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simodrive
SIMODRIVE base line
Introduction 1
Installation 2
Valid for
Servo Drive
SIMODRIVE base line
03.2003 Edition
SIMODRIVE base line® Documentation
Key to editions
The editions listed below have been published prior to the current edition.
The column headed “Note” lists the amended sections, with reference to the previous edition.
03.2003 6SN1197-0AB21-0BP0 A
You will find additional information in the Internet under: Functions may be executable in the control but are not described in this
http://www.ad.siemens.de/simodrive documentation. No claims can be made on these functions if included with a new
shipment or when involved with service.
The reproduction, transmission or use of this document or its contents is
not permitted without express written authority. Offenders will be liable for We have checked the contents of this document to ensure that they coincide with
damages. All rights, including rights created by patent grant or registration the described hardware and software. The information in this document is regularly
of a utility model or design, are reserved. checked and necessary corrections are included in reprints.
We are thankful for any recommendations for improvement.
© Siemens AG 2003. All rights reserved. Subject to change without prior notice.
! Danger
! Warning
! Caution
Notice
Qualified person Only the qualified person may install, start-up and operate the
equipment. The “qualified person “ is someone who is familiar with the
installation, mounting, start-up and operation of the equipment and the
hazards involve.
Applicatin scope
! Warning
Perfect, safe and reliable operation of this equipment assumes that it has
been professionally transported, sorted, mounted and installed as well as
careful operator control and service.
Contents
Contents
Introduction
Components of SIMODRIVE base line
SIMODRIVE base line SIMODRIVE base line can be ordered with the following versions:
Version
V1 1-axis version, motor static torque of 11Nm;
V2 2-axis version, motor static torque of 6Nm + 8Nm;
V3 2-axis version, motor static torque of 6Nm + 3Nm;
SIMODIVE base line SIMODRIVE base line is applied mainly together with SINUMERIK
application 802C and SINUMERIK 802Ce at present. With the application of
SIMODRIVE base line the solution shows the outstanding performance
price ratio.
Technical data
Environment
operating conditions Table 1-3 environment operating conditions
Designation Description Remarks
Temperature 0°C + 40°C Max.+55°C Power derating in
range range 40°C +55°C
Relative Annual average: U=75% td td : Moisture
humidity =17°C condensation
On 30 days (24h) over the temperature;
year: U=95%; td =24°C; U: relative air humidity
these days should be
naturally distributed over the
year.
On all other days (<24h) but
still maintaining the annual
average: U=85% td =24°C
Height above 1000m Max.2000m Power derating in
sea level range 1000m 2000m
Air pressure Min.860 mbar(86kPa)
Max.1080 mbar(108kPa)
Applicable DIN IEC 68-2-1
standards DIN IEC 68-2-2
DIN IEC 68-2-3
DIN VDE0160 5.2.1.3
EN50178
Transport and
storage conditions Table 1-4 transport and storage conditions
Designation Description Remarks
Temperature -40 +70
range
Relative Annual average: U=75% td td : Moisture
humidity =17°C condensation
On 30 days (24h) over the temperature;
year: U=95%; td =24°C; U: relative air humidity
these days should be
naturally distributed over the
year.
On all other days (<24h) but
still maintaining the annual
average: U=85% td =24°C
Applicable DIN IEC 68-2-1
standards DIN IEC 68-2-2
DIN IEC 68-2-3
DIN VDE0160 5.2.1.3
EN50178
Order number
C – without brake;
D – with brake;
8 Transformer JBK3 See table 2-8.
9 SIEMENS matching 4AU3695-0SB10-0CN2 Protection class IP00
transformer (8.2kW) 4AU3695-0SB12-0CN2 Protection class IP23
4AU3695-0SB18-0CN2 Protection class IP20
10 SIEMENS filter 6SN1111-0AA01-1BA0
11 1FK7 motor 1FK7042-5AF71-1T 0
1FK7060-5AF71-1T 0 A – with key/without brake;
1FK7063-5AF71-1T 0 B – with key/with brake;
1FK7080-5AF71-1T 0 G – plain shaft/without brake;
H – plain shaft /with brake;
Installation
Installation of SIMODRIVE base line
Obvious check Please check the packaging prior to the installation of SIMODRIVE base
line and make sure that the complete goods are delivered according to
the packing list. They should be complete and properly.
! Warning
Observe the following sequence when mounting and dismounting the
equipment:
1. Make use of the original packaging at transportation;
2. Keep distance from the motion equipment while power is switching on;
3. Disassembling may not start until the power has been switched off
for 30 minutes;
4. Cut off the line power supply voltage of servo drive in case of the long-
term standstill of servomotor;
5. The protective ground conductor should be connected properly.
Mounting place SIMODRIVE base line is of a modular design, so that the installation is
very simple. To fix the servo drive in the cabinet, 4 screws (M6) are only
required.
! Caution
It must fulfil the environment conditions in the cabinet as follows:
1. The permissible surroundings temperature of servo drive is 0~55°C,
but the power is to be de-rated in case above 40°C;
2. The relative humidity is 75% in annual average;
2
3. Vibration of cabinet within 0.5G (4.9m/s );
4. No condensation and icing present;
5. To guarantee the long-term stable work of servo drive, please keep the
surrounding temperature below 40°C;
Installation of accessories
General The accessories below should be applied in compliance with the local
power supply system and the environment conditions.
Line fuse Prior to connection with the power supply system, the fuse with rating of
16A, 410/415VAC is recommended to be adopted. The relevant technical
data refer to chapter 2.7 “Power supply – fuse /breaker”.
Breaker Breaker can be used to protect the circuit securely if no fuse is adopted.
The rating value is 16A, 415VAC, maximal temperature is 60°C. The
recommended breaker by SIEMENS can be seen in chapter 2.7 “Power
supply – fuse /breaker”.
Line filter The line filter is designed to provide noise suppression for SIMODRIVE
base line. We recommend customer to use line filter to prevent from the
high frequency noise. The rating voltage: 400/415VAC, frequency:
50/60Hz. For the detailed technical data, please refer to chapter 2.7
“Power supply – line filter”.
Shield plate To fulfil the EMC requirements better, the screens of shielded power
cable are to be connected to the drive converter housing. The shield
plate has clamp connections and mounting points for brake terminals.
How to install the shield plate into SIMODRIVE base line, please refer to
chapter 2.7 “Power supply – shield plate”.
! Caution
Power and signal cable must always be routed separately from one
another in the cabinet.
General In order to optimize the dynamic characteristic of the servo drive, the
commissioning is to be carried out as follows:
yes->fault
no->fault
yes
Fig.2-3 Front panel of SIMODRIVE base line (2-axis module left, 1-axis module right)
The actual drive speed for +/-10V speed setpoint can be varied in
range 0.6 nrated ~1.8 nrated . Customers don’t need to adjust the
tachometer, as it is already calibrated before delivery.
KP proportional gain
The proportional gain KP of the speed controller can be set using
potentiometer KP. It is used to optimize the speed dynamic
characteristic. Adjustment range: 2.5 ~95.
TN integral action time
The speed controller integral action time is set using potentiometer
TN. It is used to optimize the speed dynamic characteristic.
Adjustment range: 3 40ms
X321/X322 speed setpoint interface
Terminal 56 and 14 in X321/X322 are the differential input interface
of speed setpoint. Range: +/-10V.
X331/X332 controller enable interface
Terminal 9 and 65.1 in X331/X332 is the controller enable interface
for axis 1; Terminal 9 and 65.2 in X331/X332 is the controller enable
interface for axis 2;
A1(U2,V2,W2)/A2(U2,V2,W2) power cable interface
A1(U2,V2,W2) is the power cable interface for axis 1 servomotor;
A2(U2,V2,W2) is the power cable interface for axis 2 servomotor.
Infeed module:
X131 grounding terminal for electronics power supply
Screw M4, is the grounding terminal for electronics power supply.
X141A enable interface terminal
Terminal 63 is the pulse enable input; Terminal 9 is the enable
output; Terminal 64 is the drive enable input; R is the reset interface;
Terminal 19 is the basis grounding.
X1(U1,V1,W1) line power feeder
For 3-phase 400/415VAC line power feeder.
LED lights 6 LEDs on the front panel indicate and monitor the current status for the
individual circuits in SIMODRIVE base line. The meaning of the display
elements is as follows:
Spp (red) Electronics power supply +/- 15V faulted
Ext (green) Ext. Enable signal not available (terminal 63 and /or
64 missing)
Connecting cable
General As a standard configuration of SIMODRIVE base line SINUMERIK 802
Ce is applied together with SIEMENS servomotors (1FK7) in CNC
Turning/Milling machine. The components are wired up as shown in the
connection diagram Fig. 2-4. The required cable for the connection
between NC, drive and motors is also indicated in the figure.
Fig. 2-4 connection diagram for SIMODRIVE base line with 802Ce
Interface description
General On the front cover of control module are located different interfaces to
connect with system control and servomotor. The interface overview can
be seen from the sequential diagram.
set (
rated
rmax
Tachometer potentiometer
Setting range The actual drive speed for +/-10V speed setpoint can be varied by the
rated speed in the range: 0.6 nrated ≤ nactN ≤ 1.8 nrated .
The following setting ranges are obtained for a ± 10V speed setpoint
according to the rated speeds.
otorN
otorN
General The proportional gain KP of the speed controller can be set using
potentiometer KP. The gain, set using the KP potentiometer, is only
insignificantly influenced by the setting of the TN.
KP
Setting Kp - Poti
General The speed controller integral action time is set using TN potentiometer.
TN ms
Setting TN potentiometer
Terminal definition Refer to the table 2-4 for the terminal definition in connector X321/322.
General The pulse enable signal and controller enable signal are to be connected
with terminals in connector X331/X332.
Terminal definition Refer to the table 2-5 / 2-6 for the terminal definition in connector
X331/332.
For the 1-axis version, the following assignment is obtained for X332.
Table 2-6 terminal definition for 1-axis
Ter.No. Designa- Function Type Typ./limit max.
tion value(V) Cross-
section
2
(mm )
9 X332 Enable O +24 1.5
potential
65.1 X332 Controller I +13…30 1.5
enable
15 X332 Reference O 0 1.5
potential
258 X332 Current O 0…±10 1.5
setpoint
General The pulse enable and drive enable interface is available in infeed
module.
General It is the reference potential terminal for electronics power supply. This
terminal (screw M4) should be connected with the protective conductor in
2
NC using a cable with cross-section 4mm .
General Terminal 63 is used for pulse enable input. Terminal 64 is for drive
enable input. They can be short-circuited with terminal 9, or controlled by
PLC.
Terminal 63 has the highest priority for enabling the pulses for all of the
modules and acts instantaneously.
Terminal 64 acts instantaneously on all modules. When the signal is
withdrawn, nset is set to 0 for all drives, and all of the controllers and
pulses are inhibited after a selected time has expired (setting when
supplied: 240 ms). The drive is braked along the current limit.
Power supply
General SIMODRIVE base line can be connected directly to TN line supplies. For
all other line supply types, an isolating transformer with grounded neutral
point on the secondary side must be used. The figure 2-9 shows how to
connect the drive converter to line supply.
M
3~
Line supply system There are different line supply networks, e.g. TN system, TT system and
IT system. The TN-C system is applied most widely.
Fuse/circuit Fuse must be used which are designed to protect the line supply feeder
breaker cables. We recommend the SIEMENS fuse type listed below:
Irated 16A;
Ifuse0.2s >70A;
Ifuse4S > 50A;
Ifuse10s > 42A;
Ifuse240s > 30A;
Isolating SIMODRIVE base line can be connected directly to TN-C line supply
transformer system. The isolating transformer is used as an option in this line supply
type. The connecting diagram is shown in the Fig.2-8. But the isolating
transformer must be used in following cases:
1. IT line supply system or TT line supply system;
2. The touchable part in the equipment has potential because of the
non-balance load current or harmonic current in 3-phase system in
TN line supply
3. Upstream devices providing protection against hazardous leakage
currents or for fire protection doesn’t comply with the requirements
of DIN EN 50178
Remarks:
It is valid for the tailored transformers, which is to be observed by the
customer when purchasing.
Filter The line filter limits the cable-borne faults emitted from the drive converter
unit to permissible EMC values for industry.
Shield plate in order to meet the requirements of the EC Directive on EMC, the motor
cable should be shielded. The shielded plate is used to contact the shield
on shielded motor supply cables. The plates are provided with prepared
mounting points for brake connection terminals.
How to mount the plate in SIMODRIVE base line and wire up the cables,
please refer to Fig.2-12 and Fig.2-13.
Grounding
X312 G
PE2
W2
M
V2
3~
U2
X311 G
PE1
W2
M
V2
3~
U2
X131
PE
W1
V1
U1
SIMODRIVE base line
Technical description
Closed-loop control with resolver
General This drive variant is intended for applications for which highest encoder
resolution is not a primary concern. The control has been specially
designed for use with sine-commutated 1 FK motors.
The resolver encoder system integrated in the motor supplies the signals
required by the control system, such as motor rotor position and actual
speed, as well as an incremental shaft encoder interface with TTL
signals for external processing.
Control process
n + Gating
+ M
unit G
3~
- -
Rotor
position
Actual
current
Current
measure-
ments
Actual
speed
Motor
encoder
measure-
ments
Infeed module
General SIMODRIVE base line is connected to the power supply via the infeed
modules. The infeed module generates the DC voltage 600V from the
line supply. And the PWM DC link voltage is provided for the stator
windings in the motor. The resolver built-in the motor switches over the
current to appropriate phase.
Control process
Drive Pulse
enable enable
DC link
monitoring
Pulse resistor controller
Monitoring
Pre-charge
contactor
Enable signal The time diagram of the enable signals in infeed module is shown in the
Fig.3-3.
Control module
General The control module is intended for feed drives with close-loop control
function. It can provide the smoothing function for machine tools.
The speed controller has the PI characteristics. The proportional gain KP,
integral action time TN, drift compensation and tachometer calibration can
be set using potentiometer. The dynamic response in low velocity is
improved through speed-controller- adaption. The speed controller is to
be optimized through varying integral time and proportional gain.
Control process
3~
M
R
Enable signal The time diagram of enable signals in control module is shown in fig.3-5.
2
Monitoring function heatsink overtemperature- /I t monitoring
Heatsink overtemperature monitoring:
when the heatsink shutdown temperature is reached, the fault signal is
output. And the axes are stopped.
2
I t monitoring:
when the limiting becomes active, the fault signal is output. And the
axes are stopped.
Motor overtemperature
SIMODRIVE base line feed modules with closed-loop control for
servomotors are equipped with an evaluation circuit for the PTC
thermistors integrated in the motor windings. The monitoring
combination is intended to protect the motors against inadmissible
high winding temperatures (trip temperature 150°C);
Servomotor
The motors are designed for operation without external cooling, and the
heat is dissipated through the motor surface. The 1FK7 motors have a
high overload capability.
Technical data
Table 4 1 technical data of 1FK7 servomotor
Designation Parameter Remarks
Rated speed 2500 rpm
Pole pair 4
Encoder Resolver, 1 pole pair
Motor type AC servomotor (permanent-field
synchronous motor)
Magnet material Rare-earth magnet material
Protection degree IP64 According
to
EN60034-5
Insulation of stator Temperature class F Winding
windings temperature
(according to rise
EN60034-1) T=100K at
ambint
temperature
+40ºC
Cooling type Natural air cooling
Temperature KTY84 Temperatur
monitoring e sensor in
stator
winding
Paint finish unpainted Machine
Tools
Works
responsible
Motor shaft Plain shaft /with fitted key and According
keyway to DIN748-3
Rotational Tolerance N (normal) According
accuracy, to
concentricity and DIN42955
axial runout
Order data Please refer to the table 4-2 for the ordering data of 1 FK 7 servomotors.
The speed –torque characteristic can be seen in the fig. 4-1 ~4-4.
Note:
The data in the table and figures below are only adapted to the
application field with SIMODRIVE base line.
1FK7042 - 5AF71
11
Max.torque line
10
7
torque [Nm]
5 S3 - 25%
4 S3 - 40%
3 S3 - 60%
S1 (100K)
2
S1 (60K)
1
0
0 500 1000 1500 2000 2500 3000 3500
speed [min-1]
1FK7060 - 5AF71
20
15 Max.torque line
torque [Nm]
10 S3 - 25%
S3 - 40%
S3 - 60%
5 S1 (100K)
S1 (60K)
0
0 500 1000 1500 2000 2500 3000 3500
speed [min-1]
1FK7063 - 5AF71
35
30
max.torque line
25
torque [Nm]
20
S3 - 25%
15
S3 - 40%
10 S3 - 60%
S1 (100K)
5 S1 (60K)
0
0 500 1000 1500 2000 2500 3000 3500
speedl [min-1]
1FK7080 - 5AF71
25
20
max. Torque line
torque [Nm]
15
S3 - 25%
S3 - 40%
10
S3 - 60%
S1 (100K)
5 S1 (60K)
0
0 500 1000 1500 2000 2500 3000 3500
speed [min-1]
Dimension the dimensions of the servomotor can be seen in the fig. 4-1 and the
table 4-3.
SINUMERIK
802S
Leaflet
SINUMERIK
802S
Start-up
Siemens AG
Automatisierungs- und Antriebstechnik
Motion Control Systems
Postfach 3180, D – 91050 Erlangen © Siemens AG 2003
Subject to change without prior notice
Bundesrepublik Deutschland Order No.: 6SN1197-0AB21-0BP0