2s120commissioning-140309121433-phpapp02
TRANSCRIPT
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Preparations for commissioning
supply 1
3
4
2
5
1. Component wiring2. Rules for wiring with
DRIVE-CLiQ3. Activating online operation
via PROFIBUS 4. STARTER commissioning
tool5. CU320 has the right
CompactFlash Card
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Preparation 1: wiring (example)
• Main switch• Line fuses• SITOP with fuses• 24VDC for drive components and EP• DRIVE-CLiQ wiring• Line contactor with DI to CU320• Line reactor or reactor + filter• Cables to motors and encoders• Grounding
example:CU320 with ALM, 2 Motor module with Motor,2 Motor encoders, 1 external encoder over 3 SMI
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Preparation 1: wiring Line Module
Active Line Module
„Infeed operation“DRIVE-CLiQ wiring: ALM > CU320 > Motor Module
ALM.p863.0 = drive_02.p864drive_03.p864
Smart Line Module
„Infeed operation“HW-wiring: SLM X21:1 (DO) >> TB30 X481:1 (DI0)
TB30.r4022.0 = drive_02.p864drive_03.p864
By using a SLM without DRIVE-CLiQconnection you have to connects and parameterize the I/O terminals.
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Sensor Module SMC/SMEoder DRIVE-CLiQ Motor
Preparation 2: Rules for wiring with DRIVE-CLiQObligatory rules:
Maximum length of DRIVE-CLiQ-Cable:• MOTION-CONNECT 500: 70m• MOTION-CONNECT 800: 100m
Maximum length of DRIVE-CLiQ-Cable:• MOTION-CONNECT 500: 70m• MOTION-CONNECT 800: 100m
X500 X500 X500
Double
X500
X500
X2
X11
2
SMx1 an Port 2SMx2 an Port 3
Optional rules:
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Preparation 3: Activating online operation via PROFIBUS• As Start-up tool, the current STARTER
is installed. • The communication from the
STARTER to the CU320 takes place over PROIBUS under observance of the construction-guidelines.
• The PG/PC interface is with the system-function „PG/PC interface puts in “, to furnish,
• For the CU320 interface, the address is to be put in merely.
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Preparation 3: Set PG/PC Interface
Used Interface:PROFIBUS(no PROFIBUS-DP Slave)
• PG/PC is the only master?• 12 Mbit/s• DP or User-Defined with
NetPro
• Test > O.K.• Read Bus Nodes: 0 + 4 + ...
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Preparation 4: SINAMICS Firmware and STARTER Software
current FW-version
SINAMICS:V02.05.00.00
current SW-version
STARTER/SCOUT:V4.1.2.4
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Memory places
V02.01.01
HDHD RAMRAM
RAM to ROM copy,Save Parameter
SINAMICS CUPG / PC
Load in to the PGsave projectReboot,
Parameter reset
Load to target deviceOpen project
OnlineOffline
IDCIDC
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Structure of the CompactFlash Card S120
1 userparameter file
For example:PS xx00= GeneralPS xx01= Object 1: CUPS xx02= Object 2/3: DrivePS xx03= Object 4: TB30PS xx99= General
n savedparameter files+
V02.01.01
System data
User data
License
FW for components
GSD data
CU loader
The following is saved on the CompactFlash Card:• The firmware of the CU and the components• The user parameters (PF1: each DO =1 file)• Additional parameter files for factory reset
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Save and reset parameters
A) Use IconsLoad project to target system• all Project data to target system
drive 1, drive 2, SIMOTION
• With/without RAM t0 ROM copy:
Download• Project-part of the marked device
A upload to PGB download to target systemC restore factory settings (p976=1)D copy RAM to ROM
A B C D
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Meaning of the Icons in the Project Navigator (ONLINE)
gn - gn
rd - rd
rd. - gn
w - w
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Topology and Compare of Components
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Servo: Closed-loop control
M
Motor
G
sensorSpeed
- nist
nsoll
Position
- xist
xsoll
Act. current
- Iist
Isoll PWM
32
IUIVIW
Iq
IdMotor-model
Iq
IdωM
ϕM
KV...Gain KP... GainTN... Integral Time
KP... GainTN.. Integral Time
Position controler
Torque precontrol
Speed precontrolSpeed controller Current controller
Gating unitEncoder
Rotor pos.
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Optimizing PI-controller with method Ziegler-Nichols
controlled system
PI-controllercorrecting variable
setpoint Actual value
KP... GainTN…Integral time
Input (setpoint)
t
Output (actual)
Integral time = max
Const. Input min 2%
increase KP Up to oscillation
Increase TN to 200%
Reduce KP to 50%
Reduce TN Up to oscillation
t
oscillations
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Siemens Ltda. 2009. All rights reserved.SINAMICS S120 Date: 21.07.2009
Step-forced response / setpoint jump
terminology of step-forced response :
• X(t) step response• TU delay time• Tg compensation time• TAn rise time• TAus settling time• Vm overshoot amplitude• d tolerance band
t
overshootmax. 20 - 40 %
TU
TAnTAus
Vm
x
t0
Tg
d
t
Output (actual)
1 integral time TN max (1000ms)
2 input jump3 free current
t
Output (actual)
t
Output (actual)
Increase KP
Reduce KP
1KP = optimal2TN reduce
for max. 20-40% overshoot
Kp Tn
sluggish
dynamict
Output (actual)
overshootMax. 20-40%
Tan