S120 Commissioning FESM 08 2014 Internal Eng

SINAMICS
SINAMICS S120
Commissioning Synchronous Motors with Separate Excitation
Commissioning Manual
Edition 08/2014
Answers for industry.
Internal
Internal
Overview
Validity
Table of contents
1 Overview 7
1.1 Validity 7
1.2 Requirements for operating synchronous motors 7
1.2.1 Characteristics of synchronous motors 7
1.2.2 Separate excitation equipment 8
1.2.3 Possible encoder combinations for operation with a speed encoder 9
1.2.4 Temperat ure measurement 10
1.2.5 Braking chopper 10
2 Commi ssioning 11
2.1 Preparations 11
2.2 Important notes about commissioning 13
2.3 Motor data 14
2.3.1 Motor rating plate data 14
2.3.2 Motor parameters (equivalent circuit diagram, saturation characteristic) 15
2.3.3 Cont roller parameters 20
2.3.4 Other data 22
2.4 Wiring and excitation defaults 22
2.4.1 Excitation current setpoint 22
2.4.2 Excitation current actual value 23
2.4.3 Excitation equipment feedback signals (FP 6495) 23
2.4.4 Information about commissioning and parameterizing the excitation field controller in systems with
a SINAMICS four-quadrant controller with technology controller 25
2.4.5 Calculation of the excitation time constant 28
2.4.6 Defaults for excitation current controller (S INAMICS DCM or Motor Module) 28
2.5 Wiring and settings for the actual value encoder 29
2.5.1 Motor speed signal parameterization (square-wave encoder, actual value encoder) 29
2.5.2 Additional parameter settings for the incremental encoder for applications which use a Voltage
Sensing Module to determine the motor starting position 30
2.5.3 Parameterizing the motor starting position signal (SSI encoder, absolute enc oder) 30
2.5.4 Example of parameterization of a combination encoder 31
2.5.5 Adjustment of a rotor position encoder (SSI encoder, absolute encoder) 32
2.5.6 Checking the encoder adjustment and/or angular commutation offset in p0431[1] 33
2.6 I/f test mode (for encoder signals) 34
2.7 Information about switching the synchronous machine on and off, and standby operation 36
2.8 Testing of the machine-side VSM10 for sensorless control and control with incremental encoder 38
2.8.1 VSM offs et calibration 38
2.9 Measuring the values of R(stator), U(valve) and T(dead time) 39
2.10 Stationary measurement 41
2.11 Activating the temperature adaptation for the stator resistance (FP8016) 42
2.12 Activating the locking / stall monitoring (FP 8012, FP8018) 42
2.13 Power-up and flying restart with separately excited synchronous machines 43
2.13.1 Pole position identification 43
2.13.2 Operation at low speeds 43
2.13.3 Switchover between open-loop and closed-loop control operation during acceleration and braking44
2.13.4 Setting the excitation time p0346 during power-up and flying restart 44
Siemens AG SINAMICS 3
Commissioning Manual 08/2014 Synchronous motor (separate excitation)
Internal
Overview
Validity
2.14 Measuring the no-load excitation current Iexc(0) 46

2.15 Measuring the field-weakening characteristic (saturation characteristic) 47
2.16 Measuring Lhd (sat urat ed) 48
2.17 Optimizing the n/ f controller and measuring the inertia (not with torque cont rol) 50
2.17.1 Automatic controller optimization (only if no resonant oscillation is present!), preferably in
uncoupled state 50
2.17.2 Manual n/f controller optimization (also for coupled operation) 50
2.17.3 Oscillation damping with the current setpoint filter (use only in exceptional cases) 52
2.17.4 Measure the inertia of the entire drive train in the coupled state 52
2.17.5 Manual setting of the internal acceleration pre-control (for coupled operation) 53
2.17.6 Information for heavy -starting encoderless synchronous motors 53
2.17.7 Speed-dependent n-controller adaptation 54
2.18 Subsequent optimization of excitation current controller (SINAMICS DCM) 54
2.19 Flux controller (FP6726) 57
2.20 Estimating Lhq 60
2.20.1 Acceleration tests 60
2.20.2 Load tests 63
2.21 Adjusting the stator leakage 65
2.22 Field weakening operation 67
2.22.1 Power factor control in field-weakening operation 67
2.22.2 Smoothing the flux setpoint and the quantities on which the setpoint is based 67
2.22.3 Assigning parameters to the coupling between the excitation current and stator current flux
controllers 67
2.22.4 Disabling the application of flux setpoint changes to the pre-cont rol value of the current model 68
2.22.5 Increasing the voltage margin 68
2.22.6 Measures to stabilize the output voltage 68
2.23 Power limits 68
2.24 Monitoring 69
2.24.1 Monitoring of the actual speed valuesignal with square-wave encoders 69
2.24.2 Stall/locking monitoring 69
2.24.3 Starting position signal 70
2.24.4 Excitation current (FP 8018) 71
2.24.5 Flux actual value (FP 8018) 71
2.24.6 Open-loop and closed-loop systems (FP6495) 71
2.25 DC link voltage control 71
2.25.1 Activation and operating principle of the DC link voltage control 71
2.25.2 Setting the DC link voltage cont rol 71
2.25.3 Activation/deactivation of dynamic pre-control of the q-current controller in DC link voltage control
mode 72
2.26 Expansions 74
2.26.1 Trans formation angle smoot hing 74
2.26.2 Activation of slip calculation 74
2.27 Adjusting certain parameters 75
3 Appendix 77
3.1 Description of the additional communic ation options bet ween SINAMICS and DCM 77
3.1.1 Communication via OALINK 77
3.1.1.1 Procedure 77
3.1.2 Communication via S INAMICS Link 82
3.1.2.1 Procedure 82
4 Siemens AG SINAMICS
Internal
Overview
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3.1.2.2 Example 83
3.2 Design of the excitation convert er and sine-wave filter for shaft generator applications 85
4 Glossary 87
4.1 Referenc es 87
4.2 Abbreviations 87
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Overview
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Legal information
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Internal
Overview
Validity
1 Overview
1.1 Validity
This manual describes the commissioning of "Synchronous motors with external excitation" for SINAMICS
Vector Control. The description is supplementary to the Operating Instructions.
Only the control components relevant for synchronous motors are described here. Other software and hardware
components are not addressed. Similarly, this document does not address the commissioning of SINAMICS
DCM excitation equipment and the higher-level technology functions.
1.2 Requirements for operating synchronous motors

Following the margin conditions that apply to SINAMICS, here are some of the key data that can be estimated
on the basis of test results or simulations:
1.2.1 Characteristics of synchronous motors
Motor rated frequency: ≥ 8.0 Hz and ≤ 90.0 Hz (motoring rated frequency)

Maximum frequency: ≤ 200.0 Hz
Maximum speed: ≤ 4000 rpm
No. of pole pairs: ≤4
Field weakening range: < 1:3.5 with sensorless control ≤ 1:1.2
Surge load: ≤ 300 % of motor rated power (in the field-weakening range);
in sensorless operation with reduced dynamic response during torque
build-up
Maximum current: ≤ 100 % of converter rated current (during impulse load of the motor)
The configuring engineer is responsible for other drive dimensioning
measures with respect to overload.
Maximum voltage: ≤ 66.6 % of the DC link voltage (under load)
When the unit is supplied via Smart Line Modules, the following dimensioning restrictions also apply:
Maximum voltage: 87.0 % of rated line voltage
or 84.5 % of the transformer no-load voltage (when Uk,transf = 6 %)
e.g. 600 V for Uline,rated = 690 V with U20 = 710 V (when Uk,transf = 6 %)
Note
The torque accuracy of the drive depends on the motor series. The quality of the commissioning process is also
of crucial importance because (except for the stator resistance) it is not possible to perform automatic motor
data identification.
Some initial experience in the operation of systems with rated frequencies of < 8 Hz and / or numbers of pole
pairs >4 has now been acquired. It might be necessary to consider current derating when dimensioning the
power unit of these systems. The SINAMICS S120 vector control is also suitable for machines with salient-pole
rotor of the kind used for these applications. The time constants calculated in this document refer to turbine-type
rotors with rated frequencies in the 50 Hz range and cannot be applied 1:1 to machines with salient-pole rotors.
The relevant specialist knowledge should be recorded in appropriate documents prepared by the engineering
departments.
The voltage data take only a small voltage margin of around 10 V and ±15 V ripple in the DC link voltage into
account. They apply when the gating unit is operating in space vector modulation mode (p1802 = 3, 4) and with
Internal
Overview
Requirements for operating synchronous motors
the lowest possible pulse frequency (e.g. p1800 = 1.25 kHz). Experience indicates that a higher voltage margin
(up to 10% of rated voltage) is required to achieve dynamic operation in the field-weakening range).
Edge modulation increases the maximum possible output voltage, but cannot be used for all applications (SW
version < V4.3: not for parallel connections or motors with a single-winding system, see p7003). If enabled
(p1802 = 9), increased torque ripple, dynamic losses in the field-weakening range and transients in the
modulation must be expected.
Encoderless operation is suitable only for drives with known, low (<50% Mn) passive counter-torques in the
speed range close to zero speed. Moreover, the maximum speed should not be higher than twice rated speed.
The overload capacity of the drive and the attainable dynamic response are lower than systems with a speed
encoder.
An encoderless drive may be operated under torque control only at speeds higher than the changeover speed
(p1755).
Voltage reserves (p1574) up to a maximum of 8 % of the converter output voltage (or 50 V) primarily improve
the dynamic transition between the base speed range and field-weakening range. Alternatively, with version
V4.7 or higher, it is possible to set a fixed output voltage in parameter p1575. This setting must always be lower
than the maximum output voltage. Current margins of around 10 % are recommended when dimensioning the
drives, especially as a means of preventing overcurrent shutdown when low-leakage motors are used in
applications with high-dynamic requirements in the field-weakening range. Voltage reserves must be taken into
account when dimensioning the motor. Current margins will affect the converter design.
Further characteristics of synchronous motors
− Winding insulation suitable for converter operation (dv/dt up to 5000 V/µs, Umax, phase-to-phase = 2150 V).
− Damping winding in both rotor axes (as symmetrical as possible)!
− Excitation infeed not via rotating rectifier (due to restricted control dynamics).
− The deployment of full-pole machines improves torque accuracy, especially in the current model range.
1.2.2 Separate excitation equipment
The excitation current setpoint is provided by the SINAMICS control (r1626). The excitation current must be
impressed via an external infeed.
This can be done by two different methods:
1. Line-commutated converter, e.g. SINAMICS DCM
If the excitation current is controlled by a converter like the SINAMICS DCM, suitable overvolt age protection
measures must be implemented, particularly if the excitation winding reaches high inductance levels. A
bipolar overvoltage protection system (e.g. Sicrowbar 7VV3003) protects the excitation winding as well as
the converter against overvoltage in systems that supply large inductive loads. Another suitable measure is
to install a damping resistor in parallel to the excitation winding. This also helps to speed up current decay
after a pulse inhibit command is issued. For further information, refer to /4/ and /5/.
The interface to the SINAMICS DCM can be implemented by various different methods
• Single-wire connection with TM31
• PROFIBUS
• OALINK (version V4.6 or higher); information about hardware requirements and commissioning can be
found in appendix 1
• SINAMICS Link (version V4.5 or higher); information about hardware requirements and commissioning
can be found in appendix 1
2. SINAMICS Motor Modules connected to DC link of main converter
When a SINAMICS Motor Module is deployed as an excitation field controller, it draws excitation energy from
the DC link. In this case, the excitation winding must be dimensioned for the maximum possible DC link
voltage. It is advisable to connect an LCR (sine-wave) filter between the Motor Module and excitation
winding in order to limit the dynamic voltage load on the winding (see appendix 2 for information about filter
dimensioning). The insulation of the excitation winding must still be designed to withstand the full DC link
voltage (to protect it against transient phenomena).
Internal
Overview
No further overvoltage protection is otherwise provided for this arrangement since the excitation winding is
protected by freewheeling diodes in the negative voltage direction.
The advantage of this configuration is the absence in practice of a dead time during transmission of the
excitation current setpoint, and the security of supply for excitation in generator mode in the event of a power
system fault.
Long delay times and dead times must be avoided for the excitation current setpoint (> 5 ms)!
In order to monitor the excitation current, the closed-loop control requires the excitation current actual value
(refer to p1640 / r1641).
Voltages of 400 V (at least 220 V) are recommended for dynamic impression of the excitation current. The
excitation equipment should have sufficient voltage reserve to impress the peak excitation current. For example,
the excitation equipment should be able to supply at least 3 times the rated excitation voltage for a system
dimensioned for 2-fold peak load.
1.2.3 Possible encoder combinations for operation with a speed encoder
1. The closed-loop control for separately-excited synchronous machines with encoder was originally designed
for operation with two encoders. The angular signal and speed signal for the closed-loop control are supplied
by an incremental encoder. This encoder signal is adjusted to the absolute angular position when pulse
inhibit is active by an absolute encoder with SSI protocol.
The position of the absolute encoder must be determined by encoder adjustment (p1990 = 1) during the
commissioning process.
2. Operation with a combination encoder is possible with version V4.6 or higher. This delivers only a pre-
adjusted angular signal. In this case as well, the encoder must be commissioned using the encoder
adjustment function p1990 = 1.
3. With version V4.7 and higher, it is possible to operate a drive system with a single incremental encoder. For
the purpose of rotor position sensing, however, it is necessary to connect a Voltage Sensing Module (VSM)
to the output terminals of the Motor Module for sensing the voltage during excitation when the inverter pulses
are inhibited. Encoder adjustment need not be carried out in this instance. The absolute angle is calculated
by rotor position sensing every time the drive powers up.
It is possible to configure for this operating mode an absolute encoder. This is ignored by the vector control,
but it can transfer the speed signal to a higher-level control system.
Operation with an encoder with sine-wave track has not been tested and is therefore not approved.
• Pulse encoders with zero track (only for synchronous machine operation with encoder)
Minimum number of pulses per rotation: 1000 (at least 2000 at low motor speeds) with a two-pole machine.
This corresponds to 0.36° electrical per pulse. The number of pulses must basically increase in proportion to
the number of pole pairs in order to ensure this resolution. The resolution must always be significantly lower
than 1° electrical.
The upper speed limit for an encoder with 2000 pulses is 15000 rpm because the maximum permissible
input frequency for the encoder is limited to 500 kHz. The accuracy of the speed signal depends on the
number of pulses and the sampling rate of the evaluation system. This equals the sampling rate of the
current controller time slice. For a two-track encoder with 2000 pulses, 1.25 kHz sampling with edge
evaluation corresponds to 10 rpm 1.06 samples per current controller cycle.
The width of the zero pulse should be smaller if possible than one pulse division of the pulse encoder.
With firmware version up to and including V2.5, the width of the zero pulse must be smaller if possible than
one pulse division of the pulse encoder.
With firmware version V2.6 and higher, the width of the zero pulse can also be larger than one pulse division
because it is evaluated on the basis of the zero pulse edge.
Strict compliance with the installation instructions is essential in order to prevent fault signals.
Operation with encoders that have no zero tracks is possible. Nevertheless, it is recommended that you use
an incremental encoder with zero track, since this can prevent loss of orientation in the current model if
interference occurs in the encoder signals (see Chapter 2.24.1).
Internal
Overview
• Absolute encoders
Operation with a single absolute encoder has not been tested and is therefore not approved.
• VSM10 module (only for encoderless operation and operation with incremental encoder)
For operation of a synchronous machine without encoder or with an incremental encoder, a VSM10 (Voltage
Sensing Module) must be connected at the converter output in order to allow "rotor position sensing" and
"flying restart". This module supplies the stator voltage signal during excitation if the stator pulses are still
inhibited.
The DRIVE-CLiQ connection to the VSM10 must be connected directly to the electronic circuitry of the power
unit. This ensures that the VSM10 is assigned topologically to the Motor Module of the synchronous machine
during automatic commissioning (see also VSM components ID p0151).
1.2.4 Temperature measurement
A KTY84 or PT100 sensor must be attached to the end winding for tracking the temperature of the stator
resistor. The sensor must be parameterized in p0600 and p0601.
1.2.5 Braking chopper
When the stator-end pulses fail, a high terminal voltage (caused by the EMF) must be expected. The
magnitude of this voltage is determined by the operating point of the separate-field synchronous machine.
The resultant regenerative energy may cause the DC link voltage to increase to an impermissibly high level.
In order to ensure effective protection during a power failure, Braking Modules should also be connected to
the DC link.
Internal
Commissioning
Preparations
2 Commissioning
2.1 Preparations
No motor data identification function (except for stator resistance identification) is provided for separately-
excited synchronous machines. Reliable equivalent circuit data provided by the manufacturer are therefore
essential. More time for commissioning needs to be scheduled than for motor types with automatic
commissioning. Torque accuracy and stabilization time depend to a large extent on the quality of the
commissioning process, as does the stability of the control system (especially in the field-weakening range).
The converter configuration (power unit definition) must be completed before entering the motor data. Where
possible, the power unit, motor and encoder should be commissioned offline using the configuring wizard. The
motor and encoder data can also be entered here, or existing settings checked.
It is advantageous for commissioning to select referred variables as a system of units. Use the drive
configuration to set this:
p0505 = 2 System of units referred/SI
p0349 = 2 System of units motor equivalent circuit diagram data
After the motor rating plate data have been entered and the motor and encoder commissioning process
terminated, automatic calculation of the reference values should be disabled to prevent unintentional overwriting
of manual settings:
p0573 = 1 Inhibit automatic reference value calculation (affects p2000 … p2007)
Activating a lock list can protect further parameters against unintentional modification. The following lock list is
recommended for SESM:
p0570 = 6 Lock list: Number of effective values
p0571[0] = 640 Lock list entry: Current limit
p0571[1] = 1082 Lock list entry: Maximum speed
p0571[2] = 1520 Lock list entry: Torque limit upper
p0571[3] = 1521 Lock list entry: Torque limit lower
p0571[4] = 1530 Lock list entry: Power limit motoring
p0571[5] = 1531 Lock list entry: Power limit regenerative
p0572 = 1 Activate lock list
NOTICE
After changing the power unit definition, it is always necessary to check, and where appropriate reset, the
sampling times in parameter p0115. Similarly, check the pulse frequency setting and specify the mode for the
pulse modulator.
The following values must be selected.
Internal
Commissioning
Preparations
Par. no. Frame size <HX Frame size <HX Frame size ≥ HX Parameter
(400 V to 250 kW) plus additional (690 V or >250 kW) description
without additional configuring (e.g. or additional
configuration with parallel connection, configuring (e.g.
V4.x and higher excitation) on the CU parallel connection,
excitation)
p0112 3 (Standard) 0 (Expert) 1 (xlow) Sampling times pre-
setting p0115
p0115[0] 250 µs 500 µs 400 µs Sampling times for
internal control loops,
current controller
speed controller
flux controller
setpoint channel
position controller
positioning
technology controller
p1800 2.0 kHz 2.0 kHz 1.25 kHz Pulse frequency for
operation 690 V
chassis and 400 V
chassis without
derating
Table 2-1 Sampling times and pulse frequencies
Note about p1800: If a higher pulse frequency is selected, it must be taken into account that converter derating
is required and the overload reaction must also be specified (p0290 = 3 (reduce pulse frequency))
p1802 = 4 SVM/FLB without overcontrol
If power units with a rated pulse frequency of 1.25 kHz are to be operated with synchronous PROFIBUS (e.g.
with CX modules), a current controller sampling time of 375 µs must be selected instead of 400 µs (p0112 = 0;
speed controller 1500 µs; pulse frequency 1.333 kHz). The isochronous link for the SINAMICS DCM is only
available with version V4.7 and higher and the SINAMICS Link.
NOTICE
The pulse frequency of the Active Line Module cannot be as freely adjusted as the pulse frequency of the Motor
Module (see /6/, Chapter 11).
Internal
Commissioning
Important notes about commissioning
p2000 = Reference speed: e.g. maximum speed according to M&K list (or per motor datasheet)
p2001 = Reference voltage: e.g. 1000 V
p2002 = Reference current: e.g. peak current according to motor data sheet
p2003 = Reference torque: e.g. required peak torque according to M&K list
p2005 = Reference angle: e.g. 90°
p2007 = Reference acceleration: e.g. p2000 / 60
Note
The reference parameter for resistances is the rated motor impedance
ZN = p0304 / (1.732 * p0305) in the % (referred) system of units.
Factor 2 * 3.14 * p0310 is applied to convert inductances (L) to a resistance (XL)
XL = L * 2 * 3.14 * p0310.
This makes it necessary to use precisely those values from the motor datasheet that belong to the specified
motor impedance (reference point) for parameters p0304, p0305, p0307, p0308, p0310, p0311.
The reference power displayed in r2004 is calculated from the reference speed and reference torque using the
formula
PB = 2 * 3.14 * (p2000 / 60) * p2003.
This means that motors with large field-weakening range and high peak torque have a reference power that is
much higher than the peak power specified in the motor datasheet. It is absolutely essential to take this into
account when setting the power limits p1530, p1531.
2.2 Important notes about commissioning

The first step in commissioning the synchronous motor is to enter the parameters of the manufacturer. The
following basic rules must be observed when setting the parameters:
• The commissioning sequence specified in this document must be followed.
• The stator leakage (p0356) must be specified accurately enough by the manufacturer.
• The current model must be adapted to the voltage model (e.g. p0389 / p0390 = Iexc(0) / Iexc(ref) gain
factor). The rated values for the no-load excitation current (p0389) and reference excitation current (p0390)
should be correct. The reference excitation current (p0390) must match the normalization of the field device.
• First, perform reversing tests in accordance with Chapter 2.20 in the base speed range and monitor the flux
stability (r0084), the angle difference in the orientation of the voltage model (r1778) (only in operation with
speed encoder) and the height of the torque setpoint in the range of the current model (as an indicator for
flux stability) (r0079).
• Lhd (p0360) and Lhq (p0361) are always changed in the same ratio initially for full-pole machines.
• The steady-state load angle is then matched with Lhq (Chapter 2.20).
Note
Flux dips can occur when the excitation current cannot be impressed (current or voltage limitations in
SINAMICS DCM, voltage dip at the analog output (if used) due to long cable lengths or long dead times when
transmitting the excitation current setpoint).
An excessively low Lhq can also result in a brief flux dip because the pre-control system then specifies a
setpoint which is too low and the flux controller must correct the difference. Lhq should be set such that the I
component of the flux controller output r1593[1] is less than or equal to zero in the steady state.
An excessively high damper time constant setting (see 2.20) can also cause a dynamic flux dip because the
dynamic pre-control system is then too slow. It can sometimes be beneficial to set the damper time constant
slightly lower than the specified value so that delays in the excitation circuit can be compensated. Provided that
the slip calculation has been deactivated (1402.7), the damper time constant should be manipulated where
possible via the damper resistance values ((p0354 * p0659) or (p0355 * p0660).
Internal
Commissioning
Motor data
2.3 Motor data

2.3.1 Motor rating plate data
A few basic parameters are requested initially in the commissioning wizard during offline commissioning
(STARTER):
p0010 = 1 With online commissioning only (select quick commissioning)
p0100 = 0 Motor standard IEC/NEMA (0 = IEC) (also for p0010 = 1 online
commissioning)
p0205 = 0 Power unit application (0 = Load duty cycle with high overload)
p0210 = e.g. 930 V Drive unit line supply voltage (DC/AC unit:) p0210 = DC link voltage)
The motor data must be entered from the rating plate (preferably online for p0010 = 1):
p0010 = 1 With online commissioning only (select quick commissioning)
p0300 = 5 Synchronous motor with separate excitation
p1300 = 21 or 20 Control mode speed control with or without encoders
p0304 = Motor voltage(s) Rated motor voltage
p0305 = Motor current(s) Rated motor current
p0307 = Motor power(r) Rated motor power (negative for generator data)
p0308 = Mot.CosPhi(r) Motor rated power factor (generally 1)
p0310 = Mot frequency(r) Rated motor frequency
p0311 = Mot speed(r) Rated motor speed
p0322 = Mot speed(max) Maximum motor speed (mechanical speed limit)
p0389 = Mot.excitation current(0) Motor no-load excitation current
p0390 = Mot.excitation current(ref) Rated motor excitation current (for calibrating the interface),
i.e. the setting value must tally with the current normalization value in the
field device)
The excitation current is normalized in such a way that p0390 equals
0x4000 during transmission to the excitation equipment (setpoint) or from
the excitation equipment (actual value). Since the highest bit is a sign,
maximum twice the current value can be transferred with the 16-bit fixed-
point value. This must be taken into account in the normalization.
The normalization must therefore be such that the condition
Iexc,max < 2 * p0390 is fulfilled in order to prevent overflows.
p0400[0] = 9999 Selection of the HTL encoder type (must be the first encoder specified!)
p0400[1] = 9999 Selection of the SSI encoder type
Parameterization of the two actual value encoders is addressed later in Chapters 2.5.1 and 2.5.3.
p0640 = Current limit Technological limit current (maximum: r0209 = I(max,LT))
p1082 = Maximum speed Technological limit speed (influences p1800 = Fpulse)
p1120 = e.g. 30 s Ramp-up time of setpoint channel (this value is referred to p1082)
p1121 = e.g. 30 s Setpoint channel ramp-down time
p1135 = e.g. 10 s Ramp-down time for OFF3
p3900 = 3 Online commissioning only: Completion of quick commissioning (with
calculation p0340 = 1)
Internal
Commissioning
Motor data
Note: If the values are input online with p0010 = 3, the following calculation should be initiated after p0390 is
entered:
p0340 = 1 Calculation of the motor and control parameters
Then prepare to parameterize the encoder:
p0010 = 4 Online encoder commissioning
p0400[0] = 9999 Selection of the HTL encoder type (must be the first encoder specified!) or
the combination encoder
p0400[1] = 9999 Selection of the SSI encoder type for control with two encoders
p0400[2] = 9999 Selection of the SSI encoder type for display purposes for control with only
incremental encoder and VSM
Parameterization of the actual value encoders is addressed later in Chapters 2.5.1 and 2.5.3.
p0010 = 0 Exit online encoder commissioning

p0640 = Current limit Technological limit current (maximum: r0209 = I(max,LT))
p1082 = Maximum speed Technological limit speed (influences p1800 = Fpulse)
p1120 = e.g. 30 s Ramp-up time of setpoint channel (this value is referred to p1082)
p1135 = e.g. 10 s Ramp-down time for OFF3
Note
Motors are frequently designed for different nominal working points, e.g. for motor and regenerative mode, or for
different rated speeds. However, only one nominal working point can be input into the control system for a
separately excited synchronous motor. The equivalent circuit data must also refer to this working point. This
must be the nominal working point that demands the highest rated power (p0307) at constant rated voltage
(p0304) and constant power factor (p0308) with the lowest rated frequency (p0310). This is normally the
nominal working point with the highest rated flux. The nominal working point must be entered for motoring
mode.
The no-load characteristic must also refer to this nominal working point.
This point must be entered independently of the point that is stated on the rating plate supplied to the end
customer.
When it is necessary to convert the nominal working point for regenerative mode into the point for motoring
mode, it is important to take into account that, for a given rated flux value, the maximum output voltage is
reached at a lower output frequency in motoring mode than in regenerative mode owing to stator voltage dips.
2.3.2 Motor parameters (equivalent circuit diagram, saturation characteristic)
If possible, the mechanical parameters should be entered:

p0341 = Motor moment of inertia Motor moment of inertia (not relevant with pure torque control)
p0342 = e.g. 1.0 Ratio between the total moment of inertia of the drive and that of the motor
alone
During online commissioning, the values p0340 = 1 and/or p3900 = 3 were preassigned. If p0342 is known, the
speed controller can be preassigned better by entering the values.
With an encoderless synchronous motor and speed control mode, parameter p0341 must be estimated as
accurately as possible from the outset for the purposes of controlled startup. If startup in the decoupled state is
not possible, the setting for p0342 must also be estimated with the greatest possible accuracy. If this cannot be
done, the highest possible value must be entered in parameter p1611 to prevent the drive from stalling when it
powers up from standstill.
Internal
Commissioning
Motor data
Equivalent circuit diagram parameters are normally provided on the datasheet and should be entered. To
achieve a representation referred to a rated motor impedance (Zn = Un / (1.732 * In) = p0304 / (1.732 * p0305))
p0349 should be switched to the value 2.
r1 xs1 r2 xs2
2π * fr * Ψq r3D
Ud Ue
xhd
xs3D
r1 xs1
2π * fr * Ψq r3Q
Uq
xhq
xs3Q
Fig. 2-1 Equivalent circuit diagram
p0350 = R(stator) Stator resistance (scalable with p0652) from datasheet

p0352 = R(cable) Cable resistance, if value already known
(input improves temperature adaptation with KTY)
A practical procedure for determining p0350 and p0352 is given in Chapter 2.9.
p0354 = R(damping,d) Damping resistance in polar d-axis (scalable with p0657)
p0355 = R(damping,q) Damping resistance quadrature to polar d-axis (scalable with p0658)
p0356 = L(sigma) Stator leakage inductance (non-saturated)(scalable with p0653)
p0358 = L(sigma,d) damp. Damping leakage inductance in polar d-axis (scalable with p0659)
p0359 = L(sigma,q) damp Damping leakage inductance quadrature to polar d-axis (scalable with
p0660)
p0360 = L(main,d) sat. Magnetizing inductance in polar d-axis (saturated!) (scalable with p0655)
p0361 = L(main,q) total Magnetizing inductance quadrature to polar d-axis (saturated!) (scalable
with p0656)
The scaling factors (p0652 ff.) are service parameters (access level 4) that are initially preset to 100 % and can
be modified later, if you do not want to overwrite the original data.
Internal
Commissioning
Motor data
Designation on the datasheet

Parameter
Parameter name Third-party
no. Older versions Current versions
manufacturers
p0350 Mot R_stator cold r1 r1 r1 ra
p0354 Mot R_damp d rD r3d r3D rDd
p0355 Mot R_damp q rQ r3q r3Q rDq
p0356 Mot L_stator leak. X1σ X1σ xσ1 xσa
p0358 Mot L_damp d XDσ X3σd xσ3D xσDd
p0359 Mot L_damp q XQσ X3σq xσ3Q xσDq
p0360 Mot L_magn d sat Xhd,s Xhd,s xhd (saturated) xhd (saturated)
p0361 Mot L_magn q sat Xhq,s Xhq,s xhq (saturated) xhq (saturated)
Table 2-2 Parameter numbers compared to typical data in the motor datasheet
Non-saturated values must be specified for the reactance parameters, except for magnetizing reactance
parameters xhd and xhq for which saturated values must be entered. The indexing of inductance L below is
similar to the indexing of referred reactance x:
L = x / (2 * π * fnom ) * 1.732 * Unom / Inom where fnom = p0310, Unom = p0304 and Inom = p0305
It is not possible to define the points for the saturation characteristic unless a corresponding no-load curve is
available from the manufacturer. If this data is not available, the following may be used as default settings for
p0362 ... p0369.
p0362 = e.g. 60.0 % Psi(sat.char.,1) Default magnetization characteristic
p0366 = e.g. 50.0 % Iexc(sat.char.,1)  determine from manufacturer no-load characteristic
Internal
Commissioning
Motor data
U / Un
110 %
p0365
Char.4
1 Char.n
90 %
p0364
Char.3
80 %
p0363
Char.2
60 %
p0362
Char.1
If / If0
Char.0
1
p0369
p0366
p0367
p0368
Fig. 2-2 Schematic diagram of a no-load characteristic
The interpolation points 0.0 % / 0.0 % (Char.0) and 100.0 % / 100.0 % (Char.n) are predefined settings. Three
points in the saturation characteristic should if possible always lie below the rated value 100 %.
The flux values are referred to the rated motor voltage and the excitation current values to the no-load excitation
current. The no-load excitation current is the excitation current at which precisely the rated motor voltage is
induced when idling at rated motor speed (EMF = Umotor(rated)).
The entered no-load characteristic is a default setting only! The actual no-load characteristic is measured in a
later commissioning step as described in Chapter 2.14.
After the motor data have been entered, the control parameters must be calculated:
p0340 = 3 Calculation of the motor and control parameters (3 = control parameters)
With p0340 = 3, all calculations p0340 = 4, 5 are included.
Note
This value is set during offline commissioning (STARTER or SCOUT with wizard), if "Complete calculation
without equivalent circuit data" is selected. With p0340 = 1, downloading the parameters would recalculate all
the motor parameters and thereby overwrite them; it is essential to avoid this here.
Internal
Commissioning
Motor data
During automatic parameterization, the following parameters are calculated and/or set to fixed values and
should therefore always be checked if previously set manually:
A selection from p0340 = 3 is given below. This is also performed for p0340 = 1:
p0346 = Motor excitation time Build-up time for motor flux after converter enable
(note: special significance of setting value 0.0 s, refer to Chapter 2.3.3)
p0347 = Motor de-excitation time De-excitation time when converter pulses are inhibited (must not be set
to 0), corresponds to the time for converter switching on inhibited (not
for control with incremental encoder and VSM10), default 3 * r0384.
Applicable up to V4.6: p0347 > p1647 because readiness to switch on
cannot otherwise be guaranteed (see also p1647)
p0391 = 0 A Current controller adaptation, starting point Kp
p0392 = 0 A Current controller adaptation, starting point Kp adapted
p0393 = 100 % Current controller adaptation, P gain, scaling
(100 % = adaptation ineffective)
p1402.2 =0 Current controller adaptation (is disabled)
p0492 = dn(act,permissible) Permissible speed change for basic sampling time p0115[0]
p1574 = 20 V (= 2.0 %) Voltage reserve dynamic (20 V with reference quantity p2001 = 1000 V)
p1582 = Smth. Psi(setp) Flux setpoint smoothing time
p1584 = Smth. Field weak char. Time constant for smoothing the field-weakening characteristic
p1745 = Threshold stall detection Monitoring for stall detection in the range of the current model
p2178 = T(del) stall detection Motor stalled delay time
p1806 = Smth.Vdc correction Filter time constant Vdc correction
A selection from p0340 = 4 is given below. This is also performed for p0340 = 1 or = 3:
p1460 = n-ctrl Kp Speed controller P gain adaptation speed
p1461 = n-ctrl Kp, scaling Scaling for speed controller P gain (Kp adaptation)
p1462 = n-ctrl Tn Integral time of speed controller
p1463 = n-ctrl Tn, scaling Scaling for integral time of speed controller (Tn adaptation)
p1464 = n-adapt, upper Upper adaptation speed for Kp/Tn adaptation
p1465 = n-adapt, lower Lower adaptation speed for Kp/Tn adaptation
p1496 = n-ctrl.pre-ctrl Kp Evaluation of speed controller precontrol (is disabled)
p1590 = Psi-ctrl Kp Flux controller P gain (acts on excitation current)
p1592 = Psi-ctrl Tn Integral time of flux controller
p1600 = P-Psi-ctrl Kp P flux controller P gain (on stator side)
p1628 = Current model ctrl Kdyn Current model controller dynamic factor
p1629 = Current model ctrl Kp P gain for current model controller
p1630 = Current model ctrl Tn Integral time of current model controller
p1642 = Min I_exc. Minimum excitation current (in %)
p1702 = Current ctrl Kp pre-ctrl Scaling of current control dIsd/dt pre-control
p1703 = Current ctrl Kp pre-ctrl Scaling of current control dIsq/dt pre-control
p1715 = Current ctrl Kp P gain for current controller
p1717 = Current ctrl Tn Integral time of current controller
p1752 = Changeover speed operation U mod
Upper changeover speed for I/U model changeover
The current model is activated below p1752 * p1753.
The actual model changeover takes place between these points and is
calculated on the basis of the output frequency. The parameter is not
used for encoderless synchronous machines.
Internal
Commissioning
Motor data
p1753 = Changeover hysteresis I mod Hysteresis for U/I model changeover (referred to p1752)
The parameter is not used for encoderless synchronous machines.
p7036 = Clcr. ctrl Kp P gain for circulating current controller for parallel circuit
p7037 = Clcr ctrl Tn Integral time for circulating current controller for parallel circuit
Additional parameters for encoderless synchronous machines:
p1740 = Gain res_damp Damping for angle calculated from the voltage model frequency
p1755 = 20 % * p0311[1/min,%] Upper speed for changeover from current model orientation (open-
loop controlled operation) to voltage model orientation (closed-loop
controlled operation) for sensorless control. Changeover is
implemented via the ramp r1776[5].
2.3.3 Controller parameters
In addition to the settings made automatically for current, angle, and speed controller, the following parameters
must be corrected manually:
p0346 = 0.0 s If the excitation current is to flow before the converter is enabled on the stator side, set
p0346 = 0.0 s to output the excitation current setpoint (= no-load excitation current) also
in the state "Pre-charge" and "Ready" (if activation is to be performed in the field-
weakening range (flying restart), the excitation current is adapted to prevent overvoltage
in the stator circuit). In this case, it must be ensured that the BICO connections of p0840
(On signal) and p0852 (operation enable) are separated and that the enable commands
are issued sequentially because the operation enable command is active instantaneously
without providing a delay for excitation!
When pulses are enabled, the drive can start immediately that sufficient rotor flux has
formed (when the drive is switched on for the first time, a delay corresponding to about
2.3 * r0384 should be allowed to elapse to achieve 90 % flux formation).
p0346 > 0 p0346 must be set to > 0 if rotor flux formation is not to commence until the converter is
switched on.
For a control system with combination encoder or two encoders, p0346 can be reduced
to approximately r0384 / 2 in order to accelerate flux formation. This setting is
permissible, however, only in cases where more than 80 % flux formation can be
achieved within this time (trace!). The stator-side current p1620 will reach its minimum
value within this time period.
With a sensorless control or a control with incremental encoder, it is often necessary to
set p0346 to a much higher value than the default rotor time constant (r0384) because
flux is formed solely by the excitation equipment during rotor position sensing. If the
excitation time constant Le / Re is known, it must be selected as the default. In this case
as well, the flux must have reached at least 80 % of its final value when the speed/torque
control is enabled.
If problems with flying restart arise, the time setting must be increased as far as
necessary to ensure that the flux has almost reached its final value when the
speed/torque control is enabled. With sensorless control and control with incremental
encoder, p0346 must not be set too high either or else the voltage pulse induced by
excitation in the stator will be too small when the machine is stationary (see also Chapter
2.13).
The feedback signal from the excitation equipment (in r1649.2 = feedback signal
"excitation operational) is a precondition for build-up of excitation current after the
excitation equipment pulses are enabled.
p0346 ≤ 0 p0346 < 0 can be parameterized if problems with flying restart arise with a sensorless
control or a control with incremental encoder and p0346 = 0.
The value must approximately correspond to the value for p0346 > 0. This is of particular
importance for control with incremental encoder or else the offset angle calculated during
rotor position sensing might be inaccurate. The following must apply: |p0346| > r0384,
otherwise this value will be applied as a limit.
For information about setting p0346, see also Chapter 2.13
Internal
Commissioning
Motor data
p1200 = 1 Parameter for activating and deactivating flying restart

Flying restart with an encoder: Flying restart based directly on position angle
measurement
Flying restart without an encoder: Flying restart based on rotor position sensing
(VSM required), excitation field controller must be
optimized beforehand
p1501 = BICO Signal source for switching over to torque control when p1300 = 21 (n control).
p1503 = BICO Torque setpoint for torque control mode
P2900 can be used as a torque setpoint for simple tests.
Notice
The motor accelerates until it reaches maximum speed (wire OFF2 for emergency
shutdown!).
Setting parameters for encoderless operation

p1754 = 0.1 ms Smoothing time for flux differential between voltage and current models. This value is
set to 0.1 ms for encoderless synchronous machines so that the voltage model can
exert control instantaneously in closed-loop control mode.
p1610 > 5 % Mmot,n Steady-state torque in open-control mode (r0063 < p1756 * p1755)
In contrast to its action with induction machines, p1610 does not act on the d current,
but forms part of the torque-producing current setpoint.
Notice
If the load torque is higher than the setting in p1610, the drive will stall in the lower
speed range!
Notice
The torque pre-control implemented by p1610 is signed, i.e. a torque input as an
accelerating torque in one direction of rotation will have a braking action in the other
direction. If this response is not desired, the friction characteristic from the technology
functions should be used and p1610 set to 0 %.
The friction characteristic is activated by connecting p3841 to the supplementary torque p1569 and setting the
activation command in in p3842. The friction characteristic is parameterized using p3820 to p3839.
p1611 ≥ 10 % Mmot,n Acceleration torque for open-loop control operation (depending on the inertia of the
overall system and the UP ramp). If the inertia is known, more accurate results can be
obtained using the acceleration pre-control function of the speed controller (p0341 =
motor inertia, p0342 = total inertia factor, p1496 = 100 %).
Notice
The drive will stall in the lower speed range if it is accelerated faster than permitted by
the acceleration torque set in this parameter!
p1612 = 0.2 * p0305 Current setpoint in open-loop control encoderless operation. This value should be set
to approximately +20 % of the stator rated current for encoderless synchronous
machines.
p1620 = -0.2 * p0305 Minimum stator current in closed-loop control operation. A negative value is equivalent
to a field-weakening current. The setpoint is limited to 50 % of rated current. It should
be set to approximately -20 % of the stator rated current for encoderless synchronous
machines.
p3820 … p3829 Speed interpolation points for the friction characteristic. Note about shaft generators
with Take Home operation: The propeller characteristic can be stored here.
Internal
Commissioning
Wiring and excitation defaults
p3830 … p3839 Torque interpolation points for the friction characteristic. Note about shaft generators
with Take Home operation: The propeller characteristic can be stored here.
p3841 -> p1569 The speed-dependent torque setpoint from the friction characteristic is connected to
BICO input p1569 for the purpose of activation.
2.3.4 Other data
p1802 = 3 or 4 (recommended) Modulator mode of the converter (see Chapter 1.2)

p1803 = 106 % Maximum modulation depth
r0073 is calculated from p1802 and can only be reduced by means of p1803.
p1582 = x Smoothing time constant for flux setponit (see Chapter 2.22.2)
p1585 = x Smoothing time constant for actual flux value (see Chapter 2.22.2)
p1451 = x Smoothing time constant for actual speed value r0063 (see Chapter 2.22.2)
Parameters for controlling the transition between open-loop control and closed-loop control operation
for encoderless synchronous machines (FP6733):
p1756: Lower speed for changeover from current model orientation (open-loop control operation) to voltage
model orientation (closed-loop control operation) (different from other motor types). This parameter is
referred to p1755.
Enable threshold for speed controller (r1776[4]).
p1749: Upper speed for speed changeover (r0063) from speed setpoint to actual speed value (model value
from voltage model) in encoderless operation. Changeover is implemented via the ramp (r1776[3]).
This parameter is referred to p1755. When p1749 = 99 % and p1748 = p1756, speed changeover
takes place in the same range as angle changeover in the model orientation (p1755, p1756). Settings
of p1749 = 50 % to 99 % can improve the open-loop control -> closed-loop control transition behavior.
p1748: Lower threshold speed for changeover from speed setpoint to speed model value for encoderless
synchronous machines. This parameter is referred to p1755 * p1749.
p1766: Speed threshold value for changeover of the voltage model from passive integrator operation to active
model operation. This parameter is referred to p1755 * p1749 * p1748.
2.4 Wiring and excitation defaults

2.4.1 Excitation current setpoint
The excitation current setpoint is provided in r1626 and can be forwarded from there to the communication
system. The signal is referred to p0390. Calibration is carried out via p1625.
The excitation current setpoint must be sent as quickly as possible from the CU module to the excitation
equipment (e.g. SINAMICS DCM) and processed there as directly as possible. The target is a dead time under
5 ms! The dead time is very small if a SINAMICS Motor Module is operated as an excitation field controller on
the same CU (where possible with a higher DO-ID).
When a TM31 is used for the interface, parameter p4099 of the Terminal Module must be reduced.
With version V4.7 and higher, the SINAMICS DCM can be connected via SINAMICS Link. The dead time is then
minimal if the sampling times are correctly synchronized (sampling time of the excitation current control on the
SINAMICS DCM = flux controller time slice p0115[2] on the CU320-2).
If the interface transmission rate is not optimized, it is more difficult on the stator side to impress sufficient flux in
the machine in order to handle dynamic processes. The current required here is lost to the torque-producing
current.
Internal
Commissioning
In the case of dynamic restrictions by the excitation, the speed controller should also be set slower.
Since the excitation current setpoint is a referred quantity, it is important that the rated excitation current value in
the stator Motor Module is the same as the rated excitation current value in the excitation equipment. This is
parameter p0390 in the stator Motor Module. It is parameter p2002 when an excitation Motor Module is used.
The parameter number for the rated current of other excitation equipment can be found in the relevant
documentation (/5/, /7/).
2.4.2 Excitation current actual value
The excitation current actual value must be coupled and wired from the excitation equipment via p1640. It can
then be monitored in r1641.
2.4.3 Excitation equipment feedback signals (FP6495)
Function diagram FP6495 shows the BICO inputs that must be interconnected to the higher-level control in
order to monitor feedback signals from the excitation equipment.
Parameter: p1645[0] = Excitation ready to be powered up
p1645[1] = Excitation ready
p1645[2] = Excitation operational (e.g. r0899.2 from SINAMICS excitation field controller)
p1645[3] = Excitation group signal fault
p1645[4] = Excitation group signal alarm
p1645[7] = Excitation at the voltage limit (version V4.7 and higher)
The states of the inputs are shown in r1649:

r1649.0 = Feedback signal that excitation is ready to be powered up
r1649.1 = Feedback signal that excitation is ready
r1649.2 = Feedback signal that excitation is in operation
r1649.3 = Excitation signals group fault
r1649.7 = Excitation signals group alarm
r1649.8 = Feedback signal that excitation is at the voltage limit (version V4.7 and higher)
If the interface to the excitation equipment is implemented by single-wire connections with TM31, bit r1649.3
must be wired as an inverted signal in order to ensure a fail-safe connection. For this purpose, it must be
inverted at the BiCo input of the CU/TM and in the excitation equipment.
Test: Send a fault signal from the excitation equipment or pull out a wire with a point-to-point
connection.
The converter assumes the status "Fault" (F49200 = excitation group fault).).
Control of the excitation equipment (FP6495)

The control signals for activating and deactivating the equipment are shown in r1648:
r1648.0 = Power-up command for excitation
r1648.1 = No OFF2 command for the excitation (0 = OFF2)
r1648.2 = No OFF3 command for the excitation (0 = OFF3)
r1648.3 = Excitation operation enable
r1648.7 = Acknowledge fault (is set when faults are acknowledged in the drive)
r1648.10 = PZD control requested
Internal
Commissioning
Parameter: p1646 = Monitoring time for ready feedback signal from excitation equipment
p1647 = Excitation switch-off delay time
As soon as r0863.0 = 0 and the time set in p1647 has elapsed, r1648.0 and
r1648.3 are reset to 0 unless the excitation equipment is restarted before the time
has elapsed (with version V4.7 and higher). With firmware releases lower than
V4.7, the length of the switching on inhibited period is determined by the maximum
values of p0347 and p1647.
Test: p0852 = 0 = Converter inhibit (no pulse enable after precharging)

p0346 = 0.0 s = Excitation current is output to r1626 prior to converter enable.
or
p0346 = 2,3 * r0384 = Excitation current setpoint is not built-up until after converter
enable (p0852 = 1) The feedback signal from the excitation
equipment is issued prior to build-up of the excitation current
Switch on the converter.
The excitation equipment is powered up with r1648.0. With p0346 = 0.0 s, the excitation current
is built up immediately the excitation equipment is powered up.
Excitation current setpoint r1626 and actual value r1641 must match. Otherwise, the wiring or
normalization (p0390) must be checked and compared to the normalization in the excitation
equipment.
On fault F49200, the feedback signals must be checked on the basis of the fault value in r0949:
Fault value 1 (bit 0):
Delay time p1647 (excitation switch-off delay time) has expired and the excitation equipment
has not returned a signal that it is ready to be powered-up (see p1645[0]).
Delay time p1646 has expired and no ready feedback signal r1649.1 has been set (see
p1645[1]).
Delay time p1646 has expired and no operational feedback signal r1649.2 has been set (see
p1645[2]).
An excitation group signal fault is present (see p1645[3]).
Alarm A49204
The power-up command for the excitation equipment has been reset even though the excitation
current actual value has not yet dropped below a minimum value. In this case, p1647 must be
increased.
Re p1645[7] or r1649.8 (version V4.7 and higher): If this bit is correctly wired at the excitation
equipment, the I component of the flux controller is inhibited because the excitation voltage
increases to the voltage limit during dynamic processes. When a Motor Module is used as
excitation equipment, this is parameter r0056.9.
The excitation equipment should also be configured in such a way that the I component of the
excitation current controller is inhibited if the controller output reaches the voltage limit.
Internal
Commissioning
2.4.4 Information about commissioning and parameterizing the excitation field controller in
systems with a SINAMICS four-quadrant controller with technology controller
Control Unit
≈
DRIVE-CLiQ
Active Line Module

=
DC link
Excitation field
controller
= Motor Module
= ≈
= PE
Motor connection
M
3~
Fig. 2-3 Use of a SINAMICS Motor Module as an excitation field controller
For reasons of availability in the event of a system short circuit, the excitation equipment for shaft generator
systems is supplied via a SINAMICS Motor Module from the DC link. In order to reduce the voltage load on the
excitation winding, it may be necessary to install a sine-wave filter at the output of the excitation equipment.
When a system including a parallel connection of multiple power units is commissioned online, it is not possible
to conduct fully automatic commissioning using the STARTER tool if a further VECTOR-DO (such as an
excitation field controller in this case) is included in the configuration. For this reason, the DRIVE-CLiQ
connection to the excitation field controller must be disconnected before automatic commissioning commences.
There are two methods by which the excitation field controller can be configured retrospectively:
1. Offline:
A project is uploaded and a new VECTOR-DO for the excitation field controller then added to the project in
offline mode. The DRIVE-CLiQ connection of the excitation field controller is plugged in and a download
then carried out.
2. Online:
The DRIVE-CLiQ connection of the excitation field controller is plugged in. Parameter p9910 = 2 is then set
in the excitation DO which will cause the newly detected DO to be added as a VECTOR-DO. An upload is
then carried out.
The DRIVE-CLiQ connection should be plugged into the CU320-2 and not into one of the power units. This is to
ensure that the basic sampling time of the excitation field controller can be selected independently of the power
units.
Internal
Commissioning
Information about commissioning and parameterizing the excitation field controller:

1. The motor does not need to be commissioned. It is possible to exit directly from quick commissioning:
p0010 = 0 (or p3900 = 3)
2. Operation at a reduced line or DC link voltage must be parameterized:
p0003 = 4
p3950 = x = Enter service code (only SW version V 4.3)
p0010 = 2 = Power unit commissioning
p0212 Bit 0 = 1 = Reduced device supply voltage possible
(setting possible only if r0192 Bit 22 = 1 (FW property))
p0210 = x V = Adjust the supply voltage (DC/AC Motor Module:
p0010= 0 = Exit commissioning
The operating mode is automatically set to p1300 = 19 (U/f control with independent voltage setpoint).
3. To utilize the technology controller as an excitation controller, it must be selected in the commissioning
screen of the STARTER tool. A parameter download must then be carried out. p0108 bit 16 must be set
directly via the AOP:
p0009 = 2
p0108[index of vector drive] Bit 16 = 1 Select the technology controller
p0009 = 0
4. It is advisable to move the technology controller into a faster time slice:
p0009 = 3
p0112 = 0 = Expert access for clock cycle changes
p0115[6] = 1000 µs = Set the sampling rate of the technology controller to speed controller clock cycle
p0115[1]
p0009 = 0
5. The U/f control can then be configured and connected to the technology controller:
p1300 = 19 = U/f control with independent voltage setpoint is already set
if the input voltages for the application have been reduced.
p1302 Bit 0 = 1 = Zero start angle when pulses are enabled
p1302 Bit 1 = 1 = Setpoint voltage sign is taken into account
Otherwise no "negative" voltages could be implemented.
Thus also the influence of voltage boost p1310 is deactivated.
p1330 = r2294 = Voltage setpoint from output of technology controller
6. Parameterization of the technology controller:
p2200 = x = Bico input for activation of technology controller (e.g. r0056.4) of the
excitation module
p2201 = x = Fixed sepoint 1 of technology controller (only for test purposes)
p2220 = 1 = Select fixed setpoint 1 (only for test purposes)
p2253 -> r2224 = Setpoint from fixed setpoint (only for test purposes)
p2253 -> r1626 (VECTOR-DO) = Setpoint from excitation current setpoint calculation (default)
p2257 = p2258 = 0 s = Ramp-up/ramp-down time of setpoint
p2252 bit 1 = 0 = Select PI controller configuration (integration as integral time)
p2264 = r0069 Index 0 = Connect actual value input of technology controller with phase current
(excitation unit must be connected with output phase U and V!)
p2265 = x ms = excitation current actual value smoothing e.g. 10ms; otherwise strong vibrations
will result from the sine-wave filter
p2292 = -100 % = lower controller limitation
p2293 = 0 % = Ramp of the controller limitation
p2285 = 0.004 s = Integral time of the technology controller = 4 * p0115[6]
p2280 = Kp = Gain of the technology controller
Internal
Commissioning
Starting with low values (0.005) increase the parameter until the required step response for setpoint step is
achieved.
p2261 = x ms = Setpoint filter time constant for reducing the overshoot.
p2297 = p2291 = Wire upper output limitations

and
p2298 = p2292 = Wire lower output limitations
and
p2291 =x = Upper output limitation: x = r0072 / p2001
and
p2292 =x = Lower output limitation: x = - r0072 / p2001
or :
p2286 = r0056.9 = Inhibit I component when voltage limit is reached
7. Since the technology controller is calculated as a percentage, it is advisable to set the reference
parameters to meaningful values:
p2001 = reference voltage = maximum excitation voltage corresponds to 100 % voltage setpoint
p2002 = reference current = maximum excitation current corresponds to 100 % actual current value
8. p0868 = 0 ms = Set debounce time of circuit breaker to 0 (no circuit breaker installed)
9. When all parameters have been assigned, a current setpoint can be input and activated. In normal
operation, the current setpoint is supplied from the excitation current setpoint calculation of the VECTOR-
DO. For the purpose of setting the controller, it can be meaningful to specify the setpoint via the fixed
value.
When the system is switched on, it is important to ensure that pulses are enabled via the ON command
(see p0840) either before or at the same time that the technology controller enable command is issued.
The technology controller should be inhibited at the same time the pulse inhibit command is issued.
It is useful to connect the ON command of the excitation equipment (p0840) and the technology controller
enable (p2200) to the command "Power up excitation" of the synchronous machine (r1648 Bit0).
The signal "Operation enabled" of the status word of the excitation equipment (r0899.2) can be connected
as a feedback signal to the BiCo input p1645[2] of the synchronous machine "Excitation operational".
The following parameters of the excitation field controller should also be modified:
p0346 < 100 ms = Reduce magnetizing time.
The magnetizing process delays output of the signal "Operation enabled" r0899.2.
Tip: p0346 is limited internally to 25 % of the rotor time constant r0384. Increasing the rotor resistance
setting p0354 reduces the lowest possible magnetizing time setting.
The following applies: r0384 = (p0360 * p0655 + p0358 * p0657) / (p0354 * p0659).
10. Note:
The speed setpoint for the excitation field controller must always be 0 Hz (do not enter a setpoint!).
The functions flying restart, DC brake, synchronization, etc. must not be enabled as they might change the
output frequencies and angles.
p1280 = 0 = Deactivate Vdc controller.
11. Calibration of the DC link voltage when working with reduced input voltages:
In the case of reduced line voltages, the value measured at the DC busbar should be compared with the
value displayed in r0070. If the values are different, p3901 must be adjusted until r0070 approximately
equals the measured value.
Internal
Commissioning
2.4.5 Calculation of the excitation time constant
The excitation time constant can be an indicator of the required setting for the excitation build-up time parameter
p0346 for sensorless control or for control with incremental encoder. This is not just dependent on the excitation
time constant, however, but also on the voltage margin of the excitation equipment.
Furthermore, the excitation time constant also provides a guide as to how dynamic the setting for the excitation
current flux controller (p1590, p1592) can be.
If permitted by the excitation equipment, it is possible to determine the excitation time constant by entering an
excitation voltage step change when the excitation current control is inhibited and recording the step response
of the excitation current. The voltage step should be smaller than the no-load excitation voltage.
If the excitation equipment is a SINAMICS Motor Module (see 2.4.4), the voltage setpoint p1330 can be
connected to a fixed value (e.g. p2900, reference value p2001) for the duration of the measurement.
2.4.6 Defaults for excitation current controller (SINAMICS DCM or Motor Module)
If possible, the test should be conducted with a slowly rotating machine. If this is not possible, do not select a
very high excitation current setpoint and/or minimize the test time in order to protect the slip-rings and brushes.
The controller can be preset without having to activate the stator-side closed-loop control.
p1590 = 0.0 = Inhibit the excitation flux controller (version V4.7 and later, note old value)
p0346 ≤ 0.0 s = Excitation is provided prior to converter enable
p0852 = 0 = Inhibit pulses
p0840 = 1 = Power up excitation (version v4.7 and later)
Trace signals:
r1626 = Iexc(setp)
r1641 = Iexc(act) p1640 = Source Iexc(act) already connected (e.g. with PROFIBUS signal)
With version V4.7 and later, setpoint zero is input when excitation is deactivated (p1648.0 and p1648.3 = 0).
p0840 must therefore be activated. In the condition, the current model delivers a no-load excitation current
setpoint that remains constant in the base speed range.
As an alternative, it is possible to connect a fixed setpoint (p2900) to the interface for the excitation current
setpoint for the duration of the measurement, activate excitation manually (p1648.0 and p1648.3 = 1) and enter
a setpoint step in p2900.
Switch on the converter

p1625 = reduce (e.g. halve) or increase (e.g. by a factor of 1.2) and then reset in order to produce step
changes for Iexc(setp)
Set Kp and Tn in the excitation controller so that the stabilizing time for the changes made is approx. 20 ms to
30 ms (incl. dead time), and so that no overshoot occurs. The output of the excitation controller must not reach
its limits (if necessary, reduce the size of the changes).
Reset p1625 to its original value.
The default value for the excitation current controller can be set in a different manner; for example, by activating
the excitation equipment directly or using an existing SIMOTION application. These options are not the subject
of this commissioning manual and are therefore not addressed here.
Assigning defaults to the excitation current controller is primarily a means of preparing the excitation equipment
for subsequent commissioning. Final optimization of the excitation current controller is performed at a later
stage in Chapter 2.18 "Subsequent optimization of excitation current controller (SINAMICS DCM)".
Internal
Commissioning
Wiring and settings for the actual value encoder
2.5 Wiring and settings for the actual value encoder

2.5.1 Motor speed signal parameterization (square-wave encoder, actual value encoder)
Note
The encoder cable must be shielded. The shielding must be applied over a wide surface area and with short
cables both at the encoder and on the converter.
The encoder cable must not be separated between the motor and the converter (SMC30) (e.g. for branching).
The encoder cable must not be routed together with power cables.
The zero pulse should be narrower than one pulse width on the pulse encoder disc (refer to the Equipment
Manual "Control Units and Supplementary System Components" for the signal specification). If faults in the zero
pulse occur that cannot be corrected, the connection must be disconnected.
The encoder itself must be torsion-free on the motor shaft and fastened without slack; otherwise, it is impossible
to achieve dynamic settings for the speed controller.
The encoder must be aligned and fastened in such a manner that it cannot produce oscillation at rotation
frequency.
At very low speeds (below 10 rpm), the encoder should have at least 2000 pulses or a resolution of < 1°
electrical.
The HTL/TTL square-wave encoder must always be treated as the first encoder (motor encoder) in the
topology. If the square-wave encoder is located in encoder dataset 0 (see component number in p0141[0] and
p0142[0] compared to topology), then precisely this encoder dataset must be entered for Encoder 1
p0187[DDS] = 0 (see also Drive Configuration in the "Drive datasets" tab). This is usually done automatically
when the relevant DRIVE-CLiQ cable of the encoder component (SMC30) is connected to the DRIVE-CLiQ port
on the Motor Module and automatic commissioning is started.
Automatic parameterization or reset to factory defaults should be avoided in STARTER/SCOUT projects that
have been prepared in which parameterization of the encoder assignments have been completed; in these
cases, adapt the DRIVE-CLiQ wiring to suit the parameters set.
Parameterization of the square-wave encoder must be carried out during commissioning:

p0400[0] = e.g. 3001 = Encoder type selection HTL A/B R (enter in p0010 = 1 or p0010 = 4)
Parameter: r0061[0] = Speed signal of the square-wave encoder for monitoring/measuring

If user-defined encoder parameterization is selected (p0400[0] = 9999), the following procedure is
recommended:
p0010 = 4 = Select encoder commissioning (when quick commissioning has been completed)
Parameter Encoder 1 (incremental)

Number Description without zero pulse with zero pulse
p0400[0] Enc type selection user-defined (9999) user-defined (9999)
p0404[0] Encoder configuration 200008H 201008H
p0405[0] Square-wave encoder HW 9H 9H
p0408[0] Number of encoder pulses (e.g. x1 =) 1024 (e.g. x1 =) 1024
p0420[0] SMC encoder connection 2H 2H
p0425[0] Encoder, zero mark distance 0 = p0408 (1024)
p0430[0] SMC configuration E0080000H E0680000H
p0010 = 0 = Exit commissioning
Internal
Commissioning
The specified settings apply to encoder combinations

Huebner-Giessen type FGH 6 KK -(x1)G-90G-NG-S-J/50P + ASS 4K-12
according to SIEMENS Industry Sector IS MT specification for reel drives.
It may be necessary to adapt the settings for other encoder combinations.
Information about configuring zero track correction/monitoring can be found in Chapter 1.2 .
2.5.2 Additional parameter settings for the incremental encoder for applications which use a
Voltage Sensing Module to determine the motor starting position
The following additional parameters must be set when an incremental encoder with rotor position sensing via
Voltage Sensing Module (VSM10) is used:
Parameter Encoder 1 (incremental)

Number Description without zero pulse with zero pulse
p1980[0] PolId procedure 12 12
P1982[0] Encoder configuration 1 1
If an absolute encoder and a VSM10 are configured in addition to the incremental encoder, the setting in p1982
defines whether the VSM10 (p1982 = 1) or the absolute encoder (p1982 = 0) will be used to determine the
motor starting position.
2.5.3 Parameterizing the motor starting position signal (SSI encoder, absolute encoder)
To determine the starting position (rotor position), the angular signal of the SSI encoder is output during each
power-up sequence of the SINAMICS converter before operation has been enabled. This SSI encoder must
always be treated as the second encoder in the topology.
If the position encoder is located in encoder dataset 1 (see component number in p0141[1] and p0142[1]
compared to topology), then precisely this encoder dataset must be entered for Encoder 2 p0188[DDS] = 1 (see
also Drive Configuration in the "Drive datasets" tab). This is usually done automatically when there is only one
Motor Module in the topology and the relevant DRIVE-CLiQ cable of the encoder component (SMC30) is
connected to the DRIVE-CLiQ port on the CU and automatic commissioning is started.
Automatic parameterization or reset to factory defaults should be avoided in STARTER/SCOUT projects that
have been prepared in which parameterization of the encoder assignments have been completed; in these
cases, adapt the DRIVE-CLiQ wiring to suit the parameters set.
The parameterization of the position encoder must be carried out during commissioning:
p0400[1] = e.g. 3090 = Encoder type selection SSI (enter in p0010 = 1 or p0010 = 4)
Parameter: r0061[1] = Speed signal of the SSI encoder
Internal
Commissioning
If user-defined encoder parameterization is selected (p0400[1] = 9999), the following procedure is

recommended:
p0010 =4 = Select encoder commissioning (when quick commissioning has been completed)
Parameter Encoder 2 (absolute, SSI)

Number Description
p0400[1] Enc type selection user-defined (9999)
p0404[1] Encoder configuration 200202H
p0405[1] Square-wave encoder HW 9H
p0408[1] Number of encoder pulses 4096
p0420[1] SMC encoder connection 2H
p0421[1] Enc abs multiturn 1
p0423[1] Enc abs singleturn (e.g. 12 bits = ) 4096
p0427[1] SSI encoder baud rate 150
p0428[1] SSI encoder monoflop time 30
p0429[1] SSI encoder configuration 1H
p0430[1] SMC configuration E8080000H
p0431[1] Ang. com offset depending on the encoder mounting
p0434[1] SSI encoder error bit 0
p0435[1] SSI encoder alarm bit 0
p0436[1] SSI encoder parity bit 0
p0446[1] Enc SSI bit before 0
p0447[1] Encoder SSI number of bits 12
p0448[1] Enc SSI subsequent bits 0
p0449[1] Encoder SSI filler bits 0
p0010 =0 = Exit commissioning
The specified settings apply to encoder combinations

Huebner-Giessen type FGH 6 KK -(x1)G-90G-NG-S-J/50P + ASS 4K-12 (12 bits)
according to SIEMENS Industry Sector IS MT specification for reel drives.
It may be necessary to adapt the settings for other encoder combinations.
2.5.4 Example of parameterization of a combination encoder
With version V4.6 or higher, it is possible to install a combination encoder instead of an incremental and an
absolute encoder. It requires only one SMC30 and supplies a speed signal as well as a pre-adjusted angular
signal. The encoder is parameterized as a single encoder.
Internal
Commissioning
Parameterization example:
Combination encoder supplied by Baumer Huebner GmbH, type: AMG 11 S 13 H 2048
Parameter Encoder 1 (SSI)

Number Description
p0400[0] Enc type selection user-defined (9999)
p0404[0] Encoder configuration 20020AH
p0405[0] Square-wave encoder HW DH
p0408[0] Number of encoder pulses 2048
p0420[0] SMC encoder connection 2H
p0421[0] Enc abs multiturn 1
p0423[0] Enc abs singleturn 8192
p0425[0] Encoder, zero mark distance 2500
p0427[0] SSI encoder baud rate 100
p0428[0] SSI encoder monoflop time 30
p0429[0] SSI encoder configuration 0H
p0430[0] SMC configuration E0080000H
p0434[0] SSI encoder error bit 0
p0435[0] SSI encoder alarm bit 0
p0436[0] SSI encoder parity bit 0
p0446[0] Enc SSI bit before 0
p0447[0] Encoder SSI number of bits 13
p0448[0] Enc SSI subsequent bits 0
p0449[0] Encoder SSI filler bits 0
2.5.5 Adjustment of a rotor position encoder (SSI encoder, absolute encoder)
During initial commissioning or following replacement of the SSI encoder or combination encoder (e.g. during
maintenance), the encoder must be adjusted.
p1990 = 1 Encoder adjustment, determine angular commutation offset
The motor data must be entered beforehand and the excitation equipment commissioned. The drive must be
operated without a load - and if a motor holding brake is being used, this must be opened. Encoder adjustment
starts when the converter is powered up.
• Switch on the converter.
Note
The motor rotates during alignment.
Motor alignment is possible only if the motor is not locked (by brake or load)!
The cooling systems for the motor and converter must be switched on.
When the encoder is adjusted, the drive is aligned by impressing the DC current, and the differential angle
between the zero position found and the one output is entered in p0431[1]. The result must be stored using
p0977 = 1 (CU parameter).
p0977 = 1 Save all parameters (= function "Copy RAM to ROM")
If a result has already been stored once with p0977, it is also sufficient to set p0971 = 1 in order
to save the parameter changes of individual DOs.
Internal
Commissioning
Test: If the drive is started after successful encoder adjustment, it is necessary to check that the
speed signals of both encoders match, for example 20 % of the rated speed (r0061[0] =
r0061[1]). If this is not the case, check the parameters of the SSI encoder and repeat encoder
adjustment if necessary (see Chapter I/f test mode).
Note: If encoder adjustment is to be repeated at a later point in time, the current angular commutation
offset must first be set to zero.
p0010 = 4
p0431[1] = 0°
p0010 = 0
2.5.6 Checking the encoder adjustment and/or angular commutation offset in p0431[1]
The nature of the current impression procedure can lead to slight errors in measurement of the offset angle in a
magnitude of a few degrees (electrical). This is because the inner motor torque tends to zero (according to the
  
relationship M = M ~ I × Psi = I ⋅ Psi ⋅ sin ϕ ) at the measuring point.
Due to this, the measuring point (the rotor position) that applies during measurement strongly depends on the
friction, which can produce a slight error (up to around ±3°) when determining the angular commutation offset.
For this reason, it is highly recommended to check the angular commutation offset in p0431[1] using the
following procedure:
Note
The motor can rotate in both directions during the following test.
Testing is possible only if the motor is not locked (by brake or load) and close to no-load conditions apply!
The cooling systems for the motor and converter must be switched on.
p2175 = 0.00 % Deactivate lock monitoring (to prevent fault F07900)

p1540 = 0 % Scaling upper torque limit = 0
p1541 = 0 % Scaling lower torque limit = 0
p1620 = -20 % of p0305 specify negative minimum stator current
(note: p1620 is referred to p2002 in the referenced system of units!)
• Switch on the converter.
If the motor rotates although the torque setpoint is M* = 0 (check using r1538 / r1539 or r0079), the angular
commutation offset in p0431[1] is incorrect and should be corrected. Currently, only a manual procedure is
possible:
If compressed torque limits produce a positive direction of rotation under no load (clockwise rotation, n/f > 0),
then p0431[1] must be increased (i.e. positive angle change, e.g. + 1°); on the other hand, if the direction of
rotation is negative (counter-clockwise rotation, n/f < 0), then p0431[1] must be reduced (i.e. negative angle
change, e.g. - 1°).
The angle changes in p0431[1] are best made in small steps (±1° steps). This must be repeated until the motor
no longer rotates under no load with M* = 0.
To ensure that the drive can be shut down at M* = 0, it may be necessary to reset the minimum current in
p1620. To change the angular commutation offset, the following parameters must be altered in succession:
p0010 = 4
p0431[1] = p0431[1] ± 1° (+ 1°, if n/f > 0; - 1°, if n/f < 0)
p0010 = 0
Internal
Commissioning
I/f test mode (for encoder signals)
2.6 I/f test mode (for encoder signals)

After encoder calibration and setting of the default values for the excitation controller, commence operation
under no-load conditions at low speeds in order to check the encoder signals. The output frequency is specified
via the speed setpoint value, the stator current via the current setpoint for I/f operation p1609.
Note
• In the test mode below, the drive rotates!
• The converter pulses are enabled!
• The cooling system for the converter and motor must be activated!
• The motor must not be under load!
• The motor must only be accelerated slowly!
p1300 = 18 = Select I/f mode

p1609 = xxxx = Set current setpoint, e.g. 10 % … 30 % (default = 0)
The no-load excitation current setpoint is used (see r1626).
To prevent the drive from stalling because the flux is not regulated via the excitation
current setpoint, the motor must only be accelerated slowly.
p1120 = e.g. 30 s Ramp-up time of setpoint channel (this value is referred to p1082, maximum speed)
p1001 = 0.0 = Reset the speed setpoint (here: fixed setpoint 1)
• Switch on the converter
Increase speed setpoint (e.g. p1001) in steps of 2 % of the rated motor speed (p0311) to between
10 % and 20 % * p0311. The load-free motor now rotates at the set speed. The polarity and value for the motor
speed from the HTL square-wave encoder can be checked in r0061[0]. When an additional absolute encoder is
used, the motor speed of the HTL square-wave encoder must match the mean value of the SSI encoder signal
r0061[1] (observe the parameter values in the Starter or Scout on PC, compare the trace signals).
Note
The trace signal from the SSI encoder exhibits significantly more ripple that the HTL encoder signal. The
mathematical function "AM" (arithmetic mean) produces a mean value for r0061[1] and makes for better
comparison of trace curves.
The actual speed from the SSI encoder in r0061[1] is measured here only to check the encoder function and to
compare with r0061[0]. The actual speed from the SSI encoder is not evaluated for speed control. So the
increased ripple in r0061[1] compared to r0061[0] does not represent a restriction for the quality of the field-
oriented vector control of the separately excited synchronous motor. The ripple in r0061[1] is caused by the
manner in which this quantity is determined, namely from the difference between the consecutive rotor
positions, which are transmitted per SSI telegram (no synchronization).
During normal operation, the position of the rotor is input prior to impulse enable. This ensures correct
impression of the current phasor in the stator of the machine. The position of the rotor is then determined from
this start position by totaling the pulses from the HTL encoder.
If the polarity does not match the setpoint speed, it could be that an encoder cable or a power cable between
the power unit and the motor have been exchanged. In the first case, use p0410[0 = HTL, 1 = SSI] (set in p0010
= 4) to modify both the speed and the angle (always modify both bits!). In the second case, use p1820 to correct
the setting. Be sure to check that the wiring is also correct before correcting the settings.
Internal
Commissioning
I/f test mode (for encoder signals)
If the actual speed r0061[0] of the HTL encoder is not correct, check the number of pulses (p0408). If the actual
speed of the SSI encoder does not match that of the HTL encoder, check the entire encoder configuration.
After modification of the parameters for the SSI encoder, repeat the encoder calibration process (Chapter 2.5.5)!
If interference peaks are detected on r0061[0], check the signal cables, the encoder setup, and the shielding of
the encoder cables. Speed peaks of approx. 2 to 4 rpm may result from inconsistencies in pulse intervals on the
encoder disc, but lie within the tolerance range. If these peaks are still detected in r0063[0] (Nact smoothed with
p1441), smoothing p1442 may reduce them (display parameter r1445 = Actual speed smoothed).
The maximum permissible speed difference within one sampling cycle (p0115[0]) is set in p0492.
When the threshold value for one sampling cycle is exceeded, alarm A31418 is output. Fault F31118 is output if
the threshold for more than one cycle is exceeded. No provision is made for dynamic switchover of separately
excited synchronous machines to encoderless operation (can be parameterized in p0491).
• Switch off the converter

Reset the parameter:
p1300 = 21 = Select speed control
Internal
Commissioning
Information about sw itching the synchronous machine on and off, and standby operation
2.7 Information about switching the synchronous machine on and off, and
standby operation
The part of the sequence control is subordinate to the normal sequence control of SINAMICS S120. It is a
necessary additional function for the purpose of exciting separately excited synchronous machines.
When p0346 > 0, the machine is switched on only if p0840 and p0852 are set. In this case, the excitation
equipment is started up first. The machine is then excited via a ramp and the pulses finally enabled after the
timer set in p0346 runs down.
The machine is switched off when p0840 is reset by deceleration of the machine along a ramp down to the
speed set in p1226, followed by pulse inhibition and de-excitation of the machine. When p0852 is reset, the
pulses are suppressed immediately followed by de-excitation of the machine. De-excitation is initiated by
instantaneous reset of the excitation current setpoint to zero. The operation enable command and the power-up
command for the excitation equipment are reset when the delay time in p1647 expires so as to ensure that the
actual excitation current has decayed.
Ser. p0840 p0852 p0844 Excitation state Status Motor Comments

no. (r1648.3) Module stator
pulses (r0056.2)
1 0 0 1 0 0
2 0 0->1 1 0 0
3 0 or 1 0 or 1 0 0 0
4 0->1 0->1 1 0->1 0->1 With sensorless control and
with incremental encoder,
stator pulses not enabled
until p0346 expires
5 0->1 0 1 0 0
6 1 0->1 1 0->1 0->1 With sensorless control and
until p0346 expires
7 1 1 1 1 1
8 0->1 1 1 0->1 0->1 With sensorless control and
until p0346 expires
9 1 1->0 1 1->0 after expiry of 1->0 instantaneous,
p1647 drive coasts down
10 1 0 1 0 0
11 1->0 1 1 1->0 after pulse inhibit 1->0 brake first
and expiry of p1647 down to p1226,
then pulse inhibit
12 0 1 1 0 0
13 1 1 1->0 1->0 after expiry of 1->0 instantaneous,
14 1 1 0->1 0 0
Table 2-3 Switching behavior of stator pulses and excitation when p0346 > 0
Internal
Commissioning
Testing of the machine-side VSM10 for sensorless control and control w ith incremental encoder
Ser. p0840 p0852 p0844 Excitation state Status Motor Comments

no. (r1648.3) Module stator
pulses (r0056.2)
1 0 0 1 0 0
2 0 0->1 1 0 0
3 0 or 1 0 or 1 0 0 0
4 0->1 0->1 1 0->1 0->1 Not permissible for
sensorless control and
with incremental encoder
5 0->1 0 1 0->1 0
6 1 0->1 1 1 0->1
7 1 1 1 1 1
8a 0->1 1 1 1 0->1
8b 0->1 1 1 0->1 0->1 Not permissible for
sensorless control and
9 1 1->0 1 1 1->0 instantaneous,
drive coasts down
10 1 0 1 1 0, drive coasts
down
11 1->0 1 1 1 1->0 brake first
down to p1226,
then pulse inhibit
12 0 1 1 1 0
13 1 1 1->0 1->0 after expiry of 1->0 instantaneous,
14 1 1 0->1 0 0
Table 2-4 Switching behavior of stator and excitation when p0346 ≤ 0
Whenp0346 ≤ 0, the machine is first excited while pulses are still inhibited. p0852 and p0840 are initially set to
0. The machine is excited by setting p0840. The machine is in standby mode following excitation. The pulse
enable command is issued when p0852 is set. The user must ensure that the time interval between setting of
p0840 and setting of p0852 is long enough to allow excitation of the machine. Excessively high circulating
currents or damage to the excitation winding may otherwise occur. If only one parameter (p0840 or p0852) is
reset when the machine is switched off, the machine remains excited with no-load excitation current. The stator
pulses are suppressed when p0840 is reset after the motor is decelerated along the ramp to the speed
threshold set in p1226, or instantaneously when p0852 is reset.
As soon as the machine reaches the de-excited state (p1648.0 = 0), the excitation current setpoint (p1626) is
also set to zero and is not enabled until the machine is excited again.
Note
Note: If an encoderless synchronous machine in the excited state coasts down to a speed below p1755 * p1749
* p1748 * p1766 when pulses are inhibited, the rotor position sensing process must be repeated when the
pulses are next enabled because the voltage model is deactivated at this speed threshold and no internal
angular or frequency signals are available internally.
For this purpose, the machine is first de-excited automatically along a ramp and then excited again.
Internal
Commissioning
Testing of the machine-side VSM10 for sensorless control and control w ith incremental encoder
2.8 Testing of the machine-side VSM10 for sensorless control and control
When a synchronous machine is operated without an encoder, the stator voltage must be measured in order to
sense the rotor position. During rotor position sensing, it is not possible to utilize the voltage phasor from the
gating unit as the pulses are inhibited. When the stator pulses are enabled, the actual voltage value from the
VSM is switched over to the setpoint voltage phasor so that it is not influenced by any potential inaccuracies in
the actual voltage sensing system.
The voltage is measured by means of a VSM10 that must be connected in three phases with the converter
output phases via terminal X522. The line-to-line VSM voltage signals u1-u2 and u2-u3 are available in
parameters r3661 and r3662.
With a new VSM10 (product release approximately 2013 or later), the neutral point is grounded via a clip that
can be removed for taking measurements with isolated neutral. The clip is left in position in the default condition
of the separately excited synchronous machine.
The drive is started up in I/f test mode and slowly accelerated to 20 % of the motor rated speed in p0311. At this
speed, the VSM voltage signals are compared to the differences between the phases voltages from r0089:
r3661 = r0089[0] - r0089[1] and r3662 = r0089[1] - r0089[2]
or:
r0089[0] = 2/3 * r3661 + 1/3 * r3662
r0089[1] = -1/3 * r3661 + 1/3 * r3662
If the signals do not match (slight deviations are caused by the integration of pulsed voltages), the VSM
connections to the converter output must be checked (for correct phase sequence, for example).
Note: With drives such as shaft generator systems that can be operated only in torque control mode (by virtue of
their design), proper functioning of the VSM can also be tested by setting p0346 to zero and setting p0840 in
closed-control mode (p1300 = 20 or 21). In this case, the excitation current setpoint is the no-load excitation
current. When the stator pulses are inhibited, the actual voltage values can be recorded only in r3661 and
r3662. In addition to the magnitude and polarity of the voltage, it is possible to observe the interference that
affects the induced voltage as a result of the Diesel engine. The interference frequencies and their magnitude
can be determined by performing an FFT-based analysis of the line-to-line VSM voltage.
2.8.1 VSM offset calibration
Version 4.7 and later provides an offset calibration function for the VSM. This is required in cases where the
voltage pulse induced by the excitation equipment during power-up from standstill is very small, i.e. close to the
resolution of the actual voltage sensing system. This applies particularly to machines with a large air gap or very
slow excitation equipment (large excitation time constant or brushless excitation) that have to power up from
standstill.
With drives that require rotor position sensing at standstill, the magnitude of the voltage pulse should always be
checked when the machine is at a standstill.
Offset calibration is deactivated in the default setting. It is activated with p6903 = 0. As long as offset calibration
is activated, an offset calibration operation is performed automatically when the machine is at a standstill and
the pulses of the stator and excitation equipment are inhibited. The offset calibration result can be read in p6870
and p6871.
Offset calibration is inhibited when p6903 = 1. The last values in p6870 and p6871 can then be stored. They are
then available again after a reset, but can also be manually overwritten.
Offset calibration should be carried out for encoderless, separately excited synchronous machines only at the
commissioning stage and the result then stored. This is because the standstill sensing system is very inaccurate
and can result in the false interpretation of remanent voltages as an offset.
Internal
Commissioning
Measuring the values of R(stator), U(valve) and T(dead time)
2.9 Measuring the values of R(stator), U(valve) and T(dead time)

The results of the standstill measurement are useful to only a limited extent for separately excited synchronous
machines. It is essential to note the parameter settings for p1909, p1911 and p0625 which deviate from the
standard for the standstill measurement.
The following parameters can be calculated during a standstill measurement for a separately excited
synchronous machine:
p0350 = R(stator) = Stator resistance

p0352 = R(cable) = Supply cable resistance
p1825 = Valve volt.comp = On-state voltage of power semiconductor Uvalve
p1828 ... p1830 = T(deadtimecomp) = Interlocking times for deadtime compensation Tdead
These variables are crucial for flux and torque accuracy especially at lower speeds of the U model. Any fault
that occurs would increase if the frequency threshold p1752 (motor model switchover speed, operation with
encoder) between the models (I/U model) is reduced.
To avoid the extremely inaccurate process of setting these three values manually, the method of standstill
measurement for asynchronous motors can be used. The standstill measurement method can be applied to
separately excited synchronous motors if these are equipped with a damping winding (motors without a
damping winding are not enabled for closed-loop control). Consult the manufacturer or obtain the values directly
from the datasheet (refer to Table 1, p0354, p0355).
The following procedure is recommended:
p0352 = Determine and enter R(cable)
For parallel connection and motors with single-winding systems, the feeder cable resistance is measured and
therefore need not be entered prior to standstill measurement. It must then be ensured that p0352 is set to 0
(default) before the standstill measurement is conducted.
In all other cases (single converter or parallel connection with separate windings), the resistance must be
determined manually; or if p0352 = 0 prior to standstill measurement, the cable resistance is automatically set to
20 % of the measured total resistance. It is possible to calculate the resistance of the supply cable RL from the
cable length and cross-section using the formula below (p0352 contains only the resistance of the supply cable
for a single Motor Module):
1 l
RL = ⋅ρ⋅
ZC A
where ρ = spec. resistance (ρCU = 0.0172 Ωmm²/m, ρAL = 0.028 Ωmm²/m)
l = cable length in m,
A = cable cross-section in mm²,
ZC = number of parallel cables per converter phase
RL
p0352 = * 100 %
ZN
where ZN = p0304 / (√3 * p0305)
If p0352 is entered or changed later (after completion of motor identification) and no standstill measurement is
carried out, then
p0350 must be corrected by the difference [p0352(before) - cable resistance] (total of
p0350 + p0352 must be identical).
Example:
After Mot.Id. with p0352 = 0, the following are set: p0350 = 3.5 % and p0352 = 0.87 %.
Then, the value 0.37 % is determined for p0352.
The value 3.5 % + (0.87 % - 0.37 %) = 4.0 % must then be set for p0350.
Internal
Commissioning
Stationary measurement
Entering the resistance of the feeder cable brings advantages for thermal adaptation of the stator resistance.
The motor temperature is must be recorded using a KTY84 sensor, for example (see p0600, p0601). The stator
resistance is tracked with the measured stator temperature if p0620 = 1 is set.
p0625 = Determine T(ambient) (e.g. from r0035) and enter the value (measurement with cold motor)
p1909.15 = 1 = Measure only R(stator), U(valve) and T(deadtime)
p1909.17 = 1 = no recalculation of control parameters (version v4.6 or higher)
Notice
The excitation equipment must be ready for operation. If it is not activated during standstill measurement (via
r1648.0), induced overvoltages can cause damage to the motor!
Important notes
• During standstill measurement, the drive may continue to align itself! The rated motor current is impressed!
• The measurement should be carried out when the motor is cold (reference temperature p0625 = r0035)
p1911 = 1 = Number of phases to be identified (access level p0003 = 4)

p1910 = 1 = Select standstill measurement with acceptance of results
Power up the converter and wait until the pulses are inhibited again and p1910 is reset to zero.
It is not advisable to use the measurement method p1911 = 3 (three-phase standstill measurement) for
separately excited synchronous machines because the measurement can sometimes take a very long time and
offers only minor advantages by comparison with the single-phase measurement!
The three values R(stator), U(valve) and T(deadtime) are determined by impressing different levels of DC
current at different pulse frequencies and tracking the associated voltages.
The results of standstill measurement for all three phases are then available in the following parameters:
r1912 = Stator resistance (accept in p0350)
r1925 = Valve on-state voltage (accept in p1825)
r1926 = Valve lockout time for deadtime compensation (accept in p1828 ... p1830)
r1929 = Cable resistance (accept in p0352, only for connection in parallel
and motor with a single-winding system)
The parameters are not accepted when p1910 = 2 is set for the measurement.
If the fault F07990 occurs with fault value 11 ("Motor shaft is rotating") during standstill measurement, although
no motion can be detected at the motor shaft, set p1909.7 = 1. The fault message should no longer occur.
At the end of the measurement, the calculation of the parameters dependent on the results is called
automatically (p0340 = 3). For this reason, the motor excitation time in p0346 must be checked or reset to its
previous setting.
Internal
Commissioning
Stationary measurement
2.10 Stationary measurement

Since it is impossible to distinguish between stator and damper leakage in the measurement, it is possible to
use the standstill measurement without accepting the motor data.
p1909.15 = 0 = Measurement R(stator) only, deselect U(valve) and T(deadtime)
(setting p1909.5 = 1, p1909.6 = 1 and poss. p1909.7 = 1, rest 0)
p1911 = 1 = = Number of phases to be identified (access level p0003 = 4)
p1910 = 2 = Select standstill measurement without acceptance of results!
Notice
The excitation equipment must be ready for operation. If it is not activated during standstill measurement (via
r1648.0), induced overvoltages can cause damage to the motor!
Notes
• During standstill measurement, the drive may continue to align itself! The rated motor current is impressed!
• The measurement should be performed with cold motor (the motor temperature, available at r0035, should
have cooled down to roughly ambient temperature; as described in Chapter 2.9, the ambient temperature is
set at p0625).
Power up the converter and wait until the pulses are inhibited again and p1910 is reset to zero.
The two values for leakage inductance and damping resistance are determined by impressing a DC current and
a superimposed sinusoidal oscillation and tracking the associated voltages.
The results of standstill measurement for all three phases are then available in the following parameters:
r1914 = Total leakage inductance in mH (compare to p0356 + p0358 in %)
r1927 = Damper resistance (= rotor resistance) in Ω (compare to p0354 in %)
(note down both values for later calculations/optimization, e.g. Chapter 2.20)
Convert r1914 to an impedance according to the formula XL = L * 2 * π * p0310.
When converting to referred quantities, include the reference impedance: ZN = p0304 / (√3 * p0305).
Note
Acceptance of the results as damper resistance values (p0354, p0355) and damper leakage (p0358, p0359)
should only be considered if the acceleration and load tests (described later) according to Chapter 2.20 do not
produce any acceptable results.
Since it is not possible to distinguish between stator and damper resistance in the measurement, it may be
necessary to adjust the stator leakage rather than the damper leakage! The leakage inductance on the stator
side p0356 can then possibly be determined more accurately using the characteristic of the power factor
cos(PHI) (r0087) in the field-weakening range. The damper leakage in p0358 is then obtained from r1914 minus
p0356.
For symmetrical dampers, parameterization is identical in the d and q directions; for asymmetrical factory data,
the parameters must be adapted in the same ratio.
Internal
Commissioning
Activating the temperature adaptation for the stator resistance (FP8016)
2.11 Activating the temperature adaptation for the stator resistance

(FP8016)
The source of the motor temperature signal can be set in p0600, the sensor type in p0601. The standard
method of recording is with KTY84 sensor.
p0600 = 10 = Temperature signal via BICO input p0603
or
p0600 = 11 = Temperature signal via input on the Motor Module
p0601 = 2 (3) = KTY84 sensor
p0603 = r4105 = TM31 temperature signal (if p0600 = 10)
r0035 = = The current stator temperature should be roughly equal to the ambient temperature
when the motor is cold
p0625 = e.g. 20 °C = Current motor or ambient temperature at time of Rs measurement
(= r0035).
p0620 = 1 or 2 = Adaptation of R(stator) using the stator temperature r0035.
The adaptation via p0620 should be activated directly after Rs measurement and when the motor is still cold.
The current motor temperature must be entered beforehand in p0625. If corresponds to the ambient
temperature at the time of measurement.
Temperature recording is also used as means of protecting the motor, provided that the following parameters
are set expediently.
p0604 = e.g. 130 °C = Motor temperature alarm threshold
p0605 = e.g. 145 °C = Motor temperature fault threshold
2.12 Activating the locking / stall monitoring (FP8012, FP8018)

Before the motor is rotated, the locking and stall monitoring must first be activated for safety reasons. It is also
recommended that you install an OFF2 switch to ensure that you can react directly in the case of an emergency
and switch off the drive or switch it to the torque-free condition.
p2175 = 0.02 * p0311 = Threshold for locking monitoring
p2177 = 1.0 s = Delay time for locking monitoring
p2178 ≤ 0.05 s = Delay time for stall monitoring
If p2178 has been set too sensitively for normal operation (for dynamic processes), the time can be increased.
An expedient way to do this is to compare the flux setpoint (r0083) and actual flux (r0084) during operation.
Stall monitoring triggers when the actual flux is 25% lower or 150% higher than the flux setpoint.
Besides flux monitoring, a further monitoring function is available when the drive is operated in the range of the
current model (e.g. at standstill). This allows you to detect whether the drive is accelerated by the load when the
encoder signal (of the HTL encoder) returns zero, due to a cable break for example.
p1745 = Motor model error threshold stall detection (preset from motor data)
r1746 = Motor model error signal stall detection
r1746 is calculated from the variance for the stator-side d current and can be compared directly with
the threshold value p1745. If F07902 fault value 2 is triggered too early at low speeds, it may be
necessary to increase the threshold value.
Note
If the output frequency or the angle difference exceeds the converted maximum output speed (r1084, r1087)
and the margin (10 % of rated motor frequency for frequencies and 20 % for angle changes), a stall alarm
F07902 with fault value 3 is output.
Internal
Commissioning
Pow er-up and flying restart with separately excited synchronous machines
2.13 Power-up and flying restart with separately excited synchronous

machines
2.13.1 Pole position identification
• Encoderless
An actual value sensing module (VSM10) is required to power up or restart (on the fly) an encoderless
synchronous machine. The machine is initially excited with the pulses inhibited. The voltage induced in the
stator and measured via the VSM is used for the purpose of rotor position sensing. The stator pulses must
not be connected until the actual flux in the machine is approximately equal to the flux setpoint.
• With incremental encoder and VSM10
A separately excited synchronous machine with incremental encoder and VSM is excited in the same way.
The offset angle for the angular signal of the incremental encoder is calculated in the range around 50 % of
the final flux value because the voltage pulse in the stator induced by excitation reaches its maximum when
the motor is at a standstill.
If there is still residual flux in the machine when excitation commences, the offset angle is not calculated
again because the flux error in the voltage model also results initially in an angular error.
• With two encoders or with combination encoder
No voltage sensing takes place in separately excited synchronous machines with a combination encoder or
with an incremental and an absolute encoder. When p0346 > 0 the stator pulses are enabled at the same
time as excitation commences so that the setpoint voltage phasor is available as a voltage signal.
2.13.2 Operation at low speeds
• Encoderless
Separately excited, encoderless synchronous machines are operated under open-loop control in the speed
range below the switchover speed p1755. This is because the voltage model that calculates the
transformation angle and speed is too inaccurate at standstill and at low speeds. The closed-loop speed and
flux control systems are deactivated. It is assumed that the actual speed matches the setpoint speed. Stable
operation of the system can be guaranteed only if the actual and setpoint speeds are approximately equal.
To achieve this state, it is essential to know the counter-torques at this operating point.
The inertia (p0341, p0342) required to determine the acceleration torque is calculated during the rotating
measurement. Furthermore, it is possible to parameterize an additional acceleration torque in p1611.
The level of the static counter-torque is set in p1610. It must be noted that this torque always acts in the
same direction. A torque which accelerates in the positive direction will have only a braking effect when the
speed is reversed. If the direction of the counter-torque changes with the speed sign, it is better to use the
friction characteristic instead of p1610 (see Chapter 2.3.3).
Encoderless synchronous machines cannot operate in the steady-state state in the low speed range.
• With encoder
In operation with an encoder, the closed-loop flux control is deactivated in the low speed range in which the
voltage model is not operational. The angle of orientation and the actual speed value are calculated from the
incremental encoder signals.
Internal
Commissioning
2.13.3 Switchover between open-loop and closed-loop control operation during acceleration and
braking
Switchover from open-loop control to closed-loop control takes place sequentially and using several ramps. The
voltage model is first connected during power-up (threshold value p1755 * p1749 * 1748 * p1766 encoderless,
1752 * 1766 with encoder).
• Switchover of the speed signal from speed setpoint to actual speed value in encoderless operation
During acceleration in encoderless operation, the speed signal is switched over from speed setpoint to the
model value via a ramp with the lower ramp value p1755 * p1749 * p1748 and the upper ramp value p1755 *
p1749. During deceleration the speed signal is equal to the model value up to the threshold p1755 * p1749 *
p1748. A setting operation is then carried out to set the speed setpoint to match the actual speed value and
switch the speed signal over to the setpoint.
• Switchover of the orientation angle from current model to voltage model
During acceleration along a ramp, the orientation angle is switched over from current model operation to
voltage model operation. During deceleration, the angle is switched over from voltage model to current
model operation along a ramp in a similar way. In operation with an encoder, the lower threshold value
equals p1752 * p1753 and the upper threshold value p1752. Similarly, the lower threshold value for
encoderless operations equals p1755 * p1756 and the upper threshold value p1755.
The flux controller is enabled on completion of the switchover. The only function of the current model then is to
specify the excitation current setpoint.
2.13.4 Setting the excitation time p0346 during power-up and flying restart
In encoderless operation or operation with an incremental encoder, the motor is excited when p0346 > 0 and
the pulses automatically enabled when p0840 is set. The flux setpoint (r0083) is specified by means of a ramp
that the actual flux value (r0084) is required to follow as closely as possible. The steepness of the ramp and the
period of excitation are determined by the setting in parameter p0346. This is preset to the rotor time constant
(r0384). This does not take into account any dead times associated with connection of the excitation equipment
nor dead times that occur during transmission of the excitation current setpoint, nor the value of the excitation
time constant, nor any delays resulting from the ratio between maximum excitation voltage and excitation
inductance. As a result, the actually required period of excitation may be significantly longer than the preset
value in p0346!
The excitation time is shorter in operation with a combination encoder or with two encoders because the stator
also helps to magnetize the machine. But in this case as well, a sufficient level of flux must have built up in the
machine when the excitation time expires.
During initial power-up or flying restart, the machine must be sufficiently magnetized when the excitation time
expires. An excessively low flux level (< 80 % of final value) or an abrupt change in the actual flux value at the
end of the excitation time indicates that the setting in p0346 is too low. In this case, the parameter must be
gradually increased until the actual flux value equals at least 80 % of the flux setpoint when the excitation time
expires. The flux level in the machine will otherwise be too low when the closed-loop speed/torque control is
enabled. This applies particularly in the case of flying restart under load or operation in the field-weakening
range.
The length of the ramp required for the excitation time calculation can be estimated approximately using a rule
of three. If the measured actual flux at the end of the excitation time is too low, the following applies:
p0346_setp ≥ r0084_setp / r0084_act * p0346_act
With FW V4.7 or higher, a fault with OFF2 is triggered (F7898) if the actual flux value has reached less than 50
% of the setpoint when the time in p0346 expires. 50 % flux is the minimum value required to ensure that the
voltage model can detect the correct speed in encoderless operation.
Internal
Commissioning
Other issues need to be taken into consideration for drives that utilize VSM-based rotor position sensing:
• The excitation time p0346 cannot be increased without limit. If the time setting is too long, the voltage pulse
induced by the flux increase, especially at standstill, has such a small amplitude that the voltage sensing
system and thus the calculation of the orientation angle becomes too inaccurate.
• When p0346 = 0 (see 2.5) it may also be necessary to extend the excitation time because a successful flying
restart of the machine is dependent on flux build-up according to the most accurate possible ramp function
as specified by the flux setpoint. The ramp time is in turn pre-set by r0384 and can be extended by the input
of negative values in p0346. When a lower value is input, this is limited internally to r0384.
• In encoderless operation at a low speed (r0063 < p1755 * p1749 * p1748 * p1766), a new rotor position
sensing operation must be carried out even when the machine is excited (p0346 ≤ 0, p0840 =1) For this
purpose, the machine is automatically de-excavated and then excited again.
Internal
Commissioning
Measuring the no-load excitation current Iexc(0)
2.14 Measuring the no-load excitation current Iexc(0)

p0389 = Mot.excitation current(0) Motor no-load excitation current
p0390 = Mot.excitation current(ref) Rated motor excitation current (for calibrating the interface)
p1625 = Calibration Iexc(setp) Calibration factor for excitation current setpoint
The value for the no-load excitation current should normally be taken from the data sheets like the other motor
parameters. We recommend the following procedure for testing the synchronous machine:
p1620 = 0,0 = Minimum current
p1590 = 0,0 = Flux controller gain (acts on Iexc(setp)) (access level p0003 = 4)
p1600 = 0,0 = Flux controller P gain (acts on lsd(setp))
r0337 = EMFr = Displays the rated EMF of the motor (also for later tests)
These settings must be made before the drive is started up because a value ≠ 0 is otherwise set in the I
component of the flux controller that can significantly falsify the measurement result. If it is not possible to power
up the drive with this setting – particularly with encoderless drives – both flux controllers should remain activated
(p1590 and p1600 at the old value).
Note: The referred rated EMF should be used for conversions in the following tests. This is calculated as
EMFrref = r0337 / p304
p1576 = nrated = Flux boost up to rated speed to allow adjustment of p1570 at 80 % rated speed nrated
(p0311) to take effect.
Set flux setpoint p1570 to (100 % / EMFrref)
Accelerate the motor to 80 % of the rated speed (p0311). Make sure that no field weakening occurs (r1597 = 0).
With encoderless synchronous machines, it is important to ensure that the specified setpoint is significantly
higher than p1755 so that the machine operates reliably in closed-loop control mode.
p1585 = 200 ms = Flux actual value smoothing

r0084[1] = Psi(act) must display 100 % / EMFrref on average
If the voltage limit has already been reached (r0083 or r1598 < 100 %): Reduce the speed until field weakening
no longer occurs and output r0084[1] .
Correct p1625 until r0084[1] maintains the rated value 100 % / EMFrref.
If the measurement is taken with an activated excitation flux controller, p1625 for the stated speed must be
corrected until the flux controller output r1593[1] assumes a mean value of zero.
If, for example, r1593[1] is negative, p1625 must be reduced.
Note: If for design reasons the drive can only be operated under torque control (shaft generator systems, for
example), the drive unit must accelerate the synchronous machine to up to 80 % of rated speed before the
measurement can be taken.
The stator pulses must always be enabled (booster mode with zero torque setpoint for shaft generator systems)
because with this kind of measurement, voltage sensing is based on the setpoint voltage phasor (see Chapter
2.8).
Internal
Commissioning
Measuring the field-weakening characteristic (saturation characteristic)
2.15 Measuring the field-weakening characteristic (saturation characteristic)

Directly after calibrating the excitation settings in p1625, it is possible to determine the field-weakening
characteristic. For the purpose of testing, this should be done even if the saturation characteristic has been
parameterized in accordance with the manufacturer's specifications (see Chapter 2.3.2). The drive can then
operate at 80 % of rated speed (p0311), the two flux controllers can be inhibited or enabled (urgently
recommended for operation without speed encoder).
Note
Since the field-weakening characteristic in the datasheets and parameters p0362ff is referred to the rated motor
voltage (for rated motor speed), the flux values must be divided by the rated EMF referred to the rated voltage,
i.e. EMFrref = r0337 / p0304.
r0337 = EMKr = Read out rated motor EMF and calculate EMFrref = r0337 / p0304
p0362 = 60.0 % = Psi1,char. Default magnetization characteristic
p3204 = 100 % = Deactivate flux monitoring
p1576 = nrated = Flux boost up to rated speed to allow adjustment of p1570 at 80 % rated speed nrated
Change the flux setpoint p1570 gradually to (110 % / EMFrref), (90 % / EMFrref), (80 % / EMFrref), or (60 % /
EMFrref). For each of these four characteristics and inhibited flux controllers:
Read out r0084[1] = Psi(act)
Adjust p0369, p0368, p0367 and/or p0366 until the same values appear in r0084[1] as are set in p1570. Table
2-5 helps to determine the values.
With enabled flux controllers: Adjust the parameters p0366, p0367, p0368 and p0369 until the I output of the
flux controller p1593[1] equals approximately zero.
Mot Sat I_mag

Specify the motor Referred characteristic points Output Psi(act)
saturation flux Enter the setting values for r0084[1] and Setting
Manufacturer
p0365 ... p0362, e.g. p1570 here: p1570 compare to p1570 values
characteristic
(new)
r 0337
p0365 = 110 % p0365 ÷ r0084[1] should be p0369 =
p0304
equal to
r 0337 p1570
p0364 = 90 % p0364 ÷ p0368 =
p0304 by
adapting the
r 0337
p0363 = 80 % p0363 ÷ I_mag currents p0367 =
p0304
in
r 0337 p0369 … p0366
p0362 = 60 % p0362 ÷ p0366 =
p0304
Table 2-5 Determining the setting values for the field weakening characteristic
Internal
Commissioning
Measuring Lhd (saturated)
Then reset p1570 to 100 % and reset the flux boost p1576 (0 %).
Reset modified parameters from Chapter 2.14 (only if Lhd has already been measured):
p1620 = xxx = Minimum current (e.g. -20 % of p0305 referred to p2002)
p1590 = xxx = Reset the flux controller gain to its old value (or to 1.0)
(access level p0003 = 4)
p1600 = xxx = Reset the P flux controller gain to its old value (or to 1.5)
2.16 Measuring Lhd (saturated) p655 * p360
Directly after measuring the field-weakening characteristic, the saturated magnetizing inductance in the polar d-
axis can be calculated. The drive can then operate at 80 % of rated speed, the flux controllers are inhibited or
enabled (with an encoderless synchronous machine). It must be ensured that the voltage limit is not reached. If
it is, the speed must be reduced.
With encoderless synchronous machines, the two flux controllers remain active and the flux controller output
r1593[1] is monitored.
p1620 = Minimum current should be changed in steps of 10 % between -50 % and +30 % of the rated
motor current p0305. It must be ensured that the excitation current setpoint
r1626 is not decreased too much for positive minimum currents as this could
lead to instability! It is of primary importance that the flux is higher or equal to
the setpoint when negative values are input for p1620.
Notice
If a referred system of units is used (p0505 = 2), p1620 is input in % with reference value p2002 (= reference
current).
r0084[1] = Output Psi(act).

The flux actual value in r0084[1] must not deviate significantly from 100 % over the entire range. However, a
slight increase in flux is preferred for negative minimum currents (by up to 2 % at -50 % minimum current).
When the flux controller is enabled, the I output r1593[1] should remain approximately zero or tend to slightly
negative values with negative minimum currents.
p0360 = L(main,d) saturated should be increased if Psi(act) is too small for negative minimum current or if
the flux output is positive.
p0360 = L(main,d) saturated should be decreased if Psi(act) is too large for negative minimum current or
if the flux output is a high negative value.
The opposite ratios apply generally for positive minimum current.
Alternatively to p0360, the calibration factor p0655 (access level 4) can also be adjusted.
The inductance quadrature to the polar d axis L(main,q) saturated (p0361) must be tracked in the same ratio as
p0360 was changed. Alternatively, the calibration factor p0656 can also be set.
The setting for Lhd should always be made for negative minimum currents, since the field-producing current Isd
on the stator side in the field-weakening range (and due to the cos-PHI control) is also negative.
Internal
Commissioning
Measuring Lhd (saturated)
p0360 or p0655
+ p0361 or p0656 r0084[1]
max. 102% 100%
p2002
p0305
p2002
p2002
p2002
p2002
p0305
p0305
p0305
p0305
p2002
p2002
p2002
p0305
p0305
p0305
-50%×
-40%×
-30%×
-20%×
-10%×
20%×
30%×
10%×
p1620
-50% -40% -30% -20% -10% 0 10% 20% 30% from p0305
Fig. 2-4 Measuring Lhd and setting p0360
After setting the no-load excitation current (Chapter 2.14), saturation characteristic (Chapter 2.15) and
magnetizing inductance in the polar d-axis (Chapter 2.16), the drive must be brought to standstill and the
following parameters set:
p1590 = xxx = Flux controller to default setting (or 1.0)
p1600 = xxx = P flux controller to default setting (or 1.5)
p1620 = xxx = Minimum current (e.g. -20 % of p0305 referred to p2002)
Internal
Commissioning
Optimizing the n/f controller and measuring the inertia (not w ith torque control)
2.17 Optimizing the n/f controller and measuring the inertia (not with torque
control)
Automatic controller optimization can be performed if the motor is not yet connected to the load (uncoupled). If
the load has been connected, first check manually whether mechanical resonant oscillation is produced (e.g.
gradually run up to maximum speed).
This chapter does not apply to shaft generators that can operate only under closed-loop torque control in
generator or booster mode.
2.17.1 Automatic controller optimization (only if no resonant oscillation is present!), preferably in

uncoupled state
p1967 = 50 % = Dynamic setpoint

(first setting for first optimization run; can be increased later)
p1965 = 50 % = Optimization speed (= 50 % of rated speed p0311)
p1959[0] = 1CH = Configuration setting for the rotating measurement
p1960 =2 = Rotating measurement for operation with encoder

The motor rotates automatically up to 50 % of the rated speed (see p1965). The individual optimization steps
can be monitored using r0047. The results are displayed in the following parameters:
p0341 = = Motor moment of inertia (is changed only if the measuring result is less than the default
setting for p0341)
p0342 = = Ratio of the total moment of inertia to the moment of inertia of the motor in p0341 (is
adjusted if the measured moment of inertia is greater that the preset value for p0341)
r0345 = = Nominal motor starting time (normalized moment of inertia)
p1460 = = Speed controller gain
p1462 = = Speed controller integral time
p1496 = 100 % = Evaluates the speed controller pre-control (depending on the particular application, it may
be necessary to reset p1496 to 0 again).
Activating the speed controller pre-control p1496 almost completely relieves the speed controller during
acceleration processes, provided that the torque limits are not reached.
If the dynamics of the speed controller are not sufficient for later sudden load changes, they can be increased to
between 100% and 200%. Oscillation must not occur in steady-state operation. For this reason, increase the
value of p1441 prior to rotating measurement (in the case of ripple in the encoder signal; set the value as low as
possible (<8 ms)) or increase p1442 (if there is gear backlash).
2.17.2 Manual n/f controller optimization (also for coupled operation)
p1460 = xxxx = Reduce the speed controller gain (e.g. by a factor of 0.5 of the preset value)
p1462 = xxxx ms = Increase the speed controller integral time (e.g. by a factor of 2 of the preset value)
p1496 = 0 % = Deactivate evaluation of the speed controller pre-control (due to PT1 smoothing in the
setpoint channel if > 0 and poor dn/dt with p1120 = 0)
p1442 = 4 ms = Actual speed value smoothing (default for HTL encoder)
p1441 = 1 ms = Speed pre-control smoothing
p1160 = 2900 = BiCo interconnection to fixed value that is referred to p2000
Internal
Commissioning

Accelerate the motor to about 30 % of the rated speed (p0311).
Specify sudden changes in speed setpoint of approx. 2 % and M(setp) r0079 at the output of the speed
controller and observe the motor speed r0063 (see trace example below). It must be ensured that the torque
limits are not reached.
The controller gain can be increased and the integral time reduced until the desired transient response is
achieved.
r0062
r0063[0]
r0079
Fig. 2-5 Example of speed controller optimization under no-load conditions with n = 10 % of n(reference) (= p2000) or 30 % of
n(rated) (= p0311) where Kp = 12, Tn = 85 ms, p1441 = 1ms, p1442 = 4 ms
The controller optimization should then be checked at further speed points, e.g. at 10 % and 80 % of the rated
speed.
The following calculation principle may be applied for checking the controller settings for operation with an
encoder:
Note
p1462 = Tn = 4 * * (p1441 + p1442 + 6 * p0115[1] * 100 % / dynamics)
The dynamics are also set before automatic controller optimization in p1967.
Dynamics, e.g. 50 %; 100 % = symmetrical optimum
p1460 = 2 * r0345 / p1462 with starting time r0345 = J [kgm ] * 2 π * n(mot,r) [rpm] / 60 / M(mot,r) [Nm]
2
Internal
Commissioning
2.17.3 Oscillation damping with the current setpoint filter (use only in exceptional cases)
If oscillation occurs at the controller output, measure the oscillation frequency. If the oscillation frequency
remains the same at different motor speeds, the resonance is mechanical.
A bandstop filter can be activated to prevent excitation of mechanical resonance via the speed control circuit.
This is best done via the function mask "Current setpoint filter" in STARTER. Here, you can enter
• the type ("bandstop"),
• the stop frequency (set to between 5 and 10 % below the oscillation frequency),
• the bandwidth (< oscillation frequency, normally 10 % … 85 % of the stop frequency),
• and the notch depth (must be determined empirically; select as low a value as possible)
and "accept" as filter parameters. A reduction must not be entered because this would change the signal
amplitude to above the stop frequency.
Certain parameters in the expert list can be used to track the filter setting:
p1656.0 = 1 = Filter 1 activated
p1657 =2 = Filter type "Filter 2nd order" (bandstop is reached with p1658 = p1660)
p1658 = xx = Bandstop stop frequency
p1660 = xx = Bandstop stop frequency
p1659 = Numerator damping (was calculated from the bandwidth and the notch depth)
p1661 = Denominator damping (was calculated from the bandwidth and the notch depth)
The wider the bandwidth, the greater the effect of the filter, but also the more falsification of the speed signal.
Large bandwidths can produce instability in the speed control circuit at low resonant frequencies (reduce
p1460!). The bandwidth must not be greater than the resonant frequency.
2.17.4 Measure the inertia of the entire drive train in the coupled state
p1965 = 50 % = Measuring speed

p1959[0] = 4H = Configuration setting for measuring the moment of inertia
p1960 =2 = Rotating measurement for operation with encoder
=1 = Rotating measurement for operation without encoder
Possible only if the steady-state torque (p1610 or friction characteristic, see 2.3.3) for the
open-loop control operating range and the acceleration pre-control (p0341, p0342) are
correctly parameterized, i.e. that the approximate inertia of the drive train is already
known (presetting of p0341, p0342, p1496 = 100 %). p1611 can be parameterized as an
alternative to the acceleration pre-control.
If this is not done, the drive will stall in the open-loop control operating range.

The motor rotates automatically up to 50 % of the rated speed (see p1965). The individual optimization steps
can be monitored using r0047. The results are displayed in the following parameters:
p0341 = = Moment of inertia of the motor (already determined above under no-load conditions or
taken from the datasheet)
p0342 = = Ratio of the total moment of inertia (incl. load) to the moment of inertia of the motor in
p0341 (calculation of the total moment of inertia in kgm2 = p0341 * p0342 )
r0345 = = Nominal motor starting time (normalized moment of inertia)
Internal
Commissioning
2.17.5 Manual setting of the internal acceleration pre-control (for coupled operation)
Pre-control should be activated to relieve the speed controller. However, this is only required when no external
torque pre-control is coupled:
p1496 = 100.0 %
p0342 = 1.0 Starting value for evaluation of the total moment of inertia.
p1120 = p1121 = 20.0 s Set default values for ramp-up and ramp-down times.
Accelerate the motor up to values between 20 % and 80 % of rated motor speed so that the drive is operating
steadily in fully-controlled mode and field weakening has not yet commenced. Reduce the ramp-up and ramp-
down times until at least 25 % of the rated motor torque are required for acceleration (r0079).
Increase p0342 until the speed controller is completely relieved during acceleration. The mean value of the
integral component of the speed controller r1482 remains constant during acceleration (at constant inertia and
constant load).
The calculated rated startup time r0345 corresponds to a normalized moment of inertia, from which a speed
controller gain factor for p1460 can be calculated for a specified dynamic response.
2.17.6 Information for heavy-starting encoderless synchronous motors
During commissioning of heavy starting, encoderless synchronous drives, the rotating measurement cannot be
performed automatically if the load cannot be decoupled from the drive. Acceleration tests from standstill up to
the optimization speed above p1755 must then be carried out to ensure that the drive is operating in fully-
controlled mode (r1776[5] = 1). On shaft generator systems in take-home mode (not enabled!), the acceleration
tests (either manually controlled or automatic) must be conducted with the main machine in the uncoupled state.
If it is not possible to accelerate the drive to a speed that is significantly higher than p1755, then the changeover
speed p1755 must be increased to a value that does not permit the drive to depart from open-loop control
operation. In this instance, the steady-state torque setpoint p1610 or the friction characteristic (see Chapters
2.3.3 and 2.13.2) and the acceleration torque setpoint p1611 must be increased to a value just below the
thermal load limit of the converter. Pre-control via p1496 = 0 % must be deactivated.
For operation involving a transition from open-loop to closed-loop control mode, it is important that the
presetting for open-loop control operation (n < p1755) is carefully entered first. This might also require
optimization of the parameter settings which control switchover from open-loop to closed-loop control operation
(see also Chapter 2.13.3). It must however be noted that at very low speeds (approx. < 10 %) and with the
voltage model activated, the effect of an Rs error can be greater than the effect of a magnetizing reactance
error.
The rotor inertia is stated on the datasheet and must be entered in parameter p0341. Since the inertia of the
overall system can be many times higher and the counter-torque must be taken into account in the optimization
speed, parameter p1611 and the friction characteristic must be set accordingly (e.g. p1610 = 20 % * r0333 and
p1611 = 40 % * r0333, p1496 = 100.0 %).
The ramp times for the ramp-function generator p1120 and p1121 (each of them referred to p1082) must then
be set such that the drive can accelerate with the specified acceleration torque p1611 without stalling (the
counter-torque is taken into account in the friction characteristic or in p1610).
The purpose of these acceleration tests is to a achieve a smooth transition in the speed signal p0063 from
open-loop to closed-loop control operation. Once settings for p1611 and p1120 have been identified that can
assure this quality of transition, they can be used to calculate the inertia scaling factor by the method shown
below:
p1611 × p1120
p0342 = 1 + p0341× 2 × π × p1082 / 60 with p1611 in Nm, p1120 in s, p1082 in rpm
If p00342 has been entered, the acceleration torque p1611 can be reset to a low value (0 to 5 % of r0333). The
acceleration test should be carried out once again with the final parameter settings in order to verify that they
are correct.
Internal
Commissioning
Subsequent optimization of excitation current controller (SINAMICS DCM)
2.17.7 Speed-dependent n-controller adaptation
If oscillation occurs in the field-weakening range during later tests, the dynamics of the speed controller can be
reduced via a characteristic:
p1464 = n/f ctrl Adapt 1 = lower speed cutoff point for Kp/Tn adaptation
p1465 = n/f ctrl Adapt 2 = upper speed cutoff point for Kp/Tn adaptation
p1460 = Speed controller gain for speeds below p1464
p1462 = Speed controller integral time for speeds below p1464
p1461 = Speed controller gain adaptation factor for speeds above p1465
p1463 = Speed controller integral time adaptation factor for speeds above p1465
For speeds between p1464 and p1465, the gain is linear from p1460 to p1461 * p1460, and the integral time is
linear from p1462 to p1463 * p1462.
If the upper corner point p1465 is set to less than the lower p1464, the controller is adapted below p1465 with
p1461 or p1463. In this way, it is possible to achieve adaptation for lower speeds without having to modify the
controller settings.
2.18 Subsequent optimization of excitation current controller (SINAMICS DCM)

Subsequent optimization of the controller is carried out at 80 % rated speed, again with the flux controller
deactivated.
p1620 = -20.0 % (of p0305/p2002) = Standard minimum current (for more stable operation in the field-
weakening range)
p1590 = 0,0 = Flux controller gain (access level p0003 = 4)
p1600 = 0,0 = Gain for P flux controller
Signals (for trace):
r1626 = lexc(setp)
r1641 = Iexc(act)
p1625 = Change the scaling for the excitation current setpoint by ±10 % or ±20 %; sudden changes in
Iexc(setp) occur
Should fault F07914 (Flux out of tolerance) be issued, the threshold value p3204 must be increased.
Adjust Kp and Tn of the excitation current control so as to minimize the stabilization time (in this case: when
step changes are input and overshoot is eliminated to the greatest extent possible. A stabilization time of around
20 ms is ideal from the control perspective, but cannot always be achieved. While the stabilization time is partly
governed by the controller setting, it is primarily dependent on the excitation time constant and the available
voltage margin.
Important:
The step change input must not cause the excitation voltage to reach the limit. If the excitation voltage limit is
reached, the stabilization time is almost exclusively determined by the magnitude of the maximum voltage and
only to a minimum extent by the controller parameter settings.
Notice: It is not possible to avoid an additional dead time of approx. 9 ms to 18 ms in the measured
value of r1641 in the case of SIMOTION-based applications. In particular, it is important to note
that the SINAMICS trace incorporates all dead times in the measurement of the excitation
current actual value, i.e. both the transmission times for the setpoint and the signal processing
times in the excitation equipment as well as the return transmission times for the actual value.
The actual dead time for the excitation current is consequently less than half the dead time
measured in the SINAMICS trace. On account of the additional effort required for simultaneous
measurement of Iexc(setp) in SINAMICS and the actual value Iexc(act), knowledge of the
correlation is sufficient at this point.
Internal
Commissioning
r1626
r1641
Fig. 2-6 Setting the step response of the optimized excitation circuit
Reset p1625 to its original value.
Reactivate the flux controller:

p1590 = xxx = Flux controller to default setting (or 1.0)
p1600 = xxx = P flux controller to default setting (or 1.5)
Accelerate the drive up to maximum speed and reverse by ramping up and down slowly (p1120, p1121 = 20 s ≤
100 * r0345). Trace the flux setpoint (r0083) and actual flux value (r0084[0]), the speed (r0063) and the
excitation current (r1641).
Make sure that the ramp-up and ramp-down times in the setpoint channel refer to the maximum speed p1082 ;
the starting time r0345 refers to the rated motor speed p0311.
If oscillation occurs, reduce the excitation controller dynamics slightly. A negative minimum current p1620
increases the excitation current and thereby enhances stability.
Internal
Commissioning
r0083
r0084[1]
r0063[0]
r1641
Fig. 2-7 Ramp-up procedure for checking stability of the excitation current
Important:
After the excitation current controller has been optimized on an encoderless synchronous machine, it is
essential to check whether sufficient flux (> 80 % of the setpoint) is impressed into the machine while rotor
position sensing (monitoring time p0346) is in progress. The excitation time must otherwise be changed to
achieve satisfactory flux build-up.
Internal
Commissioning
Flux controller (FP6726)
2.19 Flux controller (FP6726)

The drive is operated at 80 % rated speed again under no-load conditions. The P flux controller is initially
deactivated at the end of the acceleration process. The model flux controller is not considered and remains set
to its default values.
p1620 = -20,0 % = Standard minimum current (for more stable operation in the field-weakening range)
p1600 = 0,0 = Flux controller P gain (acts on lsd(setp))
p1628 = 50 % = Dynamics of the flux controller model (in the current model)
p1629 = xxxx = Flux controller model gain (in the current model) (access level p0003 = 4)
(preset by p0340 = 1, 3, 4) see r1631
p1630 = xxx ms = Flux controller model integral time (in the current model) (access level p0003 = 4)
(preset by p0340 = 1, 3, 4) see r1632
Measurement signals:
r1593[0] = Output of field flux controller
r1641 = Iexc(act) (connected via p1640)
r0084[0] = Psi(act) Flux actual value from voltage model
r1602 = dIsd Output of stator-side P flux controller
In addition, if Trace 2 is also used:
r1626 = lexc(setp)
Change additional flux setpoint p1572 abruptly from 0 % to 5 % (and back). The flux is produced via the
excitation equipment. The model flux controller has no effect because it 'does not see' the additional setpoint
value.
Increase p1590 (and possibly reduce p1592 ) until r0084[0] is corrected quickly and without overshoot (e.g.
p1590 = 1.0; p1592 = 100 ms). The possible dynamic response is heavily dependent on the signal response
times of the excitation equipment. Extremely short integral times can result in unstable behavior.
r1593[0]
r1641
r0084[0]
r1602
Fig. 2-8 Optimizing the PI field flux controller (here: p1590 = 0.8 and p1592 = 50 ms; stabilization time = 110 ms)
Internal
Commissioning
Activate the P flux controller now (p1600 > 0, e.g. 1.0 or previous preset) and observe its output signal r1602.
Deactivate the PI flux controller using p1590 = 0.
p1600 = xxxx = P flux controller gain to preset
p1592 = xxxx = Integral time of PI flux controller remains at optimization value
p1590 = 0,0 = PI flux controller gain (acts on lexc(setp))
Change additional flux setpoint p1572 abruptly from 0 % to 10 % (and back). The flux is produced via the stator
current lsd.
Increase p1600 until r0084[0] is corrected quickly and without overshoot (e.g. p1600 = 1.0).
r0084[0]
r1641
r1626
r1602
Fig. 2-9 Optimizing the P flux controller (here: p1600 = 1.3; stabilization time = 50 ms)
The flux control is then checked with both flux controllers active:
p1600 = xxxx = Set the P flux controller gain to optimization value
p1590 = xxxx = Set the PI flux controller gain to optimization value
p1576 = 100 % = Flux boost up to rated speed to allow adjustment of p1570 at 80 % rated speed nrated
p1570 = 80 % = Reduce the flux setpoint for an operating point with slight under-excitation
Internal
Commissioning
Change additional flux setpoint p1572 abruptly from 0 % to 5 % (and back). The flux is now produced via both
controllers. The transient response of the flux actual value r0084[0] should be as quick as possible, with only
minimum overshoot (< 10 %). Generally, overshoot should not exceed a level of 20 %.
r0084[0]
r1602
r1593[0]
r1641
Fig. 2-10 Checking the flux controller and transient response
Cancel the parameter settings:

p1572 = 0 % = No additional flux setpoint
p1570 = 100 % = Restore flux setpoint to 100 %
p1576 = 0 % = Cancel the flux boost
Depending on the length of the signal response times to and from the excitation equipment, set the flux setpoint
smoothing p1582 (>= 20 ms). Especially in the field-weakening range, oscillation can occur if the flux setpoint
smoothing is too weak.
Note:
The following applies particularly to machines with excitation time constant: The excitation current flux controller
is responsible for steady-state operation while the stator current flux controller ensures a dynamic response
during flux formation as well as stability in the field-weakening range.
If the two controllers working together prove to be too dynamic, they are optimized in the following way: The
stator current flux controller gain p1600 is largely left unchanged, while the excitation current flux controller gain
p1590 is reduced as far as necessary to obtain the required response.
Internal
Commissioning
Estimating Lhq
2.20 Estimating Lhq p656 * p361
If the flux dips or increases in a way that cannot be corrected when the machine is loaded, it can be helpful to
adjust the Lhq.
Note
If Lhq is much too low, the rotor flux may dip very severely during acceleration!
However, this problem might also be attributable to an excessively high damper time constant setting
(Lhd + Lσ3D) / r3D = (p0360 * p0655 + p0358 * p0657) / (p0354 * p0659) or
(Lhq + Lσ3Q) /r3Q = (p0361 * p0656 + p0358 * p0638) / (p0355 * p0660))) in the current model. If the drive
does not exhibit quasi steady-state operation during acceleration, it is advisable to check Lhq under conditions
of constant load.
Lhq can be estimated by a variety of methods depending on the application:

1. Acceleration tests with inhibited closed-loop flux control for variable-speed drives (with encoder)
2. Load tests with enabled closed-loop flux control (p1590 > 0) for torque-controlled drives
2.20.1 Acceleration tests
p1590 = 0,0 = Flux controller gain (acts on lexc, setp) (not for encoderless synchronous machines)
p1600 = 0,0 = P flux controller gain (acts on lsd, setp) (not for encoderless synchronous machines)
p1620 = 0.0 A = Minimum current (not for encoderless synchronous machines)
p1585 ≤ 10 ms = Flux actual value smoothing
p1115 = 1 = Enhanced ramp function generator with rounding-off
p1120, p1121 = 4 * Tstart(rated) * Maximum speed / rated motor speed = 4 * r0345 * p1082 / p0311
p1130, p1131 = 10 % * p1120 = Rounding-off RFG
Reversing in the base speed range (from the highest possible speed).
r0084[0] = Observe the flux actual value.
r1778 = Observe the flux angle difference between the U and I models (in operation with encoder
only!)
r0087 = Observe the cos Phi value
r0063[0] = Observe speed actual value
r1593[1] = Observe the flux controller output (I component) with encoderless synchronous machine (the
flux controller is inhibited at speeds of < p1748)
p0361 = Lhq,saturated or the associated scaling factor p0656 (access level 4) should be increased or
reduced until the flux angle difference during acceleration hardly changes
(operation with encoder), or the absolute value of the flux controller output has
reached its minimum (operation without encoder). In this case, the steady-
state flux actual value should also deviate slightly from the flux setpoint value.
Do not set
p0361 * p0656 = Lhq higher than p0360 * p0655 = Lhd,saturated (air gap is
always greater than 0, Lhq therefore always smaller than Lhd).
Internal
Commissioning
Estimating Lhq
r0084[0]
r1778
r0087
r0063[0]
Fig.2-11 Reversing test with T(boot) = 4 * Tstart(rated) * Maximum speed / rated motor speed to estimate Lhq
Confirm the test by reducing the rounding-off to 1 % * p1120 and reduce the ramp-up and ramp-down times to
approx. Tstart(rated) * maximum speed / rated motor speed = r0345 * p1082 / p0311. This corresponds to an
acceleration torque of approx. 100 % of the rated motor value.
r0084[0]
r1778
r0087
r0063[0]
Fig. 2-12 Reversing test with T(boot) = Tstart(rated) * Maximum speed / rated motor speed to verify Lhq
Internal
Commissioning
Estimating Lhq
If Lhq,saturated (p0361 * p0656) no longer affects the flux angle difference or no longer reduces the flux dip, the
old value should be retained. It is better for the flux to increase slightly, rather than drop significantly. The more
accurately the parameter is set, the lower the transient responses in the flux actual value during transition to the
U model (at 20 % to 30 % fm,n).
Dynamic flux controller setting (otherwise, the drive could stall in the field-weakening range)
p1590 = xxxx = Flux controller to default setting (or 1.0 ... 2.0)
p1592 = xxxx = Flux controller integral time to pre-set value (or 50 ms)
p1600 = xxxx = P flux controller to default setting (or 1.5)
p1620 = 0.0 A = Minimum current remains deactivated
Reverse to double rated speed or maximum speed (initially with ramp-up time = ramp-down time = 4 *
Tstart(rated)). When the end speed is reached, the flux should dip as little as possible below the setpoint value.
If necessary, the setting for p0361 must be corrected once again.
r0084[0] = Observe the flux actual value
r1598 = Observe the total flux setpoint
r0087 = Observe the cos Phi value
r0063[0] = Observe the unsmoothed speed actual value
r1593[1] = Observer the flux controller output (I component) (with encoderless synchronous machine)
r0084[0]
r1598
r0087
r0063[0]
Fig. 2-13 Reversing test with T(boot) = 4 * Tstart(rated) for checking Lhq
p0356 = Lsigma or increase p0653 if r0087 sinks at high speeds (approx. > 1-2 % reduction in the field-
weakening range). If the leakage inductance is too small, the drive could otherwise stall
under load.
If the acceleration and load tests do not produce any acceptable results, acceptance of the results of the
standstill measurement in Chapter 2.10 as damper resistance values (p0354, p0355) and damper leakage
(p0358, p0359) should be considered.
Internal
Commissioning
Estimating Lhq
Reset the ramp function generator to its original values:

p1115 = xx = Ramp-function generator RFG
p1120, p1121 = RFG ramp-up/ramp-down time
p1130, p1131 = RFG initial/final rounding-off time
2.20.2 Load tests
The flux controllers are activated. Select the default values for minimum current and flux smoothing.
p1620 = -20.0 % (of p0305/p2002) = Minimum current
p1585 ≤10 ms = Flux actual value smoothing
Power up the converter and accelerate the drive slowly under load. If this is not possible, the motor can also be
operated in the voltage model and load changes applied. Operation in the current model is not expedient
because the flux controller is inhibited there and the flux angle of the current model is regulated.
Observe the following parameters:
r0084[0] = Flux actual value
r1593 = Flux controller output (correction signal for excitation current setpoint) (access level p0003 = 4)
r1778 = Flux angle difference between the U and I models (only for synchronous machine with encoder)
r0079 = Torque setpoint
With steady-state loads, the output signal of the flux controller is an indication of the accuracy of the current
model. The less the controller has to correct (mean value of r1593 is 0), the better the settings of the current
model match the voltage model, and the more accurate the specified excitation current setpoint will be.
This is readily apparent in the low frequency range of the voltage model (at 20 to 30 % of the rated frequency).
The flux angle difference r1778 should also be as low as possible for a synchronous machine with encoder. It is
assumed that the stator resistance is tracked thermally (see p0600, p0620). At low speeds (approx. 10 %) and
with the voltage model activated, the effect of an Rs error can be greater than the effect of a magnetizing
reactance error.
Lhq (p0361 or p0656) should be adjusted so that both r1593 and r1778 exhibit the least possible deviation from
zero. During model changeover between the U and I models, the speed controller should only have to perform
very slight corrections. In the current model, this would be indicative of a motor flux that deviates from the
setpoint value.
Experience shows that different settings are required for different loads to achieve an optimum operating
performance. This is due to the different saturation characteristics of the magnetizing inductance longitudinal
and quadrature to the polar d-axis. The setting should therefore be optimized specifically for the relevant
technological application.
In practice, the load tests described above are difficult to carry out because a load motor is not available. In
most cases, a steady-state load is not available until produced by the driven machine. This is why load tests are
often only possible under specified restricted production conditions. The measurements and tests described are
then possible only under these given conditions.
When commissioning the motor under no-load conditions, the following measurement is a possible alternative to
load tests.
The schematic below illustrates the acceleration process to rated speed (base speed range, no field weakening)
with flux controllers activated and a minimum current
p1620 = -20 % (of p0305/p2002). The ramp-up time corresponds to twice the starting time, i.e. the motor
accelerates at approximately half the motor rated torque up to motor rated speed.
Internal
Commissioning
Estimating Lhq
r0084[1]
r1593[0]
r1598
r1778
r0076
r1641
r0078
r0063[0]
Fig. 2-14 Boot test with T(boot) = 2 * Tstart(rated) for checking the control response
Internal
Commissioning
Adjusting the stator leakage
2.21 Adjusting the stator leakage

If the response of the loaded drive is still not satisfactory after the magnetizing inductance in the q-axis Lhq
(p0361 or p0656) has been optimized, an attempt can be made to adjust the stator leakage (p0356).
Acceleration and load tests similar to those described in the previous chapter are conducted with enabled flux
controller in the base speed range between 30 and 80 % of rated speed. It must be ensured that the output
voltage does not reach the upper limit, even for a brief period. The speed must otherwise be reduced or the
magnitude of the step change reduced.
The flux controller output r1593[1] must be monitored. This should remain as close as possible to zero.
If there is reason to suspect that the stator leakage input does not comply with the specified factory value, the
following test can be conducted:
Take measures to input an additional torque setpoint (connect p1513 to p2900, see r2003 for normalization).
Then input a torque setpoint that equals 5 to 10% of rated torque at p2900 and recordr0077 and r0078.
A pre-control value that is determined by the total leakage of the separately excited synchronous machine is
applied to the current controller.
As a result, the damper leakage must match the specified factory value to ensure the accuracy of this test.
If r0078 reaches the end value r0077 within 4 to 5 current controller cycles and does not overshoot, it can be
assumed that p0356 is correctly set.
Figure XY illustrates the setpoint/actual value deviation of the torque-generating current at 50, 100 and and
optimized 150 % of the original stator leakage. The setpoint/actual value deviation is at it smallest and can be
corrected most quickly when the pre-control is optimized.
Note: The motor will accelerate for only a brief period because the speed controller reduces the torque setpoint
again.
If the speed controller responds too quickly, its dynamic response must be reduced for the purpose of the test.
Note
The scaling of the pre-control is set in p1703. This must be taken into account when the leakage is
subsequently adjusted.
The pre-control is deactivated per default for shaft generator systems with DC link voltage control. For this
purpose of this test, the DC link voltage control should be deactivated (booster mode) and the drive operated in
pure torque control mode in order to prevent feedback from the DC link voltage control. If this is not possible,
the pre-control must be activated via p1402.15 (see 2.25.3).
Internal
Commissioning
Adjusting the stator leakage
Fig. 2-15 Stator leakage
Internal
Commissioning
Field w eakening operation
2.22 Field weakening operation

As the field becomes weaker, the control system can potentially exhibit instability due to the combination of flux
reduction and constant, limited voltage margin. The flux setpoint no longer remains constant, but changes as a
function of the actual speed value, DC link voltage and stator current. Minor oscillations caused by excitation are
transferred to the control system via the voltage model and can cause the flux control to overshoot.
2.22.1 Power factor control in field-weakening operation
A separately excited synchronous machine is operated at an externally specified cos phi of 1 in field-weakening
operation. To help stabilize the control system, the excitation current must be increased in order to compensate
the stator leakage losses at this operating point.
Depending on the magnitude of the stator leakage, this can cause the field-generating stator current Id to rise
very sharply.
2.22.2 Smoothing the flux setpoint and the quantities on which the setpoint is based
In field-weakening operation, the flux setpoint is determined on the basis of the frequency, the maximum output
voltage and the current setpoints (/1/, FP6725).
If one or more of these quantities exhibits oscillations that cannot be corrected by the flux control system, it is
possible to increase the flux smoothing factor for the setpoint (p1582) and the actual value (p1585).
By this method it is possible to filter out the oscillations that cannot otherwise be corrected. However, this does
result in a less dynamic correction of load step changes.
With oscillations caused exclusively by the DC link, it is possible instead to increase the smoothing factor for the
maximum output voltage p1584.
If oscillations are triggered by the speed signal with sensorless control, the smoothing factor for the speed signal
can be increased in p1451. This comprises two PT1 elements connected in series which means that a 100 ms
time constant corresponds to a 200 ms smoothing. The smoothing function is operative throughout the entire
system and is applied to flying restart, for example.
When oscillations of different frequencies act on the current setpoints and the frequency signal, it is possible to
use p1582 for smoothing ripple caused by the current and p1451 for smoothing ripple caused by the frequency.
This helps to maximize the dynamic response.
2.22.3 Assigning parameters to the coupling between the excitation current and stator current flux
controllers
The two flux controllers are coupled in such a way that when at least one of three conditions is met, the I
component of the excitation current flux controller (controller output r1593[1]) is halted and the stator current flux
controller (controller output r1602) becomes a PI controller. When none of the conditions is fulfilled any longer,
the I component of the excitation current flux controller (r1593[1]) is enabled again and the I component of the
stator current flux controller is reduced according to the rotor time constant (r0384). The block diagram for the
controllers can be found in /1/ FP6726.
If one of these conditions occurs cyclically, it can cause the excitation current setpoint to oscillate in a way that
cannot be corrected when the excitation equipment in use has a high time constant. In this instance, the
oscillation-inducing condition should be filtered out and disabled:
1. Permissible setpoint/actual value deviation excitation current (p1599) exceeded (r1408.15)
Deactivate by increasing p1599 up to 100%
2. Excitation current controller at voltage limit (r1649.8)
Deactivate by setting the BICO input p1645[7] to zero.
3. Magnetizing excitation current setpoint in the current model limited to zero (r1408.14)
Remedy: Check the equivalent circuit data, in the base speed range: increase the value of the negative
minimum current
Internal
Commissioning
Pow er limits
2.22.4 Disabling the application of flux setpoint changes to the pre-control value of the current
model
Applying flux setpoint changes to the pre-control value of the current model flux controller (see /1/ FP6726) is
another potential cause of oscillations in the excitation current setpoint. For machines with a high excitation time
constant, this function should be disabled (p1401.1). This results in a poorer dynamic response, but increases
the stability of the control system.
2.22.5 Increasing the voltage margin
The modulation depth reserve p1574 (see /1/ FP6725) must be increased (up to 10 % of rated voltage) for
dynamic voltage build-up in field-weakening operation, e.g. for shock loads in motoring mode or load reduction
in regenerative mode. This setting can be compensated by raising the modulation limit for steady-state
operation (p1802 = 0, p1810.15 = 1, p1803 > 100 %) in order to allow dynamic transition to the overmodulation
range. In this case, the voltage limit in p1803 must be increased as far as required to ensure that the maximum
output voltage (r0071) remains unchanged.
2.22.6 Measures to stabilize the output voltage
In order to maintain a stable output voltage in field-weakening operation or to lower the starting point for
commencement of field weakening, the voltage at which field weakening starts can be parameterized in p1575
with FW version V4.7 or higher. The limit becomes effective only if p1575 (access level 4) is set so low that it
causes a reduction in the maximum output voltage (r0071). p1575 is referred to r0339.
In order to decouple the output voltage limitation in field-weakening operation from activation of the field
weakening controller, the activation point of the field weakening controller can be raised above the steady-state,
maximum output voltage with FW version V4.7 or higher. This is parameterized in p1595 (access level 4). The
value is referred to the voltage margin p1574. This measure can help to stabilize the flux setpoint because the
controller remains deactivated provided that the output voltage remains within the specified range.
If oscillations occur in response to load step changes in the field weakening range, the integral time of the field
weakening controller can be increased (p1596). However, this results in slower correction of voltage
fluctuations.
The block diagram for all these measures can be found in /1/ FP6725.
2.23 Power limits

Unlike MD control, it is not the field-producing current that is limited when the maximum output current (r0067) is
reached, but rather the torque-producing current component or the torque setpoint. Since the d-current
component exhibits a delayed increase under load in the field-weakening range (cosPhi control uses the
smoothed isd (r1624 with p1622 smoothed) to avoid oscillation), the power limits p1530 and/or p1531 should be
set according to the current limit of the power unit and the steady-state load at maximum speed that it can
achieve. Then, no attempt is made to produce a higher torque than the maximum current permits when
operating under load.
When setting the parameters p1530 and p1531 in the referred system of units, the reference power r2004 must
be observed (see also the note in Chapter 2.1).
To prevent restrictions caused by the converter current, set p0640 (current limit) to the maximum possible value
(see r0209, power unit maximum current). This maximum current must cover the entire current requirement in
the field-weakening range (product of the load and the cos-PHI controller). This means that a sufficient current
margin must always be available to cope with the reactive current requirement in the field-weakening range.
If the maximum current is reduced by the I2t calculation for the converter (r0289 < p0640), the power/torque
limits are automatically reduced internally.
In the base speed range, the torque limits are the primary influencing factor after the power limits. As the speed
drops at constant torque (maximum torque), the output power is reduced. The power limits are overridden by
the torque limits and thereby invalidated.
Internal
Commissioning
Monitoring
2.24 Monitoring
2.24.1 Monitoring of the actual speed valuesignal with square-wave encoders
If the pulse encoder is connected in two poles (A, A , B, B ), it is possible to activate track monitoring via
p0405.2.
Dynamic changes in the actual speed value (e.g. caused by interference pulses or wire breaks) can then be
monitored with p0492. As soon as the speed signal exceeds the parameter value within a number of sampling
steps (for 3 * p0115[0]), the system is shut down and fault F31118 output. Alarm A31418 is issued if the
parameter value is exceeded for only one cycle.
If the encoder has a zero track, zero mark monitoring can be activated with p0404.12.
It is possible to parameterize a response to violation of the zero mark distance in p0430.21. Fault trip is the
default setting.
Zero mark correction is activated in p0437.2. When an angular error is detected, this function automatically
corrects the error provided that it is within a parameterizable tolerance band (p4681, p4682). If the error
exceeds the tolerance window, fault F31131 is triggered. There is no provision for automatic switchover to
encoderless operation for separately excited synchronous machines. However, it is possible to reparameterize
the fault as an alarm (see /1/).
If the encoder cable is interrupted at low speeds or at standstill, a locking monitor can be used to indicate this.
2.24.2 Stall/locking monitoring
Locking
If the drive is locked (e.g. load torque > maximum torque; or no motor encoder signal available), the converter is
shut down and fault F07900 displayed. This is detected as soon as the torque limit is reached (r0056.13 =
r1407.7 = 1), the actual speed value falls under p2175 of the rated speed, and the locking time in p2177 is
exceeded. When the locking time p2177 expires, status bit r2198.6 (motor locked) is set.
Stalling
If the rotor flux falls below 25 % of its setpoint value (e.g. due to incorrect impression of the excitation current or
incorrect motor parameters) or exceeds 150 % of the setpoint value, the status bit r2198.7 (motor stalled) is set
after time p2178. The converter current is regulated to zero, the excitation current reduced and the converter
shutdown with F07902 (fault value 2) after a delay for flux reduction (3 * r0384).
The frequency limit of the closed-loop control is calculated from the lower of the maximum speeds p1082 and
r1084 or r1087 (multiplied by the pole pair of the synchronous machine r0313) plus the hysteresis p2162 for the
overspeed alarm (but at least 10 % of the rated motor speed). If this frequency limit is exceeded by the output
frequency of the closed-loop control r0066, the stall alarm is generated after 10 sampling cycles and the system
shutdown with fault F07902 (fault value 3) (see function diagrams FP6732 and FP8018).
The voltage angle difference is monitored in addition to the output frequency. The frequency value threshold
calculated from the current angle difference is higher by a further 10 % of the motor rated speed than the
threshold for the actual frequency value. The angle difference is monitored only in cases where the actual
frequency value is higher than half the maximum speed.
The stall detection function p1745 is capable of detecting a state in which the motor encoder signal is lost (cable
break) when the motor is at a standstill and the drive is accelerated by the load. p1745 is a threshold value for
the variation in the d-current component on the stator side (comparison of Isd setpoint and actual value). In
sensorless control mode this monitoring function is active at speeds below p1755 * p1756 when the machine is
excited (open-loop controlled operation).
Internal
Commissioning
Monitoring
p1745 is obtained from the motor data during the automatic calculation process. The Isd variation r1746 can be
compared directly to the threshold value. Since p1745 is sometimes set on the basis of empirical data, it may be
necessary at times to raise the value in order to prevent premature issue of the alarm.
The monitoring functions of rotor flux, maximum frequency and stall detection all set status bit r1408.12 = 1,
which causes status bit r2198.7 to be set after a waiting time p2178.
WARNING
If the rotor flux is too high, the EMF (internal voltage) rises as the speed increases. If the converter pulse
enable signals are inhibited in this state, the converter cannot supply any back EMF. The EMF is reproduced
at the motor terminals and may cause the DC link voltage to rise (Vdc = 1.4142 * EMF) as a result of the
freewheeling diodes. If this voltage exceeds the shutdown limit of the converter (approx. 1220 V), the converter
might sustain irreparable damage (capacitors, power supply).
For this reason, it is absolutely essential to activate stall protection as described in Chapter 2.12. When a fault
is detected, fault trip and pulse inhibit do not take place until the flux has decayed and the fault delay 3 * r0384
has expired (access level p0003 = 4).
2.24.3 Starting position signal
The position signal of the SSI encoder (2nd motor encoder) is adopted as the starting signal for the closed-loop
control when the converter has been switched off (pulse inhibited) and the status word of the SSI encoder
indicates that a correct new value is available. This takes place at intervals of approx. 1 ms (up to FW version
V4.4).
If one of these two conditions is not satisfied, the position signal from the SSI encoder is not accepted and the
closed-loop control continues to operate with the HTL encoder signal. The position is then obtained by adding
the square-wave pulses (if necessary taking the zero pulse into consideration).
It does not matter if a position signal from the SSI encoder is missing (due to component failure, for example)
because this position signal is not evaluated. This is why a fault in the SSI encoder does not result in shutdown
of the closed-loop control though pulse inhibit.
If incorrect position signals are supplied while the system is not in operation and the SSI encoder does not
indicate a fault, the drive will change the position and current setpoint values arbitrarily during startup. The
motor will stall! This cannot be detected because the closed-loop control is still in the range of the current model
(no flux actual value).
For this reason, it is absolutely necessary to ensure that the SSI encoder has been calibrated (p1990 = 1)
before the drive is rotated for the first time by the controller. Calibration must also be carried once after encoder
replacement.
(refer to Chapter 2.5.5)
The position values of the SSI encoder must be extrapolated (p0430[1].27 = 1) in order to correct faults caused
by the dead time (that results from the different sampling rates of the two encoders). Angular calibration errors
(that have a similar effect to position signal errors) can otherwise occur when the drive coasts down despite the
fact that the encoder has been adjusted.
The difference between the two encoder signals can be monitored in parameter p1778 when a pulse inhibit is
active.
With version V4.5 or higher, the sampling rate can be reduced down to the current controller time slice via the
baud rate in p0427 if permitted by the encoder (check the angular signal!). It is also important to take the cable
length into account. Extrapolation of the position values p430[1].27 should be activated nevertheless because
the SSI encoder signal has an inherent dead time of one sampling cycle.
Internal
Commissioning
DC link voltage control
2.24.4 Excitation current (FP8018)
The excitation current can only be monitored when the signal from p1640 is made available to the closed-loop
control.
The difference between the excitation current setpoint and the excitation current actual value (r1626 – r1641) is
monitored using the threshold p3201 and the hysteresis p3202. If the difference exceeds the threshold for a
longer period than the delay time set in p3203, fault F07913 is signaled.
2.24.5 Flux actual value (FP8018)
The difference between the flux setpoint value and the flux actual value (r1598 – r0084[0]) is monitored using
the threshold p3204 and the hysteresis p3205. If the difference exceeds the threshold for a longer period than
the delay time set in p3206, fault F07914 is signaled.
2.24.6 Open-loop and closed-loop systems (FP6495)
For external fault signals that are to produce a converter shutdown, p1645[3] must be connected. For alarms,
p1645[4] should be connected. Fault acknowledgements cause r1648.7 = 1 to be set (refer to Chapter 2.4.3).
2.25 DC link voltage control

2.25.1 Activation and operating principle of the DC link voltage control
For applications (such as a shaft generator) that require the separately excited synchronous machine to support
the power supply system, it is possible to activate a higher-level DC link voltage control via the technology
controller function module (p0108.16) for a machine that is operating in torque control mode.
A deviation in the DC link voltage from its setpoint then acts directly on the torque-producing current setpoint via
the controller output (see /1/, FP7960).
The Active Line Module must then be operated in closed-loop line control mode (see /8/).
The control output is linearized with the inverse normalized speed. The lower limit in this case is 1/3 of rated
speed.
The controller inhibit is canceled via BiCo input p3513. The controller output (r3517) is connected to the output
of the Vdc_max controller via a changeover switch when the DC link voltage control is activated (r3405.1) and
acts directly on the torque-producing current setpoint via a limiting function.
2.25.2 Setting the DC link voltage control
The controller gain can be set using parameter p3560. If this solution is not adequate, p3422 can also be
adjusted.
The DC link voltage controller features a power pre-control function that can be activated via BiCo inputs. With
FW version V4.7 and higher, there are two types of indexed inputs (p3519, p3520) (one non-normalized, the
other normalized) of which only one in each case may be used per index.
When line-side actual power values are used for pre-control, the pre-control scale (p3521[Index]) should be
increased carefully from zero during commissioning since oscillations can lead to positive feedback.
When pre-control smoothing (p3523) is active, the voltage magnitude is influenced by the current controller pre-
control during stabilization.
The greater the smoothing action, the lower the dynamic voltage and power requirements .
Internal
Commissioning
2.25.3 Activation/deactivation of dynamic pre-control of the q-current controller in DC link voltage

control mode
In operation with a higher-level DC link voltage control, the dynamic pre-control Ls * di/dt for the q-current
controller is deactivated in the factory setting. It is possible to reactivate the pre-control via p1402.15 in order to
improve the dynamic response to transient phenomena (load step changes). By activating dynamic pre-control
for the current controller, current setpoint changes can be effected faster (even at the voltage limit). The pre-
control value must be set in p1703 (p1702 = p1703) such that the mean q-current actual value r0078 does not
overshoot in a setpoint/actual value comparison with the DC link voltage controller output r3517.
The smoothing factor p3523 for the power pre-control of the DC link voltage controller should not be set too low
(2 to 10 ms) when the dynamic pre-control for the q-current controller is activated. Without smoothing the output
voltage rises only briefly to the limit before it decreases again.
The Fig. 2-16 demonstrates the time characteristic of the DC link voltage and the setpoint/actual value
difference of the q-current when the load is shed at the modulation limit. With active pre-control, the
setpoint/actual value difference is smaller and can be corrected faster.
Internal
Commissioning
Fig. 2-16 Time characteristic of the DC link voltage and the setpoint/actual value difference of the q-current when the load is shed at
the modulation limit
Internal
Commissioning
Expansions
2.26 Expansions
2.26.1 Transformation angle smoothing
Load torques distorted by low-frequency harmonics cause fluctuations in the speed signal that can also affect
the transformation angle and so result in DC link voltage fluctuations. This effect is even more pronounced in
the field-weakening range. In order to dampen the fluctuations, it is possible in FW version V4.7 and higher to
activate a transformation angle PLL by entering the corner frequency in parameter 6700. The default is 0 ms
(i.e. PLL is deactivated). The PLL acts like an instantaneous low pass.
A differentiation of the recorded signal can be performed in parameter r0094 in order to check the effect of the
PLL.
2.26.2 Activation of slip calculation
In the event of a load change, the separately excited synchronous machine with squirrel-cage damper winding
responds temporarily like an asynchronous machine. The resultant transient angular change (slip!) is initially
inversely proportional to the damping resistance.
The frequency of the air-gap flux is calculated by means of the voltage model. For the reason described above,
this deviates from the mechanical speed during dynamic processes. When the mechanical speed is calculated,
this deviation is compensated by subtracting the slip calculated in the current model (see /1/, FP6733). Practical
experience has demonstrated that the slip calculation result was much too low with FW versions up to and
including V4.6. The correction provided in version V4.7 and higher results in a different dynamic response,
particularly in encoderless, speed-controlled operation. The parameters are more sensitive (changing the
parameters causes the system to react more sensitively) in comparison to the damper equivalent circuit data
and the system becomes more susceptible to oscillation.
For this reason, inclusion of the slip in the speed calculation is inhibited via a bit in the factory setting (p1402.7).
In torque control mode with impressed speed, the bit can be used to check the damping resistance parameter
settings (p0354, p0355 and/or p0659, p0660). Damping resistances must be parameterized in such a way that
the load angle change following a load step change cannot be detected in the speed signal r0063, but is evident
in the frequency signal r0066.
Internal
Commissioning
Adjusting certain parameters
2.27 Adjusting certain parameters

p0210 = Drive supply voltage
This parameter should include the mean DC link voltage (for DC drives), since this
value is used to calculate the precharge and undervoltage limits.
p1620 = -20 % = minimum current
For more stable operation at low speeds (from p0305/p2002)
(flux calculation) and in the field-weakening range.
p0640 = r0209 = Imax To prevent restriction of the cosPHI control.
p1574 = 6...69 V Voltage margin (reserve) for a better transition to the wield-weakening range.
p1575 = 50 to 200 % Set a fixed, steady-state output voltage in the field-weakening range (value is
referred to r0339) that is lower than the maximum output voltage (V4.7 and higher).
p1595 = 0 to 50 % Decouple the activation point of the field-weakening controller from the maximum
voltage in the field-weakening range as a percentage of the voltage margin p1574
(V4.7 and higher).
p1752 ≥ 20 % * p0311 If oscillation occurs in the lower frequency range of the voltage model (usually
under high load), p1752 increases the transitional speed of the model change and
thereby reduces the susceptibility to oscillation (hysteresis p1753 can be reduced
by increasing the value of p1752).
p1753 ≤ 50 % In addition to p1752: Reduce the switchover hysteresis.
p1530 ≥ 1,5 * p0307 Adapt the motor power limit slowly to match the desired value and observe the load
behavior in the field-weakening range.
p1531 ≤ 1,5 * p0307 Adapt the regenerative power limit slowly to match the desired value and observe
the load behavior in the field-weakening range.
p1520, p1521 Set the upper and lower torque limits to the necessary values. The limits should not
be set too high because the overshoot of the speed control can reach the system
limits and very high torque levels at low speeds have a negative effect on the
quality of the U model.
p1442 ≥ 4 ms Increase the smoothing of the speed signal to speed controller, if necessary, in cases
where the speed signal to the speed encoder exhibits ripple at certain frequencies
and this ripple is increased further by high gain values in the speed controller.
This is indicated by ripple in the torque setpoint r0079.
Speed-synchronous ripple in the encoder signal can be detected by allowing the
motor to coast down under no load. The oscillation may then be amplified in certain
frequency ranges in the closed control loop. The smoothing time must be adjusted
taking account of the required dynamic response (acceleration times).
p1442 ≤ 4 ms Reduce the smoothing of speed signal to the speed controller, if this can prevent
excitation of a resonant frequency via the controller.
p2162 Increase the hysteresis of the overspeed alarm, if speed overshoot produces fault
F07902 (fault value 3) ‘Motor stalled’. For this purpose, it might be necessary to set
or increase the maximum motor speed p0322 (see description of p2162).
p1582 ≥ 20 ms = Increase the smoothing of the flux setpoint signal. This prevents any overshoot via
the cos-PHI control and the associated flux boost in the field-weakening range.
p1401.1 = 0 = If oscillation occurs in the wield-weakening range, it may be helpful to deactivate
flux setpoint differentiation for calculating the excitation current.
Internal
Commissioning
Adjusting certain parameters
p1806 = 1 … 4 ms = Result of practical experience for smoothing the DC link voltage. A short smoothing
time can improve stability of the control.
With "weak" power networks, it may be necessary to increase the setting in p1806
in order to prevent system oscillation.
p0977 = 1 = Save parameters of all DOs (= function "Copy RAM to ROM").
Internal
Appendix
Description of the additional communication options betw een SINAMICS and DCM
3 Appendix
3.1 Description of the additional communication options between

SINAMICS and DCM
3.1.1 Communication via OALINK
It is possible to establish a communication link between SINAMICS and DCM (as excitation equipment) by
means of OALINK.
Hardware wiring: DRIVE-CLiQ
Requirement: DCM must have Advanced CUD
License for OALINK
3.1.1.1 Procedure
Install the OA Support Package in STARTER

1. Open STARTER without a project.
2. Select menu commands "Tools > Installation of libraries and technology packages...".
3. Add file "oasp_oalink_v1_1_oaif04602000.zip"
Fig.3-1 Installing the OA Support Package in STARTER
Downloading the technology package to the target device

1. Open a project that matches the target device in STARTER.
2. Go online with the target device.
3. Select command "Select technology packages..." in the shortcut menu on the target device.
4. Select and execute the action "Download to target device" for the "OALINK" technology package.
Internal
Appendix
Fig.3-2 Downloading the technology package to the target device
Assign the OA application to a drive object

1. Open a project that matches the target device in STARTER.
2. Select command "Properties...> Technology packages" in the short-cut menu of the corresponding drive
object (CU).
3. Select OALINK by checking the offline box.
 The new set of parameters is added to the expert list.
4. Then go online and execute a project download to the target device.
Fig. 3-3 Assigning the OA application to a drive object
Internal
Appendix
Set up the OALINK

Connect one (or any number of) unused DRIVE-CLiQ interface(s) of the CUs with DRIVE-CLiQ cable(s).
Note
With firmware versions earlier than V4.7, it is not permissible to set up an OA-Link until the OALINK package
has been installed or else the CU will be unable to power up.
Fig. 3-4 Communication between CU320-2 and CUD via OALINK
Set the communication parameters

Specify the DRIVE-CLiQ port(s) for OALINK.  OALINK is activated.
Set the OALINK sampling time.
Set the OALINK consistency check mode.
Specify the number of receive/send words.
Note
The number refers to words of 16 bits in length.
Internal
Appendix
Example
• Parameter settings for SINAMICS
Fig. 3-5 Settings in the drive object CU
Fig. 3-6 Settings in the drive object VECTOR
Internal
Appendix
• Parameter settings for DCM
Fig. 3-7 Settings in the drive object CU_DC
Fig. 3-8 Settings in the drive object DC_CTRL
Internal
Appendix
3.1.2 Communication via SINAMICS Link
For a detailed description, please refer to SINAMICS S120 Function Manual Drive Functions, Chapter 11.4
(Communication via SINAMICS Link)
SINAMICS Link allows data to be directly exchanged between up to 64 CU320-2 PN or CU320-2 DP Control
Units or CUD. The SINAMICS Link requires the CBE20 additional module. All participating Control Units must
be equipped with a CBE20.
3.1.2.1 Procedure
1. For all nodes, set p0009 = 1 in order to change the device configuration.
2. For all CBE20 nodes, set the "SINAMICS Link" mode using p8835 = 3.
3. Assign the node numbers for the devices involved:
− Node 1: p8836 = 1 and
− Node 2: p8836 = 2
4. For both nodes set p0009 = 0, carry out "Copy RAM to ROM" followed by a POWER ON.
5. Make the following interface setting for all nodes:
− For IF1: p8839[0] = 2 (COMM BOARD)
− For IF2: p8839[1] = 1 (Control Unit Onboard)
6. Limit the maximum number of nodes for all nodes with p8811 = 64.
7. For both nodes set p0009 = 0, carry out a "Copy RAM to ROM" followed by a POWER ON in order to
activate the modified firmware version and the new settings in the CBE20.
8. Define the send data for SINAMICS S120:
9. Define the receive data for SINAMICS DCM:
10. Define the send data for SINAMICS DCM:
11. Define the receive data for SINAMICS S120:
12. Perform a "Copy RAM to ROM" for both nodes to back up the parameter settings and the data.
13. For both nodes, perform a POWER ON in order to activate the SINAMICS Link connections.
Internal
Appendix
3.1.2.2 Example
Setting for SINAMICS DCM
Fig. 3-9 Communication settings
Fig. 3-10 Settings in the drive object CU_DC
Fig. 3-11 Settings in the drive object DC_CTRL
Internal
Appendix
Setting for SINAMICS S120
Fig. 3-12 Communication settings
Fig. 3-13 Settings in the drive object CU
Fig. 3-14 Settings in the drive object VECTOR
Internal
Appendix
Design of the excitation converter and sine-wave filter for shaft generator applications
3.2 Design of the excitation converter and sine-wave filter for shaft
generator applications
- Specification requirements pertaining to excitation winding:
• Dielectric strength
• Current
• (voltage)
- With full dielectric strength for 1035 V –square-wave (insulation for 690 V rms) 
• Required amperage of Motor Module  according to Table 3-1
Device frame size Base current FT45°C 0 Hz current
FX 142 0.875 79.07

GX 320 0.875 178.19
HX 560 0.875 311.83

FX 142 0.8 72.29
GX 320 0.8 162.92
HX 560 0.8 285.11
Table 3-1 Possible DC currents of a few device types
• Operating frequency 1.25 kHz

• If required (in cases where the insulation strength is not 100 % sufficient), a suitable size of dv/dt filter
compact should be selected.
- With an excitation winding of reduced dielectric strength (insulation for 400 V rms) 
• Required amperage of Motor Module  according to Table 3-2
FX 142 0.875 66.42
GX 320 0.875 146.1
HX 560 0.875 265.1
FX 142 0.8 60.73

GX 320 0.8 133.6
HX 560 0.8 242.3
Table 3-2 Possible DC currents of a few device types
Internal
Appendix
Design of the excitation converter and sine-wave filter for shaft generator applications
• Operating frequency 2.5 kHz

• Sine-wave filter with resonant frequency 625 Hz (i.e. the reciprocal of the sampling period of the flux
control (1600 µs))
• The amperage requirement of the excitation winding must be covered by the current-carrying capacity of
the reactor.
- The maximum permissible current for liquid-cooled converters in size GXL is 155 A. This is dependent on a
maximum cooling water temperature of lower than 45 °C.
- Implementation of a sine-wave filter:
• Maximum dimensions: 300 x 350 x 300 (W x H x D).
• Total inductance 1.4 mH
• Dielectric strength 480 Vrms / per winding
• Voltage load at input - square-wave, U1 = 1035 V, operating frequency 5 kHz
• Voltage load at output – U = 500 VDC, Uripple = 20 Vrms
• Required isolation from ground - 1.5 kV
• Rated current 200 ADC, ripple 40 A
- Filter capacitor:
• 47 µF
• Or 3 x 33.2 µF
Internal
Glossary
References
4 Glossary
4.1 References
/1/ SINAMICS S120 / S150 List Manual
Edition 01/2013 or later
/2/ SINAMICS S120 Equipment Manual Power Units Chassis
/3/ SINAMICS DCM DC Converter Operating Instructions
/4/ SINAMICS DCM Accessories and Complementary Components
Siemens D23.1 2010
/5/ SINAMICS DCM DC Converter, SINAMICS DCM Application as Field Supply Unit
e.g. Edition 04 – 6 / 2013
/6/ SINAMICS S120 Function Manual
e.g. Edition 04/2014
/7/ SINAMICS DCM List Manual
/8/ SINAMICS S120 Line Infeed System Manual
01/2011 or later
4.2 Abbreviations
ALM Active Line Module
CU Control Unit
DO Drive Object
ECD Equivalent Circuit Diagram
FEM Separately excited synchronous motor
FLB Flat Top Modulation
FLM Edge modulation
FP Function diagram (see /1/)
fr Rotor frequency
MD control MASTERDRIVES control
r3D Damping resistance in d-axis
r3Q Damping resistance in q-axis
RZM Space vector modulation
SLM Smart Line Module
VSM Voltage Sensing Module
xhd Saturated magnetizing inductance in d-axis
xhq Saturated magnetizing inductance in q-axis
xσ3D Non-saturated damping leakage inductance in d-axis
xσ3Q Non-saturated damping leakage inductance in q-axis
Ψd Total flux in d-axis
Ψq Total flux in q-axis
Internal
Siemens AG Subject to change
Industry Sector © Siemens AG 2008 - 2014
P.O. Box 48 48
90026 NUREMBERG
Germany
www.siemens.com/automation
Internal

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2.14 Measuring the no-load excitation current Iexc(0) 46

1.2 Requirements for operating synchronous motors

1.2.1 Characteristics of synchronous motors

Motor rated frequency: ≥ 8.0 Hz and ≤ 90.0 Hz (motoring rated frequency)

1.2.2 Separate excitation equipment

1.2.3 Possible encoder combinations for operation with a speed encoder

1.2.4 Temperature measurement

1.2.5 Braking chopper

2.2 Important notes about commissioning

2.3 Motor data

p0010 = 0 Exit online encoder commissioning

2.3.2 Motor parameters (equivalent circuit diagram, saturation characteristic)

If possible, the mechanical parameters should be entered:

Fig. 2-1 Equivalent circuit diagram

p0350 = R(stator) Stator resistance (scalable with p0652) from datasheet

Designation on the datasheet

Fig. 2-2 Schematic diagram of a no-load characteristic

2.3.3 Controller parameters

p1200 = 1 Parameter for activating and deactivating flying restart

Setting parameters for encoderless operation

2.3.4 Other data

p1802 = 3 or 4 (recommended) Modulator mode of the converter (see Chapter 1.2)

2.4 Wiring and excitation defaults

2.4.3 Excitation equipment feedback signals (FP6495)

The states of the inputs are shown in r1649:

Control of the excitation equipment (FP6495)

Test: p0852 = 0 = Converter inhibit (no pulse enable after precharging)

Active Line Module

Information about commissioning and parameterizing the excitation field controller:

p2297 = p2291 = Wire upper output limitations

2.4.5 Calculation of the excitation time constant

Switch on the converter

2.5 Wiring and settings for the actual value encoder

Parameterization of the square-wave encoder must be carried out during commissioning:

Parameter: r0061[0] = Speed signal of the square-wave encoder for monitoring/measuring

Parameter Encoder 1 (incremental)

p0010 = 0 = Exit commissioning

The specified settings apply to encoder combinations

It may be necessary to adapt the settings for other encoder combinations.

Parameter Encoder 1 (incremental)

Parameter: r0061[1] = Speed signal of the SSI encoder

If user-defined encoder parameterization is selected (p0400[1] = 9999), the following procedure is

Parameter Encoder 2 (absolute, SSI)

p0010 =0 = Exit commissioning

The specified settings apply to encoder combinations

It may be necessary to adapt the settings for other encoder combinations.

2.5.4 Example of parameterization of a combination encoder

Parameter Encoder 1 (SSI)

2.5.5 Adjustment of a rotor position encoder (SSI encoder, absolute encoder)

p2175 = 0.00 % Deactivate lock monitoring (to prevent fault F07900)

2.6 I/f test mode (for encoder signals)

p1300 = 18 = Select I/f mode

• Switch off the converter

Ser. p0840 p0852 p0844 Excitation state Status Motor Comments

Ser. p0840 p0852 p0844 Excitation state Status Motor Comments

Table 2-4 Switching behavior of stator and excitation when p0346 ≤ 0

2.8.1 VSM offset calibration

2.9 Measuring the values of R(stator), U(valve) and T(dead time)

p0350 = R(stator) = Stator resistance

p1911 = 1 = Number of phases to be identified (access level p0003 = 4)

2.10 Stationary measurement