Motion on the Basis of Cam Disks "MoveCircle2D” ( Entry-ID: 109742306 )
• SIMATIC/SIMOTION Library LCamHdl – Creation of cam disks at runtime ( Entry-ID: 105644659 )
• SIMOTION/SIMATIC/SINAMICS - Converting Toolbox ( Entry-ID: 109744606 )

YouTube • SIMATIC S7-1500 Technologie CPUs von Siemens ( Link )

SIEMENS Channel • Motion Control has never been so easy ( Link )

Unrestricted © Siemens 2020

course SP-DRM-ZWS page 3 - 22 SITRAIN © Siemens AG 2020

 SIMATIC Technology – Motion Control
Kinematics with SIMATIC S7-1500/1500 T-CPU (1/2)

• SIMATIC S7-1500 S7-1500 Motion Control V4.0 in TIA Portal V15 ( Entry-ID: 109749262 )
Manual
• SIMATIC S7-1500 S7-1500T Motion Control V4.0 in TIA Portal V15 ( Entry-ID: 109749263 )
• SIMATIC S7-1500 S7-1500T Kinematics Functions V4.0 in TIA Portal V15 ( Entry-ID: 109749264 )
• SIMATIC Safe Kinematics ( Entry-ID: 109762959 )

• How do you control a KUKA robot with a SIMATIC controller? ( Entry-ID: 109475194 )
FAQ
• How do you control a DENSO robot with a SIMATIC controller? ( Entry-ID: 109749978 )
• How do you control a Stäubli robot with a SIMATIC controller? ( Entry-ID: 109749979 )
• Which components can you use for SIMATIC Safe Kinematics? ( Entry-ID: 109759466 )

Unrestricted © Siemens 2020

course SP-DRM-ZWS page 3 - 23 SITRAIN © Siemens AG 2020

 SIMATIC Technology – Motion Control
Kinematics with SIMATIC S7-1500/1500 T-CPU (2/2)

• Controlling a KUKA Industrial Robot Using a SIMATIC S7-1500 ( Entry-ID: 109482123 )

Application example
• Handling with SIMATIC S7-1500 T-CPU ( Entry-ID: 109757198 )
• SIMATIC S7-1500T Kinematics Control ( Entry-ID: 109755891 )
• SIMATIC S7-1500T Kinematics Manual Control ( Entry-ID: 109755892 )
• SIMATIC S7-1500T Kinematics Transformation ( Entry-ID: 109758302 )
• SIMATIC S7-1500T Kinematics Computed Torque Control ( Entry-ID: 109755899 )
• SIMATIC S7-1500T - Virtual commissioning for kinematics in NX MCD with Software in the Loop
( Entry-ID: 109760078 )
• SIMATIC Safe Kinematics – Getting Started ( Entry-ID: 109762735 )

YouTube • Mister Automation Ep2: Tips & tricks TIA Portal - S7-1500T Kinematics ( Link )
SIEMENS Channel • Integrated engineering of kinematics ( Link )

Unrestricted © Siemens 2020

course SP-DRM-ZWS page 3 - 24 SITRAIN © Siemens AG 2020

 The SIMATIC Controllers Portfolio

Engineered with TIA Portal

System performance

Advanced Controllers Drive Controllers Efficient

SIMATIC S7-1500 engineering
SIMATIC S7-1500
CPU 1511T/TF
CPU 1511T/TF Innovative
Software Controllers CPU 1504D TF
CPU 1515T/TF
CPU 1515T/TF design
SIMATIC S7-1500
CPU 1516T/TF CPU 1507D TF
CPU 1516T/TF New
CPU 1517T/TF
CPU 1517T/TF Reliable
diagnostics
Distributed Controllers
SIMATIC ET 200 CPU
Safety
Integrated
Basic Controllers CPU 1515SP PC2 T (TF)
SIMATIC S7-1200 CPU 1515SP PC2 T/TF Security
Integrated

Technology
Integrated
Application complexity

course SP-DRM-ZWS page 3 - 25 SITRAIN © Siemens AG 2020

 SIMATIC S7-1500
SIMATIC Drive Controller

• S7-150xD T (F)
• Drive-based control in the SIMATIC
S7-1500 portfolio
• Fail-safe SIMATIC S7-1500 technology
CPU with integrated technology I/Os
• SINAMICS S120 drive control
• Communication via PROFINET and
PROFIBUS DP

https://support.industry.siemens.com/cs/ww/en/view/109773991

The SIMATIC Drive Controller is configured in the TIA Portal with SIMATIC STEP 7 Professional,
SINAMICS Startdrive and the STEP 7 Safety Advanced option package.
Requirement is TIA Portal V16, firmware version V2.8 (SINAMICS Integrated: Firmware V5.2)

course SP-DRM-ZWS page 3 - 26 SITRAIN © Siemens AG 2020

Advanced Controller – SIMATIC S7-1500 CPU
Increase productivity with the ultimate power

Security Integrated Safety Integrated High Performance

• Integrated copy and know-how protection • A controller for standard and fail-safe tasks • Higher productivity and product quality
function protect intellectual property • The high-density channel can be directly thanks to the backplane bus and shortest
• Improved access protection (authentication) addressed during the engineering reaction times
• PROFINET with deterministic time response
ensure reproducibility and precision within µs

Efficient Engineering Technology Integrated

• Support of all IEC 61131-3 programming • Motion Control task can be programmed
languages (LAD/FBD, STL, SCL and Graph) directly in the controller, e.g.
and of high-level languages such as C/C++ • Speed-controlled axes, positioning axes,
(only for CPU 1518(F)-4 PN/DP MFP and CPU gearing, camming
1515SP PC2 (F/T/TF) through SIMATIC ODK • Control of kinematics
1500S) • Cross-PLC synchronous operation
• Implement various technology functions directly
with I/O modules (e.g. PWM)
Reliable diagnostics
• The automatic generation of system
and user diagnostics enables quick
error detection
• Any errors can be quickly localized on-site
thanks to 1:1 LED channel assignment for
peripheral systems

course SP-DRM-ZWS page 3 - 27 SITRAIN © Siemens AG 2020

Advanced Controller – SIMATIC S7-1500
Overview motion control functionalities (extract)

• Kinematics with conveyor tracking1) New (T-CPU only)

Kinematics functions • Kinematics with up to 4 interpolating axes (T-CPU only)
• Cross-PLC synchronous operation New (T-CPU only)
• Offset of the leading value at the following axis (T-CPU only)
• Camming (T-CPU only)
Camming
Gearing • Coupling onto actual values (T-CPU only)
• Gearing - With synchronous position (T-CPU only)
• Gearing - Without synchronous position
• Encoder switch over to 2nd – 4th encoder (T-CPU only)
Positioning • Specification of motion vector from application (T-CPU only)
• Superimposed positioning during active motion
• Move axis to relative/absolute position
• Cyclic interface for torque data
S7-1500 T-CPU

Speed setpoint
• Moving an axis with torque limiting
• Homing absolute and on the fly, Setting a position
S7-1500

• Traversing an axis with speed setpoint

Output cams • Enabling/disabling an axis
Measuring input • Activating output cams and cam tracks and measuring inputs
• …

course SP-DRM-ZWS page 3 - 28 SITRAIN © Siemens AG 2020

SIMATIC S7-1500 Modular Controller
The S7-1500 controller for easy scalability

Perfect scalable
• Available in 4 performance classes
as T and TF CPUs
• Easily expandable with peripheral
modules on the central backplane
bus

High Performance
• Higher productivity and product
quality
thanks to the backplane bus and
shortest reaction times
• PROFINET with deterministic time
response ensure reproducibility and
precision within µs

Innovative design
• Onboard display supports
diagnostics and
initial commissioning (tag status, IP
address assignment, Backup …)
• Cabling is convenient thanks to pre-
wiring positions of the I/O modules
and jumper links
• Any errors can be quickly localized
on-site thanks to 1:1 LED channel
assignment

course SP-DRM-ZWS page 3 - 29 SITRAIN © Siemens AG 2020

SIMATIC S7-1500 Open Controller
The S7-1500 Controller for distributed, PC-based
solutions

Compact PC-based system

• Controller, HMI and Windows applications on one CPU
• Windows applications parallel to automation tasks, e.g. for
camera inspection / image transfer
• Optionally with installed visualization software WinCC RT
Advanced

Robust
• Fanless design
• Wide temperature range (-20 to 60 degrees Celsius)

Motion Control in ET 200SP

• Easily expandable with ET 200SP peripheral modules
• Available in 2 versions
CPU 1515SP PC2 T
CPU 1515SP PC2 TF

SIMATIC ODK 1500S

• Integration of C++ programs
• Calculation of MATLAB algorithms
• Tools and examples for solving your automation task

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SIMATIC Drive Controller
The attractive solution, optimized for production
machines

§ 2 performance classes
§ CPU 1504D TF
§ CPU 1507D TF
§ SINAMICS Integrated,
based on CU320-2

S7-1500 TF-CPU S120 Control Unit Technology I/Os

Ultra-Compact – Ideal for mechanical

engineering Easy handling Optimized for production machines

§ SIMATIC S7-1500 controller, SINAMICS S120 § Easy scalability: powerful interfaces, uniform § Powerful for demanding applications
Control Unit and technology I/Os in one space- across all performance classes § Well equipped with interfaces, technology I/Os
saving device § Central data storage (one SIMATIC Memory and memory
§ Small compact design Card) for controller and drive § Fail-safe CPU and drive-integrated safety
§ Less wiring and installation costs functions for personal and machine safety
§ Efficient engineering in the TIA portal with § High-speed outputs for ultra-short output delay
SIMATIC STEP 7 and SINAMICS Startdrive times and highest switching accuracy, e.g. for
output cams

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SIMATIC S7-1500 Drive Controller
Areas of application: in combination with SINAMICS
S120

highly dynamic, flexible multi-axis drive system is required

• Wide range of power and technologigal requirements with control types (servo, vector, U / f)
• Extensive range of motors (including linear drives, third-party drives, ...)
• Technology extensions
• Regulated infeed / feedback operation
• Safety solutions for machine and personal protection

where a compact, space-saving design is required

• Compact machinery where limited space for control and drive system is available
(for. Example, when switching boxes in the machine bed)
• Multi-axis machines (e.g. printing and paper machines)

Decentralized control and drive concepts

• Modular machine concepts with fast isochronous operation are required
• Synchronization of several SIMATIC Drive Controllers via the cross-PLC synchronization
• High performance for motion control and fast peripherals

course SP-DRM-ZWS page 3 - 32 SITRAIN © Siemens AG 2020

 SIMATIC Drive Controller
Topology

A drive-based SIMATIC solution comprises the following components:

• SIMATIC Drive Controller (with integrated SINAMICS S120 drive control, based on CU320-2) 1) HMI
• SINAMICS S120 components (infeed, motor modules, etc.)
• DRIVE-CLiQ communication, Terminal Modules, Sensor Modules, …
For more than 6 servo drives the drive quantity can be expanded,
e. g., via SINAMICS S120 CU320-2, SINAMICS S210, … 2)
PROFINET
Industrial Ethernet
DRIVE-CLiQ

SIMATIC
SINAMICS SINAMICS SINAMICS
Drive
S120 CU320-2 S120 CU320-2 S210
Controller
Terminal Modules
ET 200MP ET 200SP
Sensor Modules
for up to 6 for up to 6
servo drives servo drives
Unit
Controller

Motors with/without
Modules
Control
Infeed

Motor

DRIVE-CLiQ-
interface
1) Functional subset (no EPOS/DCC/…)
2) No CX32-2 like SIMOTION D4x5-2

course SP-DRM-ZWS page 3 - 33 SITRAIN © Siemens AG 2020

SIMATIC Drive Controller
HW setup

4 x DRIVE-CLiQ

8 DI/DQ (PLC I/Os)

12 DI, 8 DI/DQ (DRIVE I/Os, usable by PLC) à DI, DQ, Timer DI, Timer DQ, …
à DI, DQ, up to 8 measuring inputs (High-Speed outputs)

24 V supply PN1: PROFINET IO IRT (3 ports / MRPD)

PROFIBUS (Master) PN2: PROFINET IO RT

PN3: PROFINET (1 Gbit)

2 x 3 LEDs (3 x PLC / 3 x Drive)

7 segment display (diagnostics) Eyelet for access protection
Slot for SIMATIC Memory Card
Function key (diagnostics, …) PLC switch (RUN / STOP / MRES)
2 x USB 3.0 (currently without function)

fanless

course SP-DRM-ZWS page 3 - 34 SITRAIN © Siemens AG 2020

 Advanced Controller – SIMATIC S7-1500
CPU Portfolio will be enlarged by the SIMATIC Drive
Controller

Technology CPU Standard Open Drive Controller CPU

CPU Controller
CPU types 1511TF-1 1515TF-2 1516TF-3 1517TF-3 1518F-4 1515SP PC2
PN PN PN/DP PN/DP PN/DP (MFP)1 TF PN 1504D TF 1507D TF

Interfaces
1 1 2 1 2 1 2 1 2 1 1 1 1 1
1 1 1 1 1 3 1 1 2 3 1 2 3

Program memory 225/225 KB 750/750 KB 1,5/1,5 MB 3/3 MB 4/6 MB 1/1,5 MB 2 MB 6 MB

Data memory 1 MB 3 MB 5 MB 8 MB 20 MB1 5 MB 4 MB 20 MB

Bit performance 60 ns 30 ns 10 ns 2 ns 1 ns 10 ns Scale with motion control performance

Functions Display, S7-1500 backplane bus SINAMICS S120 Integrated (incl. 12 DI, 8 DI/DQ)
additional PLC technology I/Os (8 DI/DQ)
Positioning axes
§ Typical2 5 7 55 70 128 30 10 55
§ Maximum3 10 30 80 128 128 30 30 160

Motion Control Resources4 800 2.400 6.400 10.240 10.240 2.400 2.400 12.800
Extended Motion Control 40 120 192 256 - 120 120 420
Resources5

NEW

1 50 MB add. for C/C++ (PLC-RT)+500 MB for C/C++ appl. (RT/appl.) 2 At 4 ms Servo/IPO cycle time and 35 % CPU load due to Motion Control 3 No further TO´s applicable
4 Resources for Motion Control technology objects: Speed axis = 40 | Positioning axis = 80 | Synchr. Axis = 160 | Output cam= 20 | Output cam track= 160 | Measuring input= 40
5 Resources for Extended Motion Control technology objects: Cams = 2 | Kinematic objects= 30 | Leading axis proxy = 3

1 PROFINET IO with IRT 2 PROFINET IO with RT 3 PROFINET basic communication (1 Gbit) PROFIBUS

course SP-DRM-ZWS page 3 - 35 SITRAIN © Siemens AG 2020

SIMATIC Drive Controller
Technology I/Os

Operating mode X142 I/O Functionality New

use (in comparison to
I/Os (8 channels) SIMOTION D)
DI I/O area Digital input (digital filter: 1 µs / 125 µs) Process alarms
TO Πoptional: process alarms for rising and/or falling edges
DQ I/O area Digital output High-Speed
TO  outputs
X142
Timer DI I/O area Acquisition of an associated time stamp for an edge at a digital input; Lost Edge Counter
I/Os for up to 2 edges per cycle in TO-DB
TO Ž
(PLC) à e.g. for measuring inputs
Timer DQ I/O area Time-controlled switching of an output; for up to 2 edges per cycle High-Speed
TO  outputs
à e.g. for output cam outputs
Oversampling DI I/O area Acquisition of 32 signal states in regular intervals per cycle New
(e.g. OB Servo)
Oversampling DQ I/O area Output of 32 signal states in regular intervals per cycle New
(e.g. OB Servo)
Event / Period duration I/O area Measurement of number of edges and period duration (e.g. for a New
measurement simple rotation speed measurement with hole mask and photo sensor)
Pulse width modulation I/O area Output of a selectable time period with a defined pulse-pause ratio New
ŒPWM
Axis TO, e.g. for HW limit switch
 TO Output cam, TO Cam track
Ž TO Measuring input

course SP-DRM-ZWS page 3 - 36 SITRAIN © Siemens AG 2020

SIMATIC Drive Controller – Engineering
Add device in portal view / project tree

Project
Exampletree
1 with Drive Controller

Standard group with 2 devices

(PLC + SINAMICS Integrated)
à Device view „Drive Controller“
enables functions on complete device
(Go online, download, …)
Example 2
à Group can be extended – e.g. with CU320-2

behavior
adjustable

course SP-DRM-ZWS page 3 - 37 SITRAIN © Siemens AG 2020

SIMATIC Drive Controller – Engineering
Network and device view

Network view Device view PLC Device view SINAMICS Integrated

Presettings simplify project planning

§ SINAMICS Integrated is always isochronous

à no settings necessary
§ Drive telegrams are preset
à CU: 393 / infeed: 370 / drive: 105
§ If the axis TO is connected to the drive, "PIP OB
Servo" is automatically set as the process image
§ Automatic time synchronization between CPU and
SINAMICS Integrated / CU3x0-2 via Teleg. 39x
Back

course SP-DRM-ZWS page 3 - 38 SITRAIN © Siemens AG 2020

SIMATIC Drive Controller
In comparison to SIMOTION D

SIMOTION D SIMATIC Drive Controller

Booksize Compact 300 mm
380 mm height
height
Battery-free / fanless

Failsafe PLC

innovative technology I/Os

Cooling fins
226 mm
(≥ D445-2) Decoupling of PLC and Drive
depth
226 … 270 mm à ES + FW separately upgradeable
depth

Drive Engineering: Startdrive

no CX32-2 / no option slot with CBE30-2 » 2,4 kg

Fan/battery
module Performance CPU 1504D TF » D425-2 1)
3,7 – 4,3 kg Performance CPU 1507D TF » >D435-2 … D445-2 1)

1) The values depend on the type of load and can only be used for rough orientation. Back

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End

Quiz

course SP-DRM-ZWS page 3 - 40 SITRAIN © Siemens AG 2020

 Chapter 4

PFC converter functions

with G120P and G120X
SITRAIN © Siemens AG 2020 course SP-DRM-ZWS

Frei verwendbar
course SP-DRM-ZWS page 4 - 2 SITRAIN © Siemens AG 2020
Learning objectives

• You become familiar with the typical technological functions used in PFC applications
• You know the G120X drive

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 Functions for pump and fan control,
energy saving and protection

starting pumps/fans operating phase stopping phase

economy- support of PMSM +

mode RSM
deragging

energy / flow calculator

multi-pump- hibernation STO

pipe filling PID
control mode SIL 3 condensation
protection
power
on Keep-running mode multi speed set point
frost protection
dual ramp ESM rotation monitoring ON/OFF2
fire mode with sensor

blocking, leakage, dry-running protection

flying
restart cavitation protection other protection functions

real time clock 3 programmable timers

pump control energy saving protection set point conditioning general

course SP-DRM-ZWS page 4 - 4 SITRAIN © Siemens AG 2020

Pump control features

SINAMICS G120X / G120P

Function Benefits

• Allows the use of several smaller pumps,

instead of one large pump
• Multi-pump1 control u • Soft start with a ramp-up speed
• Enables option to switch off pumps
simultaneously or using reverse sequence

• Smooth water flow speed control on empty

• Pipe filling mode2 u pipes
• Protection against hammer effect

• Self-ability to clear clogs on the pump’s

• Deragging mode2 u impellers before operation
• Reduced maintenance efforts
1 Multi-pump control function is supported for same power rating pumps until <30kW
G120X: 2 pumps (+2 with I/O extension module)/ G120XA / G120P: up to 4 pumps
2 only G120X

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Multi-pump control

SINAMICS G120X / G120P

Feature/ Function
3 AC
Allows the of use several
smaller pumps, which
can be switched in and
out as required, instead
of one large pump

Control up to 2 (4 with
ext. module) pumps by
integrated PID controller,
using:

• Pump switchover
• Stop mode
• Service mode

Related parameters:
p29520 … p29549

course SP-DRM-ZWS page 4 - 6 SITRAIN © Siemens AG 2020

 Multi-pump control
Pump switchover

SINAMICS G120X / G120P

Feature / Function
With pump switchover enabled, the inverter
3AC monitors the operation status of all running
pumps:

1) If the continuous operating hours of the pump

in inverter operation exceed the threshold,
the inverter switches off the pump and then
switches in an idle pump to keep constant
output power

2) If the continuous operating hours of a pump

10 hours 10 hours 10 hours 10 hours in line operation exceed the threshold, the
inverter first switches off the pump, switches
Pump1 Pump2 Pump3 Pump4 out the inverter-controlled pump to line
operation, and then switches in an idle
pump to run in inverter operation to keep
constant output power

p29522 = 0: next pump according fixed sequence

p29522 = 1: next pump according op. hours.

course SP-DRM-ZWS page 4 - 7 SITRAIN © Siemens AG 2020

Multi-pump control
Stop mode

SINAMICS G120X

Feature / Function
Two stop modes are available as follows:
3AC
Normal stop
• Set p2370 = 0, All pumps running in line
operation are switched off simultaneously as
soon as the stop command is received.

• The pump in inverter operation stops under

the control of the inverter.

Sequence stop
• Set p2370 = 1, The pumps running in line
Stop 1 Stop 2 Stop 3 Stop 4
operation stop one by one in the reverse
sequence in which they are switched on. There
is a delay time (p29537) between every pump
stop.

• The pump in inverter operation stops under

the control of the inverter after the other pumps
are switched off.

course SP-DRM-ZWS page 4 - 8 SITRAIN © Siemens AG 2020

Multi-pump control
Service mode

SINAMICS G120X

Feature / Function
3AC

When a pump is in service mode, the inverter locks

the corresponding relay allowing to perform
troubleshooting of the pump without
interrupting the operation of other pumps.

Related parameters: p29540 … p29544

Run 2 Run 3 Run 4

course SP-DRM-ZWS page 4 - 9 SITRAIN © Siemens AG 2020

Multi-pump control
Cascade control (staging)

SINAMICS G120X/G120P

Feature/ Function
Consists of the speed-controlled main motor
and up to three other motors that are
switched-on or off via contactors or motor
starters, depending on:

• A fixed arrangement
• The operating hours

The PID deviation serves as the input signal

for activating the other motors. The contactors
or motor starters are switched by the drive's
digital outputs.

Usability: applications that require between 1

and 4 motors to be run at the same time
depending on load, so that e.g. highly variable
pressure ratios or flow volumes can be corrected

2 pumps (+2 with I/O extension module) Related parameters: p2200 … p2387

course SP-DRM-ZWS page 4 - 10 SITRAIN © Siemens AG 2020

Pipe filling mode
Dismiss the hammer effect at the starting phase

SINAMICS G120X

Feature / Function

After each power-up, pipe filling mode allows the

inverter fills the pipe slowly to avoid hammer
effect to the pipe.

If the pipe filling is interrupted (for example, fault

occurs), the function continues after the inverter is
Output recovered

2 filling modes are available:

Operation
• Time mode
Pipe filling • Pressure mode

Time
Valve open

Related parameters: p29610 … p29615

course SP-DRM-ZWS page 4 - 11 SITRAIN © Siemens AG 2020

Deragging mode
Cleans blockage from impellers to protect the pump

SINAMICS G120X

Speed
Feature / Function
The deragging function is used to clean any
clogs/ obstructions on the pump impeller, pipes
or valves.
Time

This function consists on running the motor

forward and on reverse to clean the impeller.

Deragging mode can be enabled after power-up,

for every run or with an input signal.
(p29591).

Related parameters: p29590 … p29598

course SP-DRM-ZWS page 4 - 12 SITRAIN © Siemens AG 2020

Fan control functions

Function Benefits

• Attempts to catch the running load and

• Flying restart u automatically restart the inverter after power
restore

u
• Automatic restart • Allows to automatically acknowledge all faults

• Up to 4 parametrizable frequencies can be

• Skip frequency bands u skipped

• Allows day/night switch-over of room

temperature
• Includes summer/winter clock change
• Real-time clock and timer u
• Faults and alarms are provided with a time stamp

course SP-DRM-ZWS page 4 - 13 SITRAIN © Siemens AG 2020

Flying restart
Pumps and fans

SINAMICS G120X/G120P Feature / Function

After the ON command, the "flying
Auto flying restart pump restart" function initially
and fan synchronizes the inverter output
frequency to the motor speed and
then accelerates the motor up to the
set point.

Typical applications:

• Synchronization on a fan rotating

even after power failure
• The fan impeller is driven by the
air flow
• fluid flows back through vertical
piping
• Search current and search speed
are adjustable.
• Searching also in the negative
direction of rotation (fan/pump
rotates in the reverse direction)

course SP-DRM-ZWS page 4 - 14 SITRAIN © Siemens AG 2020

 Automatic restart
increases availability

Automatic restart (AR) Feature/ Function

Auto Auto Auto
No auto Includes two functionalities after
No AR ack. ack. faults ack.
ack. faults
faults if ON/OFF =1 faults a fault that allow to:
No auto Auto Auto Auto
p1210 =0
switch on switch on switch on switch on
• Automatically acknowledge all
(default) faults
motor motor motor motor
• Automatically switch-on the
After After
After
power
After
power motor again.
p1210= 1 power power p1210= 26
failure & failure &
failure failure
faults faults Events recognized as power
failure:
p1210=4 p1210=6 p1210=14 p1210=16 • Fault F30003 (undervoltage in
the DC link), after line voltage
has been briefly interrupted.

SINAMICS G120X/G120P • After all power supplies have

been interrupted and all the
energy storage devices in
the inverter have discharged to
such a level that the inverter
electronics fail.
Warnschild "Warnung vor automatischem Anlauf" nach BGV A8, ASR A1.3 und DIN 4844

course SP-DRM-ZWS page 4 - 15 SITRAIN © Siemens AG 2020

 Skip frequency bands

Feature / Function
Speed bands exist in the set
point channel to prevent
unwanted motor speeds.

The drive traverses through the set

skip frequency bands on the ramp
SINAMICS G120X/G120P function up / down generator, but
permanent operation in the set skip
frequency bands is not possible.
This prevents an unwanted speed
from being permanently pending.

Advantages:

• Avoidance of resonance in the

mechanical system (e.g.
pipelines / vent ducts)
• Reduced material fatigue
• Reduced noise pollution
• 4 skip frequency bands with
mean speed and bandwidth
parameterizable
course SP-DRM-ZWS page 4 - 16 SITRAIN © Siemens AG 2020
 Real-time clock

Feature / Function
G120X, G120P-BT
Time
stamp
Real-time clock module The real-time clock is a hardware
clock in a chip, which consists of a
counter and a watch crystal as the
clock generator.

An energy accumulator is located in

the device, so that the clock does not
stop when the device is turned off.

It comprises the clock time in a 24

hour format and the date in the
"day, month, year" format.

Faults and alarms are provided with a time stamp based on the real-time It must be set once during
clock. This allows their clear relation with other activities in the production commissioning. After a power
process, which may be related to the faults or have not them caused at all. supply interruption, the real time
clock continues to run for approx. 5
days.

course SP-DRM-ZWS page 4 - 17 SITRAIN © Siemens AG 2020

Timer functionality

Operating principle and functional diagram of a timer switch Feature / Function

The timer function, along with

the real time clock in the
inverter, offers the option of
controlling when signals are
switched on and off.

Examples:

• Day/night switching of a
temperature control

• Switching a process control

from weekday to weekend.
SINAMICS G120X

course SP-DRM-ZWS page 4 - 18 SITRAIN © Siemens AG 2020

Set-point operation features
increased availability, optimized pump and fan
operation

SINAMICS G120X/G120P
Function Benefits
• Maximized operation time by avoiding
common issues w/o manual intervention
• Personalized protection measures, such
as:
• Reduced PWM frequency, speed and
u
output current
• Auto flying restart of P&F
• Keep running mode • Kinetic buffering to skip interruption

• Increased flexibility to regulate processes

• PID controller u
(levels, pressures, etc.)
• Optimized pump operation
• Dual ramp function u • Shorter start/stop time
• Minimizes wearing of the pump
• Up to 16 fixed frequency settings that
• Multiple speed set points u
enable multi-speed operation

course SP-DRM-ZWS page 4 - 19 SITRAIN © Siemens AG 2020

 Keep running mode

Feature / Function
Overheat
Reduce PWM frequency Enables all possible
functions to keep the
inverter away from faults and
from tripping, by applying
Reduce speed configurable measures like:
Overload
• Reduction of the output
speed and PWM frequency
to avoid over-temperature
Reduce output current
and overload problems
Undervoltage
• Catching running load and
Auto flying restart pump automatically restarting the
and fan inverter after power
disruption (switches on drive
Power interruption while motor is running)
Kinetic buffering to skip
• Using kinetic energy from
interruption
the load to skip short time
power interruption
Related parameters: p29630; p0290, p1210…p1240

course SP-DRM-ZWS page 4 - 20 SITRAIN © Siemens AG 2020

PID controller
Control mechanism on a closed loop feedback

Feature / Function
SINAMICS G120X/G120P
The PID enables simple process
control such as line pressure, fill
level, temperature, flow, tension
Block diagram of a PID technology control control or load balancing.

• The technology controller is

implemented as a PID controller
(controller with proportional,
integral, and derivative action)

• Set point are specified via analog

value, fixed set points, motorized
potentiometer, fieldbus

• The P, I and D components can be

set separately

Example: Technology controller as a level controller • The “I” component can be locked
when the control output is limited

• Display and entry of set point and

actual values in technological
dimensions
course SP-DRM-ZWS page 4 - 21 SITRAIN © Siemens AG 2020
Dual ramp mode
Optimizes pump operation

SINAMICS G120X
Feature / Function

Speed The dual ramp function allows

the user to parameterize the
inverter so that it can switch
Quick
from one ramp rate to
Fast
starting stopping another when ramping up or
Time down to a set point.

As a result, the inverter can

be started smoothly and
stopped quickly.
No-return valve

Related parameters: p29570…p29580

course SP-DRM-ZWS page 4 - 22 SITRAIN © Siemens AG 2020

Energy saving functions

Function Benefits
A
B • Ensures best performance and lowest losses on
C low dynamic loads (P&F)
• Eco mode u
• Optimizes output voltage to reduce the load’s
energy consumption

• Allows automatic pump switch off (sleep mode)

and wakeup by fixed set point or offset
• Hibernation mode u
• Saves energy, reduces mechanical wear and
noise

• Switches the motor between inverter and line

• Bypass u
operation to reduce energy consumption

• Calculates the energy saving and flow values

• Energy/ flow calculator u
without the external meters

u • Operation of high efficiency motors to ensure

• Support of PMSM + SRM more energy saving

PMSM: Permanent Magnet Synchronous Motor SRM: Synchronous Reluctance Motor

course SP-DRM-ZWS page 4 - 23 SITRAIN © Siemens AG 2020

ECO mode
Advanced energy saving / motor control technology

SINAMICS G120X/G120P

Voltage Voltage
100% Feature / Function
80%
• Economy mode works by slightly
changing the output voltage (via
Energy
saving excitation current) either up or down in
Without
ECO
ECO order to find the minimum input power.
Speed Speed
• Allows energy saving during low dynamic
load, such as pump and fan applications
without knowledge of the characteristic
curve.

• If the load is changed, the control can

adapt to normal dynamic control to give
the best performance.
Related parameters: p1300

course SP-DRM-ZWS page 4 - 24 SITRAIN © Siemens AG 2020

 Hibernation mode with PID

f SINAMICS G120X/G120P Feature / Function

Z Z
sleep PID with hibernation allows to
Z
switch the pumps to sleep
mode when the drives are only
wake-up being deployed temporarily (by
fixed set point or if the offset is
T
smaller than the setting) to
avoid wasting energy by:

Energy • Frequently starting and

Operation Operation
saving stopping the pump during
low-load period causing
increased pipe pressure and
energy waste.

• High pressure in the pipes

that can cause increased
water loss even when the
demand is low.

course SP-DRM-ZWS page 4 - 25 SITRAIN © Siemens AG 2020

Bypass mode

Feature / Function

When induction motors connected to

a converter are frequently operated
in the rated motor speed range,
unnecessary losses are incurred.

In Bypass mode it is possible to

"bypass" the inverter electrically
as soon as the motor frequently
operates close to its rated speed.

This helps to avoid inverter losses

and increase overall efficiency.

SINAMICS G120X/G120P

G120X: Bypass function is only supported on induction motors up to <30 kW

course SP-DRM-ZWS page 4 - 26 SITRAIN © Siemens AG 2020
 Energy-/ flow calculator

Feature / Function

3AC • Without having a power meter

1000111 00110001
or flow meter, the G120X can
estimate the energy saving
Energy meter 110010 10000 from the flow characteristic
01011000
associated with a mechanical
flow control and the measured
SINAMICS G120X electric power that is drawn.

• The calculation is suitable for

centrifugal pumps, fans, radial
and axial compressors, for
Flow meter instance.

To set the characteristic, it is

required from the pump
manufacturer:

• The flow characteristic

associated with 5 selected
speeds.
• At constant speed, the power
drawn associated with 5 flow
rates, corresponds to the line
frequency and mechanical
throttling of the flow rate.
course SP-DRM-ZWS page 4 - 27 SITRAIN © Siemens AG 2020
Protection functions
monitor current status

Function Benefits
• Frost protection If temp. falls • Turns the motor automatically to avoid
u
below threshold freezing and motor damage
• Condensation protection via • Keeps the motor warm to prevent
u
DC current condensation
• Sends status and protects the pump by
• Cavitation detection u tripping or sending alarms to reduce the
maintenance efforts
• Pump blockage, • Monitors the output torque and speed range
pipe leakage and u to avoid abnormal situations, extending
dry running protection the lifetime of the pumps
• No load, torque • Indicates load’s power interruptions
and rotation monitoring u • Monitors torque/speed to know gearbox
(with sensor) and fan belts status
• Keeps fans working without controller to
• Fire mode (Essential Service u
extend ventilation and survival time on critical
Mode ESM)
situations

course SP-DRM-ZWS page 4 - 28 SITRAIN © Siemens AG 2020

Condensation- and frost protection

SINAMICS G120X Feature / Function

Condensation protection:
Motors in a humid and cold
environment can develop
condensation which could
cause motor failure.
This problem can be avoided by
slightly increasing the
temperature of motor surface
(humid air à condensed water) by applying a DC current to
keep the motor warm to prevent
condensation.

Frost protection:
The water frozen inside of a
pump can cause damage. The
slow movement of the impeller
while it’s not being operated or
when the surrounding
temperature falls below a
threshold can prevent damage.

Related parameters: p29622.. p29624

course SP-DRM-ZWS page 4 - 29 SITRAIN © Siemens AG 2020

 Cavitation protection

Feature / Function
SINAMICS G120X
Cavitation describes the
building and collapsing of
steam hollows inside liquids
by increasing underpressure
i.e. at the backside of fat
Available head of water

rotating impeller shovels.

When collapsing, there are
enormously high pressure
Required head of water

peaks created, wich may

result in erosive damages at
the shovel surface material.
The cavitation protection
generates a warning when
cavitation pressure
thresholds are reached. If
the inverter gets no feedback
Warning from the pump transducer, it
will trip to prevent cavitation
damage.
Stop
Related parameters: p29625.. p29627
Cavitation is the formation of vapor cavities in a liquid, small liquid-free zones ("bubbles" or "voids")
course SP-DRM-ZWS page 4 - 30 SITRAIN © Siemens AG 2020
Pump blockage, leakage & dry running protection
Protects the pump from abnormal load situations

SINAMICS G120X/G120P

Torque
Feature / Function
The inverter can keep track of the speed,
Warning
Blocked current and the torque of the motor to
determine abnormal load situations:
Leakage Stop

• Insufficient torque can indicate leakage

Dry run Speed or dry-running

• Excessive torque (and current) together

with low speed can indicate machine
blockage

• Insufficient motor current indicates

that the power transmission from the
motor to the load is interrupted (no load)

course SP-DRM-ZWS page 4 - 31 SITRAIN © Siemens AG 2020

Emergency (fire) mode
ESM - Essential Service Mode

Feature / Function
SINAMICS G120X / G120P

During Fire mode, the inverter

attempts to operate the
motor for as long as
ON possible (ignoring the OFF
high signal) despite irregular
setpoint ambient conditions to improve
Keep fans working to give the the air circulation and survival
pressure in the stair well to time on critical situations
force the fireproof door close to (smoke extraction)
reduce the spread of fire and Automatic restart is switched
smoke ON, flying restart should be
parametrized. Typical is the
using of a high fixed setpoint
Fire in speed.
door The pump system also can use Used with smoke extraction
ESM to keep fire-fighting motors (SIMOTICS DP) .
system running

course SP-DRM-ZWS page 4 - 32 SITRAIN © Siemens AG 2020

SINAMICS G120X
Features

Feature / Function
“Out-of-the-box” - Complete drive delivered
together ready to switch on from 0.75kW -
630kW / 1- 700 HP
Dedicated user interface with optimized SAM
(webserver) and IOP-2
Optimized design: 3C3 coating1 + extended
operating temperatures
-20˚C to 45 …60˚C (with derating)3

EMC compliant (C1 + C2) and

integrated full DC-link choke

Safe Torque Off SIL 3 hardware

Compatible with SINAMICS connect and TIA

Portal via GSD file

framesize C with SAM Pluggable I/O terminal hardware and

optional repair switch (for IP55/UL122)
IOP-2: Intelligent Operator Panel 1 in preparation
SAM: Smart Access Module 2 Available on 12/2019
3 max. 55 ˚C for PROFINET version
course SP-DRM-ZWS page 4 - 33 SITRAIN © Siemens AG 2020
SINAMICS G120X
Technical data – Communication interfaces, options

G120X
LED‘s to indicate the status of
• 6 dig. inputs, 2 dig. outputs (relays) operation and communication
• 2 analog inputs 0 – 10V, 0/4 – 20mA
Inputs / Outputs / • 1 analog outputs 0 – 10V, 0/4 – 20mA
• 1 input for PTC/KTY/Pt1000 motor
Communication
sensor
Interfaces • PROFINET, EtherNet IP
• Modbus RTU, USS, BACnet MS/TP1
• PROFIBUS DP1
• SD card
• IP21 roof top kit
• IP20 PT-kit as an option/ FS A-G
Options
• I/O extension module2
• Smart Access Module
• Input and output filters
• 2DI, 2AO, 4DO (relay), 2x Pt1000 or
I/O Extension Module2,3
Ni1000
1.5 mm2 cable per clamp, pluggable
Terminal Hardware
1 plug with double clamps4
Standards CE, UL, cUL, EAC6, KC5,6, RCM6

3 Only one piece can be connected per drive 6 In preparation

1 Available during /2019 4 Allows to easily multiply potentials
2 Available on 12/2019 5 Only available in 400V version

course SP-DRM-ZWS page 4 - 34 SITRAIN © Siemens AG 2020

 SINAMICS G120X
Technical data

G120X
Safety Integrated STO SIL 3 HW
Memory card (SD card) Yes
Real-time Clock Yes
BOP-2 Yes
IOP-2 Yes
FSA
WEBSERVER (SAM) Yes
FSB,FSC
• switching frequency (2) 4kHz to 16Khz
(with derating)
Motor support • asynchronous induction motors
incl. 3rd party IE4 • V/f control linear, parabolic
• sensorless vector controlled
• reluctance motors (Siemens, 3rd
party reluctance motors1 ) STO terminals
• permanent magnet motors1
1 Please contact your local Siemens partner

course SP-DRM-ZWS page 4 - 35 SITRAIN © Siemens AG 2020

End

Quiz

course SP-DRM-ZWS page 4 - 36 SITRAIN © Siemens AG 2020

 chapter 5

SIMOGEAR applications and 87

Hz characteristics
SITRAIN © Siemens AG 2020 course SP-DRM-ZWS

Frei verwendbar
Learning objectives

• You know the typical project planning process and can use it

• You become familiar with the characteristics for operating asynchronous machines on the converter

• You understand the boundary conditions for converter operation

• You understand the functionality and special features of using the 87 Hz characteristic

• You know the special requirements and special features to be observed in typical applications: belt
lifter, electric monorail conveyor, roller conveyor

• You will understand the geared motor configuration process for a typical mechanical system with the
SIZER tool

course SP-DRM-ZWS page 5 - 2 SITRAIN © Siemens AG 2020

 Application overview
Geared motor applications

Roller table
Hoist
drive Belt
conveyor

Roller
conveyor

Crane travel drive

Rotary Chain
table conveyors

course SP-DRM-ZWS page 5 - 3 SITRAIN © Siemens AG 2020

Application overview
Wide range of sectors, hundreds of applications

Elevators and Chemicals and Energy Conveyor Coal and ore

escalators environment systems

Crane Plastics Oil and gas Pulp and Rail vehicles

technology and rubber paper industry

Marine Rolling mill Wind Cement Sugar industry

technology technology industry

course SP-DRM-ZWS page 5 - 4 SITRAIN © Siemens AG 2020

 Configuration
Overview in the flow chart

Load properties Load cycle Environmental/oper

(mounting/suspension, weight, number of (mounting/suspension, weight, number ating
of conditions
starting operations, operating duration) starting operations, operating duration) (temperature, installation altitude, shock factor)

Calculation of the • Speeds, torques

application data • Gear ratio
• Static and dynamic power Preq
Motor selection • Operating data (voltage, frequency, efficiency class, temperature
class, regional regulations)
• Operating mode (converter operation)
Brake selection •• Operating
Motor power data( (brake
≤ torque,
) type,
control)
• Calculating the braking time and
Gearbox selection •braking
Gearbox size (
distance ≤ ) and gearbox
type
• Calculating the switching frequency
•and Gear ratio life
service
Selection of
Gearboxmotor
• Geared equipping (shaftpositions
mounting dimensions, sealing system,
and position of oil)
additional gearbox • Motor
the options
terminal box(motor protection, encoders, connector systems,
and motor options terminal box position)
New selection Check • Application requirements and data
• Axial and cantilever forces, bearing life and thermal
stress
Source: Catalog MD Article number
50.1, Page 2/2

course SP-DRM-ZWS page 5 - 5 SITRAIN © Siemens AG 2020

Characteristic curve with the converter
Torque and power

M, P

MBreakdown 1 Breakdown reserve taking line

x2.5 M Kipp ~ voltage fluctuations into account
30% n2

x1.9
P[W] = 0.105 × M × n
Overload range
P[kW] = M × n / 9550

Forced ventilation
Mn
Self-ventilated
» 70% Mr
Continuous 1 30%
Mn ~
operation n 30%

nn n1 n
Constant torque Constant power
range range

Constant flux range Field-weakening range

course SP-DRM-ZWS page 5 - 6 SITRAIN © Siemens AG 2020

Asynchronous machine pole number

2-pole motor: 4-pole motor:

V
U -W U -W

-W -U

-V S N V -V V

U W
W -U
W -U
-V

U [V] U [V]

3000 n [1/min] 1500 n [1/min]

U U

t t

Motor voltage (= converter output voltage)

course SP-DRM-ZWS page 5 - 7 SITRAIN © Siemens AG 2020

Field weakening operation: application

Main spindle in machine tools

e.g. Milling machine:
v, F = const. v, F = const.

v, F = const.
v, F = const.
Winder:

required: required:
small n & big M big n & small M

Mn 1
M n ~
n

nn field weakening area n

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Switching to converter operation - example

A customer has a 1LE1001-1BA22-2AB4 motor.He runs it for years at the network and charged it at
50Hz with nearly 13 Nm. Now he would like to operate it at 80Hz on the frequency converter. Customer
network is 3 AC 50Hz 400V.
Can the customer run up the motor up to 80Hz at the frequency converter, and how much torque can he
use from it there?

P_D081_XX_00045P

course SP-DRM-ZWS page 5 - 9 SITRAIN © Siemens AG 2020

 Switching to converter operation - example solution

1) How much torque does the motor have at 80Hz?

1LE1003 - 1BA22 - 2AB4, 4kW 112M 2945/min
has at 50 Hz a Mn = 13 Nm and Mstall = 3,5 x Mn
Mperm 80Hz = 13 Nm x ( 50 Hz / 80 Hz ) = 13 x 0,625 Nm = 8,12 Nm

2) stall torque: Mstall 80Hz = 3,5 x 13 Nm x ( 50 Hz / 80 Hz )2 = 3,5 x 13 x 0,39 Nm = 17,8 Nm

3) 8,12 Nm / 17,8 Nm = 45% , à 55% difference à ok

4) catalog D 81.1 2016 p. 3 / 52 speed of motor at 80Hz : 4800 min-1

à mechanical speed maximum: 2 pole FS 112 is 5.500 min-1 à ok

5) Customer can operate 1LE1003-1BA22-2AB4 motor at 80 Hz and load with 8 Nm

6) More detailed values à SIZER

P_D011_XX_01000P
P_D081_XX_00045P

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Motor effects in frequency converter operation

Compared to mains operation, the operating conditions for converter operation change as
follows:
- Less cooling of the motor at reduced speed.
- Additional heat losses increase the engine temperature.
- Problem with bearing currents
à From frame size 225 we recommend insulated bearings
P_D011_XX_00345P

- In order to comply with thermal class B, the rated power of the motor must be reduced for
converter operation compared to mains operation, depending on the converter used

à Derating (~10%)

- Exact derating values for Siemens converters à SIZER

- In the case of third-party converters, the reduction factors must be specified by the converter
manufacturer.

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87 Hz – characteristics

https://support.industry.siemens.com/cs/ww/en/view/25338130

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87 Hz – characteristics
Motor connection
U1
L1

Star W2 L1
230V/50Hz Delta U1

230V/50Hz
400V/50Hz
U2
W1
V2 U2
W2 L2
V2 V1

V1
L2 L3
W1

L3

L1 L1

L2 L2

L3 L3

-Siemens MD 50.1 p.11/12

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87 Hz – characteristics
Operating mode on the converter

S9 = Inverter operation with 87 Hz characteristic

Motors can also be operated at a speed higher than the rated speed. The
available torque is reduced proportionally to the speed. (ASM linear
characteristic). With the 87 Hz characteristic, constant torque can also be 50 Hz operation
achieved above the nominal speed - up to 87 Hz. The motor is switched
in delta and the power section must be designed for the (higher) delta
current.

Pmotor (50Hz) = U * I * √3 * cos phi * eta

= 400V * I 400V * √3 * cos phi * eta (in Y-connection)
= 230V * I 230V * √3 * cos phi * eta (in Δ-connection)
Pmotor (87Hz) = 400V * I230V * √3 * cos phi * eta (in Δ-connection)
87 Hz operation
The motor output is increased by the ratio 400V / 230V = √3 =
1.73 times, the motor torque does not increase because the
increased output and the increased speed are equalized!

T ×n P × 9550
P = T =
9550 n

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 87 Hz – characteristics
Operating mode: S9 with 87 Hz characteristic

Due to the 1.73 times higher rated speed and the resulting larger gear ratio, a smaller motor can often be selected.

T2 req = T1nom * i * η gear

Example
P(50 Hz) = 2,2 kW (1LE100LE4E) , nn = 1455 rpm, Tn = 14,4 Nm, i = 18,2, Mout = 260 Nm, Nout = 80 rpm

If we want to achieve approx. 260 Nm and approx. 80 rpm in 87 Hz à

speed at 87 Hz: n1 = 1455 rpm * 1,73 = 2517 rpm
gear ratio at 87 Hz: i = n1 / n2 = 2517 rpm / 80 rpm = 31,5
If η gear is neglected, this results in a required nominal motor torque
T1n req = T2 req / i =260 Nm / 31,5 = 8,3 Nm
A LE90LH4 1.5 kW motor with a T n of approx. 9.98 Nm is now sufficient

Advantages / Disadvantages:
+ Motor is smaller, lighter and cheaper (the savings potential is only on the motor side!)
+ Larger adjustment range possibleNachteile: Check oil temperature with ALVIS!
- Higher noise emissions (critical when people are working nearby) If synthetic oil is required instead of
Stronger heating of the gear unit (splash losses) mineral oil, there may no longer be
any cost advantage.

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87 Hz – characteristics
Summary

When operating with the "87Hz characteristic curve", the following must be observed:

• The motor must be connected in a triangle (Delta connection).

• The motor must have the appropriate insulation strength.
• Not all motors are suitable for 87Hz operation (bearings).
• The mechanical motor limit values must be taken into account (mechanical limit speed, especially with 2-pole motors).
• The noises, which are stronger than at 50Hz, must be observed.
• The “87Hz characteristic” is usually only worthwhile for motors with “lower power”; it makes sense up to about 45 kW.
• The iron losses rise disproportionately above the nominal motor frequency. Therefore, the thermal motor torque must
be reduced above this frequency.
• When parameterizing the converter, select 87Hz operation
• The motor must always be parameterized in the converter with the 230V triangular data (nameplate data or
conversion)
• The 87 Hz characteristic is independent of the control type and can be used for both V / f and vector control
• The motor does not heat up significantly more than in 50 Hz operation

course SP-DRM-ZWS page 5 - 16 SITRAIN © Siemens AG 2020

 Belt lifter
Description

• Lifts to move vehicles to different levels

• Can be implemented with a roller conveyor or overhead conveyor
• Lifting heights up to 30 m – and generally – the drive train is located at the top.
• As a result of the circulating belts, there is a constant ratio between the output
speed at the running wheel and the lifting velocity
• The torque required to hold the load can be reduced using a counterweight,
however higher dynamic torque as a result of additional acceleration/deceleration. 3

• Mass of the counterweight = mass of the lifting trolley + half the payload

2
Belt lift in a two-column design (1), with
counterweight (2), service platform (3),
1
Drive train of a belt lift with two SIMOGEAR geared roller conveyor (4) and skid (transport
motors (3) with helical gearbox, coupled via the drum skids 5).
(1) and coupling (2)

1 4
3 2 2 3

https://support.industry.siemens.com/cs/ww/en/view/102950703

course SP-DRM-ZWS page 5 - 17 SITRAIN © Siemens AG 2020

Belt lifter
Technical details

• Sensors at the top/bottom for interlocking, roller conveyor occupied (with load), belt monitoring, limit switch, rotary
encoder
• Always equipped with converter and holding brakes, generally 87 Hz operation
• Typically one motor for redundancy that is decoupled
• Regenerative energy when lowering
• Variable speed, field-weakening operation (fast traversing when empty) jerk limiting ramps

Cycle Time Acceleration / Brake

deceleration closed
Belt lift for lowering: Payload (N) 3000 kg, 1 lifting, without 10 s 0.5 m/s2 No
hoisting trolley weight (H) 4700 kg, load
counterweight (G) 6200 kg, pulley diameter 320
2 load / pause 5s Yes
mm
3 lowering, with 10 s 0.5 m/s2 No
load
4 unload 5s Yes
course SP-DRM-ZWS page 5 - 18 SITRAIN © Siemens AG 2020
Belt lifter
SIZER dimensioning

• Initially dimension a hoist mechanical system

course SP-DRM-ZWS page 5 - 19 SITRAIN © Siemens AG 2020

Belt lifter
SIZER dimensioning

• Then enter the traversing profiles

course SP-DRM-ZWS page 5 - 20 SITRAIN © Siemens AG 2020

Belt lifter
SIZER dimensioning

• New drive system with this mechanical system

• Single drive (x2, redundancy)
• PM250D for energy recovery (regenerative feedback)
• CU250 for positioning capability
• With Safety Integrated
• Vector controlled
• SIMOGEAR

course SP-DRM-ZWS page 5 - 21 SITRAIN © Siemens AG 2020

Belt lifter
SIZER dimensioning

• 2KJ with helical gearbox

• Without additional gearbox
• Load cycle from the mechanical
configuration

course SP-DRM-ZWS page 5 - 22 SITRAIN © Siemens AG 2020

Belt lifter
SIZER dimensioning

• SIMOGEAR, 87 Hz
• With brake wired through the converter connection, low-wear 170-200 V DC
• Braking torque min. 2x the rated torque – however, not as working brake

course SP-DRM-ZWS page 5 - 23 SITRAIN © Siemens AG 2020

Belt lifter
SIZER dimensioning

• Check the motor preselection, show optimum motor

course SP-DRM-ZWS page 5 - 24 SITRAIN © Siemens AG 2020

Belt lifter
SIZER dimensioning

• Determine the optimum brake

course SP-DRM-ZWS page 5 - 25 SITRAIN © Siemens AG 2020

Belt lifter
SIZER dimensioning

• Determine the optimum motor according to the service factor

• SIZER determines the required service factor from the load cycle (24 h, load cycle…)

course SP-DRM-ZWS page 5 - 26 SITRAIN © Siemens AG 2020

Belt lifter
SIZER dimensioning

• Motor check: therm. utilization 95.5% à OK

• Moment of inertia ratio 1: 3.88 à OK
• Average electrical power: -3.72 kW, for 24 h operation = 89.28 kWh energy fed back / d

course SP-DRM-ZWS page 5 - 27 SITRAIN © Siemens AG 2020

Belt lifter
SIZER dimensioning

• Finally, with the interface to the DT Configurator complete the options:

• PT1000 temperature sensor
• HAN 10 E plug connector, 1 clamp, EMC-shielded
• Terminal box position 1B (towards the rear, NDE right)
• Manual release WITHOUT LOCKING MECHANISM,
position C27

Return to SIZER

• Complete:
• CU250S-2 PN
• Extended Safety license
• Cables for power and encoder
• If applicable, 24 V power supply
• PM250, capable of energy recovery

course SP-DRM-ZWS page 5 - 28 SITRAIN © Siemens AG 2020

 Electric-monorail geared motors

• Jointly developed with the automotive sector, own Catalog MD 50.8

• SIMOGEAR bevel geared motors
• Light-load applications: Two-stage, BH..
• Heavy-load applications: Three-stage KHF...
• Suitable according to VDI Directive 3643, order code K42 for selection guide, all
SIMOGEAR units listed in MD 50.8 comply with VDI 3643
• Overhead conveyor applications:
• Automotive industry
• Domestic appliance industry
• Storage and distribution centers
• Passenger transport
• Food processing technology
• Flexible routing
• High speeds and velocities
• High level of availability, simple
to expand

• Special feature: mechanical clutch

• Commissioning/fault situation/service (can be manually shifted)
• For steep gradients for transfer to a chain conveyor, for example

https://support.industry.siemens.com/cs/de/en/view/109746933

course SP-DRM-ZWS page 5 - 29 SITRAIN © Siemens AG 2020

Electric-monorail geared motors
Portfolio

Catalog MD 50.8 P. 1/2

course SP-DRM-ZWS page 5 - 30 SITRAIN © Siemens AG 2020

Electric-monorail geared motors
System concept

• SIEMENS offers a system-based

concept for electric monorails from
a single source
• S7 1200
• Busbar terminal box
• PSB-S module (Power Signal
Booster-Segment module)
• EMS4x0S (Electric Monorail
System 400 Signal)
• SIRIUS controls
• SINAMICS V20
• SINAMICS G110M
• SINAMICS G120D
• SIMOGEAR
• Braking resistor
• Sensors:
• IR remote control
• HMI

course SP-DRM-ZWS page 5 - 31 SITRAIN © Siemens AG 2020

Electric-monorail geared motors
Individual monorail vehicle

IR remote control

EMS400 with
display unit
and PBS

https://support.industry.siemens.com/cs/de/en/view/72927774

course SP-DRM-ZWS page 5 - 32 SITRAIN © Siemens AG 2020

Electric-monorail geared motors
Checklist in Catalog MD 50.8

Trolley version 1:
1 running wheel, one wheel is
driven

Trolley version 2:
2 running wheels, one wheel at
the front or rear is driven

Trolley version 3:
4 running wheels, 2 wheels are
driven

course SP-DRM-ZWS page 5 - 33 SITRAIN © Siemens AG 2020

Electric-monorail geared motors
Checklist in Catalog MD 50.8

Technical data from the

specification or the relevant
equipment specifications of the
company operating the system –
as well as the geometry of the
electric monorail system
(gradients, mechanical switch
positions, negative gradients,
curves, weights...)

course SP-DRM-ZWS page 5 - 34 SITRAIN © Siemens AG 2020

Roller conveyor

A large number of roller conveyors are used for transporting

bulk goods in a wide range of sectors.
• Continuous movement of loads
• Variable velocity
• Clocked
• Also with changing directions
• For constant velocity, generally equipped with a motor
starter – for direction changes, also a reversing starter
• A converter is used for variable velocity
• The gearbox type is defined by the mounting position;
• Helical gearbox
• Bevel gearbox
• Bevel helical gearbox
• Transport rolls are coupled through various types of belts
or chains
• Typical: Light barriers at the entry and discharge positions
• Typical: Rapid traverse and creep speeds
• Slight gradients possible (friction lining on the transport
rolls)
• Required: Number of rolls, friction coefficient
corresponding to the roll bearing type, roll material, lateral
guides, masses

course SP-DRM-ZWS page 5 - 35 SITRAIN © Siemens AG 2020

Roller conveyor

The belt or chain drive from the geared motor to the drive roll Roller conveyor in conveyor system. (1)
represents an additional gear, which must be taken into Subdistribution board, (2) SIMOGEAR
account geared motor (frequently G110M), (3)
Light barriers
in the SIZER configuration.

(1) Belt to the drive roll, (2) Roll spigots, (3) Rolls,
(4) Belt or chain loops

https://support.industry.siemens.com/cs/ww/en/view/109588073

Configuration example with S7 station,

G110M, use of the STO safety function
(Safe Torque Off) via Profisafe. Mounting
position M3 (below the rolls), terminal box
position M59 (at the bottom), power
connected using HanQ(400V) plug
connector & 7/8" (24V)

course SP-DRM-ZWS page 5 - 36 SITRAIN © Siemens AG 2020

End

Quiz

course SP-DRM-ZWS page 5 - 37 SITRAIN © Siemens AG 2020

chapter 6

SINAMICS S210
with Startdrive
SITRAIN © Siemens AG 2020 course SP-DRM-ZWS
Learning objectives

• You know the servo drive system SINAMICS S210

• You can decide for which of Your application solutions SINAMICS S210 is usefull

• You know the possibilities regarding projectizing and commissioning of SINAMICS S210

• You can commission a SINAMICS S210 drive unit

course SP-DRM-ZWS page 6 - 2 SITRAIN © Siemens AG 2020

SINAMICS S210 Servo Drive System
Overview

• SINAMICS S210 Servo Drive System is a single axis

AC/AC drive with enhanced features, connectivity and
performance for motion control applications in the
midrange segment.
• Designed for high dynamic motion control
applications i.e. in the packaging or handling area.
• The system comprises the SINAMICS S210 servo drive,
the SIMOTICS S-1FK2 servo motor in compact or
high dynamic version and a “One-Cable-Connection”
between motor and drive.
• Works perfectly together with a SIMATIC S7
controller, like SIMATIC S7-1500/ T-CPU/ ET200 SP
Open Controller to perform motion control tasks like
positioning, synchronous axis, gearing …

Highlights
• PN IRT
• Safety Integrated: Basic and Extended functions via
PROFIsafe
• Dedicated S-1FK2 motors (compact and high dynamic)
with One-Cable-Connection
• Integrated Webserver and “One Button Tuning”
• UL Certification
• Integrated EMC-Filter

course SP-DRM-ZWS page 6 - 3 SITRAIN © Siemens AG 2020

SINAMICS S210 Servo Drive System
Features

Feature / Function
• Dedicated S-1FK2 motor(HD/CT)
• Fast Current Controller (62,5 µs)
• Fast PROFINET IRT (250 µs)
• DC-Coupling (for 3-AC units)

• Basic & Extended Safety integrated

functions via PROFIsafe

• Integrated Webserver
• “One Button Tuning”
• TIA Portal (V15.1) integrated**)
• TIA Selection Tool integrated

• One-Cable-Connection (OCC)
• Integrated EMC Filter
• Integrated Braking Resistor

• 1AC 230V (200-240V) 0.05 – 0.75kW

• 3AC 400V (200-480V) 0.4 – 7kW*)
• UL Certification

*) FSB 1.5/2.0kW (CY19 Q2); FSC 3.5/5.0/7.0kW (CY19 Q3)

course SP-DRM-ZWS page 6 - 4 SITRAIN © Siemens AG 2020
 SINAMICS S210 Servo Drive System
Positioning within SINAMICS Portfolio

Basic: Midrange: High end:

SINAMICS V90 SINAMICS S210 SINAMICS S120
Servo Drive System Servo Drive System Servo Drive System
Single axis AC/AC drive with Single axis AC/AC drive with Modular DC/AC multi axis
basic functionality and high dynamic and performance system with most advanced
connectivity for standard for motion applications in the mid drive based technology and
numeric and motion controllers range segment. connectivity to high end
numeric and motion controllers

course SP-DRM-ZWS page 6 - 5 SITRAIN © Siemens AG 2020

 SINAMICS S210 Servo Drive System
System integration

Typical PLC:
• S7-1500
• S7-1500 T-CPU
T • ET200 SP Open Controller
• SIMOTION
HMI

Engineering:
Startdrive >/= V15.1,
FW>/=5.2

Engineering:
WEB Server
SINAMICS S210 servo drive system

course SP-DRM-ZWS page 6 - 6 SITRAIN © Siemens AG 2020

 SINAMICS S210 Servo Drive System
Technical overview

SINAMICS S210 SIMOTICS S-1FK2 One Cable Connection

(6SL3210-5HB…) 1AC (1FK21…) HD (6FX5002-8QN...)
(6SL3210-5HE…) 3AC (1FK22…) CT (6FX8002-8QN...)

• Voltage: 1AC 200-240V and • Torque (M0): 0,16-40Nm*) • Individual cable lengths up to 50m
3AC 200-480V • High Dynamic (HD) and Compact can be ordered
• Power: 50W-7.0kW*) (CT), shaft height 20 to 100 • SPEED- CONNECT fast connection
• PN IRT (250 µs), current cont. 62,5 • Encoder: 22 Bit absolute Single- or system with rotatable motor
µs, PROFIsafe Multiturn connector
• Safety functions: STO, SS1, SBC, • Protection Degree: IP64, optional • Flexible cables with small bending
ext safety: SS1, SS2, SOS, SLS, IP65
radii
SSM, SLA, SDI, SBT • Trailing cable version available
• Plain or feather key shaft
• Removable terminals • Small and compact M12 connector
• Side-by-side mounting • With or without holding brake for motor SH20/30mm (only 25mm
• 300% overload • Ready to use in North-America in height)
• Integrated EMC-Filter • Extension cables and mounting
• Integrated break resistor flange available
• DI: 1 F-DI (2 DI), 2 DI for measuring
probes
• Integrated WEB-Server

course SP-DRM-ZWS page 6 - 7 SITRAIN © Siemens AG 2020

SINAMICS S210 Servo Drive System
Hardware

Overview SINAMICS S210 Hardware

X1 1 Control voltage connection 24 V DC (X124)

2 Line supply connection (X1),

3
Optional external braking resistor (1AC Version: X1),
3
2 (3AC Version: X4)
4 Motor power connections (X2)
5 Service interface RJ45 for web server (X127)
Digital inputs (X130) (STO/SS1 safety, measuring
6
1 probe, temp. monitoring of ext. braking resistor)
7 PROFINET RJ45 connection (X150)
8 Encoder (X100)
5
9 Direct control of the motor holding brake (X107)
17 6 10 Acknowledge fault
11 Status LEDs
7
4 12 Fault display
SD card slot (SD card: copy parameters, safety
13
license, firmware update)
8
14 Shield connection for shielded cables, strain relief
9 14
using cable ties for other cables
S210 S210 Only for S210 in 1AC version: Remove grounding
15
(1AC) (3AC) screw in IT net supply.

*Terminal Kit needs to be ordered separately Ordernumber 6SL3260-2DC00-0AA0. (Include 1x 16 Integrated braking resistor and EMC filter
DC-Busbar terminal and 1x 3AC Busbar terminal). The required 162 wire for cabling of the
DC/3ACBusbar Terminals have to be ordered separately from 3rd party supplier. 17 DC-Coupling (only at 3AC-units)*
course SP-DRM-ZWS page 6 - 8 SITRAIN © Siemens AG 2020
 SINAMICS S210 Servo Drive System
Technical data

Overload capacity Technical Data

Duration (s) Line supply voltage 1AC 200V ~ 240V; 3AC 200V ~ 480V (-10%/+10%); 50/60Hz, (-10% / +10%)

Power range 0.1kW ~ 7.0kW, (Motor available starting with 0.05kW)

Overload capacity 300% x rated current (according load profile see graph Load Profile on right hand side)

Control power 24V DC (-15%/+20%)

supply

Control system Servo control; current controller 62,5 µs, 8kHz pulse frequency

Earth fault protection, output short-circuit protection, overvoltage/under voltage protection, I2t
Protective functions
drive, I2t motor

Operation temp. 0 to 50 °C, without power derating

Braking resistor Integrated in drive

Protection class IP20; coated circuit boards

Standards CE, cULus, C-Tick, EAC

Safety Basic and Extended Safety via PROFIsafe, Safe Torque Off (STO) also via terminal

Service Interface RJ45 Ethernet

Digital 2 DI for Measuring probes, 1 F-DI for STO (NPN/PNP), 1DI for Temp. monitor of external
Load profile inputs/outputs brake resistor

PROFINET, 2 ports (IO-Device, PROFIdrive, RT/IRT, min. cycle time 250 µs) , Ring-
Communication Redundancy, Shared Device, PROFIsafe PROFIenergy

SD card for extended Safety License (only SINAMICS SD Card), Parameter Cloning,
SD card slot
Firmware Update (SD Card </ 2GB)

1AC 230V: Category C2: with Integrated EMC filter up to 10m or with external EMC filter up
to 25m cable lenght; Category C3: with Integrated EMC filter up to 25m cable length, with
EMC Filter
external EMC filter up to 50m cable length 3AC 400V: Category C3: with Integrated EMC
filter up to 25m, with DC-Link 100m total cable length

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 SINAMICS S210 Servo Drive System
Safety Integrated functions acc. to EN 61800-5-2

Functions for safe shutdown

Safe torque off (STO) Safe Stop 1 (SS1) Safe Stop 2 (SS2) Safe Operating Stop (SOS)

Functions for safely monitoring motion

Safely-Limited Speed (SLS) Safe Speed Monitor (SSM) Safe Direction (SDI) Safely-Limited Acceleration (SLA)

G_IC01_XX_00099P

Functions for safe brake management and diagnosis

Safe Brake Control (SBC) Safe Brake Test (SBT)

Extended Safety Function (available starting SINAMICS Firmware Version V5.1 SP1):
standard-safety-function License required (via SINAMICS SD-Card)
Motor with safety encoder required (1FK2■■■-■■■■■-■S■■ or 1FK2■■■-■■■■■-■M■■)
course SP-DRM-ZWS page 6 - 10 SITRAIN © Siemens AG 2020
 SINAMICS S210 Servo Drive System 3AC
Line supply when DC-Link is used

û û û û
AC-Infeed
û
ü
Terminal included in
optional Terminal Kit

! !
6SL3260-2DC00-0AA0

DC
infeed
i.E.
BLM

û ûû û
S120

DC-Link
Optional Terminal Kit 6SL3260-
2DC00-0AA0 required

Group fusing Line fusing Infeed of DC via DC Busbar

When DC coupling is used, only When DC coupling is Using a common external DC supply, like a
group fusing is allowed! For used, single line fusing is LM of SINAMICS S120 System to power up
suggested fuses please refer to not allowed! the DC busbar of SINAMICS S210 is not
manual of SINAMICS S210. allowed!
Therefore also the 3AC supply of the If this is required, please use SINAMICS
drives (Terminal X1) must be S120 System instead!
connected via the infeed AC busbar
connectors (Terminal included in
optional Kit Order Number 6SL3260-
2DC00-0AA0)
course SP-DRM-ZWS page 6 - 11 SITRAIN © Siemens AG 2020
SIMOTICS S 1FK2 servo motors
Overview

Overview SIMOTICS S-1FK2

2 Different rotor inertia classes and motor sizes
High Dynamik (HD): Compact (CT):
for high acceleration and For medium load inertia.
3 dynamic. SH Stall torque nrated
1 SH Stall torque nrated SH30 0,64 – 1,27 Nm 3000 rpm
SH20 0,16 – 0,32 Nm 3000 rpm SH40 2,4 – 3,2 Nm 3000 rpm
SH30 0,64 – 1,27 Nm 3000 rpm SH48 3,5 – 6 Nm 3000 rpm
SH40 1,27 – 3,2 Nm 3000 rpm SH63 6 – 12 Nm 3000 rpm
SH52 5 – 8 Nm 3000 rpm SH80 16 – 27 Nm 2000 rpm
SH63 12 – 16 Nm 3000 rpm SH100 30 – 40 Nm 2000 rpm

2 Encoder options available:

• Resolution: 22 Bit absolute singleturn
1 2
• Resolution: 22 Bit absolute + 12Bit multiturn (=4096
4 revolutions)

3 With or without holding brake

5 4 Shaft: plain or feather key; different diameter available for SH 30

Optional sealing ring: Protection degree IP65 at shaft. (S-1FK2

5
standard: IP64)
6
Only one plug: Turnable, fast connection and small size:
SH20, 30: M12
6
SH40, 48, 52: M17
SH63, 80, 100: M23

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SIMOTICS S 1FK2 servo motors
Technical Data

Technical Data
Line supply 1AC 200-240V / 3AC 200 – 240V
voltage

Torque range M0: 0.16 – 40Nm; MMax: 0.56 – 120 Nm

Rotor Inertia 1FK21 - High dynamic( Low Inertia); 1FK22 – Compact (Medium Inertia)

Cooling Self cooling

Betriebsbereich – 15 to +40 °C without power derating

installation ≤ 1000 m above sea level without power derating

altitude

Motor design IM B5 (IM V1, IM V3)

Degree of IP64, optional IP65

protection
Thermal Thermal motor model
protection

Coating Anthrazit (RAL 7016)

Plain shaft, optional with feather key

Shaft end

AS22DQC absolut encoder Singleturn 22bit;

Encoder
AM22DQC absolut encoder 22 bit + 12 bit Multiturn (travel range 4096
systems
revolutions)

Connection One Cable Connection (OCC), connector turnable and fast connect

Brake optional holding brake (24V)

course SP-DRM-ZWS page 6 - 13 SITRAIN © Siemens AG 2020

SIMOTICS S 1FK2 servo motors
Planetary gear box and KS adapter for SIMOGEAR

SIMOGEAR KS-Adapter
Connection of servomotors via KS adapter
Backlash-free coupling without feather key
connection
4 different gear types of SIMOGEAR Family
(helical-, flat-, bevel- and helical-worm gear units)
Replacement of KQ/KQS and KF-adapter
Adapter KS03-KS05 made from aluminum

P_NC01_XX_00294P

Planetary Gearboxes to SIMOTICS S-1FK2

Currently S-1FK2 with planetary gear boxes can not be ordered via Siemens.
If required the customer can order gearboxes via suppliers like e.g. Neugart or
Wittenstein-Alpha.
SIMOTICS S-1FK2 Motors are integrated in the engineering tools of Neugart
(NCP) , Wittenstein-Alpha (cymex) and APEX (Design Tool).

course SP-DRM-ZWS page 6 - 14 SITRAIN © Siemens AG 2020

OCC (One Cable Connection)

Technical Data
OCC Cable OCC Cable OCC Cable
SH20-30 SH40-48/52 SH63-100
Connectors (Motor / M12 (SPEED- M17 (SPEED- M23 (SPEED-
Encoder) CONNECT) / CONNECT) / CONNECT) /
SIEMENS IX SIEMENS IX SIEMENS IX

No. of cores 10

Length Siemens offers a configurable cable length. The max. allowed cable
length 50 m.

Cable configuration Power: 4x0.38mm² Power: 4x0.75mm² Power: 4x2.5mm²

Brake: 2x0.38mm² Brake: 2x0.5mm² Brake: 2x1.5mm²
Encoder; Encoder; 4x0,2mm² Encoder; 4x0,2mm²
4x0.2mm²

Max. No. of bendings 100.000

MC500
Max. No. of bendings 10.000.000
MC800
Certification cURus, CE, RoHS?

Protection IP65 (Motor side), IP20 (Drive side)

Static bending radius 2,5 x cable radius

MC500
Dynamic bending radius 4 x cable radius
MC800

course SP-DRM-ZWS page 6 - 15 SITRAIN © Siemens AG 2020

 Peripheral / optional components

Line filter Connector Kit DC for DC coupling

• Protect the network from interference voltages with Siemens 1 Package 6SL3260-2DC00-0AA0 contains:
recommended line filter • 1 connector for DC coupling
• External line filter to fulfill EMC Directive EN 61800-3 category C2 up • 1 connector for 3-AC net supply
to 50m • 2 end caps for the terminals
Note: This filter currently has no UL certification

SINAMICS S210 Line filter 1

Rated power Rated
Line supply Article No.
(kW) current (A)
1 AC 200V…240V 0.1…0.75 18 6SL3203-0BB21-8VA0

SD Card PROFINET Patch cable

for the connection of side-by-side
• License Storage (e.g. Extended Safety License)
mounted converters
• Parameter transfer in case of drive replacement
• For series commissioning of several identical drives
• With or without Firmware

Description Artikelnummer
Industrial Ethernet TP Cord, CAT 6A,
SD Card, 512 MB, empty 6SL3054-4AG00-2AA0
SD Card, 512 MB, with FW 5.2 6SL3054-4FC00-2BA0 TP cable 4x2 cores with 2 RJ45 plugs
SD Card, 512 MB, with FW 5.2 incl. Extended Safety License 6SL3054-4FC00-2BA0-Z F01 0,3m 6XV1870-3QE30
Extended Safety Lizense (only „Certificate of License“ without 6SL3074-0AA10-0AA0
0,5m 6XV1870-3QE50
SD card for subsequent licensing of an existing SD card

course SP-DRM-ZWS page 6 - 16 SITRAIN © Siemens AG 2020

S210 inside TIA-Portal
Startdrive >= V15.1 SINAMICS FW >= V5.2

Commissioning using Startdrive from V15.1 and FW 5.2

• online and offline commissioning available

• trace incl. predefined configurations for most commonly used
signal recording
• automatic servo optimization by one button tuning
• safety parametrization supported by graphical templates

course SP-DRM-ZWS page 6 - 17 SITRAIN © Siemens AG 2020

SINAMICS S210 webserver
Commissioning after first switch-on

First switch-on, online and access key

Connect your PC and the SINAMICS S210 via the service interface (X127).
Power up the SINAMICS S210. Open your internet browser and get go
…… online to the drive (Standard-IP-Address: 169.254.11.22.).
……
The mask only appears if no administrator password has been assigned
and only for 10 minutes after connecting to X127. If the 10 minutes have
elapsed, disconnect the LAN cable briefly from the X127 interface and plug
it in again.

Please type in the Password (minimum 8 digits) and confirm the password
again.
Administrator
Important: Please keep record of this password!
…… If the password does not match, the “OK” button will not appear.

The mask will change to the login page. Log in as „Administrator“. Now You
have access to the commissioning webpages provided by the drive unit
webserver.
Forgot webserver password?
https://support.industry.siemens.com/cs/ww/en/view/109755657

course SP-DRM-ZWS page 6 - 18 SITRAIN © Siemens AG 2020

SINAMICS S210 webserver
Automatically identified components

PC / notebook-view mobile device view

(additional WLAN access point required)

course SP-DRM-ZWS page 6 - 19 SITRAIN © Siemens AG 2020

SINAMICS S210 webserver
„One Button Tuning” and control panel

“One Button Tuning” for automatic

optimization of the parameters,
verification and modification of
controller settings

control panel

course SP-DRM-ZWS page 6 - 20 SITRAIN © Siemens AG 2020

SINAMICS S210 webserver
Safety Integrated functions

selection of safety functions

safety configuration via wizard

course SP-DRM-ZWS page 6 - 21 SITRAIN © Siemens AG 2020

SINAMICS S210 webserver
Parameter list and saving

parameter list

saving parameters

save changed settings

(RAM to ROM)

course SP-DRM-ZWS page 6 - 22 SITRAIN © Siemens AG 2020

SINAMICS S210 starter kit

order number:
6SL3200-0AE61-0AA0

content:

400W Motor/Drive
Abs. Multiturn encoder
3m Cable
Incl. Ext. Safety Licence +
+ FW5.1 SP1 SD-Card

Max 3 pieces per

customer.

course SP-DRM-ZWS page 6 - 23 SITRAIN © Siemens AG 2020

 SINAMICS S210 application examples

Configuring Technology Controlling SINAMICS S210 Configuring technology objects

Objects with SIMATIC S7 1500 Safety Integrated Functions with SIMOTION SCOUT TIA and
and SINAMICS S210 in TIA- using SIMATIC S7-1500TF SINAMICS S210
Portal. via PROFIsafe In this application example, "SINAMICS
In this application example, two In addition to the standard drive S210" drives are used, and are linked using
“SINAMICS S210” will be used. The functions, using a SIMATIC F-PLC, a GSD file. The S210 drives are moved via
first one will act as position-controlled the (Extended) Safety Integrated the axis control panel of the SIMOTION
drive and will serve as master axis for Functions of a SINAMICS S210 can technology objects
the second drive configured with gear be controlled using PROFIsafe Link
synchronization Link
Link

course SP-DRM-ZWS page 6 - 24 SITRAIN © Siemens AG 2020

 SINAMICS S210 areas of application

Packaging, printing, Handling, moving…

General machine building
converting, plastics

• Packaging machines • Pick and place machines • Assembling machines

• Printing machines • Rotary tables • Chip sorting machine
• Labeling machines • Stacking machines • Bonding machine
• … • … • …

Where to place?
• Midrange performance machines, typical machines with 1 to 10 axes
• Customers that cannot use the SINAMICS V90 as it has some technical restrictions (e.g. regarding the
dynamic performance required, customers that wish to export to the Americas (UL)…)
• Applications where the higher functionality of S120 is not needed or the S120 solution was to expensive
and therefore Siemens could not be placed.
Competitors are:
• Beckhoff AX5000; Schneider Lexium 32; Mitsubishi MR-J4; Yaskawa SIGMA 7; Rockwell Kinetix 5500; B&R ACOPOS P3.

course SP-DRM-ZWS page 6 - 25 SITRAIN © Siemens AG 2020

 Differentiation between SINAMICS servo drives
Details V90, S210 and S120

SINAMICS V90 SINAMICS S210 SINAMICS S120

SIMOTICS S 1FL6 SIMOTICS S 1FK2
Number of axis Single axes Single axes Single & multi axes1)
One Cable Connection No (up to 3 cables required) yes No (up to 2 cables required)
Current Controller 250 µs 62,5 µs 125 / 62,5 / 31,25 µs
PROFINET RT, IRT, 2ms RT, IRT, up to 250µs RT, IRT, up to 250µs
PROFIsafe /energy No Yes Yes
Shared Device No Yes Yes
Ring-Redundancy No MRP, MRPD MRP, MRPD
Safety Integrated STO Basic: STO, SS1, SBC Basic, Extended and Advanced Safety
Extended: SS2, SOS, SLS, SSM, SDI, SBT, SLA Functions
Brake functions Brake Resistor integrated, ext. possible Brake Resistor integrated, ext. possible Ext. Brake Resistor, recovery Infeed
(SLM/ALM)
Engineering TIA Portal integrated via HSP, V- TIA Portal/Startdrive *) fully integrated webserver TIA Startdrive (S120 booksize & chassis),
Assistant via USB STARTER
Motion control EPos No, motion control only via SIMATIC/SIMOTION Epos, DCC applications, SINAMICS link
DC-coupling No 3AC-400V Drives Yes
Type of available S-1FL6: Low-Inertia (LI))/ High-Inertia S-1FK2: High dynamic (HD); Compact (CT) 1FK,1FT, 1FG1, 1PH, 1FN, 1LE, 1MJ, 1FP…
motors (HI) non Siemens motors
Encoder Incremental encoder TTL 2500 ppr; Absolut encoder singleturn 22 bit; e.g. 1FK7:
type/resolution Absolut encoder singleturn 21-bit Absolut encoder: 22bit + 12bit multiturn Incremental/absolut encoder single turn (up to
24bit)
Absolut encoder up to 24bit +12bit multiturn
Resolver up to 15 bit
Certifications (System) CE; EAC ??? CE, cULus, C-Tick, EAC, KC (1AC-230V only) Please refer to catalog……

*) 3AC starting version V15.1 1)CU310-2 with PM240-2 for single axes, CU320-2 up to 6 axes in servo or vector control, additional CU320-2 extend the number of axes on the common DC link

course SP-DRM-ZWS page 6 - 26 SITRAIN © Siemens AG 2020

End

Quiz

course SP-DRM-ZWS page 6 - 27 SITRAIN © Siemens AG 2020

 chapter 7

Controller optimization
with Starter
SITRAIN © Siemens AG 2020 course SP-DRM-ZWS

Frei verwendbar
Why and when optimize electrical drives?

bring a system to its best state in the sense of an achievable compromise under certain aspects /
Optimization conditions /properties to suffice a defined purpose.
Approximation to a theoretical ideal, the thinkable best.

Fulfills every (production)target under any eventuating conditions with least operating expense:
Ideal drive
postulated speed, torque, power, exactness, synchronism, dynamics, costs, longevity, reliability.

assisted by mechatronical data (dynamics values, inertia relationships, simulations…

before commissioning drive projectizing, i.e. using SIZER load cycle calculations of mechanical systems

virtual twins, Teamcenter, cloud-computing

existing optimization sequences/turnarounds in commissioning tools (autotuning…)

Timing while commissioning manual procedures

activate drive based autonomous optimization sequences („One-Button-Tuning“, kT-appraiser)

because of occurred problems

after commissioning under changed conditions

in the course of retrofit and increased machine output

Non optimized drives are limiting reachable process results and provide less reliability. „Optimum“
In general running axes are all times superiorly to the application and normally have longer service life. An
optimized axis does not need overdimensioning.

course SP-DRM-ZWS page 7 - 2 SITRAIN © Siemens AG 2020

Controller optimization
Overview

position speed current power machine

controller controller controller module motor encoder table
Xset nset Iset
M E
-Xist - nact - Iist, q

actual value
calculation
motor current
position
model
evaluation

actual speed
indirect measuring

position
direct measuring

• adjustment of the controllers to the loops

• adaption according the application requirements
• optimum control response
course SP-DRM-ZWS page 7 - 3 SITRAIN © Siemens AG 2020
Demands
Overview

dynamics controlled variable has to reach the setpoint as fast as possible (or get near to it)

all oscillations (i. e. caused by disturbance variables) will fade away and control
stability
variables become stabil (asymptotic stability)

static deviance (failure signal after disturbances are faded away) should become zero
accuracy
or has to stay at least inside postulated limits

the control circuit should keep on stabil working even under (moderate) modified
robustness
system conditions

course SP-DRM-ZWS page 7 - 4 SITRAIN © Siemens AG 2020

Linear time invariant systems
methods to describe

Methods to describe an LTI system’s

dynamic response characteristics

Time domain Frequency domain

Description via Description via

time response frequency response

differential equation step response transfer function Bode-diagram Nyquist-diagram

(formula) (graphical) (formula) (graphical) (graphical)

We will investigate linear time-invariant (LTI) systems only. All Electrical R-L-C and mechanical mass-
spring-damper systems are LTI systems
Linear
Linear differential equations describe their behaviour. Output signal is proportional to input signal. Superpositioning of signals is given.
Time invariant
Coefficients of differential equations are constant. Step response to a given input signal is always the same, independent of time.

course SP-DRM-ZWS page 7 - 5 SITRAIN © Siemens AG 2020

Control System Analysis
Frequency domain

A frequency response is an LTI system’s output spectrum as a reaction

to an input spectrum. Like the impulse response in the time domain,
the output spectrum describes the dynamic behavior of the system completely.
Damping factors or
phase delay angles
for all frequencies
as well as
multiple critical frequencies
can be identified easily.
Energy is proportional to
mass and frequency.

course SP-DRM-ZWS page 7 - 6 SITRAIN © Siemens AG 2020

Controller optimization
Optimization in time domain – Step response

Top: Significantly faster,

dynamic but with oscillation

Output (actual value)

By changing the control parameters, Vibration

it is possible to set the control response.

Input (setpoint)
PI
controller
Actual t
Setpoint
Controlled value
system Output (actual value)
-
Manipulated Slower
t variable rise/gradient

Bottom: No oscillation
but more sluggish
course SP-DRM-ZWS page 7 - 7 SITRAIN © Siemens AG 2020
Current controller
Current controller and controlled system

Controller Controlled system

I set
Current controller First-order lag First-order lag,
PI controller Converter armature circuit
500us … 2 ms T: 10 … 30 ms

I act

course SP-DRM-ZWS page 7 - 8 SITRAIN © Siemens AG 2020

Current controller
Requirements for the current controller

• Implement the required current/torque setpoint as quickly as possible

• No relevant disturbance variables
à Optimization acc. to control response

à Short rise time

à No overshoot (similar to PT1 response)

Step response
PT1

Trise t
Trecovery

Optimization as per absolute value optimum (BO)

course SP-DRM-ZWS page 7 - 9 SITRAIN © Siemens AG 2020

Absolute value optimum (BO)
Torque

Approach
• Mostly the torque controller can be optimized by an automatic sequence as „Mot-ID at standstill“ or „current controller
self optimization“.
• typical optimization to good leading behavior – without significant overoscillation.
precondition: overlaying speed control loop and constant DC-link voltage
• the reaction of the closed control loop should be PT1 type to keep the next higher control loop (speed controller)
sufficient simple

1.0 Te
Typical resulting death time constants Te
• DC drive (6-pulse): 20 ms to 40 ms
• AC 3 phase motor (vector controlled): 20 ms
• AC servo motor (vector controlled): 5 ms
• synchronous servo motor: ≤ 1 ms

Document step response analysis!

course SP-DRM-ZWS page 7 - 10 SITRAIN © Siemens AG 2020

Current controller
Measurement of step response

P gain: 23.088 V/A Reset time: 2 ms P gain: 45 V/A Reset time: 0.3 ms

course SP-DRM-ZWS page 7 - 11 SITRAIN © Siemens AG 2020

Speed controller
Speed controller and controlled system

Controller Controlled system

n set Speed controller Current control loop Mechanical

PI controller 1st order delay system
element 1st order delay
element
n act

course SP-DRM-ZWS page 7 - 12 SITRAIN © Siemens AG 2020

Speed controller
Requirements

• Reach the required speed fast

• Compensate for disturbances
• Purely variable-speed drives, e.g. pumps and fans
• Continuous changes in load, pressure, load surges

à Optimum tolerance

x
Overshoot

Tolerance band

Trise t
Trecovery

Optimization: Symmetrical optimum (SO)

course SP-DRM-ZWS page 7 - 13 SITRAIN © Siemens AG 2020

Speed controller
Controller optimization – Step response

P gain: 0.012 V/A Reset time: 10 ms P gain: 0.1 V/A´Reset time: 2.5 ms

course SP-DRM-ZWS page 7 - 14 SITRAIN © Siemens AG 2020

Speed controller
Automatic controller setting

course SP-DRM-ZWS page 7 - 15 SITRAIN © Siemens AG 2020

 Symmetrical optimum
speed control in time response

1. increase proportional gain (to 5 % overshoot)

2. decrease integral time (to 43 % overshoot).

1,6 Nms/rad
P 1,4 Nms/rad
1,0 Nms/rad

0,5 Nms/rad
PI 0,5 ms
0,7 ms
0,1 Nms/rad

1 ms
2 ms
4 ms
8 ms

course SP-DRM-ZWS page 7 - 16 SITRAIN © Siemens AG 2020

Technology controller
Overview

Setpoint Technology Speed Integration

generation controller control loop time

• Position
• Pressure
• Tension
• Fill level
• Flow rate

course SP-DRM-ZWS page 7 - 17 SITRAIN © Siemens AG 2020

Technology controller
Position controller as an example

Pos set Position controller Speed Integration

P controller control loop time

Pos act

course SP-DRM-ZWS page 7 - 18 SITRAIN © Siemens AG 2020

Position controller
Controller optimization – Step response

SERVO_02.r2556: LR position setpoint after setpoint smoothing

SERVO_02.r2521[0]: LR actual position value, position control

controller output

actual position
Position controller: Linear optimum:
Optimization without overshoots!

course SP-DRM-ZWS page 7 - 19 SITRAIN © Siemens AG 2020

Pre control

The pre-control reduces the dependency on the reaction time of the controller by keeping the controller output always at (or
close to) zero.
Typical feedforward controls in speed control are:
Frictional torque = function (speed)
to cover the (often non-linear) losses of the drive at different speed points and to be able to adapt the acceleration pre-
control.
Acceleration torque = Function (acceleration, moment of inertia)
to avoid speed errors when building up the acceleration torque to avoid reaction times.
Tensile torque = Function (web tension, diameter), [tape, foil, paper, cable, etc.]
to maintain or absorb the web tension.
Bending torque = Function (geometry, angle, modulus of elasticity) [metals]
when bending a material around rollers.
And in the position control loop:
Speed precontrol = Function (change of position) [position or drive control]

ffwd

course SP-DRM-ZWS page 7 - 20 SITRAIN © Siemens AG 2020

Pre control
Torque precontrol

torque
precontrol

position speed current power

controller controller controller module motor encoder
Xset nset Iset, q
M E
-Xact - nact - Iist, q

actual value
acquisition

motor- current
model

speed

position act. position

evaluation

course SP-DRM-ZWS page 7 - 21 SITRAIN © Siemens AG 2020

Pre control
Speed precontrol

speed
precontrol

position speed current power

controller controller controller module motor encoder
Xset nset Iset, q
M E
-Xact - nact - Iist, q

actual value
acquisition

motor- current
model

speed

position act. position

evaluation

course SP-DRM-ZWS page 7 - 22 SITRAIN © Siemens AG 2020

 TOC

Stability
Nyquist Criterion, Practical

Simplified Nyquist criterion (adapted for practical applications)

@ unity gain
frequency

amplitude margin > 6dB

@ phase flip frequency

phase margin > 30º

course SP-DRM-ZWS SITRAIN page 7 - 23 SITRAIN © Siemens AG 2020

Bode diagram and step response

example PT2
(overshoot s, dampening D, exaggeration F)
100 +40 dB
+28 dB
10 +14 dB +20 dB
+8 dB F
+1,2 dB
1 0 dB

0.1 -20 dB

0.01
1 10 100 1 1 10 100
-401 dB
1 10 100 1
0.1 1 10 100
w w w -p w
æ -p × D ö æ 1 ö 1 ln(s ( D)) » ω [rad/s]
ç
ç 2
÷
÷ F ( D) = 20dB × log çç ÷
÷ D( F ) » æ F
ö
2

s ( D) = e è 1- D F
ø ç 2 ×10 20 ÷ - 1
è 2 × D × 1- D
2
ø 2 ×10 20 dB ç ÷
è ø
2 2 2 2

D=0,5 D=0,2 D=0,1 D=0,02

1.5 1.5 1.5 1.5
s
1 1 1 1

0.5 0.5 0.5 0.5

0 0 0 0
0 2 4 6 0 8 2 10 4 6 0 8 2 10 4 6 0 8 2 10 4 6
- 0.4 t - 0.4 10 t - 0.4 10 t - 0.4 10 t
t [s]

course SP-DRM-ZWS page 7 - 24 SITRAIN © Siemens AG 2020

Filter
Available filter in SINAMICS S120

course SP-DRM-ZWS page 7 - 25 SITRAIN © Siemens AG 2020

Filter
Example band withdraw

Bode Diagram Bode Diagram

20 20
Magnitude (dB)

Magnitude (dB)
0 0

-20 SUPPR_FREQ = 300 Hz -20 SUPPR_FREQ = 300 Hz

BANDWITH = 100 Hz BANDWITH = 200 Hz
-40 NOTCH_DEPTH = -60 dB -40 NOTCH_DEPTH = -60 dB

-60 -60
180 180
Phase (deg)

Phase (deg)
90 90

0 0

-90 -90

-180 1 2
-180 1 2
10 10 Frequency (Hz) 10 10 Frequency (Hz)
Bode Diagram Bode Diagram
20 20
Magnitude (dB)

Magnitude (dB)
0 0

-20 SUPPR_FREQ = 300 Hz -20 SUPPR_FREQ = 300 Hz

BANDWITH = 350 Hz BANDWITH = 500 Hz
-40 NOTCH_DEPTH = -60 dB -40 NOTCH_DEPTH = -60 dB

-60 -60
180 180
Phase (deg)

Phase (deg)
90 90

0 0

-90 -90

-180 1 2
-180 1 2
10 10 Frequency (Hz) 10 10 Frequency (Hz)

course SP-DRM-ZWS page 7 - 26 SITRAIN © Siemens AG 2020

Filter
Example notch depth

Bode Diagram Bode Diagram

20 20
Magnitude (dB)

Magnitude (dB)
0 0

-20 SUPPR_FREQ = 300 Hz -20 SUPPR_FREQ = 300 Hz

BANDWTH = 100 Hz BANDWITH = 200 Hz
-40 NOTCH_DEPTH = -15 dB -40 NOTCH_DEPTH = -20 dB

-60 -60
180 180
Phase (deg)

Phase (deg)
90 90

0 0

-90 -90

-180 1 2
-180 1 2
10 10 Frequency (Hz) 10 10 Frequency (Hz)
Bode Diagram Bode Diagram
20 20
Magnitude (dB)

Magnitude (dB)
0 0

-20 SUPPR_FREQ = 300 Hz -20 SUPPR_FREQ = 300 Hz

BANDWITH = 350 Hz BANDWITH = 500 Hz
-40 NOTCH_DEPTH = -25 dB -40 NOTCH_DEPTH = -30 dB

-60 -60
180 180
Phase (deg)

Phase (deg)
90 90

0 0

-90 -90

-180 1 2
-180 1 2
10 10 Frequency (Hz) 10 10 Frequency (Hz)

course SP-DRM-ZWS page 7 - 27 SITRAIN © Siemens AG 2020

Filter
Setting filter parameters

Notch Frequency:
- set according to open loop, do not 115.00
change in closed loop (amplitude peak
100.00
may change with controller gain!) notch frequency -20.00

0.00

ideal:
50% notch depth
Bandwidth:
- start with 100% notch freq,
- reduce only if necessary,
ideal: - but not less than
bandwidth
half of notch frequency!
50%
Notch depth: -20dB
(deeper notch: more phase
shift, phase shift affects
stability!)

course SP-DRM-ZWS SITRAIN page 7 - 28 SITRAIN © Siemens AG 2020

Bode diagram
with SINAMICS S120 – current control loop

Starter contains prepared measuring functions for optimization using frequency analysis

course SP-DRM-ZWS page 7 - 29 SITRAIN © Siemens AG 2020

 Symmetrisches Optimum
Drehzahl - Normalbetrieb

Frequenzgang des geschlossenen Regelkreises im Normalbetrieb:

Die Optimierung sollte über die SPS (d. h. mit allen Verriegelungen) erfolgen, während der Antrieb im Normalbetrieb läuft,
und nicht lokal über die Steuertafel.

Überlagern eines Weißen Rauschens

zur Frequenzganganalyse mittels
Funktionsgenerator als
Zusatzmomentensollwert
→ Zusätzlicher Drehmomentsollwert

course SP-DRM-ZWS page 7 - 30 SITRAIN © Siemens AG 2020

Symmetrical optimum
speed control in frequency domain

1. increase proportional gain (to 0,5 dB overshoot)

2. reduce integral time (to 3 dB gain, max. 6 dB).

+10 dB

P
1,6 Nms/rad
1,4 Nms/rad
+20 dB 0,7 ms 0,5 ms
0,1 Nms/rad 0,5 Nms/rad 1,0 Nms/rad PI 1 ms

-10 dB 2 ms
4 ms
8 ms
-20 dB

course SP-DRM-ZWS page 7 - 31 SITRAIN © Siemens AG 2020

 Symmetrical optimum
speed control – normal operation

Frequency response analysis of closed loop control while normal operation:

Optimization while control via PLC (means with all circumstances), not via control panel.

→ Zusätzlicher Drehmomentsollwert

course SP-DRM-ZWS page 7 - 32 SITRAIN © Siemens AG 2020

Setpoint filters
Overview

PI (SO) without filter → overshoot

kr
PI (SO) with setpoint filter (4Tσ) → slowly
PI (SO) with setpoint filter only in integral part Tr

Tr kr

Tr

Sollwert-
stoß

Last-
stoß kr

Tr
Tr kr

course SP-DRM-ZWS page 7 - 33 SITRAIN © Siemens AG 2020

Setpoint filters
Optimized

PI (SO) without filter → overshoot

kr
PI (SO) with setpoint filter (4Tσ) → slowly
PI (SO) with setpoint filter only in integral part Tr

Tr kr

Tr

Sollwert-
stoß

Last-
stoß kr

Tr
½Tr kr

course SP-DRM-ZWS page 7 - 34 SITRAIN © Siemens AG 2020

 Reference model
SINAMICS S120

SINAMICS S120: drive object > closed loop control > speed controller

x p115.2

RefMod = reaction
of p-controlled loop
63% 0.80ms 1/(2·π·0.80ms · 0.47)
≈420Hz

0.25ms

response of p controlled loop

as PT2 in time domain:

course SP-DRM-ZWS page 7 - 35 SITRAIN © Siemens AG 2020

End

Quiz

course SP-DRM-ZWS page 7 - 36 SITRAIN © Siemens AG 2020

 chapter 8

SINAMICS
drive based Safety Functions
SITRAIN © Siemens AG 2020 course SP-DRM-ZWS

Frei verwendbar
Learning objectives

• You are familiar with the drive based safety functions available in SINAMICS drives
• You know the license concept regarding the safety functionality in SINAMICS drives
• You can assign the correct safety function according Your applications requirements

course SP-DRM-ZWS page 8 - 2 SITRAIN © Siemens AG 2020

The European Machinery Directive
Risk assessment

The European Machinery Directive stipulates

The manufacturer or his authorized representative should also ensure that a risk assessment is
carried out for the machinery which he wishes to place on the market.
The manufacturer or his authorized representative within the Community should produce technical
documentation prior to issue of the EC Declaration of Conformity.

Machine
Risk
Danger assessment

Measures The process is

for risk legally stipulated
reduction by legislation and
defined in standards
"Safe" machine
Acceptable
Danger
risk

course SP-DRM-ZWS page 8 - 3 SITRAIN © Siemens AG 2020

The European Machinery Directive
Risk assessment

Process Implementation Standards

n Determining the amount, During the process, all

Risk probability and avoidability countries observe the
evaluation of damage same basic principles,
n Division into classes but the exact regulations
governing the implemen-
tation are defined in
country or region-specific
n Modified machine
standards.
or process design
Measures The applicable directives
for risk n Other measures for and standards where the
reduction reducing hazards machine is to be used are
the decisive factor for the
n The use of safety
system or machine.
technology
The responsibility
for ensuring compliance
Verified by: to the standards lies
Acceptable n certificates and with the plant builder or
risk n acceptance test machine manufacturer. !
documentation

course SP-DRM-ZWS page 8 - 4 SITRAIN © Siemens AG 2020

Overview of dbSI functions
Definition according to standard IEC 61800-5-2

Functions for stopping a drive:

•Safe Torque Off (STO): Safe torque off (Stop Cat. 0)
•Safe Stop 1 (SS1): Active braking, then torque off (Stop Cat. 1)
•Safe Stop 2 (SS2): Active braking, then torque maintained (Stop Cat. 2)
•Safe Brake Control (SBC): Safe brake control

Functions for motion monitoring:

•Safe Operating Stop (SOS): Safe holding of position
•Safely-Limited Speed (SLS): Safely limited speed, limits changeable
•Safe Speed Monitor (SSM): Signal "1" if act. speed value is below a defined limit
•Safe Direction (SDI): Safe direction of rotation (defined is the allowed direction)
•Safely Limited Position (SLP): Safely limited position range(s)
•Safe Position (SP): Safe transmission of actual position to superior controller via
field bus; additionally signal for synchronous position of axes
•Safe Brake Test (SBT): Safe brake torque evaluation with user confirmation
•Safe Brake (SB): Safe brake because of combination of SBC and SBT
•Safe Acceleration Monitor (SAM): Safe surveillance on (re-) acceleration
•Safe Brake Ramp (SBR): Safe surveillance on ramping down while stopping
course SP-DRM-ZWS page 8 - 5 SITRAIN © Siemens AG 2020
Overview of dbSI functions
Definition according to standard IEC 61800-5-2

Functions for motion monitoring (continuation):

•Safely Limited Acceleration (SLA): Safely limited acceleration (gradient of speed change)
•Safe Switchgear Stage Switchover (SSS): Safe gearbox stage switchover
•Safety Info Channel: Transmission of safety state to superior controller
•Safe Cam (SCA): Safe signal when inside a position cam

Further functions

•Safe Acceleration Range (SAR): Safe band with of allowed acceleration

•Safe Speed Range (SSR): Safe band with of allowed speed range
•Safely Limited Torque (SLT): Safely limited torque values
•Safe Torque Range (STR): Safe band with of allowed torque range
•Safely Limited Increment (SLI): Safely limited step dimension
•Safe Motor Temperature (SMT): Safely limited motor temperature
•Safe Cam Track (SCT): Safe signal when cam track is detected

course SP-DRM-ZWS page 8 - 6 SITRAIN © Siemens AG 2020

 Overview safety functions SINAMICS
As from 09/2020

Safety
Drive unit Basic Safety Extended Safety
Advanced

G110D/M STO

G120/D/C/
STO
P/X
G120 F
STO SS1 SBC SAM SBR SLS SSM SDI SIC
/CU250S-2

G130/150 STO SS1 SBC SAM SBR SLS SSM SOS SS2 SDI SBT SSS SLA SIC

S110 STO SS1 SBC SAM SBR SLS SSM SOS SS2 SDI SIC

S150 STO SS1 SBC SAM SBR SLS SSM SOS SS2 SDI SBT SSS SLA SIC SLP SP SCA

S120 STO SS1 SBC SAM SBR SLS SSM SOS SS2 SDI SBT SSS SLA SIC SLP SP SCA

S210 STO SS1 SBC SAM SBR SLS SSM SOS SS2 SDI SBT SLA SIC

V90 STO

course SP-DRM-ZWS page 8 - 7 SITRAIN © Siemens AG 2020

Availability of safety functions inside SINAMICS

https://intranet.automation.siemens.com/firmware-
tool/portal/SINAMICS?lang=en&stc=nls_141_2015050_en

https://www.industry.siemens.com/drives/global/en/converter/low-
voltage-drives/firmware-functions/Pages/firmware.aspx

course SP-DRM-ZWS page 8 - 8 SITRAIN © Siemens AG 2020

Safe stop functions in case of an error

Stop F: indicates that a fault has occurred (e.g. velocity limit exceeded)
Stop A-E: always follows Stop F; reactions to faults while a safety function is active

Stop function
Stop Fct. Effect Priority
EN 60204-1

Stop A STO Coast down Category 0 ……

Stop B SS1 Brake OFF3 à Stop A Category 1 …..
Stop C SS2 Brake OFF3 à SOS Category 2 ….
Stop D SOS Hold position up to max. torque Category 2 …
Stop E ESR Extended stop and retract Category 2 ..
Indicates fault, leads to
Stop F - STOP A, B, C, D or E .

course SP-DRM-ZWS page 8 - 9 SITRAIN © Siemens AG 2020

Safety functions integrated in SINAMICS drives

Basic functions and extended functions

Basic functions Extended functions

The basic functions prevent hazardous motion The extended functions include a number of
by means of one or several of the following basic functions plus additional functions for
measures: safely monitoring the motor speed:
• The power supply to the motor is safely • Basic functions STO and SBC
switched off • Safe Stop 1 (SS1) with speed monitoring
• The motor holding brake solenoid is safely de- • Safely-Limited Speed (SLS)
energized
• Safe Direction (SDI)
The following basic functions are available:
• Safe Speed Monitor (SSM)
• Safe Torque Off (STO)
• Safe Operating Stop (SOS)
• Safe Brake Control (SBC)
• Safe Stop 2 (SS2) (fast stop and hold at
• Safe Stop 1 (SS1) standstill)
(without speed monitoring) • Safe Brake Test (SBT)
• Safe Switchgear stage Switchover (SSS)
STO certified up to SIL 3, depending on the • Safely Limited Acceleration (SLA)
hardware (G/S120 with PM240-2 via power
module terminals, G120X) • Safety Info Channel (SIC)

course SP-DRM-ZWS page 8 - 10 SITRAIN © Siemens AG 2020

Safety functions integrated in SINAMICS drives

Advanced safety functions (firmware >= 5.1)

Advanced safety functions

• strictly with position monitoring
• without encoder SP is admissible with
asynchronous motors and SIMOTICS A
(1FU8… SIEMOSYN)
• Safety Advanced requires an own License, in
this Basic and Extended Functions are
included

• Safely Limited Position (SLP)

• Safe Position (SP)
• Safe Cam (SCA)

course SP-DRM-ZWS page 8 - 11 SITRAIN © Siemens AG 2020

Safety – Basic functionality

STO SS1 SBC

Safe Torque Off Safe Stop 1 Safe Brake Control

• Drive is safely brought into • The drive is quickly and safely • Safe control of holding
a no-torque condition and stopped and monitored – this brakes that are closed in the
coasts down. is especially true for large no-current state, always in
• Protection against inadvertent moments of inertia. combination with STO or SS1
restart/startup of the drive. • The drive ramps down to zero • This prevents hanging /
• No electrical isolation, voltage speed along the OFF3 pulling loads from sagging
can be present at the terminal braking ramp, and is then • Only the control is safe; the
board, for example, in the safely brought into a no-torque braking torque is not
event of IBGT breakdown. condition (SS1 à STO) monitored!
• Highest safety priority! • SINAMICS: monitoring also
possible in encoderless
operation!

course SP-DRM-ZWS page 8 - 12 SITRAIN © Siemens AG 2020

Safety functions S120
Basic functions

Basic functions
• STO: Safe Torque Off
• SS1: Safe Stop 1
• SBC: Safe Brake Control

• in every SINAMICS G/S drive unit at least

STO is available
• All basic functions do not require a license
• All basic functions can be controlled by
hardware onboard terminals
• Control via Profisafe communication at
converters with fieldbus communication at all
possible, as well as in combination with
hardware terminals
• basic functions do not require an encoder
• no monitoring of stop reaction, braking torque
or ramping
• SS1 is pure time controlled

course SP-DRM-ZWS page 8 - 13 SITRAIN © Siemens AG 2020

Safety functions S120
Extended functions (1)

Extended functions

STO SS1 SBC SAM SBR SLS SS2 SOS SSM SDI SBT SSS SLA SIC

= sensorless possible under certain conditions, i.e. use of asynchronous machines and passive load

= safety suitable encoder required (i.e. sin/cos signal + pure analog signal processing; two times HTL/TTL)

Extended safety functions are depending on the

firmware version (shown: FW >=5.1)
Usage requires adequate runtime licensing; trial
licenses are usefull for limited testing (3x300 h).
Control possible via hardware terminals and / or
PROFIsafe standard telegrams, as well as in
combination.
SINAMICS converters offer even sensorless operation
for motion monitoring functions as SLS and SDI!

course SP-DRM-ZWS page 8 - 14 SITRAIN © Siemens AG 2020

Safety functions S120
Extended functions (2)

Extended functions (control via TM54F , PROFIsafe or unconditionally)

• STO: Safe Torque Off

• SS1: Safe Stop 1 (-a; -r; -e)*
• SBC: Safe Brake Control
• SAM: Safe Acceleration Monitor
• SBR: Safe Brake Ramp
• SLS: Safe limited speed **
• SS2: Safe Stop 2
• SOS: Safe Operating Stop
• SSM: Safe Speed Monitor
• SDI: Safe Direction**
• SBT: Safe Brake Test
• Safe Switchgear stage Switchover
• SLA: Safely Limited Acceleration
• SIC: Safety Info Channel
* -a = with SAM, -r = with SBR, -e = with external ramp (without OFF3 ramp) ** possible without selection

For controlling the safety functions with PLC S7-12xxF or S7-15xxF ready to use libraries and
application examples for TIA-Portal can be downloaded for free from SIOS support („LDrvSafe“).

course SP-DRM-ZWS page 8 - 15 SITRAIN © Siemens AG 2020

Safety functions S120
Advanced safety functions

Advanced safety functions – position monitoring

SLP SP SCA

with without
encoder encoder
Safely limited position SLP Yes No
* asynchronous
machine or synchronous SIMOTICS A-1FU
Safe position SP Yes Yes*
(SIEMOSYN) required

Safe cam SCA Yes No

• SLP: Safely limited Position Coming with FW 5.1 Advanced safety functions have been defined.
• SP: Safe Position SLP and SP are available as from FW 4.5. SCA came with FW 5.1; as
• SCA: Safe Cam well as the synchronous position transmission.
Control is realized with PROFIsafe, alternative TM54F (only for SLP).
Safety Advanced functions are including Extended Safety and
Basic Safety.

SINAMICS
Safety Advanced functions require License Advanced Safety for memory card (A01) 6SL3074-0AA20-0AA0
SIMOTION
1 runtime license per axis on CF card: License Advanced Safety for memory card (L01) 6AU1820-2AG20-0AB0

course SP-DRM-ZWS page 8 - 16 SITRAIN © Siemens AG 2020

Restrictions to use of extended
dbSI functions in encoderless operation

Not permitted:
Motors with different pole pair numbers with >1 DDS
Operation with pulling loads
DC or compound braking
Flying restart
0 → nset → -nset → 0 in < 2 s
Continuous duty at nact < 5% nrated
Mot. ID
Continuous duty at Imot = Imax

Safety Integrated - SINAMICS G110M, G120, G120C, G120D and SIMATIC ET 200pro FC-2 Function Manual, 01/2017, FW V4.7 SP6, A5E34261271A AD

course SP-DRM-ZWS page 8 - 17 SITRAIN © Siemens AG 2020

Safety Extended Functions
SS1 with SBR / SAM

SS1 with SBR (Safe Brake Ramp) SS1 with SAM (Safe Acceleration Monitor)

course SP-DRM-ZWS page 8 - 18 SITRAIN © Siemens AG 2020

Safety Extended Functions
Safe Acceleration Monitor (SAM)

As long as the speed decreases,

the inverter continuously adds
the tolerance to the
current speed so that the
monitoring tracks the speed.

Safety Integrated - SINAMICS G110M, G120,

G120C, G120D and SIMATIC ET 200pro FC-2
Function Manual, 01/2017, FW V4.7 SP6,
A5E34261271A AD page 183

course SP-DRM-ZWS page 8 - 19 SITRAIN © Siemens AG 2020

Safety Extended Functions
Safely-Limited Speed (SLS)

Safe monitoring of a speed limit

Monitoring of configurable
speed limits (4 possible values)
Limit value is monitored in both directions of rotation

SLS Fault response:

selected Activation Stop A/B/C/D
n speed (can be parameterized)
monitoring

Speed limit
nmax_x
(switching possible between four
values, even while SLS is
activated)

t
t4

course SP-DRM-ZWS page 8 - 20 SITRAIN © Siemens AG 2020

Safety Extended Functions
Safe Speed Monitor (SSM)

Feedback: Speed in the safe range

SSM provides a safe output signal if the drive speed falls below the defined limit value
No independent response by the drive if the limit value is violated (only a message)
Limit value monitored in both directions of rotation

course SP-DRM-ZWS page 8 - 21 SITRAIN © Siemens AG 2020

Safety Extended Functions
Safe Direction (SDI)

The SDI function ensures that the motor can only rotate in the selected direction.
SDI pos = active à motor is allowed to run clockwise

course SP-DRM-ZWS page 8 - 22 SITRAIN © Siemens AG 2020

Safety Extended Functions
Safely Limited Position (SLP)

SLP monitors up to 2 safe position ranges that are mutually independent

Traversing limit violates è the configured stop response (for example, SS1)
SLP can only be activated after safe homing has been performed.
SLP can be used only in conjunction with TM54F or PROFIsafe.
This function is only available with a safety-related encoder.

course SP-DRM-ZWS page 8 - 23 SITRAIN © Siemens AG 2020

Safety Extended Functions
Safely Limited Acceleration SLA

Safely limited acceleration

§ Profisafe only
• PROFIsafe status/-control word S_ZSW2.8 resp. S_STW2.8
§ encoder mandatory, only 1-encoder-systems
§ Firmware 5.1 or higher
§ in STARTER actually no graphical mask
§ in TIA V15xx with Startdrive V15xx mask for parametrization
G_D211_XX_00363P
§ selectable stop A….E when exeeding acceleration tolerance
§ Safety extended runtime license on CF card inside CU required

course SP-DRM-ZWS page 8 - 24 SITRAIN © Siemens AG 2020

Safety Extended Functions
Safely Limited Acceleration SLA

Safety Integrated function manual, 12/2018, 6SL3097-5AR00-0BP1, page 136

course SP-DRM-ZWS page 8 - 25 SITRAIN © Siemens AG 2020
Safety Extended Functions
Safe Cam SCA

Safe Cam
§ encoder mandatory
§ Firmware 5.1 or higher
§ up to 30 cams per axis
§ safe signal, if axis is inside cam position
• 1 tolerance value valid for all cams
• axis has to be safely referenced
• cams as pair of parameters
• PROFIsafe telegram 903 with S_STW2 and
G_D211_XX_00360P
• S_ZSW_CAM1
• selected by PROFIsafe control bit S_STW2.23
§ Safety Advanced (runtime-License on CF card
inside CU required)

Safety Integrated function manual, 12/2018, 6SL3097-5AR00-0BP1, page 195

course SP-DRM-ZWS page 8 - 26 SITRAIN © Siemens AG 2020
Safety Extended Functions
PROFIsafe telegram 30

S_STW1
Byte 1 Byte 0
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
SLS-Limit
SDI_N SDI_P ACK SLP SLS SOS SS2 SS1 STO
Selection
S_ZSW1
Byte 1 Byte 0
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
Power
SSM SDI_N SDI_P SOS active SLS- Int. SLP SLS SOS SS2 SS1
remo-
active active active select. Limit event active active active active active
ved

• In S_STW a function is triggered by setting its bit to logical "0"

• In S_ZSW an active function is indicated by logical "1"
• 2 bytes of net data (output and input data):
S_STW1 (Safety control word 1), S_ZSW1 (Safety status word 1)
• 4 bytes of header data (PROFIsafe trailer)

Extended functions
Basic and Extended Functions

course SP-DRM-ZWS page 8 - 27 SITRAIN © Siemens AG 2020

Extended safety functions with Startdrive

Extended safety functions can

be parameterized offline or
online in the function view. The
checksum and data backup
functions must always be
parameterized in online mode
(select and exit from safety
commissioning mode).

course SP-DRM-ZWS page 8 - 28 SITRAIN © Siemens AG 2020

Extended safety functions with Startdrive
Actual-value acquisition

The actual-value tolerance is

used to conduct a crosswise
comparison of the actual
position between processors 1
and 2.
Only 1 gear stage is available
for G120 drives (no switchover
between gear stages).
NOTICE: The counter includes
the number of pole pairs in the
calculation!

course SP-DRM-ZWS page 8 - 29 SITRAIN © Siemens AG 2020

Extended safety functions with Startdrive
Actual-value acquisition

At least => magnetization

time (p346)

Plausibility monitoring tolerance for the current and

voltage angle.

100%= 1 A (i.e. 1 % = 10 mA)

Acceleration limit to filter discontinuities in the

speed/velocity.

course SP-DRM-ZWS page 8 - 30 SITRAIN © Siemens AG 2020

Extended safety functions with Startdrive
Enabling/disabling functions

Interconnect output "STO active"

Select and set SAM / SBR

Set 4 speed limits, stop reactions and SBR / delay

time

Set speed limit, hysteresis and response to pulse

disable

Set delay time, tolerance and response to pulse

disable

course SP-DRM-ZWS page 8 - 31 SITRAIN © Siemens AG 2020

Extended safety functions with Startdrive
SS1 with SBR /SAM

SS1 with delay time and SAM

or SBR.
When SAM is selected, STO
is initiated when the delay
time expires, and with SBR,
when the shutdown speed is
reached.
The SBR settings also apply
for SLS!

course SP-DRM-ZWS page 8 - 32 SITRAIN © Siemens AG 2020

Extended safety functions with Startdrive
SS1 with SBR

For braking monitoring in parallel:

Monitoring time = ramp-down time
(OFF3) / gear ratio

Safety Integrated - SINAMICS G110M, G120,

G120C, G120D and SIMATIC ET 200pro FC-2
Function Manual, 01/2017, FW V4.7 SP6,
A5E34261271A AD page 179

course SP-DRM-ZWS page 8 - 33 SITRAIN © Siemens AG 2020

Extended safety functions with Startdrive
SS1 with SAM / delay time

As long as the speed decreases,

the inverter continuously adds
the tolerance to the
current speed so that the
monitoring tracks the speed.

Safety Integrated - SINAMICS G110M, G120,

G120C, G120D and SIMATIC ET 200pro FC-2
Function Manual, 01/2017, FW V4.7 SP6,
A5E34261271A AD page 183

course SP-DRM-ZWS page 8 - 34 SITRAIN © Siemens AG 2020

Extended safety functions with Startdrive
SLS with SBR or with SAM and delay time

The inverter actively limits the setpoint to the valid speed setpoint limit (factory setting = 80 %
of monitored limit). In this case, SBR or SAM / delay are used to monitor the braking ramp /
reacceleration.

Safety Integrated - SINAMICS G110M, G120, G120C, G120D and SIMATIC ET 200pro FC-2 Function Manual, 01/2017, FW V4.7 SP6, A5E34261271A AD page 187

course SP-DRM-ZWS page 8 - 35 SITRAIN © Siemens AG 2020

Extended safety functions with Startdrive
SLS with SBR or with SAM and delay time

The inverter actively limits the setpoint to the valid speed setpoint limit (factory setting = 80 %
of monitored limit). In this case, SBR or SAM / delay are used to monitor the braking ramp /
reacceleration.

4 (switchable) limit values are available when the function is controlled via PROFIsafe.
Switchover via bits 1+2 of the high byte in telegram 30.

course SP-DRM-ZWS page 8 - 36 SITRAIN © Siemens AG 2020

Extended safety functions with Startdrive
SSM

It is typical to apply the same limit as the one used for SLS. (Indication of status of safe speed),
in some cases to unlock protective doors as well.
Set the response to pulse disable acc. to risk analysis!

course SP-DRM-ZWS page 8 - 37 SITRAIN © Siemens AG 2020

Extended safety functions with Startdrive
SDI (example G120)

SDI limits the speed or velocity setpoint to a value of zero in the prohibited direction of
rotation. The OFF3 ramp is used if the drive needs to be braked.

SDI can also be parameterized to govern

the system response to pulse disable
(STO).
The parameterized STOP A or B is initiated
when the tolerance is exceeded after the
time has expired.

course SP-DRM-ZWS page 8 - 38 SITRAIN © Siemens AG 2020

Repetition: Safety Licensing drive based Safety
Integrated Firmware 5.1 or higher

basic functions
License free
STO, SS1, SBC

extended functions
STO, SS1, SBC, SOS, SS2, SLS, SSM, SDI, SSGS, SLA,
SBT
SINAMICS Extended Safety RT / per axis 6SL3074-0AA10-0AA0

advanced functions
SLP, SP, SSP, SCA
SINAMICS Advanced Safety RT / per axis 6SL3074-0AA20-0AA0

course SP-DRM-ZWS page 8 - 39 SITRAIN © Siemens AG 2020

Repetition: Safety Licensing drive based Safety
Integrated G120 with CU 250S-2

Extended Functionality by Software Licenses

Basic version
In the basic version of the CU250S-2 the following functions are released:
• Vector mode
• Basis Safety Functions STO, SS1, SBC
• The extended functions as servo mode, simple positioning EPOS, extended Safety Functionality, are released by
software licenses. The SD card must be plugged inside the control unit CU250S-2.
• For test applications the extended functions can be operated without license, the „ready“ LED is permanent flashing
red
• Software licenses can be ordered as package including SD card
• For existing SD cards only license codes can be acquired. Via a license server a release code is generated out of the
license code and the serial number of the SD card. This release code has to be entered into the drive parametrization
via STARTER or IOP/BOP-2.
License on SD card
• Extended Safety license with SLS, SDI, SSM 6SL3054-4AG00-2AA0-Z F01
• Extended Function license with EPOS 6SL3054-4AG00-2AA0-Z E01
• Extended Safety and Function License 6SL3054-4AG00-2AA0-Z F01 + E01
License Code

• Empty SD card 6SL3054-4AG00-2AA0 plus

• Extended Safety license code with SLS, SDI, SSM 6SL3074-0AA10-0AA0
• Extended Function license code with EPOS 6SL3074-7AA04-0AA0

course SP-DRM-ZWS page 8 - 40 SITRAIN © Siemens AG 2020

Repetition: Safety Licensing drive based Safety
Integrated ordering licenses for G120 / S120

course SP-DRM-ZWS page 8 - 41 SITRAIN © Siemens AG 2020

End

Quiz

course SP-DRM-ZWS page 8 - 42 SITRAIN © Siemens AG 2020

 chapter 9

SINAMICS Safety acceptance

test
SITRAIN © Siemens AG 2020 course SP-DRM-ZWS

Frei verwendbar
Learning objectives

• You understand the importance of validating the functional safety of machines

• You are familiar with the script for performing the acceptance test with STARTER
• You are familiar with the acceptance test provided be Startdrive tool
• You are capable of performing a complete acceptance test of the drive safety functions
• You are capable of using the script to generate acceptance test documentation that
complies with the relevant standards

course SP-DRM-ZWS page 9 - 2 SITRAIN © Siemens AG 2020

The route to the safe machine according to the
Machinery Directive

Risk assessment Describe the

Identify hazards Assess risks
machine

Define and evaluate Design architecture of Implement and

Risk mitigation safety measures the safety commission the safety
(3-step method) functions concept

Prove conformity with

Document Perform the directive
Verification
measures validation Apply CE
marking

course SP-DRM-ZWS page 9 - 3 SITRAIN © Siemens AG 2020

EU Declaration of Conformity and CE marking

EC Declaration of Conformity CE mark

• With the Declaration of Conformity, the manufacturer confirms compliance with the Machinery
Directive.
• With the CE marking, a manufacturer confirms that he has complied with all of the relevant
directives.
• In the case of damage/injury, the manufacturer can prove that he designed and built the machine in
conformance with the directive.

course SP-DRM-ZWS page 9 - 4 SITRAIN © Siemens AG 2020

Acceptance test and acceptance report
Acceptance test

Requirements for the acceptance test

• The machine is properly wired.
• All safety equipment (e.g. protective door monitoring devices, light barriers or emergency limit
switches) are connected and ready for operation.
• Commissioning of the open-loop and closed-loop control should be completed, as otherwise the
over-travel distance may change as a result of a changed dynamic response of the drive control.
• This includes, for example:
• Settings of the setpoint channel
• Position control in the higher-level controller
• Drive control

Notice
• The acceptance test must only be carried out after the safety functions have been commissioned
followed by a POWER ON Reset.

course SP-DRM-ZWS page 9 - 5 SITRAIN © Siemens AG 2020

Acceptance test and acceptance report
Contents of a complete acceptance test

1. Documentation
(1) Machine description and overview diagram
(2) SI functions for every drive
(3) Specification of the safety equipment
= Function test part 1
2. Function test with review of all the individual SI functions used
= Function test part 2
(1) E.g. "STO" function
(2) E.g. "SLS" function ...
3. Completion of the report – documentation of commissioning and
countersignatures
(1) Check of the safety parameters
(2) Recording of the checksums
(3) Verification of the data backups
(4) Signatures
4. Appendix – Measurement records for the function tests
(1) Alarm reports
(2) Trace recordings
(3) User-defined value or parameter lists, if required, screenshots

course SP-DRM-ZWS page 9 - 6 SITRAIN © Siemens AG 2020

Acceptance test and acceptance report
The safety logbook

Safety logbook
• Changes to safety parameters are documented in the safety logbook which should be an integral
component of machine documentation with CE marking.
• Changes of this type can be identified in SINAMICS dbSI because the associated CRC sum
changes whenever a parameter is changed.
• Cyclic redundancy checks are only generated when p9601/p9801 (SI enable, functions integrated in
the drive CU / Motor Module) is > 0 (edge).
• Each SI parameter change that is to become active requires the reference CRC to be changed so
that the drive can be operated without SI fault messages.
• The following changes are recorded in the safety logbook (function in SINAMICS):
• Control Unit
• r9781[0] SI checksum to check changes, functional
• r9782[0] SI timestamp to check changes, functional
• P9799 SI target checksum SI parameters
• P9601 SI enable of drive-integrated functions
• Motor Module
• r9398[0] SI checksum to check changes, functional
• r9399[0] SI timestamp to check changes, functional
• P9801 SI enable of drive-integrated functions

course SP-DRM-ZWS page 9 - 7 SITRAIN © Siemens AG 2020

Acceptance test and acceptance report
Authorized persons and acceptance report

Acceptance test
Each SI function must be tested and the results documented and signed in the acceptance report by
an authorized person.
The acceptance test report must be stored in the machine logbook.

Authorized person
Authorized in this sense refers to a person who has the necessary technical training and knowledge of
the safety functions and is authorized by the machine manufacturer to carry out the test.

Note
The information and descriptions regarding commissioning must be observed.
If any parameters are altered by SI functions, the acceptance test must be conducted again and
documented in the acceptance report.

course SP-DRM-ZWS page 9 - 8 SITRAIN © Siemens AG 2020

Acceptance test documentation in the STARTER tool

An acceptance report for the Safety settings can

be created under "documentation". The protocol
corresponds to the template provided in the
Safety Function Manual.

The user receives a standard-compliant

document with the data on function test part 1
(plant description) already completed as this is
imported from the online parameterization.

course SP-DRM-ZWS page 9 - 9 SITRAIN © Siemens AG 2020

 Acceptance test documentation in the STARTER tool

The report created contains:

• Types of Safety-dbSI, FW
• DO no. and name
• Firmware versions
• Safety monitoring cycles
• Checksums
• Safety parameters
The document is stored in the
project folder
It must be created ONLINE.

course SP-DRM-ZWS page 9 - 10 SITRAIN © Siemens AG 2020

Acceptance test documentation in the STARTER tool

1. Select drive
object The corresponding file
is named in
accordance with the
template selected

2. Select parameterized
Safety functionality

3. Create
documentation

course SP-DRM-ZWS page 9 - 11 SITRAIN © Siemens AG 2020

Acceptance test documentation in the STARTER tool

Selecting "xxx_Completion_xx"
results in a document being
created which contains the
Safety logbook, report header
with machine data, signature
fields, etc.

course SP-DRM-ZWS page 9 - 12 SITRAIN © Siemens AG 2020

Acceptance test documentation in the STARTER tool

You

Safety responsible of manufacturer

course SP-DRM-ZWS page 9 - 13 SITRAIN © Siemens AG 2020

Guided Safety Acceptance Test
using the free of charge Script application

SIEMENS offers the option of using

a "guided" function test part 2
using executable script:
SI_AcceptanceTest_Vxx.xml
Features:
• Creation of an acceptance report in accordance with Safety Function Manual
• Instructions for practical test execution
• Logging of the current test status
• Instructions for parameterizing trace functions
• Final report
The application can be downloaded free of charge
following registration (Siemens internal) or can be
requested via the sales partner,
App. No.: A4027118-A0537.
Customer Support: 52248627

course SP-DRM-ZWS page 9 - 14 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Insert script folder

1. Create a script
folder directly below
the drive unit

course SP-DRM-ZWS page 9 - 15 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Insert script folder

2. OFFLINE:
"Import folder/object" in context
menu of script folder

course SP-DRM-ZWS page 9 - 16 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Import script – OFFLINE!

3. Select source of
script

4. Start the script with:

"Accept and execute"

course SP-DRM-ZWS page 9 - 17 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Execute script

1. German / English

2.

Liability disclaimer:
The test is carried out by an appropriately trained and authorized person. SIEMENS AG accepts
no liability.

course SP-DRM-ZWS page 9 - 18 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Execute script

3. Select and open

the Excel file of the
application for
reporting

Recommendation:
Use the Excel file processed by the script as a copy!

course SP-DRM-ZWS page 9 - 19 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Execute script, e.g. S120

Documentation
of the planned
and
parameterized
safety functions
for all drives in
the drive unit.

course SP-DRM-ZWS page 9 - 20 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Example S120

Documentation of
the planned and
parameterized
safety functions
for all drives in the
drive device

course SP-DRM-ZWS page 9 - 21 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Example S120

The script identifies the drives

using Safety functions.
Start the function to be tested for
each drive in stages.

Enter machine data:

"Adapt" è "Save"

course SP-DRM-ZWS page 9 - 22 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Example S120

The script identifies the drives

using Safety functions.
Start the function to be tested for
each drive in stages.

Prompted test of the

individual drive with the
selected safety functions.

course SP-DRM-ZWS page 9 - 23 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Example S120

The script identifies the drives

using Safety functions.
Start the function to be tested for
each drive in stages.

Prompted test of the

encoder parameters.

course SP-DRM-ZWS page 9 - 24 SITRAIN © Siemens AG 2020

Guided safety acceptance test
2nd STARTER to trace

In the 2nd STARTER window, import the trace

template in the catalog. Start recording/tracing

course SP-DRM-ZWS page 9 - 25 SITRAIN © Siemens AG 2020

Guided safety acceptance test
2nd STARTER to trace

In the 2nd STARTER window, import the trace

template in the catalog. Start recording/tracing

course SP-DRM-ZWS page 9 - 26 SITRAIN © Siemens AG 2020

Guided safety acceptance test
2nd STARTER to trace

Record trace with 2nd STARTER instance

course SP-DRM-ZWS page 9 - 27 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Running script

The script identifies the drives

using Safety functions.
Start the function to be tested for
each drive in stages.

Prompted test of the encoder

parameters successful.

course SP-DRM-ZWS page 9 - 28 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Complete the report
…

…
Generate a report in compliance with the standard.

course SP-DRM-ZWS page 9 - 29 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Complete the report

Save the report in compliance with the standard.

course SP-DRM-ZWS page 9 - 30 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Complete the report

Supplement the test

results with the trace

course SP-DRM-ZWS page 9 - 31 SITRAIN © Siemens AG 2020

Guided safety acceptance test
Complete the report

Completing the report

and signatures

course SP-DRM-ZWS page 9 - 32 SITRAIN © Siemens AG 2020

Safety acceptance test in Startdrive
SINAMICS G110, G120, S110, S120, S210
• guided safety acceptance test for every drive based safety integrated functions (Basic, Extended
and Advanced Safety)
• automatic recording of traces to analyze machine behavior
• save protocol as Excel-file (.xlsx format, even usefull with OpenOffice)

course SP-DRM-ZWS page 9 - 33 SITRAIN © Siemens AG 2020

Safety acceptance test requirements
Startdrive from V15.1

Startdrive Advanced V16

• Engineering License on PG/PC

• Startdrive = optional package added to TIA Portal installation
• Tool for parametrization of drive devices in TIA Portal
• Identical order numbers (MLFB) for Startdrive V16 and Startdrive Advanced V16, Advanced=License
• Parallel installation to Startdrive V15.1
• Startdrive Advanced: V15 license is also valid for V15.1, but not V16 = new license

• Startdrive V16 is included inside

STEP 7 Professional delivery

course SP-DRM-ZWS page 9 - 34 SITRAIN © Siemens AG 2020

 SINAMICS Startdrive V16 upd. 2
Delivery forms of Startdrive Basic / Advanced

SIMATIC STEP 7 V16 Engineering Software

Download Package
Article Article
SIMATIC STEP 7 V16 Basic

Download in Industry Online

SIMATIC STEP 7 Basic / Professional V16 Trial Support Portal 6ES7822-1AA06-0YA7

SIMATIC STEP 7 Basic V16 Floating License 6ES7822-0AE06-0YA5 6ES7822-0AA06-0YA5

SIMATIC STEP 7 V16 Professional

Download in Industry Online

SIMATIC STEP 7 Basic / Professional V16 Trial Support Portal 6ES7822-1AA06-0YA7

SIMATIC STEP 7 Professional V16 Floating License 6ES7822-1AE06-0YA5 6ES7822-1AA06-0YA5

SIMATIC STEP 7 Professional V16/2017 SR2 Combo Floating License 6ES7810-5CE13-0YB5 6ES7810-5CC13-0YA5
SIMATIC STEP 7 V16 Powerpacks

PowerPack SIMATIC STEP 7 Basic V16 -> Professional V16 Floating License 6ES7822-1AE06-0YC5 6ES7822-1AA06-0YC5
PowerPack & Upgrade SIMATIC STEP 7 V5.4..5.6 -> Professional V16/2017 SR2
Combo Floating License 6ES7822-1AE06-0XC5 6ES7822-1AA06-0XC5
SIMATIC STEP 7 Upgrades

Upgrade SIMATIC STEP 7 Basic V11..V15 -> V16 Floating License 6ES7822-0AE06-0YE5 6ES7822-0AA06-0YE5
Upgrade SIMATIC STEP 7 Professional V11..V15 -> V16 || V11..V15/201x Combo ->
V16/2017 SR2 Combo or 2006..2010 -> V16/2017 SR2 Combo Floating License 6ES7822-1AE06-0YE5 6ES7822-1AA06-0YE5

course SP-DRM-ZWS page 9 - 35 SITRAIN © Siemens AG 2020

 SINAMICS Startdrive V16 upd. 2
Delivery forms of Startdrive Basic / Advanced

Startdrive Basic V16 Startdrive Advanced V16

MLFB for DVD 6SL3072-4FA02-0XA0 6SL3072-4FA02-0XA5

MLFB for download in Industry Mall (OSD) 6SL3072-4FA02-0XG0 6SL3072-4FA02-0XG5

L-Price DVD / Download 30 / 30 Euro 475 / 455 Euro

Delivery with STEP 7 Professional - -

SIOS Download X (X)*

Updates in TIA Portal Updater X X

* only with Trial License

course SP-DRM-ZWS page 9 - 36 SITRAIN © Siemens AG 2020

SINAMICS Startdrive V16 upd. 2
Highlights

Feature / function Benefits

• Integration of SINAMICS S210 • TIA Portal system benefits for the new
u
and SIMOTICS 1FK2 servo drive system usable
• Efficient engineering

• Startdrive Advanced: • Efficient execution and documentation

Safety Acceptance Test for G120, of the safety acceptance test
S210 and CU320-2 based drives (e.g. u • Support in compliance with the
S120) machinery directive
Mister Automation: Safety Acceptance Test • High time saving

• Extension of the Startdrive • Flexible Startdrive extensions to meet

Openness interface incl. Startdrive customer-specific requirements
App • Integration into customer-
u
• EPLAN import/export specific and automated workflows
• Access to further drive • Efficient mass data operation
parameters
Mister Automation: Startdrive Openness App

• Integration of Drive Control Charts • Individual adaptability for specific drive

(DCC): tasks
u
• Graphical configuration of • Create own functions for customer-
technological functions in the specific requirements
drive

course SP-DRM-ZWS page 9 - 37 SITRAIN © Siemens AG 2020

Safety acceptance test with Startdrive from V15.1
Example G120

Safety Acceptance Test in TIA project

• every drive unit with safety functionality shows yellow-red button for Acceptance test
• Start via Safety parametrization mask
• always carried out online

course SP-DRM-ZWS page 9 - 38 SITRAIN © Siemens AG 2020

Safety acceptance test with Startdrive from V15.1
Sequence

• start test online

• tool will verify set up safety functions of drives in project

• define assigned Excel table to record test results and traces

course SP-DRM-ZWS page 9 - 39 SITRAIN © Siemens AG 2020

Safety acceptance test with Startdrive from V15.1
Sequence

• select functions to be tested

• at SLS / SLP the optional settings as limits and areas have to be selected too

Test not successful

Test successful
Test not successful
Test not done
• test can be reset, i.e. when settings have been changed
Test not done
• symbols show the state
course SP-DRM-ZWS page 9 - 40 SITRAIN © Siemens AG 2020
Safety acceptance test with Startdrive from V15.1
Sequence

• the tool giudes You step by step – follow the advice thoroughgoing
• traces are recorded automatically
• axes can be moved via control panel or alternative via the user programm
• to check stopp reactions You can allow to override limitations (i.e. speed limit at SLS)

course SP-DRM-ZWS page 9 - 41 SITRAIN © Siemens AG 2020

Safety acceptance test with Startdrive from V15.1
Results

• protocol is stored in an Excel file

• Excel file has sheets with cover sheet,overview and conclusion
• for serial testing, base data can be transferred

course SP-DRM-ZWS page 9 - 42 SITRAIN © Siemens AG 2020

End

Quiz

course SP-DRM-ZWS page 9 - 43 SITRAIN © Siemens AG 2020

 chapter 10

Exercises

SITRAIN © Siemens AG 2020 course SP-DRM-ZWS

Frei verwendbar
Exercises: safety instructions

Please note:
The exercise instructions are created for:
A course under the guidance of an instructor
Actions on special training equipment
The training devices are operated under laboratory conditions. When in doubt, always ask your
instructor, especially when it comes to electrical power or moving parts.
When working on the devices, the safety instructions in the associated product documentation must
always be observed! The training document alone is not sufficient.

course SP-DRM-ZWS page 10 - 2 SITRAIN © Siemens AG 2020

Exercices according chapter 1
Remote Access Devices

• Exercise 1: Online access to remote training device

• Exercise 2: User interface remote access
• Exercise 3: Data handling and operating the camera

course SP-DRM-ZWS page 10 - 3 SITRAIN © Siemens AG 2020

Chapter 1 exercise 1:
https://www.mylivezone.com/siemens-mc/
Online access to remote training device
https://www.mylivezone.com/mc-siemens/

Open the webpage https://m1.ceyeclon.com/mylivezone-web/mylivezone/livezone.xhtml using any browser

1
connected to the internet (Chrome browser recommended)
2 For „Login“ select the access via access key. Your personal key is provided by the lecturer.
3 Select one of the offered scenarios, i.e. G120
https://www.mylivezone.com/siemens-mc/
1 https://m1.ceyeclon.com/mylivezone-web/mylivezone/livezone.xhtml

3
2

12 digit access key

course SP-DRM-ZWS page 10 - 4 SITRAIN © Siemens AG 2020

Chapter 1 exercise 2:
User interface MyLiveZone

4 Familiarize yourself with the contents of the page that is now open.
At the bottom right you will find libraries, project archives and documents available for download as well as links.
5
Save the libraries locally, e.g. on your USB stick.
If desired, download the free MyLiveZone app from the AppStore or PlayStore. With the app you can then e.g. use
6
the camera view of the training rack on your mobile device.
7 Test the connection speed.
8 Start the online connection to the remote workstation.

4
7
8

course SP-DRM-ZWS page 10 - 5 SITRAIN © Siemens AG 2020

Chapter 1 exercise 3:
Data handling and camera remote training device

9 You are now connected to a remote workstation. Familiarize yourself with the interface.
10 Connect to the training device available. (You have less available than shown in the picture)
Data can be exchanged between the local computer and the remote platform via the “Transfer Data / Download”
folder. Test this with e.g. the .pdf of the library description, see point 5. As soon as you drag a file remotely to the
11
download folder, it will be offered to you for download locally at the bottom right of the desktop. Data from local to
the platform are copied to the remote platform as .zip files using drag & drop only.
After the camera connection has been established, test various camera settings, including power / ON / OFF
12 ATTENTION ! if you are currently finishing remote work, you do not need to log out! But please close the video
window to reduce the data traffic. If necessary, you can reactivate the window at any time by clicking on the camera
number.

11

12
10

course SP-DRM-ZWS page 10 - 6 SITRAIN © Siemens AG 2020

Exercises according Chapter 2: S120 and Startdrive

• Exercise 1: Create a new project in TIA Portal

• Exercise 2: Topology and DRIVE CLiQ
• Exercise 3: Adapting the topology of the project
• Exercise 4: Changing the TIA project: inserting new drives
• Exercise 5: Extension of the TIA project: copy drive unit

course SP-DRM-ZWS page 10 - 7 SITRAIN © Siemens AG 2020

Chapter 2 Exercise 1: New TIA project
Insert a drive unit

1 Create a new TIA project "Proj_Train_1"

2 Select "Parameterize drive" in the portal view
3 Select "Add new device"
4 Select a CU320-2 PN in FW 5.2 and switch to the project view

course SP-DRM-ZWS page 10 - 8 SITRAIN © Siemens AG 2020

Chapter 2 Exercise 1: New TIA project
Configure the drive unit - infeed

5 Open the device configuration view and thus the hardware catalog
6 Add an Active Line module as an infeed using drag & drop
7 Specify the infeed (double click) as 16 kW booksize internal air cooling, use the filters in the properties display!

5 6

course SP-DRM-ZWS page 10 - 9 SITRAIN © Siemens AG 2020

Chapter 2 Exercise 1: New TIA project
Configure the drive unit – MoMo and motor

8 Now add a motor module, 18 A, booksize, internally air-cooled, HW version D in the same way
Now add a 1PH8 asynchronous servo motor: 2300 / min, 7.5 kW, 2048 1Vpp EnDat multiturn encoder, PT1000
9
temperature sensor
10 Specify the encoder evaluation as cabinet-mounted: SMC20

10
8

course SP-DRM-ZWS page 10 - 10 SITRAIN © Siemens AG 2020

 Chapter 2 Exercise 1: New TIA project
Expand drive unit

11 In the device view, check whether all components have been specified (dark gray background)
12 Expand the drive configuration with a TM31 interface module
13 Save your project

12

11

13

course SP-DRM-ZWS page 10 - 11 SITRAIN © Siemens AG 2020

Chapter 2 Exercise 2: Topology and DRIVE CLiQ
Draw connections, component numbers

1 Check the automatically created DRIVE CLiQ connections in the device view and draw them
2 Identify the component numbers in the device overview and enter them below

CU320-2 ALM MM

X103

1 X102 X202 X202

X101 X201 X201

X100 X200 X200

2 Netz
M

~
TM31
SMC
X501
X500
CU - Control Unit
ALM - infeed
X500
MM - Motor Module
SMC - Sensor Module Cabinet, Connection of the encoder to DRIVE_CLiQ
TM - Terminal Module

course SP-DRM-ZWS page 10 - 12 SITRAIN © Siemens AG 2020

Chapter 2 Exercise 3: Adapt the topology
Change automatically generated DRIVE CLiQ
connections

It is customary to assign the infeed to its own port on the CU. MoMo's are then connected to a different port.
1
Rewiring can already be designed in the project.
2 Disconnect the connection between ALM and MoMo and pull a new one from CU port X101 to SMM X200
3 Enter the changed topology in the scheme and save the project

CU320-2 ALM MM

X103

X102 X202 X202

X101 X201 X201
X100 X200 X200
3

Netz
2 M

~
TM31
SMC
X501
X500
CU - Control Unit
ALM - Einspeisung X500
MM - Antrieb-x.Leistungsteil
SMC - Sensor Module Cabinet, Anbindund des Gebers an DRIVE_CLiQ
TM - Terminal Module

course SP-DRM-ZWS page 10 - 13 SITRAIN © Siemens AG 2020

Chapter 2 Exercise 4: Modifying the TIA project
Insert additional drive

1 First expand your project with an additional motor module: booksize, internally air-cooled, 3A, version D
Add a 1FK7 synchronous servo: 6000 /min, 0.5 kW, sin/cos encoder 1 Vpp 2048 ppr A/B C/D R, with feather key
2
and standard holding brake (= "B", not V in the penultimate position in MLFB), PT1000
3 Specify an SMC20 for encoder evaluation and save the project

course SP-DRM-ZWS page 10 - 14 SITRAIN © Siemens AG 2020

Chapter 2 Exercise 4: Modifying the TIA project
Object and component numbers

1 Draw the current DRIVE CLiQ topology

2 Identify the object and component numbers of your configuration

2 CU320-2 ALM SMM SMM

X103

X102 X202 X202 X202

X101 X201 X201 X201

X100 X200 X200 X200

1

M M
Netz

~ ~
TM 31
SMC SMC
X501
X500 X500
X500

course SP-DRM-ZWS page 10 - 15 SITRAIN © Siemens AG 2020

Chapter 2 Exercise 5: Extension of the TIA project
Copy the drive unit

1 Insert an "identical" drive unit by copying and pasting in the project navigator
2 Check the name and topology of the new drive unit and save your project

1
2

course SP-DRM-ZWS page 10 - 16 SITRAIN © Siemens AG 2020

Exercises according Chapter 5: SIMOGEAR

• Exercise 1: Try to use the DT Configurator online tool to design a parallel shaft geared
motor according to customer requirements!

course SP-DRM-ZWS page 10 - 17 SITRAIN © Siemens AG 2020

Chapter 5 Exercise 1: SIMOGEAR
Start the DT configurator

1 Go online on the internet

2 Open the DT configurator
3 Start the specification of a motor

2 https://siemens.com/dt-configurator

course SP-DRM-ZWS page 10 - 18 SITRAIN © Siemens AG 2020

Chapter 5 Exercise 1: SIMOGEAR
Start geared motor selection

4 Choose „Geared motors / servo geared motors

5 Start SIMOGEAR geared motor selection

course SP-DRM-ZWS page 10 - 19 SITRAIN © Siemens AG 2020

Chapter 5 Exercise 1: SIMOGEAR
Flachgetriebemotor Daten

6 Follow the masks of the tool with the input of the data below!
If necessary, use the information links of the tool or the default settings.
7
Use the search mode to find the information on shocks, circuits, etc., see the following page.
Gearbox
• type parallel shaft gearbox Brake
• mounting torque arm • 32 Nm
position as in drawing • manual brake release lever position 1
• shaft hollow shaft 40mm • supply voltage 24V DC
• environmental inside buildung in
conditions Germany, normal
conditions
• output speed n2 35 1/min [+-10%] mounting position terminal box position
• shocks without
• starting operations
per hour 9
• operating hours/day 24 h
• axial- or radial forces normal

Motor
• speed 4-pole, 50Hz
• power 3 kW
• terminal box position as shown
• operating type S9 (= Inverter Duty)
• motor protection PT1000
• encoder ohne
course SP-DRM-ZWS page 10 - 20 SITRAIN © Siemens AG 2020
Chapter 5 Exercise 1: SIMOGEAR
Reduce parallel shaft geared motor selection list

8 You can use criteria such as power and output speed to narrow down using the preselection search mode
9 Use the service factor wizard to define robustness

course SP-DRM-ZWS page 10 - 21 SITRAIN © Siemens AG 2020

 Chapter 5 Exercise 1: SIMOGEAR
Selection criteria of the result list

10 Select the "optimal" SIMOGEAR

11 Apply the selection

Z= 2stages best fitting must be >1,2

D= 3stages à not given
speed
bigger, more
expensive

10

smallest equal or not yet

important no overload, no
gearbox
overdimensioning
possible?

course SP-DRM-ZWS page 10 - 22 SITRAIN © Siemens AG 2020

 Chapter 5 Exercise 1: SIMOGEAR
Completion of configuration

Go through the configuration of the options. Sometimes entries are only possible if you have made a pre-selection
12
using the checkbox. Conflicts are displayed in the tool. Choose details that are not given by yourself.
13 Switch to the results display and document creation

12

13

course SP-DRM-ZWS page 10 - 23 SITRAIN © Siemens AG 2020

 Chapter 5 Exercise 1: SIMOGEAR
Documentation of the configuration

14 Lassen Sie die Maßblätter und 3D-PDF erzeugen und laden diese herunter
15 Wechseln sie zum Dokumentendialog

14

15

course SP-DRM-ZWS page 10 - 24 SITRAIN © Siemens AG 2020

 Chapter 5 Exercise 1: SIMOGEAR
Documents and results

16 Preview and CAD download

17 article number to copy

16

17

SIMOGEAR article number:

2KJ3305-5FN28-9DV1-Z
B14+C02+C26+C66+D03+K01+K06+L02+L75+M17+M64+N2C+P92

course SP-DRM-ZWS page 10 - 25 SITRAIN © Siemens AG 2020

 Chapter 5 Exercise 1: SIMOGEAR
Data sheet

18 View the data sheet, check the option dates

19 Enter the queries answers

18

Weight without oil Oil charge

19

course SP-DRM-ZWS page 10 - 26 SITRAIN © Siemens AG 2020

Chapter 5 Exercise 1: SIMOGEAR
Drawings

20 Open the dimension sheet and 3D drawing

course SP-DRM-ZWS page 10 - 27 SITRAIN © Siemens AG 2020

Exercises according Chapter 6: SINAMICS S210

• Exercise 1: commissioning of S210 with TIA Portal

course SP-DRM-ZWS page 10 - 28 SITRAIN © Siemens AG 2020

Chapter 6 Exercise 1: SINAMICS S210
Remote platform: create online TIA project

1 Go online to the Motion Control S210 / 120 training device

2 Create a new TIA project for the S210
3 Insert a new device: S210

course SP-DRM-ZWS page 10 - 29 SITRAIN © Siemens AG 2020

Chapter 6 Exercise 1: SINAMICS S210
Insert SINAMICS S210

4 The drive device to be inserted is an S210 as follows

5 Specify the motor

course SP-DRM-ZWS page 10 - 30 SITRAIN © Siemens AG 2020

 Chapter 6 Exercise 1: SINAMICS S210
1FK2 synchronous servo motor

6 Check the motor and encoder data

course SP-DRM-ZWS page 10 - 31 SITRAIN © Siemens AG 2020

 Chapter 6 Exercise 1: SINAMICS S210
Set Profinet communication

In the recovery directory you will find a PRONETA project "27-02-2019_1_SINAMICS_S.xml" and a .pdf of the same
7 name. Open one of the two; Here you will find the Profinet data of the devices at the training station in the device
table.
8 Name the S210 online if necessary. Make the same settings in the TIA project.

the second
S210 has
xxx.211 IP,
named s211

course SP-DRM-ZWS page 10 - 32 SITRAIN © Siemens AG 2020

Chapter 6 Exercise 1: SINAMICS S210
Test and optimize the axis, safe data in project

9 Go online to the S210, activate the one-button tuning. Try out the different dynamic settings.
10 Test the axis and load everything into the project, save on the axis.
11 Repeat all steps with the second S210 axis.

10

course SP-DRM-ZWS page 10 - 33 SITRAIN © Siemens AG 2020

Exercises according Chapter 7:
Controller optimization with Starter

• Exercise 1: Commissioning S120 with starter

• Exercise 2: Automatic controller optimization of the speed controller with frequency
response analysis
• Exercise 3: Manual optimization using frequency response analysis, setpoint filter,
precontrol, reference model

course SP-DRM-ZWS page 10 - 34 SITRAIN © Siemens AG 2020

Chapter 7 exercise 1:Commissioning SINAMICS S120
Create remote online starter project

1 Go online to the Motion Control S210 / 120 training device

Create a new starter project "S120_opt" for the S120; Check the IP configuration of the accessible devices and
2
name them if necessary according to the .pdf in the recovery directory.
3 Go online to the S120 and perform a reset to the factory settings!

1 3

course SP-DRM-ZWS page 10 - 35 SITRAIN © Siemens AG 2020

 Chapter 7 exercise 1:Commissioning SINAMICS S120
Auto config

4 Start the automatic configuration and have servo objects created.

5 Configure the Servo_03 motor according the article number
6 Test both servos with the control panel, save the data

4 6

course SP-DRM-ZWS page 10 - 36 SITRAIN © Siemens AG 2020

 Chapter 7 exercise 2: Autotuning Servo_02
Current controller optimization

7 Note down the values for kP and TN of the current controller.

Start the step response analysis for the current controller with the measurement function. How much % does the
8
actual current value overshoot? If necessary, adjust kP and TN towards the target amount optimum (BO).

vor / nach Opt.

7

course SP-DRM-ZWS page 10 - 37 SITRAIN © Siemens AG 2020

 Chapter 7 exercise 2: Autotuning Servo_02
Speed controller optimization

9 Start the automatic controller setting for the speed controller. How many % does the actual value then overshoot?
10 If necessary, adjust kP and TN towards the target symmetrical optimum (SO). What values do you come up with?

10

course SP-DRM-ZWS page 10 - 38 SITRAIN © Siemens AG 2020

 Chapter 7 exercise 3: Manual optimization Servo_02
Speed controller optimization with Bode diagram

11 Start the measurement function with the frequency response analysis for the speed controller.
Where are the poles, cutoff frequency and amplitude reserve? Where are these in the factory settings for kP and TN
12
(testing with reset and repeated measurement)

11

default settings Automatic controller optimization

Controller gain kP (p1460)

Reset time TN (p1462)

Pole frequency [Hz]

12
Cutoff frequency at -3dB [Hz]

Amplitude reserve behind -180° [dB]

course SP-DRM-ZWS page 10 - 39 SITRAIN © Siemens AG 2020

 Chapter 7 exercise 3: Manual optimization Servo_02
Speed controller optimization with Bode diagram

13 Try to make advisable filter settings in the current setpoint.

14 Test the effects of the reference model or torque precontrol. Where is “your” optimum?

13

Filter setup Reference model / precontrol +

filter active
Controller gain kP (p1460)

Reset time TN (p1462)

Pole frequency [Hz]

14
Cutoff frequency at -3dB [Hz]

Amplitude reserve behind -180° [dB]

course SP-DRM-ZWS page 10 - 40 SITRAIN © Siemens AG 2020

End

course SP-DRM-ZWS page 10 - 41 SITRAIN © Siemens AG 2020

 chapter 11

Final examination

SITRAIN © Siemens AG 2020 course SP-DRM-ZWS

Frei verwendbar
Information and remarks – paper form

• Please first fill in Your Name, Company and E-Mail-adress.

• You get a questionnaire containing 30 questions to tick off answers
• You have 60 minutes time
• all questions are multiple choice with 4 answers
• There may be several answers correct – up to all four!
• Marks will be deducted for wrong answers, but You cannot get less than zero points
per a single question.
• reference material as course documentation, manuals, online help, support requests,
telephone jokers etc. is permitted, but watch the time!
• hint: If You don´t know the answer, take a blind choice! There´s no less than zero mark!
• If something is not really clear, ask Your trainer!!!
• please limit the conversation while the exam

May we wish you every success with this venture.

course SP-DRM-ZWS page 11 - 2 SITRAIN © Siemens AG 2020

Example paper form

Question:
Which software package has to be installed in TIA Portal to configure new released hardware
components??

correct person A person B person C

answer
X X X X
X

X X

1 point 1-1=0 points 1-2=0 points

course SP-DRM-ZWS page 11 - 3 SITRAIN © Siemens AG 2020

 Online eTest with Internet Connection

Trainer

Internet Connection
E-Test 2Go Online E-Test

Step 1: Open the url shown at the right with one of the
supported Browsers

Siemens eTest Online

Login
Internet URL https://etestonline.siemens.com/membe
r
Browser Firefox, Chrome

Participant 1

Participant 2 …
Participant ..n
Participant 3

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 4 SITRAIN © Siemens AG 2020

 eTest2Go without Internet Connection

No Internet Connection
Trainer E-Test 2Go Online E-Test

Step 1: Connect to the Wi-Fi network of the Raspberry Pi

Step 2: Open the url shown on the right Login
with one of the supported Browsers Wi-Fi eTest2Go-xyz
Passwor abcdef123456
d
URL http://192.168.1.1/member
eTest2Go (Raspberry Pi) Browser Firefox, Chrome

You can get the Wi-Fi name and password from

your trainer

Participant 1

…
Participant 2
Participant ..n
Participant 3

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 5 SITRAIN © Siemens AG 2020

Participants

Login using your mail, the workshop location and the

unique number, then click Continue or press Enter

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 6 SITRAIN © Siemens AG 2020

 Participants

At any time you can select the

language for certain areas (if
available).

The language can be changed for

- User Interface
- Workshop/Test
- Terms and conditions
- Feedback

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 7 SITRAIN © Siemens AG 2020

Participants

Toggle Fullscreen

Download the available documents.

Depending on the document, you may
have to accept them in order to continue.

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 8 SITRAIN © Siemens AG 2020

Participants

After typing in your information,

press continue or press Enter to
go to the test selection

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 9 SITRAIN © Siemens AG 2020

Participating in a test

This is the test selection. Here you can see all

available tests and can start it by pressing
„Participate“.

The progressbar shows how many questions of

that test you have answered.

After/while participating in a test, you can return

to this overview and start an other test or
resume an already started one as long as you
have not submitted it.

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 10 SITRAIN © Siemens AG 2020

Participating in a test

Mark the question if you need

a reminder to revisit it later

Go back to
test selection

If you have answered all If you need help at anything,

questions, you need to clicking this button will make
submit it. After submitting, you flashing on the screen of
you cannot change your the trainer.
answers anymore.

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 11 SITRAIN © Siemens AG 2020

 Participating in a test

The progress bar shows

how many questions you
have already answered

This row shows all

available questions in this You can select the answers
test. by clicking on them.
They change their color to
Green: answered blue when selected.
Yellow: marked
Blue: selected
White: pending

You can navigate by

clicking on the numbers or
by using the arrow keys.

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 12 SITRAIN © Siemens AG 2020

Participating in a test

After you have answered all the questions

you want to, you must submit the test.

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 13 SITRAIN © Siemens AG 2020

Participating in a test

You will see an overview with all

answered, marked and pending
questions.

You can click on any number to

directly jump to that question.

Confirm your decision.

If you want to submit the test in its current state, click

on one of the two blue submit buttons.

Click on „Not yet“ otherwise to go back to the test. Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 14 SITRAIN © Siemens AG 2020

Participating in a test

After you have submitted

all tests you want to
participate in, you can
end the workshop.

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 15 SITRAIN © Siemens AG 2020

Participating in a test

Rate each feedback question with

the provided smileys (rating).

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 16 SITRAIN © Siemens AG 2020

Participating in a test

Leave an optional comment for

additional suggestions and press
„Submit feedback and end workshop“

Return to test selection in case Leave the Test without giving any
you forgot to attend an test feedback at all by clicking on
„End workshop without feedback“

Cherki Bousabi / FA Partner Management

course SP-DRM-ZWS page 11 - 17 SITRAIN © Siemens AG 2020

End

course SP-DRM-ZWS page 11 - 18 SITRAIN © Siemens AG 2020