SIEMENS SIMODRIVE 210 Transistor DC Chopper for DC Feed Drives Instruction Manual Edition 10.90 1 Seek gy Manufacturer DocumentationSIMODRIVE 210 Transistor DC Chopper for DC Feed Drives Instruction Manual Manufacturer Documentation Edition 10.91SIMODRIVE® Documentation Printing history Brief details of this edition and previous editions are listed below. The status of each edition is shown by the cade in the "Remarks" column. Status code in "Remarks" column: ‘A... New documentation. B ... Unrevised reprint with new Order-No. C ... Revised edition with new status. If factual changes have been made on the page since the last edition, this is indicated by a new edition coding in the header on that page. Edition Order-No. Remarks 10.90 6RB2101-0AA76 (GWE 462 112.9600.76 Jg-101) A © Semens AG 1987 At Rights ReservesSIMODRIVE® Documentation Editions The following editions have been published so far. The sections changed since the previous edition are indicated in the “Changes” column. Edition Order No. Changes 01870.5 GWE 462 112.9600.00 Ja-101 First edition 05870.5 GWE 462 112.9600.00 Jb-101 Revised edition 01880.5 GWE 462 112.9600.00 Jd-101 Revised edition 0388%.0 GWE 462 112 9600.00 Jd-101 Unchanged reprint 02890.5 GWE 462 112 9600.00 Je-101 Revised edition 07900.5 GWE 462 112 9600.00 Jg-101 Revised edition NOTE These instructions apply only to units with controller modules 6RE2100-0NAO! 6AB2100-0NAI1 @RB2100-0NA21 The SIMODRIVE unit may not be connected to a supply with ELCBs (permitted under DIN VDE 0160, Section 6.5) In the oporationat stato, protection against direct contact is atforded in a form to render the units suitable for installation in electrical operating areas (DIN VDE 0558, Part 1a, Section 5.4.3 2.4) In compliance with DIN VDE 0160005 88, all SIMODRIVE units are subjected to a high-voltage test at the time of routine testing. If the electrical equipment of machine tools undergoes high-voltage testing, all connectors must bo separated or terminals opened (permissible under DIN VDE 0113, Part 1, Section 13.2). Damage to sensitive electronic components can thus be prevented Pertinent wiring manual 6RB2101-08A00 This Instruction Manual is also available in the following other languages German Order No.: 6R82101-0AA00 French 6RB2101-0AA77 Spanish 6RB2101-0AA78 Italian 6RB2101-0AA72 CAUTION The modules of the unit include electrostatically sensitive devices. Before touching a PCB the person carrying out the work must himself be electrostatically discharged. The simplest way of accomplishing this is to touch an electrically conducting earthed object (e.g. a bare metal part of a switchboard or the protective-earth contact of a socket outlet). SiemensAG GWE 42 112.9600 76 9-101 SIMODRIVE lastructionsContents 13 134 134d 13.12 1343 13.2 aa 22 23 24 25 34 Bat BAL BAND 3443 3A2 313 BAB 3132 3.1.33 314 345 3.16 BAT 318 319 3.1.10 Safety instructions Description of the unit Application Mode of operation Technical data Ordering data overview Casing Power modules Options Rated data Installation Installation of units Connecting instructions Inrush current limitation Screen connection and strain relief of cables Terminals Commissioning Matching the control system Matching to feed motors Setting the current limit Setting the speed-dependent current limit Matching tables for 1HU motors Current setpoint limitation, "Hold against mechanical stop” function Tacho-generator Tacho-generator input Tacho-generator monitoring Tacho-generator simulation Speed controller adaptation Electrical weight compensation Current-controlled operation Current setpoint for parallel operation External power supply for controller enabling External voltage input for storage of fault memory signals Changing of variable components in the speed setpoint channel Siemens AG GWE 462 112.9600 76 19-101 SIMODRIVE Instructions Page 10 10 10 2 3 14 “4 14 14 15 16 23 24 24 24 25 25 26 7 28 29 29 30Page 3.1.11 Monitoring circuit “Speed controller at stop" 30 3.1.12 Operation of control axes without power circuit module : 31 3.1.13. Matching the current controller gain 31 3.1.14 Testing the load cycle 32 32 Signals 33 3.2.1 Ready/fault signals 33 3.22 Reset fault memories 33 323 ltsignal 33 33 Test sockets, display elements : 34 34 Start-up 35 4 Maintenance ; 37 4.1 Maintenance instructions 37 42 Faults 37 43° Spare parts 39 44 Connectors 5 40 5 Block diagram : aa Mt 6 Terminal connection diagram a2 7 Circuit diagram 44 8 Wiring of different power module variants 49 9 Dimension drawing . 50 10 Setting elements : cos we 82 Setting data en 53 Notes on electrostatic charges —— bees! Addresses vovteteees 56 Standards and specifica 56 NOTE These instructions do not purport to cover all details or variations in equipment, nor to provide for every possible contingency to be met in connection with installation, operation or maintenance. Should further information be desired or should particular problems arise which are not covered sufficiently for the Purchaser's purposes, the matter should be referred to the local Siemens Sales Office. The contents of this instruction manual shall not become part or modify any prior or existing agreement, commitment or relationship. The Sales Contract contains the entire ‘obligations of Siemens. The warranty contained in the contract between the parties is the sole warranty of Siemens. Any statements contained herein do not create new warranties or modify the existing warranty. SlemensAG GWE 462 112.9600.76 49-10% SIMODRIVE InstructionsSafety instructions WARNING Hazardous voltages are present in this electrical equipment during operation. Non-observance of the safety instructions can result in severe personal injury or property damage. Only qualified personnel should work on or around this equipment after becoming thoroughly familiar with all warnings, safety notices, and maintenance procedures contained herein. ‘The successful and safe operation of this equipment is dependent on proper handling, installation, operation and maintenance. Definitions © QUALIFIED PERSON For the purpose of this instruction manual and product labels, a “qualified person" is one who is familiar with the installation, construction and operation of the equipment and the In addition, he has the following qualifications: 1. 1s trained and authorized to energize, de-energize, clear, ground and tag circuits and equipment in accordance with established safety practices 2.[s trained in the proper care and use of protective equipment in accordance with established safety practices. 3. Is trained in rendering first aid * DANGER For the purpose of this instruction manual and product labels, “Danger” indicates death, severe personal injury or substantial property damage will result if proper precautions are not taken. © WARNING For the purpose of this instruction manual and product labels, “Warning” indicates death, severe personal injury or substantial property damage can result if proper precautions are not taken © CAUTION For the purpose of this instruction manual and product labels, “Caution” indicates minor personal injury or property damage can result if proper precautions are not taken © NOTE For the purpose of this instruction manual, “Note” indicates information about the product or the respective part of the instruction manual which is essential to highlight. SiemensAG GWE 462 112.9600.76 9-101 5 SIMODRIVE instructions1 Description of the unit 1.1 Application Transistor DC choppers of type 6RB21...are used in conjunction with DC servomotors such as the 1HU series in the range up to approx. 90 Nm for driving the feed axes of machine tools They operate in four-quadrant operation and satisfy highest demands on the dynamic control response. Complete units for driving 1 to 6 feed axes with a maximum DC output voltage of 210 V are available. 1.2 Mode of operation Transistor DC choppers control the speed of the drive by means of a pulse-width-modulated DC output voltage ~ Ma Chopper regulator = OC. Qr Speed Current Pulse-width ontraller controler. modulation neo = oH = Tacho- Servomotor generator ‘Actual current value Actual speed valve Fig. 1.1 Block diagram of the variable speed OC feed drive : 6 Siemens AG GWE 462 112.9600.76 Jg-101 SIMODRIVE Instructions1.3 Technical data 1.3.1 Ordering data overview 1.3.1.1 Casing |<—— 6na2101-24 |<—— 6na2101.20, |<——— 6R82101-58 —<—— 6 82101-68, Fig. 12 Casing 1.3.1.2 Power modules Extension modules Casing width 238mm 339mm 440 men 1350 mm (440 + 1110) {660 men (240 # 23110) . Number |Current Order No. Designation’) Lofaxes [tvtime | NS Expansion set aisers.nis.e15 [ot 1 axigon one module 66R82105-05080 1A25,€25,H25,F25 | 2 | SSA | 2axesonone module 16R82105.05F80 35,635,435,635 | 3 3 axes on one module 6R@2105.05G80 19, 19,419, F19 1 J axisonone module ‘R321 10-0FD80 29,€29,429,F29 | 2 | 10008 | 2axesonone module {5R02110-0FF80 939, €39,439,699 | 3 3 axes on one module R821 10-080 ‘820, €20,420,F20 | 1 — | 200608 | 1 module per axis {6R82120-0F080 ‘430,€30,H30,F30 | 1 | 30008 | 1 module per axis {6R82130-0F080 ‘840, £40, 40, 40 1 | aor20.8 | 1 modute per axis {6R82140-0F080 ‘960, £60, H60, F60 1 | 60804 | 2modutes per axis 6R82160-0F860 ‘890, £90, 90, F90 1 | 902708 | 2modules per axis 16R82190-0F880 ‘age.e98,498,F99 | 1 {150/300 amodulesper axis, Cannot be retrofitted Table 117 Power modules *Asinstalied He Design for main spindle operation (installed) Ezinstalation prepared Fe Prepared for main spindle operation Siemens AG GWE 462 112 9600 76 Jg-101 SIMODRIVE Instructions1.3.1.3 Options Designation Notes Expansion set Gio) Lint-ircut voltage lim tation 0 3/30 kW 56100-08881 (continuousshort-time cating) 20") Link-circut voltage limitation 09790 kW 65¢5100-00880, {continuousshorttime rating) an a2 Terminal strip for connecting power 313 cables wit cross-sections exceeding those sot aia laid down by DIN VDE 0100 (depencing eourass ais ‘oncasing width} a6 *) G10 and G20 must notbe connected i paralle! Table 1.2 Options 1.3.2 Rated data Rated supply voltage 3 AC 50/60 Hz 165 V or 220 DC*) + 10 Rated output voltage DCOVto +210 Short-time limit current 3x ly (200 ms) Efficiency Approx. 95% Number of feed axes 1106 Power loss Py Py = 0.05xP Permissible ambient temperatures + Inlet air temperature 0°C to + 60°C (alsorefer to Fig. 1.4) + Storage temperature = 25°C to +85°C P 2 Power supplied to aload under typical feed deve conditions ye Rated current *) with direc supply via #200 and 1200 with pre-load without pre-load “UL, FL a =| Be ° Fig 12 Ratedlosd.cles for power modules in operation with short-time limit current In operation without short-time limit current, a continuous current of 1.1 times the rated current is permissible (also see Section 3.1.14). Siemens AG GWE 462 112.9600.76 J9-101 SIMODAIVE Instructions(eh 100 80 6 40 20 60 aut 7 2 30 354 90 Fig. 1.4 Power reduction with raised inlet ar temperature Site altitude toad [%4] 100 The specified load values refer to site altitudes of up to 1000 m above sea level. At altitudes over 1000 m, the load values must [| reste as snown nn atasram blow 49 20 ° 0 1000 2000-3000 + 4000-—=5000 Site altitude [m] Fig. 18 Derating at site aittudes > 1000 m above sea level Limitation by the power section (Uce montonng), Kur Cannot be exceeded leven lor shor es, Al Limtation by !t monitoring Maximum current adustabe with sich S2 on the =~ adjustment module Possibie seting range: 0.23 - lumen lax $ huwwr ‘Thermally permissible contnuous current “Thermally pecmusible current fr cates load cycie Fig. 1.5 Effective current limits Siemens AG GWE 462 112.9600 7619-101 SIMODRIVE Instructions2 Installation 2.1 Installation of units A minimum clearance of 100 mm must be available above and below the units to ensure unobstructed air supply, The unit must be installed so as to be protected against conductive dust accumulations and vapours (degree of protection DIN 40050-1P00), For mounting dimensions and location of the fixing points refer to the dimension drawings. NOTE © The front cover provides protection against contact with live parts according to DIN VDE 0106, Part 7, © The unit's internal power supply for the fans is not potentially isolated from the mains supply. 2.2 Connecting instructions The units are connected to the mains via an autotransformer or an isolating transformer. When an isolating transformer is used, M200 on the power module must be earthed Depending on the transformer and unit size, an inrush current limiting circuit must be Provided if necessary (see Section 2.3 “Inrush current limitation") ravingotmars [neprotection [Fue tase Line pr characterstic Operationwithout_éxtransformer |Notobtamed | Timeag inrushcurrentlimt. [rated current Operation with inrush |1.3« transformer | Obtained Time lag currentlimitation [rated current Table21 Connect the units as recommended by the manufacturer and in accordance with the circuit diagram supplied by the customer. The current limiting circuit, the tacho input and the ‘current controller gain of the unit must be matched to the type of motor used. For details, refer to 3.1 “Matching the control system” NOTE ©The reference and actual value cables must be shielded and installed separately from the power cables. © Twisted leads are recommended for the motor conductors, © The control cables for the controller enabling circuits must be installed separate from the contactor control cables. ‘The chassis earth connection between the NC and the PWM drive should be kept as short as possible using minimum conductor cross-sections of 4 mm?. Connect terminal +G0-X131 to the earthing point of the NC or, in systems without an NC, to earth. 10 Siemens AG GWE 862112 9600.76 19-101 SIMODRIVE Instructionsee a aa re Load 1 electronic 1 garhing bustor i i j suehgeareubile beasercseeen ! ! ; el i 4 2 4mm? d 1 i i t i int i i : eee Hoe | 5 ce : i 4 i: fenhing £} 200 GoxI3 1 ; : 1 we i ' 1 ' te amm2 6p], 1 ; pam ot 1 1 1 1 I Electronic i seroer| i . screen oas 4 L i i noo) eset a) earthing bus : Vore Ys favonsatorDCenonper I Dechopper ‘ . eceerccitetioes poeeeel| L2 1) Applies only to transformer with separate windings 2) Wire linkin transistor DC chopper 3) Crost-section to DIN VDE 0113 and DIN VOE 0100 4) Inthe cate of larger cross-sections, use external bus. Connect bus to earthing stud Fig. 2.1 Farthing concept 2.3 Inrush current limitation if amatching transformer rated higher than 5 kVA (in the case of autotransformers) or 8kKVA. jn the case of isolating transformers) is required, resistors should be fitted for inrush current limitation. if inrush current limitation is required, this should be installed as shown in connection diagram 462 112.9600.00 KL Sheet 2 (Section 6) Siemens AG GWE 462 112,9600.76 19-101 " SIMODAIVE Instructions2.4 Screen connection and strain relief of cables — ~ ++ maT og Hy 3) cable __| ite | — [-" Le | = 3), a = | BF) 4H IS casing (as U clamp aij 1) One to three cable screens can be connected depending on distance a between screws 2) Important! Screen of setpoint cables from NC must not be connected to chassis earth 3) Alternative method of connecting the cable screens F 0 LJ length a Axes Imm] Vand 4 150 2andS 80 Band6 20 m~ Insulation stripped for earthing of cable screen and strain relief 12 SiemensAG GWE 462 112,9600.76 49-101 SIMODRIVE Instructions2.5 Terminals Terminal |iocation [Function Typical voltage [Maximum permssible conductor erosesection Power section UW = _ [Mains connection _[Bactesv Terminal for MB **) le 5 PE conductor e [ov ‘Terminal for M8 **) 1200 = |izoiating wansformeranly |e [ov Terminal for 6+) busbar Mass connection [Motor connections fa [ocziov 5/15, 107308, 15mm 20/60 A, 3090 0, 40/1208 témm [sano 90/270 25mm? 150300, Terminal for M6 **) [Supply voltages 7 ‘+G0-X111 [Auniiaryvottage (18-3000[A | +24V,50mAmax [1Smm? 10 a0x1T [AuRiiary voltage (-18-—30Vi [A |-24v.50mAmax. [1.5mm? as 602x111 [Electronics voltage A__[15v.10mAmax [15mm aa G0XI [Elecronics voltage A [=15V.10mAmax [1 5mm? 19 = 60121 [Enabling voltage ea [e2avov ism n ~G0X117 [external avuliary voltage 24V,10 1mm 5 =G0X11T [elec ground 4 internal, [A [OV 1mm? 360x101 fact earth} Conrectée [ein lov Terminal for M6 **) Electronic signals Rk +60-X111 [Fauitlatch eset lov ismm? 56,14 =NoXigt [Speed sezpont | € [evv ismm? 24.8) = NeXdgt [Speedsetpount ¢_[zov imme 6 “rN X19) [integrator nibition a 15mm 96 TNekigt [ext currentimmitrecuction [é_ [-15V 13mm 63 +6072% [Pulse enabling €_[et2veo+30v [15mm 6a +0121 [Dave enabling €_[etaviovz0v [15mm 5 TNyXIgt [Speed contralerenabiing [E [+t2vio+30V_ [1Smm? 6 “+N XagT [Current actual valve fa [ztovin=2km [15mm 38 1 [Current setpoint & [ewv 1Smm [Tacho generator 551 “+ NpXig) [Speed actual value hua = [ez0v Temm 552 € [sav 15mm? 553 | ssov 1smm? 3 Reference potentiainy __|£ _[Ov(noframe) __[15mm? (Messages a sooxti [eee Ov, 50 mA ism fa.7a.1 qwcie] +0-x121 | Relascontact. are a [aczsov.saor [15mm 2.73.2 nov) faultready gnats 0C30¥v.58 Table 22 *) Terminals 72.1 and73.2_are interconnected via 30 resistor *%)—Forcable lugs to DIN 46234 X4,1 a X411.X@21.X631 *) Tolerance: + 19Vto 30 (see Chapter 3.1 9) st) Ee Input A 20utput Ny Siemens AG GWE 462 112 9600.76 19-101 SIMODRIVE Instructions ND 1g) OXON X121X031 33 Commissioning WARNING Safe operation is dependent upon proper handling and installation by qualified personnel under observance of all warnings contained in this instruction manual Non-observance can result in death, severe personal injury or substantial property damage. The modules of the unit contain electrostatically sensitive devices. Before touching a PCB the person carrying out the work must himself be electrostatically discharged. The simplest way of accomplishing this is to touch an electrically conducting earthed object (e.g. a bare metal part of a switchbaord or the protective-eath contact of a socket outlet) 3.1 Matching the control system 3.1.1 Matching to feed motors The data required for matching the transistor chopper to feed motors of the 1HU series are givenin the matching tables for 1HU motors in Section 3.1.1.3. 3.1.1.1 Setting the current limit ‘The settings are made by the switches $1, $2, $3 on the adjustment module, ‘Switches $1, $2, $3 Current limit Imax in A Contacts. Power sections 2 [3a [5 _[enezi0s [eraario [énezi20 [erszt30 [enaziao [exazi6o [6Razi90 ofofefo|l sol sol so] soo] 120] vo] 270 xlefele] wal ess] siol 76s] 102 153 | 230 of[xfeo[e|] wz] wal sol s2] a v2 [| 1a8 «|e lo oz] 3[ses| seo | 73 vo [165 ofe|xle 75 | ‘sof 300] sso] 60 30 1S x[el*l[e co | el el wal ss 3 18 x|x* eo 52 2a{26| seo | a9 74 ut ~|«lo 59 nT Ba 351 a7 70 105 ofeolelt« sa{ sl 2e| al] a 6 7 x[efel« 54 w2{ wa] 306] a1 6 2 olxfe[x a go [ ao] 270] 36 3a a x[xfol[x a4 a7 val 261] 35 32 78 2 ~| « 29 75 | 156] 24] 30 a, 70 xfe[«|« 38. 7s | iso] 25] 30 5 8 ole lx[x 36 72 | taal 26 29 a % «{x[*|« 35 es[ se] 07| 2 at 82 Table 37 (92.Contact in normal position (OFF) x2 Contact in ON position 4 SlemensAG GWE 862 112.9600.76 Jg-101 SIMODRIVE. Instructions3.1.1.2 Setting the speed-dependent current limit For 1HU motors see 3.1.1.3 Characteristics 0 to 15 (Figs. 3.1 and 3.2) are set by switches $1, $2 and $3 on the adjustment module ‘As shown in Table 3.1, the 100 % value of current | corresponds to the Imax current limit set and the 100 % value of the speed corresponds to the rated speed of the motor. ‘A minimum inductance (Lmotor + Lreactor = 1H) is required for motors with disc-type rotors because of the temperature rise. Speed-dependent current limitation is not required in this case but the following diodes must be removed: V48 (axes 1 and 4), V82 (axes 2 and 5) and V100 (axes 3 and 6); or adjust characteristic 8 if necessary. nage suas % 1 * swvteh 51,82, 53 Character Contacts > ase istic umber » slr}els 85.0 o [elelele . ” — # 7 Telelsle Fig.3.1. Adjustable characteristics of olelxls speed-dependent current limitation a a felxlele t 6 fefxlxleo 7 [e[x|x|x 1 a [xleolele 9 [x«fele|« a oa wo [«l«[«[* " vf«le[«[« 2 2 |[x[xl[xlo 3 [«le[«le 3 |x[xlelo : * 7 Table 32 Fig. 32 Adjustable characteristics of ‘06Contacts in normal postion (OFF) Speeddependent current imitation xa Contactsin ON postion Siemens AG GWE 462 112.960076 19-101 15 SIMODAIVE tnstructions3.1.1.3 Matching tables for 1HU motors Matching table for SIMODRIVE power modules 6RB2105-... (5/15 A) Short designation A15, A25, A35, H15, H25, H35 Settings by means of switches $1, $2 and $3 on the adjustment module. Servomotor Currentiimit _ [SPeed-dependent current limit tome | Comet comes [terminal Sr Co Inala revimin | 2] 3] a] s 6} 7}a]o pt poseancors| 22 | aa | 2000 fofofo]o} we fo]x]«]o] sa doseoarors| 22_| a7 | 30 [olofo|o| wo fxl|o|e| 33 voseoacor*] as | er | 2000 fo[ofo]o] wo lxfololeo| sz woseonor | 43 | wo | 30m folofolo| so [xfofole| ss voseoacors] so | aa | zoo fo[olofo] iso |x]o]oleo] se doseoneor | so] zr | 300 |s[olfolo| so [x[ole|o| ssa vorooncor | 32] as | oo fololo]o] wo |x}oj ols] sz jonosor | 32 | sa | 300 |ololofe| wo [rfo|o|e| ssa rorvoncor | so | 71 | 200 fololo}o] so |x}o]ole] sa joronsot_| 30 | roy | 300 ololole| to |rfolole| sat rorsoncor | 70 | wo | 200 fololo}o] wo |x}olo]e| sa ponaaor | 70 | te | 3000 Jololofo| io fxfole|e| sa poveoncor | 70 | 97 | ao fofolo]o] wo |x]o] ole] ssa joneanror | 70 | 25 | 3000 [ofolfolo| wo frfolo|s| ssi rorconcer | v0 | vas | 200 fofofolo] wo ]«fo]ole| sa rioooacr | 70 | as [ 200 olo]o]o] wo |xfolo]o| ssa yooanror | to | v2 | 3000 [ofofolo| so [xfofolo| sae roraacor [| 100 | v4 | 200 fofo[o|o] wo |x]ololo| ss niozonoer | wo | 50 | vo [o[elofo| wo |xfofolo| sa soaooncor | 12 | 19 | zoo folo|x}ol vs [x]«]o]=| ss2 soeooser | 12 | as | om folsfole| ar fafels|«| 23 soazoacor | 17s | 27 | oo fol«]o}o] wz |x}=]ol=] ss somoneot | 178 | 40 | 300 [olelofo| wo [x[alo|«| od somone | 25 | a6 | 200 fofolo]o] so |o}olol=| sz soaconar | 25 | 33 | 300 folofofo| so fofolelo| ssa 13 ‘02 Contact in normal position (OFF) xa Contactin ON postion Contact$t.1,$2.1,53.1: na function Contact$1.100resstor R200: Contact$t.10n ON postion or R200 provided inthe form of ajumper All three axes are operated in current loop. ‘The dynamic response can be increased stil further by removing diodes VB (Axes 1 and 4), VB2 (Axes 2 and 5) and V100 (Axes 3 and 6); the speed-dependent current limitation then becomes inoperative "7 Also referto Chap. 3.1.13 Matching the current canteller gain. Separately-ventilated motors can be uted instead of the non-ventilated motors DA.01 anon-ventilated motor 05.01 aseparately-ventiated motor 16 Siemens AG GWE 462 112.9600.76 Jg-101 SIMODRIVE instructionsMatching table for SIMODRIVE power modules 6RB2110-... Short designation A19, A29, A39, H19, H29, H39 Settings by means of switches S1, $2 and $3 on the adjustment module. (10/30 A) [Speed-dependent current Servomotor Current limit limit nee Contacts Contacts | terminal tau |Mginml | tal revimin 2[«[s s[7[e[e pe faoseoarors*| 22 47 | 3000 ofofolfso [efx] x]olss3 aoss-oacors*| 45 67 | 2000 efololso [ololx 552 aossoacois| a5 | 10.0 | 3000 elofe}3%0 jolo x | 553 soss-oacors*| 6.0 ‘aa | 2000 olelols0 Jofofo]x|ssz aoseoarors| 6a | 127 | 3000 ofof{o30 |olofo|x|ss3 3o7ooacor | 32 as | 2000 xfolofa« |xlo]x]x |ssz so7ooarot | 32 6a} 3000 |e | 300 of xo |ss3 so7roacor | so. 71 | 2000 of oo [200 x | x [552 poroaror | so | 107 | 3000 ofofofso |x| x 553 fs07a-0acor | 70 | 100 | 2000 ofefefao |x|x]ole|ssz zorzoaror | 70 | 138 | 3000 ofe|oj30 |xfofolo|ss3 aoraoacor | 70 37 | 2000 ofolo[so |xlolofolssz aoraoaror | 70 [138 | 3000 ofo{o{2o | xfofo|o{ss3- ao7soacer [100 [125 | 2000 ofolofz0 |xlolololsse: ao76aaror**| 100 | 200 | 3000 ofofofi%o |x}olojfo|ss3: soreoacer [iso [170 | 2000 o}olef30 |[xlololo|ssz aoreoarore*| 140 | 250 | 3000 ofofof%0 |xlololo|ss3t sioo-oacor | 70 95 | 2000 ole]o|30 |xixlolx |ssz aioooaror | 70 | 142 | 3000 ofe|e|30 |xjolo 553 aioroacer | 100 | 134 | 2000 ofolofzo |x]xfolo|ssz aroroaror [100 | 205 | 3000 ofo|o20 |x |e | 553 3x020a001 | 1a [150 | 1200 eo fo] o [300 ofo|fo|ssi arozoanor | 180 | 240 | 2000 o}o}o}30 |xlololo|ssz 3102-05001 | 230 | 230 | 1200 afofoj:o |xfeojolo|ssi faroaoacor | 125 | 157 | 2000 efefolso |xlolo]o|ssz faroaoaror [125 | 235 | 3000 ofefo}%o |xlololo|ssa sroaoan0r [250 [195 | 1200 ofololz0 |xfofofofssi sroaoanor [250 | 310 | 2000 ofofof{30 |x]ofolo {sz 3ro6-oa01 [320 | 240 | 1200 ofofefio0 |xfololo|ssis siooaoor [eo [310 | 1200 efeofels:o |xlololo[ssir aazoacr [azo [310 | 1000 efefeol:o |xfolo|« [ss soaz.oaror | 1.75 30 | 3000 ofxfoliso |x]xfo| x [sss soaaoacor | 25 36 | 2000 x[oliso |o 0 | x | 552 Soaaoaror | 25 53 | 3000 x of2e |x]xfo| x |ss3 Table 34 Explanations see Table 3.3 Siemens AG SiMODRIVE Gwe 462 112 9600.76 19-101 InstructionsMatching table for SIMODRIVE power modules 6RB2120: Short designation A20, H20 Settings by means of switches $1, $2 and $3 on the adjustment module. (20/60 A) Servomotor Currentlimit __[Speed-dependent current limit mas Contacts Contacts [remmnal ry [mgiim | tan nae AD revimin 2] ayes 6] 7 {elo |x roseoncoise| as | 67 | 200 [«]olololsio [ol]x|x=|«|sa soseonror=| a3 [wo | 3000 |x }ololofsio |ofx|s |x| sso woseoncorss| 60 | 28 | 2000 [ofo]o|o|]eoo |o]x|x|e|ss woseoaroie*| 60 [127 | 3000 |ofololofeo |olo|«|x|ss3 sorvancor | 50 | 71 | 2000 |o]o[x|o]soo [o]o|«|x Iss sorvoasor | 50 [107 | 3000 |x folofe|se fololx|x [ssa sorsoacor [70 {100 | 2000 [x]o[o]o|sro |olo|«|e ssa gorroao: | 70 [138 | 3000 |ofolofofeo fofeo|x|o ssa noreoacor | 70 | 97 | 2000 [olololo|fso |ofolo|x {sz oreoaro: | 70 [135 | 3000 |olo|o|o|leo |ololo|. [ss soreoacor [100 [r2s | zoo [olo]o|o|so |olo|e|x |ssa sorsoaro: | 100 [200 | 3000 |ololo|o|feo |ofeolo|s [sss wreoncor [140 [azo | 2000 |o}o]o|o}oo |x}olo|o|ssa sooaro: [140 [250 | 3000 |ofolofoleo |xlole| x |ss3 noooacr | 70 | 95 | 200 [ofx|oleolao |o}o|=| [esa noooaro: | 70 [r2 | i000 |ofolo|ojeo loleo|«|o ssa nooacor [100 isa | 2000 [o}o]o|of}eo |ofo|«|x|ss2 xoroaror [100 [205 | 3000 |o}olofefeo |*folo|x|ssa nazoaor [190 [iso | v200 [ol o[o]o}eo |olo|x|e|ss sozoanor |180 200 | 2000 |o}ololofeo |«|xlofe|ssz xrazosoo |290 [330 | woo |olololefeoo |olo|xle|ssr srozosuoi_|230 [390 | 2000 |ofololo|fsoo |xfolo| x |ss2 nioaaacor [is [as7 | 200 }o]olo|o]oo |oleo|«|o | ssa honsarot [tas [23s | 300 |ofo|o|o {sco xe |o [ssa aioeoao0i [250 [ras | v200 [olololo|leo |x|x]olo}ss sioeoanor | 250 310 | 200 |olojolo|so |x}ole|o|ssz - sros.oson: [200 {310 | iz |olololeleo |xfolo|x ast rosso; | 400 {soo | 2000 |olojolo|so |xfoleo|o|ss2 ros-oao0 [azo |2a0 | 1200 [olo]o|oleo |x«]elolo| ss srosoanor }320 |220 | 2000 | o|o]o|o | eo o|o|o | ssa nioeasoor [500 |3e0 | 100 |ofolofe|eo |«lole|o|sst nioeoaoor [380 aro | v200 [o]o]olo]oo |x}o]eo]o|ssr sioeonor |330 | aso | 2000 |o}olololeoo |«felelo|ssz srosasoar [ooo [aso | i200 |ololol|ofeoo |xfofole|ss nmoacor [aro [310 | 1000 |ofolo|e|eoo ofx[o [ss nixon: [aro aso | 1500 |o]olofoleo |*folo] x |ssr nizzoscor_|720 [40 | 1000 |o|o|o|o {oo os] x [set wiaeoacor oso [aso | to” |o|o|o] o|soo of ofo lass siseoaror [650 [eo | 1500 |ololofofeo |«felole| ssi srasoacor [900 [sao | vo |ololololeoo |x}oleolo|ss uacoaror [soo [exo | 500 |olofole|so |x|x|efe |sst . Table35 Explanations see Table 3.3 18 Siemens AG GWE 462 112.9600.76 19-10 SIMODRIVE InstructionsMatching table for SIMODRIVE power modules 6RB2130... Short designation A30, H30 Settings by means of switches $1, 52 and $3 on the adjustment module. (30/90 A) [Speed-dependent current, Servomotor Current limit ea = Contacts Contacts [terminal smu |gitim) | lal ‘na A : revmin [2 [3 [4] s 6] 7[e]o | sorxoaro | 70 [rae | 2000 |x [ololo|s |[olo|x|o|ss3 so7aoacor | 70 97 | 200 |xlolololzs Jolo|x|o|ssz aoraoaror | 70 [13s | 3000 | x|ololo|7s |olojx|o|ss3 aoreoacor [roo [rzs | 2000 Jo]x|olol|sz fololo|« |ss2 sorsoaror | 100 | 200 | 3000 Jo] o|ojo|s0 |folo|x|x | 353 soreoaco: [120 [iro | 2000 |x|ololol|7s |folo | 552 sore-oaro1 |1ao | 250 | 3000 |o}olo|o|s0 jofo|x|o|ss3 sroooaror | 70 [raz | 3000 [o[x|ololsz |folo|x|o|ss3 aiovoacor [100 | 13a | 2000 [o|x|olojez [ololx|]x |ss2 aioroaro1 | 100 | 205 | 3000 | x|ofojolrs |olo|x|o|ss3 aiozoan0r [180 aso | 1200 [x ]o]olofrs fololx |x [ss 3rozoanor | 180 feo | 2000 |o]o])o]o|%0 fololx|fo|ssz 310205001 | 290 [230 | 1200 Jo] o)ojo|so jolx}x|x | 551 aro2zosvor | 290 [390 | 2000 | o|o|o|o|se |olo|x|o|ss2 sr03-0acor [12s [as7 | 2000 |x]ololol|zs |olo|]x|x |ss2 aroroaror | 125 | 235 | 3000 | o|o|o|o|%o0 |olo 6 | 553 sroeoaoor | 250 [19s | 1200 |o]ololol]so |ololo|x |sss sroeoanor | 250 |ar0 | 2000 |o{ojojojs%o |x|lololo|ssz aioeos001 | avo 310 | 1200 Jolo}o}o|so folo]x|o}sss sroaosnoi | 40a | 500 | 2000 |olofojo|se |ololo|o|ssz siosoan0; [320 | 2a0 | 1200 [o]o]lo]ofso [ololo|x |ss1 arosoanor | 320 azo | 2000 Jo|olo|o|s0 |x}olo}o|ssz arososoo1 |s00 380 | 1200 Jol o}o]ojso Jojolo|x |ss1 arososnor | soo [eso | 2000 |o]o|ojo|so |x}olo|o|ss2 sosoanor [aa0 [310 | 1200 [o|olo]o|so |xlolo]o|ss: sosoanor [380 aso | 2000 Jo] o]o]ofso0 |x}ol}olo|ss2 sr08-0sp01 | 600 aso | 1200 |o|o}ojol}soo |x]x}o]o ss: sroaosnor | 600 720 | 2000 |ofolojo {so |x folo|o|ss2 sraz-0acor [azo [aro | 1000 olo}olofso |olx|x |x |ss stzz-oaro1 | 470 | aso | 1500 |o}o}o}ojs0 Jolo|x|o|ss: 3iazascor | 720 | aso | r000 |o]ololo|so folx}x |x |ssr a1azoso1 | 720 | 700 | 1500 |o|o]ojo|se fololo| x |s51 aisaaacor [eso [4x0 | 1000 |ololo]o|so |x|x]x [oss 3rsagaror |éso fez0 | 1500 |o|o]o|ojs0 |x}x}o]o ss sr3aosco1 [100 | eso | 1000 | ol o|ojojso |x|x]o| x |s51 rse0acer [900 590 | 1000 |o]o]olojs0 |folo|x|o ss araeoaro1 | 900 [30 | 1500 | ofo}olo|}s00 |o|x | 553 sr36-o0scor [1350 |ar0 | 1000 |of|ofo}oj}so |olo|x|o|s51 size-oacor [11s0 | a0 oo folofole|so |«|«[o|x |ss1 Tabie 36 Explanations see Table3 8 Siemens AG GWE 462 112.9600.76 1g 19 SIMODRIVE BetriebsanlestungMatching table ‘or SIMODRIVE power modules 6RB2140; Short designation A40, H40 Settings by means of switches 51, $2 and $3 on the adjustment module. (40/120 A) Servomotor Current limit Speed-dependent current limit ones Contacts contacts Lrerminal tu [Moin | igi) ‘nas AL revimin [2 [3 [4 [5 6] 7fals ix so7éoaro: | 10 2 | 300 fo]xlofo] az fololo]x {ssa aore-onroi | 14 25 | 3000 [xfofofo|] ww [olo[x|« [ssa sior-oaror | 10 25 | 300 |xfolole]w |x|*[x«|« [ssa siozoanor | 18 2a | 2000 | x ofofm [olo]x |x |ssz 3102-95001 | 29 2 | 100 }x]xfoleo] 7m Jolo|x|o|ssi 3ro2osHo1 | 29 39 | 2000 | « ofefw jolojx|x |ssz siosoaror | 12s | 235 | 3000 Jofolofeo| wo [olx|x|o|ssa aioaoaoo: | 25 195 | 1200 Jolxfolo| a folaleo|« ss: Sroaoanor | 25 ar | 2000 Jofofofo|]0 |ololo]x |ssz sioe0s001 | 40 n | 1200 Jolxfofo] 2 Jololo]«|ssi sroaosor | a0 so | 2000 |ololojo|1 jfolojo|x |ssz 3106-0a00; | 32 ra | 1200 [xlofofo ofo|x]o|ss: 3:060an0: | 32 a2 | 2000 |olofo|o ofolo|« |ssz 310805001 | 50 38 | 1200 | x|ololo ofo|x|o|ss: arososnor | so 65 | 2000 Jolofolo ofofo|x |ssz aros.0ao0; | 28 st | 10 folololo| i |x|xlo|« [ssa 3108.0aHor | 38. a | 2000 |o}ofo|o| iz |x|x}olo|ssz 310805001 | 60 a | 120 Jofofofo}i |x]xfolx {ssi 3rosasnor | 60 | 20 Jofofofo} 2 |x{xlolo|ssz ‘s132-0acor | 47, ar | wo Pofolofol iw folx|x |x [ss 3r3zoarot | a7 as | 130 Jofofolo}i |olx|x|o|sst 3132-08¢¢ n 4a | 10 Jofojlolo}i2 Jolx|x|x | ss aiazasror_ | 72 7 | 1500 }ofofojo} i Jolx|x|o|ssi aiacoacor | 6s a | 10 Jofofoleolo folo]x|x [ss aiaaoaror | 65 6 | 150 |ololo}o}1 Jolo|x|o|ss 3raaascor_| 100 6 | 10 Jofofofo} i folo|x|x |sst 3iaéoacor | 90 39 | 1000 [olofofoli Jololxfolss: snasoaror | 90 a | 1500 Jolofolo} 120 |ololo|x {ss 3r360scor | 135 #9 | 1000 Joloflojo} Jofo|x|o|ssr aiaéosror_ | 135 ws | 1500 |ofofofo|i folofo|x|ssi sieoacor | 11s) ao | wo fofofofofi [x[x]xfolss: 313.0scor_ | 165 is _| 1000 | 0 ofofi |x]x]xfo|ssi Table3.7 Explanations see Table 3.8 20 Siemens AG GWE 462 112.9600.76 19-101 SiMODAIVE Instructions‘Matching table for SIMODRIVE power modules 6RB2160-. Short designation A60, H60 Settings by means of switches $1, $2 and $3 on the adjustment module. (60/180 A) Servomotor Current limit Speed-dependent current limit Pras Contacts Contacts [terminal wu |Mginmd | AgIAl Ina revminf 2 [a] a[s e[7[slo |e 3102-08001 | 29 a | v0 fofx|[xfo] folo]x}x |ssa srozosnor | 29 39 | 2000 | o xfeo}| 9% fofeo}x|o|ssz stoa-oanor | 25 ay | 200 Jol[xlolol]iz [ololo]x |ssz sroeosp01 | 40 31 | 10 |xfolxfol a Jololo|« {ss aroeosHor | 40 so | 200 Jo|xfojo| 22 |x|x]o| x |ssz arosoanor | 32 a | 200 [ofolofeo| wo [olo]x]o]ssz aros0so0 | 50 3a | 120 |x]}xfofo}i J|o}o|x|o]sss drososor | 50 es | 2000 |x]ofojo| iss |x|xfo| x |ssz srosoapo: | 38 31 | 120 [ofxfololi |x|x]o|x [ss 3108-0aHo1 | 38 as | 2000 |o|ojojo|o Jolo}x]olssz aroaospor | 60 4 | 1200 |x}ololo]3 Jolo|x|ojssi s108osHor | 60 n_ | 200 Jofo}lejo| wo |olo|x]o|ssz farazoacor | 47 31 | 10 |x{xfefolm Jo]x[x|x [ss aiazoaror | 47 as | i500 |x ]ofolo]iss folx}x |x [ssi siszescor | 72 ag | ro00 |x] foo} lolx fx |x fssr 31az0sror | 72 x | 100 |xlolofo]rss jofx]x|x {st arze0acor | 65 a | v0 [x[ofofo] ss folx|x |x {ssa aracoaro | 65 62 | 1300 |x]Jolofo]iss |o)x|x|x ss a13e0scor | 100 6 | 100 fo|xfofo|w |olo|x 551 'a136-0aco1 | 90 s9 | 100 |olololo| wo |[o]x|[x|x [ss 3136.0ar01 | 90 33 | 150 |oloflo}o|io fojo}x|x |ss: 3ras-oscor | 135 sa | 1000 |olololo| wo [olx|x]x |ssi arasosror | 135 rs | 1500 |olofofo|iwo folo}x|x|ss: srae-oacor | 115 a | ro folololo]o Jolo]x}ojss1 anaeoaror | 115 13¢ | 1800 |ofolofo|} wo |x|xjo]x |ssz a138oscor | 165 is | 100 fofojofo| wo jojo] x joss Table 38 0.8 Contactin normal position (FF) 2 Contact to ON Contact $1.1,52.1,53.1: no function Contact $1.10 oF resstor R200: Cantact St.101n ON position oF R200 provided in the form ofa jumper: All three axes are operated in current loop. Separately-ventlated motors can be used instead of the non-ventilated motors. 08.01 anon-ventilated motor 05.01 a separately.ventlated motor Siemens AG GWE 462 112960076 15-101 2 simooriveMatching table for SIMODRIVE power modules 6RB2190-..._ (90/270 A) Short designation A90, H90 Settings by means of switches $1, $2 and $3 on the adjustment module. Servomotor Curent limit Speed-dependent currentlimit Roms [contacts contacts rena ray vet | at ina tA ; revimin} 2.) 3} a] s 6} 7 ja] [xt vrocasnor [woo [soo | 00 |ololx}eolus [«l«[«lo|m nrocasnor [300] eso | zo |olxleo]eolwe [elol«[e|s siosoawor [300 aso | 2000 |~|x]o]o| ws fololo|=| sz srosasoor feoo eso | i200 | o}ofxfeolis [ele] sols proceso: [ovo [720 | woo |olxfofo| we ||| so [sz niazaaror [aro aso | vs |x| =to}ol| ws [ol=}x|x [sn sizesc [ro |aso | tooo |x] olxfo| ie lolz |x|s fst sinaso [720 [70 | soo |x| xfofo| ws [ols|s|s for siaeoaror oso |szo | aso |x|x]oleo| ws lolx |x| =a prreascor frooo [eco | io |ofolxfo|is [ells]: fast nacoacor [sno ]sv0 | soo folx}olo| v= [o]«|x|x [sn sicoaro: |s00 aso | iso fololololao lelx|s|s (ser sracasco: |iaso eso | ooo |o|xlofo| we |olz|x} sass pacar: [se frase | iso fofofofelao fels|«|s (se viaeaacor [vise fooo | wo fofole}eo| eo [e]x|=|«=|sn srieaaron fiiso free | tao fol ofefe| ao |xlalxlo lass saeoscor [rosa [rio | woo fofofofolao ele «| [st Tobie 3 ©.2Contactin narmal position (OFF) x2 Contact to ON Contact 51.1, $2.1,$3.1: no function Contact 51.10 oF resistor R200; Contact 1.10 ON position oF R200 provided in the form of ajumper All three axes are operated in current loop. Separately-ventilated motors can be used instead of the non-ventilated motors ‘08.01 snonventilated motor 05.01 aseparately-ventilated motor 2 SIMODRIVE Siemens AG GWE 462112 9600.76 9-1073.1.2 Current setpoint limitation, “Hold against mechanical stop” function When voltage is applied to terminal 96 (Figs. 3.3 and 3.4), the "Speed controller at maximum" monitoring system is deactivated. (6 oe 90 Ph. 20 70 & Urtermas = ~15V 30 20 10 me s t—t 1 1522 334768 10 15 22 33.47 68 100 150 220 330 560 1000 27.2956 82 12 18 27 39 56 82 faxes Jang 831 Bxetzangs Rea ‘Axes Fand8 R93 Fig.32 Current setpoint limitation asa function of R31, R54, R93 on the adjustment module es bt 100 0 10 60 30 20 wi 40203 4 5 6 7 B 9 WO AY 12 13 14 215 Fig 3.4 Current setpoint limitation at a function ofthe voltage applied at terminal 96 (ihe input resistance of terminal 96 amounts to 12 kA) Siemens AG GWE 462112 9600.76 19-101 23 SIMODRIVE Instructions3.1.3 Tacho-generator 3.1. .1 Tacho-generator input The transistor chopper is set at the factory to a tacho-voltage of 20 V/1000 rev/min (e.g. by tacho-generator 1HU 1052). Connect the tacho-generator to the terminals as shown in Table 3.10. Higher tacho voltages must be reduced via an external divider. The internal resistance of the tacho-generator input is about 13kQ Ratedspeedinsevimin | 1000 |1200 |1500 | 1800 }2000 | 3000 Terminal 551 ss2 | ssa Table 3.10 With an actual speed value of 3 V/1000 rev/min, the resistors on the controller module must, ~ be changed according to Table 3.11 snes tand 4 axes 20005 axes3ang6 | Neweesstance value ie Raat 2a 36 8033 na36 eat 470 Table3.11 3.1.3.2 Tacho-generator monitoring The tacho-generator monitoring is set at the factory for tacho-generators with an internal resistance of R, > 1kQ. If tacho-generators with a lower internal resistance are used, remove the following resis tors: = R704 (Axes 1 and 4) = R705 (Axes 2 and 5) = R706 (Axes 3 and 6) When these resistors are removed, the tacho-generator cable is no longer monitored for short circuit, but only for cable breakage To deactivate the tacho-generator monitoring - Remove R428 - Remove V79, V80 and R270 (Axes 1 and 4) - Remove V92, V93 and R276 (Axes 2 and 5) - Remove V112, V113 and R410 (Axes 3 and 6) 24 Siemens AG GWE 462 112.9600.76 Jg-101 SIMOORIVE Instructions3.1.3.3 Tacho-generator simulation ‘A tacho-generator simulation can be used for a voltage range of 7 V < Ur < 11V. Terminal 55.2is used for this purpose Adaptation is carried out with short-circuit links: ~ Link X21 and X29 (axes 1 and 4) = Link X24 and X30 (axes 2and 5) = Link X27 and X31 (axes 3 and 6) When the tacho-generator simulation is used, disable the tachogenerator monitoring (see 3.1.3.2 “Tacho-generator monitoring”) 3.1.4 Speed controller adaptation The reset time Tyrated Of the speed controller can be set with potentiometers R135 (axes 1 and 4), R235 (axes 2 and 5) and 335 (axes 3 and 6). In order to adaptively reduce the reset time Ty of the speed controiler at lowest speeds, the adjustment module must be fitted with resistor R15 (axes 1 and 4), R46 (axes 2 and 5) and R77 (axes 3 and 6). The reset time can be reduced to Tyagape With the following resistance values: With 0.1k@ to_ 5% of Twrated With 10k to 72% of Twratea With 1.2K to 25% of Twrated With 20k2 to 84% of Turacea With 18k to 33% of Twrated With 39k® to91 % of Twrated With 3.9k2 to 50% of Twrated 1 ' ' Ny ' ‘ Pot. 8135 {axes 1 and a) t ‘ Pot. R235 (axes 2 and 5) ! ' Pot R335(axes 3and 6) a 15 (axes 1 and 4) a6 (anes 2 an 5) RIT axes 3 anc 6) 96 (axes 1 and a) R97 (axes 2nd 5) R109 (axes 3 and 6) Tape Adaptation fully effective Transition range Adaptation meffectve Fig.35Relawonship between reset time and speed With the version supplied from the factory (R94 (axes 1 and 4), R97 (axes 2 and 5), R100 (axes Band 6) = 1.5 kQ), reset time reduction starts at Myer 1 = approx. 60 mV and reaches the set minimum value at Myer 2 2 aprox. 12 mV. Siemens AG GWE 462 112 9600 76 4-101 25 SIMOORIVE. InstructionsThe point at which adaptation becomes effective is set via the following resistors: R94 (Axes 1 and 4), R97 (axes 2 and 5) and R100 (axes 3 and 6) according to the following table (values apply to versions from B onwards). Rink Pee inn uetzi mV 04 20 a 10 50 10 1s 60 2 22 80 15 a7 10 20 100 140 30 open 200 2 Table 312 3.1.5 Electrical weight compensation Resistors R3, RS (axes 1 and 4), R32, R36 (axes 2 and 5) and R63, R67 (axes 3 and 6) are soldered into the adjustment module in order to achieve weight compensation with mechanically preloaded axes, When setting the resistance values, note that lweight compensation Must not be allowed to exceed lrared: 1961 A beg compensations 100 0 0 0 30 20 NK ea vy | 55668 10 15 2227 39475668 100 150 220 390470 680 1000 Axes 1 and 4: 83 and RS Axes 2 and 5 R32 and RI6 Axes 3 and 6: R63 and R67 Fig. 2.6 Supplementary current setpoint for electrical weight compensation A positive current setpoint on test socket T1 (axes 1 and 4), T2 (axes 2 and 5), T3 (axes 3 and 6) indicates that resistors R5, R36 and R67 have been fitted in the adjustment module. A Negative current setpoint is obtained by fitting resistors R3, R32 and R63 in the adjustment module - 26 Siemens AG GWE 462 112.9600.76 Jg-101 SIMODRIVE instructions3.1.6 Current-controlled operation Apply the current setpoint (Iget) to the following terminals X611:58 and X411:8 (axes 1 and 4) X421:58 and X421:8 (axes 2 and 5) X431:58 and X431:8 (axes 3 and 6) Then implement the central pulse and controller enabling (connect terminal X121:63 and X121:64 to terminal X121:9 on the power supply). The procedure subsequently adopted depends on the adjustment module version concerned and whether the current of the 3 (6) axesis to be controlled in common or individually. Operate all 3 (6) axes under current control (with P component on! a) 9-pole switch $1 r = Insert link R200 in the adjustment module acme - Implement axis-specific controller enabling: = Tacho-generator 3 - Keim Link X111:65 and X111:9 (axes 1 and 4) g a Link X121:65 and X121:9 (axes 2 and 5) a Link X131:65 and X131:9 (axes 3 and 6) : Neontnox #200 i =] Not connected Yass How Jha Ose) Fig. 3.78 b) 10-pole switch $1 = ote Set switch $1.10 on adjustment module to ON ie — tacho-generator_~Implement axis-specific controller enabling 2 ea Link X111:65 and X111:9 (axes 1 and 4) 2 wie Link X121265 and X121:9 (axes 2 and 5) 3 Link X131:65 and X131:9 (axes 3 and 6) =, Notconnected ali Petra t= Keowee, Fig.3.7% Siemens AG GWE 462 112.9600 76 Jg-101 7 SIMODRIVE InstructionsIn order to operate individual axes under current control (with P component onl a) 9-pole switch $1 Link R200 removed b) 10-pole switch $1 + Set switch $1.10 on the adjustment module to oFF - Remove the following resistors from the con- trol module: R263 (axes 1 and 4) R369 (axes 2 and 5) R327 (axes 3 and 6) - Implement axis-specific control lock-out: Open X111:65 and X111:9 (axes 1 and 4) Open X121:65 and X121:9 (axes 2 and 5) Open X131:65 and X131:9 (axes 3 and 6) Current-controlled operation with Pl current controller The P controller alone is not a sufficiently accurate current-control mechanism for special aoplications which empioy pure torque control and do not permit a steady-state deviation. Furthermore, the feedback of the actual speed value to the current setpoint across the short- circuited speed controller (0.5 k® in feedback circuit) with max. 600 mV causes an additional control error. Torque-controlled operation with Pl-current controller in which the actual speed value is not influenced can be implemented as follows: = Activate terminal 6 on the controller module with +15 V, thus disabling the integral- action component of the speed controller = Remove (using pincers) resistor R9 (1st axis) on the adjustment module. The actual speed value is now decoupled. = To eliminate the effect of the speed controller offset, the potentiometers for Ky and Ty should be turned as far as possible to the left (minimum gain). The drift should also be compensated (I* = OV, test socket T = OV), = The current setpoint is input via terminal 58-8. = Terminal 56 must be connected to terminal 14, All other terminals and switches must be set as for speed-controlled operation, i.e. terminals 63, 64, 65 enabled and switch $1.10 to OFF. The current limits remain effective in current-controlled operation. 3.1.7 Current setpoint for parallel operation Variable-speed axis 1 or 4 of the control module can act as master and feed its current setpoint to slave axes 2 and/or 3 (or siave axes 5 and/or 6). The following modifications are made to the control module for this purpose: Axis 2 or 5 operates as slave Open fink R431 Insert link R430 Feed -15V to X121:96 ("Speed controller at maximum* deactivated) - Axis 3 oF 6 operates as slave: Open link R449 Insert link R448 Feed -15 V to X131:96 ("Speed controller at maximum” deactivated) 28 SiemensAG GWE 462 112,9600.76 19-101 SIMODRIVE. Instructions3.1.8 External power supply for controller enabling The internal power supply for control enabling can be deactivated by removing resistors R20 and R21 from module G0. An external isolated power supply ( + 24 V) can be connected via terminal X121:19 (reference potential) and terminal X121:9 of the power supply. 3.1.9 External voltage input for storage of fault memory signals In order to be able to store the fault indications even when the unit is switched off, a non- stabilized voltage of +24 V DC can be applied to terminals X111:11 and X111:15 of the power supply module. The tolerance range for this external voltage is 19 V to 30 V including ripple (see Fig. 3.8) Urerm.11 <30V 219V Fig. 38 If this function is utilized, it should be noted that each time the unit is switched off, the £15 \V monitoring and the group fault memory will operate and produce a fault indication via the relay contact at terminals 72, 73.1, 73.2 and 74, owing to non-availability of the negative electronics voltage A distinction must therefore be made between the following cases 1) The unit is switched off in the absence of a fault signal. Consequence: The +15 V monitoring and the group fault memory operate and cause LEDs +60-V2 and +G0-V1 to light up. The ready signal at terminals 72, 73.1, 73.2 and 74 disappears and a fault signal is output (see Chapter 3.2.1) 2) The unitis switched off in consequence of a fault signal. Consequence a: When the unit has been switched off, the +15 V fault indication lights up in addition to the original fault lamp. In this case, the £15 V fault indication should be ignored. Consequence b: Only the +15 V fault lamp and the group fault memory lamp light up when the unit has been tripped. In this case, the cause of the fault lies in the +15 V electronics voltage. Siemens AG GWE 462 112.9600 76 101 29 SIMODRIVE Instructions3.1.10 Changing of variable components in the speed setpoint channel The smoothing time constant in the speed setpoint channet can be increased by the addition of capacitors C301 (axes 1 and 4), C302 (axes 2 and 5) and C303 (axes 3 and 6) on the controller module (see Fig. 3.9) The input resistance of the speed setpoint channel can be adjusted by the addition of R450 (axes 1 and 4), R461 (axes 2 and 5) and R471 (axes 3 and 6) Mis C201 * - aie ‘ wo | ie Go G00 Soldering pins (provided on controller modules inversions from J onwards) Fig.39 3.1.11 Monitoring circuit “Speed controller at stop” If the speed controller is at the stop for more than approx. 200 ms, pulse and controller inhibition will be initiated lf necessary, this monitoring time can be extended by increasing the resistance value of R605 (axes 1 and 4), R646 (axes 2 and 5) and R6S6 (axes 3 and 6) on the controller module (as of version N on soldering pins). Monitoring time for axis 1 (example) £, REDS. g 55 s* Mo 30 Siemens AG GWE 462 112.9600.76 Jg-101 SIMODRIVE Instructions3.1.12 Operation of control axes without power circuit module Hf no motor is connected to one of the axes, interconnect terminals 13 and 55.1 on connectors X111 (axes 1 and 4), X121 (axes 2 and 5), X131 (axes 3 and 6) on the contro! module using a 4.7 kohms resistor (see Fig. 3.10). ark zea Ld 13 35.1 Fig. 3.10 Connectorx1.1 The pulse cables must be provided with a terminating connector in order to prevent disturbances during operation without power circuit module. Order No.; 65C6101-0XB00 (16-way) 65C6101-0XB12 (34-way) Adapter 1 x 34-wayto2 x 16-way Order No.: 65C6101-0LA17 3.1.13 Matching the current controller gain Stability problems may arise in the control circuit when DC servomotors are used which have a relatively high armature circuit inductance (Ly > 20 mH, e.g. 1HU3056-0ACO1) or with low inductance (Ly < 2 mH, e.g, 1HU3078-0AFO!). In this case the gain of the current controller must be increased for motors with high inductance or reduced for motors with low inductance ‘The current gain can be varied by resistors R95 (axes 1 and 4), R9B (axes 2 and 5) and R101 (axes 3 and 6) on the adjustment module (Table 3.13). The current gain has been adjusted in the works to Kp(l) = approx. 2.6 with R95, R98 and R101 set to 680 ohms, 95,R98, 101 | Current gain Kot) 100ohms m4 350.0hms =10 390 ohms -4 6680 ohms ~26 1 kohm -2 2.7 kohms ~t Table 3.13 Siemens AG GWE 462 112.9600.76 Jg-101 31 SIMODRIVE. Instructions3.1.14 Testing the load cycle The I2t curve (Fig. 3.11) describes the following monitoring function: The actual current value is approximately squared and the result subsequently integrated. If the actual current value is larger than 1.1 times the rated current, the voltage excursion of the integrator is negative, otherwise itis positive If the integrator, starting from rest (start-up of the unit or reset command), has a negative total voltage excursion of about ~ 15 V, the current setpoint limitation takes effect. To calculate the given load cycle of the total voltage excursion, proceed as follows: 1) Divide the load cycle into time sections At, (i = 1, ...,n) with constant current | 2) Use the following formula to calculate the part voltage excursion AU, (i n) for each time section depending on the sign au, at \ — 2 —.[22-2-(—}] Vier lated 3) Add the part voltage excursions according to sign. <= 15V, + Load cycle impermissible 4) Totalvoltage excursion S=13Y 3 183d Ye petmssiote Wirates 1%] 200 180 160 140 120 100 ~ 2 4 6 8 10 12 18 16 18 20 22 2% 26 28 ths] Fig. 3.11 Recurve = thermally permissible time duration of overcurrent 32 Siemens AG GWE 462 112.9600.76.19-101 SIMODRIVE Instructions3.2 Signals No fault indication will appear any earlier than about 1 s after power-up. 3.2.1 Ready/fault signal The ready indication can be changed into a fault indication by removing diode V13 on the power supply module (G0). A fault indication occurs if the #15 V monitoring, the OC link voltage monitoring (Uz« >) or if the "Speed controller at maximum” monitoring operate. ‘The ready indication occurs if none of the aforementioned fault conditions applies and if the ‘enable signal is present at terminals 63 and 64. 3.2.2 Reset fault memories The fault memories in the chopper can be reset by applying an M signal to terminal R of connector X111 on the power supply module or by switching the unit off and then on again. NOTE The DC-link voltage must have dropped to at least 25 V before the unit is switched on again to ensure that an internal reset signal is generated. The link voltage takes approximately 10 s (depending on chopper version) to drop to the correct value. 3.2.3 It signal Terminal 5 at location +G0-X111 provides @ common output (open collector) for this signal for all axes. A relay can be connected across this output and terminal 7 or some other power supply (connect freewheel diode in parallel!) (Fig. 3.12). The relay is activated when the signal is active. Relay data: Uy = 12V or 15 V, Iy < 50 mA when using the internal voltage at terminal 7. When using an external voltage of 24 V, a 24 V relay can be used (Un = 24 V, ty $ 50 mA). if terminal 5 is direct-connected to the programmable logic controller (PLC), a pull-up re- sistor of 1.0 k® (1.0 W) must be connected to terminals 5 and 7 or some other power supply {indication active = Lsignal) (Fig. 3.13) 60-111 7] 10k 1w Puc Fig. 3.12 Connection of arelay Fig.3.13 Connection to the PLC resistor only necessary with power supplies 165C6100-0600 and -0G800 Siemens AG GWE 462 112.9600 76 9-101 33 SIMODRIVE InstructionsNOTE The motor overtemperature indication has no effects in the unit. The [2t indication is followed with a delay by a current reduction to the thermally permissible continuous current of the power section The unit does not cut out. To clear the fault indication, the unit must either be switched off or reset. 3.3 Test sockets, display elements Speed actual value Speed setpoint Current actual value = set currentlimit Current setpoint ag2x |_— viws,va) All the values are standardized to 10 V DC OO @ QQ QT vroninn % Imtomoret © @ peecree 14 V1 Tacho:monitoring V2 Speed controller amplifier driven to maximum V3 Pemonitoring Fig.3.14 Test sockets and display elements on controller modules NI and N2 va Enabling ¥3—Upcane v2 £18Vmon vi Beaute toning Fig. 3.15 Display elements on power supply module GO 34 Siemens AG GWE 462 112 9600.76.9-101 SIMODRIVE. Instructions3.4 Start-up WARNING Safe operation is dependent upon proper handling and installation by Qualified personnel under observance of all warnings contained in this instruction manual The DG link capacitors cause high voltage to persist for a short time (about 4 minutos) alter disconnection from the supply. Parts of the equipment may be live even when the motor is stationary. Non-observance can result in death, severe personal injury or substantial property damage PREPARE ¥ MASTER SWITCH: OFF 2 ee ‘Check connections according to terminal connection diagram ‘Of the plant and check motor data Note rating plate data “Check SIMODRIVE equipment data and rating late data i Tdape contralsystem to motor +4 Dota see secton3.1.1 dy" ult indication on module GO, remove diode V13 Disconnect machine wiring fram terminals 63,64, 65 and terminals S614 Connect terminals 63, 64 t0 terminal 9 "Connect terminal 85 via an open switch to terminal 9 Manually turn the machine carriage inta the safe range “Check potentiometer stings andlor adjust machine-specific empirical values START-UP a MASTER SWITCH: ON Ingerchange arm sture connections fF 7 ment module to ‘Negative travel Set contact St 10.0n adjustment module to ON tyegative ra Enable terminal 65, carefully apply postive setpoint to test sockets See TINS by battery box (T positive with respect to M18) voltage T = Fositive wave! direction and tacho voltage negative) Positive travel No tirection and tacho Woltage positive? feqatve travel Grecion ana tacho Woltage postive? ves erchange armature ves land tacho connections Z a SiemensAG GWE 462 112.9600 7619-101 SIMODAIVE Instructions 35.@ - + Digable terminal 65 Set contact 1 10 on the adjustment madule 10 OFF Enable terminal 6 Apply setpoint to terminal $6/14 or to measuring socket NZ by battery box “_ BALANCE ‘Apply setpoint = OV Motor atstandstil? R120 R220, R320 ves Speesbatancingani(aniaiy +.G0- Va senadiing 38 Siemens AG GWE 462112.9600.76 19-101 SIMODRIVE Instructions4.3 Spare parts Function Designation | Order No, Power supply and monitoring Go 65c6100-06a11 Power supply and monitoring including voltage limitation G10 (020 kw) [Go '65¢6100-06300 Cink voltage limitation G20 (0 9:90 KW) A02 '65¢6100-00800 Resistor for G10, 620 i 6579058 controler, analog 1 amis, NILN2 16R82100-0NAO1 with Daves 15R82100-0NA11 [adjustment module 3 axes 16R82100.0NA21 JAdwustment module 1 axis E 16R82100-05A01 separately Daves 6R@2100.05A11 Bares 16R32100-05A21 Power madules 5158 Tans ‘AitoA19 — | 6RB2105-05001 Sia Daves 16R2105.05F01 Sasa Baxes [6R32105-05601 OB0A taxis }6Ra2110-0FD01 10A0A axes 16R32110-0FFOt R08 axes /6R82110-0FG01 201600 vaws }5R82120-0F001 3090 avs }6R82130.0°001 A0n208 tax j6Ra2140.0°001 60re0A Rane J6Ra2160.0F800 902708 axis [5Ra2190-0F800 150300 taxis L+ j5Rs.2190-0FA01 1503008 Vtaxis L~ [6Ra2190.0651 Pulte dtributor for 150/300 A power section }65c6:90-0FU00 Rectifier 90.8, 1808 vo svs0s6 capacitor 6000 wF8SOV Fan Type 3314/24 0C 01 toC05 £01 t0£05 }62v1073-08800 ésva0s7 Wiring materat (assembly) /ésc6101-0sa00 Wiring accessories Control for 1 axis [6sc6101-0sa12 Ribbon cable (only for 6882101-2A to 6RB2101-44) S0pole to 3x t6pole S0pole to 1x 34pole and x 16pole S0pole to 1x 16pole and! x3¢pole 50pole to S0pole 656101 01.000 65¢6101-0LA01 65¢6101-01A08 65¢6101-0LA05 Table 42 Spareparts SiemensAG GWE 462 112.9600 7619-101 SIMODRIVE Instructions 394.4 Connectors Version cont Sikerho. | connectors vocation | ooo! (IO OOOOOOOOOOO) 3, | s« Secustannee | (i7z 73.2731 74 19 64 9 9 63 nF ; 462.000.109.092 OOo00 xan bia ss 0xcoz Taal] tS weno! (AO OOOOUUOUUG| «, [5 seer 23 212 2 13 tz qt 462000 010908 || sce sscor01-axcoa Oooo «= = TRE '462.000.0109.05 OOOOOG|) xv | ssc cacesonsaeaa [e966 9 va s6)] 8131 62000010906 DOOOOoOoOoo) , |e sscsi0.0xc08 aoe | aE ; 462000010907 DOOoooCooon] wr | eee 139535525516 96 65 9 14 56]] 15) wemoee | (OOOOCOOUUOo) |= sscs101-0xcoa Sree cc 62000010909 x | onan sscororaxcre xan 462000010910 DoOoOoooo) «| «#8 6se6101-0x¢10 ee || ee 452000010911 Dood aoa | oan ssco101.0xci1 a sez0000109.2 OOOO i 202 | ee scs101 0xc12 SSS S$ xsor | raat 40 Siemens AG GWE 462 112.9600 76 Jg-101 SIMODRIVE Instructions5 Block diagram SiemensAG GWE 462 112.9600 76 9-101 a SIMODRIVE Instructionssuommnasu 3AMGOWIS a 101-6r91'0096 211 297 3M9_OVsuEWONS 2nd (Sth) ais i 18h | 314 (6th) ais old, Slemene AC rau GE Ue 72 9600.00 KL weJ6elp uol29uU0> jeulWa) 943suomnasuy 3qaonis L01-Br92'0096 zi zay3MD Oy suawarS weaBeip yap £suonsnasuy anuconis LoL-Br9co096 211 zaram ovsueWaIS sp Ta It Comesione! asain i Senmecon ti i power model aes 4 om E san] apt [ge rere » ‘Eh _ freee de ‘ Enon * i ms en nm EL : l ¥. caer [ES mepnmscgnaqRehes wer *pacnnehaneesanpansenes 25934 5509 lennsne, SE pte S| neseurgnsnersssnanecte seaneeaexrsl san x21 Seri +i a SiemensAG GWE 462 112.9600.76 9-101 SIMODRIVE nssuomnasuy 3ancowis ror-Br9c 0096211 zor aMD OWSUEW—OIS ay 1 4 i 4 Thy | dh oy ; a sous TE, see 0 950.00 SPADE8 Wiring of different power module variants 6pole 16p0le fe s0pole (3 axes) Bapole (2 axes) T6pole (1 ans) | Fe \ 2op01e ‘gai eax at pan thew 7 away hos, 200 px roll ram UY 1520/60 1.2.3 5/158 160/160 15301908 1.2.3 x10/30A 4580/2708 10h 11208 Siemens AG GWE 462 112.9600.76 9-101 SIMODRIVE Instructions9 Dimension drawing sim10 Setting elements L 1 aE RP P| PP PRR PT a 52 SiemensAG Gwe 462 siMotSetting data Serial No, No function t Servo motor Currentlimit SPeurrest ine Power i Conpasieta module wwoin | tgin| Sores | sSRORSEB NSS | | | SORORSERN | Ter as} sau in minal sm} at merfs fe taye|s|lelr]ele lan Setting of potiometers: [racho|Kpin)|T x(n) [racho] Kp(n)] Tan) fracho|kp(n)] Tata) ‘Axis 1 Axis 2 Axis3 ‘Axis 4 AxisS Axis6 Tacho-generator iat | R433 [R704] v79 | veo [R270] x21 | x29 Axis Axis 241 | R436 | R705 | v92 | v93 [R276] x24 | x30 ‘Axis? Axis rzag | agi [R706 | v112 | v113 | Rai0| x27 | x31 Axis3 Axis 6 R428 ‘Axes 1-3 Axes 4-6 Siemens AG GWE 462 112.96007619-101 53 SIMODAIVE InstructionsSpeed contoller adaption R15 | Roa ras | R97 R77 | R100 = Axis Axis2 Axis3 Axis Axis 5 Axis6 Electrical weight compensation na | RS 832 | 836 R63 | R67 Axis1 ‘Axis2 Axis3 Axis AxisS Axis6 Speed setpoint channel 301 | RaSO 302 | Ra61 303 | Ra71 Axis Axis? Axis3 : Axis AxisS Axis6 Monitoring circuit “Speed controller at stop”, current controller gain R605 | R95 reas | A968 656 | R101 | Axis 1 Axis? Axis3 Axis Axis Axis6 Machine-dependent values ‘Axist | Axis? | Axis3 | Axisé | Axis | Axis6 wo | m |e] w | o | ow Setpoint at Vmax Tacho voltage at Vmax Motor speed at Vmax Miscellaneous: Date: 54 Commissioning engineer: Siemens AG GWE 462 112.9600.76 19-101 SIMODAIVE InstructionsNotes on electrostatic charges Electrostatically sensitive devices (ESD) Generally, PCBs should not be touched unless work has tobe cartied out on them, Before touching 2 PCB, the person carrying aut the work must himself be electrostatically discharged. The simplest way of doing this sto touch an electrically conducting earthed object (eg. a bare metal part of a switchboard or the protective earth contact of a socket outlet). PCBs must not be allowed to come in contact with electrically insulating materials such as plastic foil, nsulating table tops o clothing made of synthetic fibres. PBs may only be set down ors ed on electrically conducting surfaces When carrying out soldering jobs on PCBs, make sure that the soldering tip has been earthed 2C8s and electronic components should generally be packed in electrically conducting containers (such as metallized-plastc boxes or metal cans) before being stored or shipoed {the use of non-conducting packing containers cannot be avoided, PCBs must be wrapped n a conducting material before being put in them. Examples of such materials include electrically conducting foam rubber or housenols aluminium foi For easy reference, the protective meatures necessary when dealing with sensitive electronic components are ilusteated in the sketches below 2 = Conductive flooring 4 = Antistaticoverall b = Antestatic table f= Antistaticchain c= Antistatic footwear 4 Earthing connections of cabinets d b 4 ‘ f + « 3 ¢ a Seated work station Standing workstation Standing /seated work station Siemens AG GWE 462 112.9600 76 9-101 55 SIMODRIVE InstructionsAddresses Messrs. Euchner Kohlhammerstr. 16 10-7022 Leinfelden-Echterdingen 1 Du Pont de Nemours GmbH Max-Planck-Str. 11 D-6057 Dietzenbach Messrs. Kabelmetall Electro a Postfach 25 51 10-8500 Nurnberg 1 Standards and specifications DIN 40050 IP Degrees of protection DIN 46234 Cable lugs DIN VDE 0100 Specifications for the installation of power-current systems with operating voltages of up to 1000 V DINVDE0106 Protection against electric shock DINVDE0113 Electrical equipment for industrial machines DINVDE0SS8 VDE specifications for semiconductor converters Available from: DIN standards DIN VDE specifications Beuth-Verlag GmbH VDE-Auslieferungsstelle Postfach 1145 MerianstraBe 29, D-1000 Berlin 30, D-6050 Offenbach a 56 SiemensAG GWE 462 112.9600.76 19-101 SIMODRIVE. InstructionsTo Siemens AG AUT E234 Postfach 4848 W-8500 Nurnberg 1 ‘Suggestions concerning booklet SIMODRIVE 210 Transistor PWM Inverter for Three-Phase Feed Drives with Analog Control Manufacturer-Documentation Sender Name Firn/Department Address: Telephone: ! Instruction Manual Order-No.: _6RB2101-0AA76 (GWE 462 112.9600.76 Jg-101) Edition: 10.90 If you have discovered any printing errors when reading this document, please send us details using this printed form. We would also be very grateful for any ideas and suggestions for improvement. ‘Suggestions and/or correctionsPublished by Siemens AG ‘Automation Group ‘Automation Systems for Machine Tools, Robots, and Special-Purpose Machines Postiach 48 48, W-8500 Numberg 1 Federal Repubic of Germany ‘Siemens Aktiengeselischatt ) ) © Siemans AG 1987 Al Fighs Resewed i Subject to change without ‘Order No. 6R2101-0AA7S {= : ad nthe Fed Fog ol Germany 181053 GWE 462 11296007643 101