Used components

Product Order-No.
§ SINAMICS V90 training case (1AC 230V input voltage) 6AG1067-3AA00-0AB0
V90 FSAA 0,4kW (6SL3210-5FE10-4UA0), S-1FL6 servo motor(1FL6042 -1AF61-0AA1),
transformer 1AC 230V -> 3AC 400V & DC 24V, simulator interface, emergency stop
§ Setpoint cable 50-pin for connection to SIMATIC S7-1200 6SL3260-4NA00-1VB0
§ SD card 6SL3054 4AG00 2AA0
§ USB cable (Standard-Mini-B5) Content of training case
§ Laptop/PC with USB interface and und commissioning software
§ SIMATIC S7-1215C (or similar) 6ES7215-1AG31-0XB0
§ SIMATIC S7-1200 Power Modul PM1207 (or similar) 6EP1332-1SH71
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Commissioning software SINAMICS V-ASSISTANT

Download: www.siemens.com/sinamics-v-assistant

Installation:
1. Download the attached ZIP file
2. Unpack the ZIP file into a target directory on your hard disk
3. Start the installation program by double-clicking the “Setup.exe” file
4. Finish the installation according to the instructions on the screen

If the V90 firmware version is V1.05.00. (Check the V90 Firmware Version via parameter r29018), need to update the V-ASSISTANT to
version V1.02.00.
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Note to PLC controller
In the exercise shown, a S7-1214 DC/DC/DC V2.0 6ES7214-1AE30-0XB0 is used. Other controllers can be used. In conjunction with a
SIMATICS S7-1200 PM1207 6EP1332-1SH71 Power Module as common 24 V supply for the I/O rack. Another 24 V DC power supply
can also be used.
Jogging the drive from the Basic Operator Panel (BOP)

In the following exercise, the drive should be traversed in the jog mode using the BOP
integrated in the SINAMICS V90.
§ Exits from the current menu
M § Switches between operating modes in the top level menu

§ Confirms selection or input

OK § Enter sub menu
§ Acknowledges faults

OK § Long-press OK button
§ Activates auxiliary function
§ Press M+OK buttons for four seconds
M + OK
§ Restarts the drive

§ Increases/Decreases a Value
§ Navigates to previous/next item
§ JOG in CCW/CW

§ Moves the cursor from digit to digit for single

digit editing

You can find the detailed information about the status indications in the table below:
Jogging the drive from the Basic Operator Panel (BOP)

As the SINAMICS V90 is always used in conjunction with an 1FL6 servomotor with the
same power rating, the motor can be moved without having to parameterize the drive. This
allows the correct wiring to be quickly established.

1. At the BOP press key "M" until "Func" is displayed.

2. Click "OK" to confirm the selection.
3. Using the arrow keys, change the function until "Jog" is displayed.
4. Click "OK" to confirm the selection.
5. Using the arrow keys, allow the motor to rotate in the clockwise or counter-clockwise
direction. The motor runs as long as the key is pressed.
6. Press "OK" to display the actual value – and to change the showed value between
speed and torque.
7. Using the arrow keys, allow the motor to rotate and monitor the actual value on the
display.
8. Exit the jog mode by pressing the "M" key.
First steps with the V-ASSISTANT commissioning tool

This exercise shows the basic functions when using the V-ASSISTANT commissioning
software and the SINAMICS V90.
Going online and restoring the factory setting

1. Open V-ASSISTANT.
2. Connect your computer to the SINAMICS V90 using the USB cable. The drive is
shown in the list when you connect SINAMICS V90 via USB. Select the drive and
click on OK.
3. Using "Tools > Factory Default", restore the factory setting of the drive.
4. Confirm the note with "Yes".
5. The drive parameters are reset to the factory setting.
6. Click on the RAM to ROM button
7. The data are transferred to the non-volatile memory (ROM).
Fault diagnostics in V-ASSISTANT

1. All active faults and alarms of the drive are displayed in V-ASSISTANT.
2. Open the alarm window by clicking on Alarm.
3. Double-click on a fault.
4. A detailed fault description opens.
5. Click on "Acknowledge All", to acknowledge active faults.

Note regarding active faults:

After restoring the factory setting, two digital inputs of the SINAMICS V90 hardware
limit switches are activated. If these digital inputs are at zero, a fault is output that the
positive and negative end positions were reached. You will subsequently deactivate
the limit switches.
Selecting the drive and the motor

1. You are in the screen form, to select the drive and the motor. This is only relevant
when creating the project offline. As soon as you are connected with the drive
online, this is read out and created.
2. The SINAMICS V90 has the matching 1FL6 servomotor for each inverter. Click
on "Select motor", to change the motor that has been set as default.
3. You can see whether an absolute encoder or incremental encoder is connected
using the encoder connection. As a consequence, the motor selection is
restricted to a SIMOTICS 1FL6 with or without brake. Leave the setting at no
brake.
Jogging the drive using the V-ASSISTANT

After you have been connected online with the SINAMICS V90, you can jog this via
V-ASSISTANT in the screen form "Select drive > Jog".
1. Click on "Servo on".
2. An alarm is displayed that the machine is only to be traversed to the mechanical
limits.
3. A pole (rotor) position identification is carried out after first switching on the power
supply and first switching on the SINAMICS V90. This is necessary for
servomotors without absolute encoder, to determine the rotor position.
4. Enter a velocity and jog the drive using the relevant direction of rotation button.
The motor runs as long as the direction of rotation button is pressed. After testing
both directions of rotation, withdraw the servo off signal.
Commissioning the speed control and IPOS traversing block table using
V-ASSISTANT

This exercise commissions the operating mode switchover between positioning with
traversing block table and closed-speed controlled operation with speed setpoint.
SINAMICS V90 control modes

• Pulse/direction interface (PTI - pulse train interface)

The pulse/direction interface processes the position setpoints of the S7-1200 to
create a pulse pattern. One pulse corresponds to an angular increment of the
motor. The pulse frequency specifies the rotational velocity. The direction of
rotation is either specified using the A-B tracks – or via a direction track.
• Traversing block table (IPos – integrated positioner)
Up to eight defined positions can be approached using the traversing block
table. Digital inputs are used to make the selection.
• Torque control (T)
With torque control, the drive is controlled to track a permanently entered or a
variable torque setpoint (via an analog input).
• Speed control (S)
With speed control, the drive is controlled to track a permanently entered or a
variable speed setpoint (via an analog input). Up to seven fixed speeds are
possible.
• Further, two control modes can be combined with one another. A digital input is
used to switch between control modes.
Changing the control mode

1. In the Control mode field, using the drop-down menu, select "Control change mode:
IPos/S“ to switch over between traversing block table (IPos) and speed control (S).
2. Confirm the change.
3. The drive must be restarted after changing the control mode. Click on "Yes", to load
the change to the ROM – and to then restart the drive.
4. The parameters are loaded to the ROM.
5. The drive is switched off and then switched on again. The online connection is
disconnected when switching off.
Going online with SINAMICS V-ASSISTANT

1. Click on the button to connect online.

2. After the online connection has been established, an alignment is made with the
offline project and this overwritten. If you made changes offline, you must have first
saved the project. Click on "No" as no changes were made. Using "Acknowledge
All", again acknowledge the displayed alarms.
3. The drive parameters are compared with those in the project.
4. If there were offline-online differences, then these differences would be displayed.
By selecting "Drive to PC", the data in the project are overwritten with those of the
drive – and with "PC to drive", the data from the project are written to the drive.
Changing the supply voltage

1. The demonstration device is operated with 1 AC 230V; this is transformed up,

rectified and directly connected to the DC link. The DC link voltage lies above that
which would be obtained for a 3 AC 400V line supply voltage. Under certain
circumstances, an alarm is output that the line supply voltage was incorrectly
parameterized.
2. Open the parameter list under "Parameterize > View all parameters".
3. Set parameter P29006 "Line supply voltage" to approx. 450 V.
Parameterizing the mechanical system

1. Open the screen form "Parameterize > Set mechanism".

2. You can select a mechanical system that fits your particular machine. For the
following example, select rotary table (Disc Table).
3. The gearbox ratio between the motor and load must be specified. There is no
gearbox in our application. As a consequence, the ratio is one.
4. You define the resolution on the load side with the number of length units (LU) for
each load revolution. The incremental encoder (TTL) of the 1FL6 supplies 2500 ppr,
and therefore has a maximum fine resolution of 10000 LU per load revolution.1 Here,
enter a resolution of 3600 LU per load revolution.2 As a consequence, 10 LU
correspond to 1°.

Notes:
• A TTL encoder has two signal tracks (A and B), each with a 2-bit precision (A,A- and
B,B-) , where each runs with an offset. This means four states for each encoder
pulse, so that the fine resolution is 2500 ppr * 4 LU per ppr = 10.000 LU. A gearbox
also influences the resolution of the load. Gearbox ratio M/N is multiplied by the fine
resolution.
• To achieve a good closed-loop control, the ratio between the fine resolution and load
resolution should be in the range 10 to 1.
Parameterizing the traversing block table

1. Open the screen form "Set parameter setpoint".

2. In the drop-down menu, change the positioning type to "Absolute".
3. Enter four positions with the particular velocity, whereby 3600 LU correspond to
one revolution and 10.800.000 LU/min correspond to a speed of 3000 rpm. Also
enter acceleration and deceleration. In this case, 120.000 LU/s² correspond to a
ramp from zero up to 2000 rpm in one second.
4. Digital inputs POS1 and POS2 are used to select the position. Online, you can see
which digital inputs are presently switched-in (activated).
Speed control setpoints

1. Speed setpoints can be entered under "Speed setpoint". The uppermost setpoint
comes from analog input AI1. Enter three fixed frequencies up to +/- 3000 rpm.

You can set the ramp-function generator for the speed control in the "Ramp-function
generator" area.

2. Change to "Extended ramp-function generator", to be able to parameterize rounding-

off elements for jerk limiting.
3. For rounding-off times P1130 and P1131, enter 0.1 seconds
4. Enter a ramp-up time of 1 second in P1120 and P1121, so that the motor accelerates
up to 3000 rpm in one second.
Configuring digital inputs

1. Open the screen form "Configure inputs/outputs". You are under the Digital inputs tab.
2. Parameterize the inputs corresponding to the graphic or table.
3. If you are not using hardware limit switches, you can directly connect 24 V to the
digital inputs – or parameterize them so that they are permanently set to 1. For CWL
(clockwise limit) and CCWL (counter-clockwise limit) activate the checkbox "Set to 1".

4. Up until now, you only parameterized the digital inputs for the traversing block table.
With DI10, you change the control mode between traversing block table (Ipos) and
speed control. At the box, switch-in (activate) DI10. In V-ASSISTANT, the view
changes to parameterizing the digital inputs in the speed control mode.

5. Parameterize the inputs for the speed control corresponding to the graphic or table.
Also here, for CWL (clockwise limit) and CCWL (counter-clockwise limit) activate the
checkbox "Set to 1".
Saving the settings and restarting

1. Save the settings in the ROM memory.

2. The parameters are copied to the non-volatile memory.
3. You can restart the drive from V-ASSISTANT. This restart is required, as after
establishing the factory setting, the hardware limit switches are tripped, and are only
subsequently bypassed by the software. Select the tool > "Reset Drive".
4. Confirm the restart.
5. The drive restarts and the online connection is interrupted.
Referencing the drive

1. Open the screen form "Configure referencing".

2. Select referencing method "1: External reference cam (signal REF) and encoder
zero mark". When initiating using an initiator (cam or Bero proximity switch),
depending on the velocity and topology, the sensor signals can be delayed. The
reference point is uniquely determined by additionally referencing to the encoder
zero mark.
3. Change the velocity corresponding to the graphic. A velocity of 360.000 LU/min
corresponds to 100 rpm.
4. Switch on the drive at the demonstration case using digital input DI1. Then click on
the "Start referencing" button.
5. Use the input DI7 (REF) to simulate the sensor (Reference Cam) and finalize the
referencing process.
Referencing with V-ASSISTANT

1. You are informed that this function should only be performed by appropriately
authorized personnel. Confirm the note with "Yes".
2. Referencing runs.
3. After referencing has been completed, a message appears that referencing was
successful. Confirm this with "OK".

If you want that the motor stops at 0° then you must enter an offset.
4. At the disk, read the deviation in ° to 0° (in the example shown, the difference was
-480°and enter this as offset into LU (10 LU = 1°), so that after referencing, the
motor stops at 0° .
5. Repeat referencing.
Online view of the I/O interface

1. Go online again to the drive.

2. This time, save your project.
3. The drive parameters are read and compared with those in the project.
4. Open the screen form, "Commission > Test interface".
5. Here, you can display the states of the inputs and outputs as well as the actual
values of the drive.
Testing the commissioning

To start, the IPos mode should be tested. Ensure that DI10 is off.

1. Switch on the drive with DI1 (Servo On).

2. Start the reference point approach with DI6.
3. DI3 and DI4 define the various setpoint positions.
4. Start positioning by switching a positive signal edge to DI5.

The speed control is subsequently tested.

1. Switch DI10 on, so that the mode switches over to speed control.
2. Keep DI3 and DI4 off, so that the speed setpoint is received via analog input AI1.
Activate clockwise rotation using DI5. Change the speed setpoint using the slider.
3. Switch-off DI5 and switch-in DI6, to rotate the motor in the counter-clockwise
direction.
4. Using a combination of DI3 and DI4, change between the various fixed speeds.
Recording traces using the V-ASSISTANT

The trace function provided in V-ASSISTANT is shown in the following exercise.

Trace configuration

1. Open the screen form, "Diagnostics > Trace signals".

2. Click on the "Trace config." button to configure the trace.
3. Select analog signals r61[0] actual speed, r2521[0] actual position and r2563
following error for tracing. Change the colors corresponding to the graphic.
4. Trace digital signals r722.4 DI4 for the trigger for positioning and r747.2 DO2 for the
"In Position" signal.
5. Set a recording length of 4000 ms.
6. Recording should start when a velocity threshold is exceeded. Select "Trigger on
rising edge" – and as signal r61[0] actual velocity with a limit of 10 rpm. 500 ms
should be recorded (traced) before the trigger event.
7. Start the trace.
8. The drive waits for the trigger event. Start travel with a travel block so that the motor
rotates in the clockwise direction of rotation.
Trace recording

1. The trace is loaded to the software after recording.

2. Activate the measuring cursor.
3. Shift the measuring cursor to measure the time.
4. The times and the actual values are displayed in the lower section.
5. You can deselect the individual signals using the checkboxes.
Optimizing the drive

Auto-tuning modes
The SINAMICS V90 supplies two auto-tuning modes: one-button auto tuning and real-
time auto tuning. The auto tuning function can optimize control parameters with ratio of
machine load moment of inertia (p29022) and set suitable current filter parameters to
suppress the machine resonance automatically. You can change the dynamic
performance of the system by setting different dynamic factors.

One-button auto tuning

Estimates the machine load moment of inertia and mechanical´characteristics with
internal motion commands. To achieve the desired performance, you can execute the
process many times before you control the drive with the host controller. The maximum
speed is limited by the rated speed.

Real-time auto tuning

Estimates the machine load moment of inertia automatically while the drive is running
with the host controller command. After enabling the servo on (SON), the real-time auto
tuning function stays effective for the servo drive. If you do not need to estimate the
load moment of inertia continuously, you can disable the function when the system
performance is acceptable.
One Button Auto tuning

1. Open the Screen form “Commission > Optimize Drive” and look at the controller
factory settings
2. Select the Tab “ One button auto tuning”
3. Select the Dynamic Factor to increase or decrease the response of you control
loop.
4. Enter 360 °in Position Amplitude to say the controller that the machine is allowed
to freely rotate ( at least 2 turns when tuning starts)
5. Click on the button “Advanced Settings” to look at the parameters for the real-time
auto tuning. Keep the default settings and close the window again.
6. Click on “Enable one button auto tuning”
7. Click on “Servo On” to start the tuning.

Notizen 31
One Button Auto tuning

8. -Auto tuning is running.

9.- After the tuning is completed, the tuning results window appears.
10.- Click on “Accept” to apply the new values to your controller or click on “Abort” to
ignore the tuning result and keep the old values.
11.- Copy the tuned parameters from RAM to ROM to save them when the tuning is
completed and the drive performance is acceptable.
12-. Increase the Dynamic factor, run again the auto tuning an compare the new
values.

Notizen 32
Safe Torque Off (STO) integrated in the drive

The safe torque off (STO) safety function is demonstrated in the following.
Safe Torque Off (STO) integrated in the drive

1. Switch-on the drive and initiate STO. The motor coasts down.

The STO safety function does not have to be parameterized, but only directly wired via
a terminal. Several SINAMICS V90 can be connected in parallel via one STO
channel. Either the 24 V power supply of a SINAMICS V90 or an external 24 V
power supply can be used.
Copying parameter sets using an SD card

In this exercise, parameter sets should be copied to an SD card, and then these
subsequently transferred to the drive .
Copying parameter sets using an SD card

1. Insert the SD card. Disconnect the USB cable, as it is not permissible to have a
USB connection during copying.
2. Follow the procedure as shown in the graphic when copying parameters from the
drive to the SD card.
3. The progress when copying is displayed.
4. Remove the SD card!
5. Reset the drive to the factory settings. Follow the procedure as shown in the
graphic.
6. The factory setting has been restored.
7. Insert the SD card.
8. To copy the parameters from the SD card to the drive, "Sd—dr" must be selected
as shown in the graphic.
9. The progress when copying is displayed.
Connection from SINAMICS V90 to SIMATIC S7-1200
The connection between SINAMCIS V90 and SIMATIC S7-1200 is done trough the digital
interface (connector X8) in the SINAMICS V90 . In the demo case the interface X8 is on the right
outside of the demo case wired to connector 5 ( 1-2-3-4-5 ).

Wire the interface according to the wiring diagram.

For this wiring you can use a signal cable like the one described in figure (1).
V90 Demo case: Connector 2/3/5. S7-1200: Terminals X10, X12.

Signal cable (1) for connection.

§ Cable with 6 wires, cross section 0.08 mm2
§ OR: V90 setpoint cable (50-pin), 1 m long, pre-assembled (Connector on inverter side,
other side with wires and pods), order number: 6SL3260-4NA00-1VB0

Note:
The wiring shown here is based on the application example: “SINAMICS V: Controlled
Positioning of a V90 with S7-1200 via the Pulse/Direction Interface, with HMI”
http://support.automation.siemens.com/WW/view/en/77467940
Which provides an application example to control a Servo Drive SINAMICS V90 in connection
with the PLC SIMATIC S7-1200
Changing the operating mode

1. Switch to the "Select drive" screen form.

2. Under Control Mode change the operating mode to "Pulse train input position control
(PTI).
3. Confirm your selection with "Yes".
4. The drive must be restarted after changing the operating mode. Confirm this with
"Yes".
5. The drive copies the setting into the ROM and restarts.
Configuring the pulse/direction interface

1. Go back online with the drive.

2. Open the screen form "Set electronic gear ratio".
3. Enter 3000 pulses per motor revolution.1
4. Switch to the "Set parameter setpoint" screen form.
5. The pulse/direction interface can be configured here. The preassigned selection
corresponds to configuring the S7-1200 with onboard digital outputs (24V) – and a
technology object (positive pulse with the direction channel).

1 Calculation:
The fast onboard digital outputs of the S7-1200 have a maximum switching frequency
of 100 kHz. The drive should operate with a maximum speed of 2000 rpm for
33,333 per second. 100.000 pulses per second / 33,333 revolutions per second =
3000 pulses per revolution.

6. Cancel the assignment of DI8 and TLM1 (Torque Limit 1). It needs to be done as
otherwise the BERO sets the torque limit to zero and this causes a drive error.
Creating a technology object

1. Create a new project in the TIA Portal.

2. Click on "Add new device" and insert the S7-1200 control into the project.
3. Create a new TO in the control under "Technology objects > Add new object".
4. Assign a name to the TO.
5. Select "TO_Axis_PTO" under "S7-1200 Motion Control".
6. Proceed with "OK".
Configuring a technology object

1. Open the configuration of the technology object.

2. Select a pulse generator.
3. Pulse generator Pulse_1 selected here uses outputs Q0.0 and Q0.1 integrated in
the CPU, and calculates these with a fast counter HSC_1 (high speed counter).
4. Select ° as measurement unit.
5. Confirm the note with "Yes".
6. Open the configuration of the drive signals.
7. As enable output, enter "Q0.2" and as input for the ready signal, "I0.2". The variable
names are automatically assigned.
Configuring a technology object

1. Open the configuration of the mechanics of the technology object.

2. Here, enter the previously calculated number of pulses per motor revolution. The
distance per motor revolution is 360°.
3. As unit, select the velocity limit "rpm".
4. Prior to this, the maximum velocity was incorporated in the calculation of the pulses
per motor revolution. 2000 rpm was specified here.
5. The pulse/direction interface requires a minimum number of pulses per unit time so
that a valid position setpoint can be determined. This results in a minimum of
velocity that can be used. Here, enter 0.5 rpm.
6. Set a ramp-up time and ramp-down time of one second.
7. Activates jerk limiting with a rounding time of 0.1 seconds.
Loading to the control

1. Select the control in the project hierarchy and load this to the device.
2. Extended loading may open. Select your PG/PC interface, search for bus
participants/nodes, select your control.
3. Click on "Load".
4. If required, activate "Load to device", "Consistent load" and "Overwrite all".
5. Click on "Load".
6. The configuration is loaded.
7. Activate "Start all" and click on "Complete",
8. Loading is completed.
Operating the drive from the control panel

The pulse/direction interface after configuration can be tested using the control panel.

1. Open the commissioning screen form of the technology object.

2. Activate the manual control. As a consequence, you retrieve master control and the
user program is interrupted.
3. Switch on the drive with "Enable".
4. The axis status is shown on the control panel. After the enable, the Ready box
should go to green. If this is the case, the TO drive signals have been correctly set
and wired.
5. Keep the command at "Jog".
6. Select a speed of 1200 °/s.
7. Press the "Forwards" button so that the axis jogs in the clockwise direction of
rotation.
8. Then switch back into the automatic mode to relinquish master control.
Display in V-ASSISTANT

1. Switch back to the V-ASSISTANT and open screen form "Commission > Test interface".
2. The number of received pulses and the pulse frequency are displayed here.
Programming using PLCopen

In this exercise, PLCopen motion control blocks should be used to operate the SINAMICS
V90 with the pulse/direction interface.
Programming using PLCopen

1. Open block "Main [OB1]".

2. You can find the PLCopen motion control blocks of the S7-1200 under "Instructions
> Technology > Motion control > S7-1200 motion control".
3. Insert the "MC_Power" block to switch on the axis. Drag the technology object from
the project tree and drop at input "Axis". Interconnect input "Enable" with the
variable Enable as well as "Status" with status – and create the variables.
4. Insert block "MC_Reset" to acknowledge TO faults/errors (caution, only software
errors – drive faults are not acknowledged). Also drag TO to the input "Axis" – and
interconnect input "Execute" with the Reset variable. Create this.
Programming using PLCopen

1. Load the program into the control.

2. Create a new monitoring table and open this.
3. Monitor the variables "Enable", "Status" and "Reset".
4. Control variable "Enable" to TRUE.
5. The SINAMICS V90 switches on.
6. Switch off the drive again by the controlling "Enable" to FALSE.
Programming using PLCopen

1. Now insert block "MC_MoveVelocity" to traverse the axis with a setpoint velocity,
and interconnect the inputs corresponding as shown in the diagram.
2. Block "MC_Halt" is required to stop the axis. Interconnected the block as shown in
the diagram.
3. Load the program into the control.
Programming using PLCopen

1. Open the monitoring table and monitor variables VelocityEnable, Velocity and
ExecuteHalt.
2. Select the TO in the project tree. The TO variables are shown in the detailed view.
3. Under "MotionStatus", "Position" and "Velocity", drag the TO variable into the
monitoring table.
4. Switch on the drive using "Enable".
5. Enter a value for "Velocity", in this case 1000.0 – for example – and control this.
6. Control "VelocityEnable" to TRUE. SINAMICS V90 now operates with a constant
velocity.
7. Control "ExecuteHalt" to TRUE to stop the drive.
8. Then switch off the drive by switching "Enable" to FALSE.