Quick Startup Guide for

SIMOVERT MASTERDRIVES
6SE70 MC

Motion Control

Section 1: Parameterization of Base Drive

Section 2: Servo Drive Tuning Procedure

Section 3: Technology Options Quick Setup Method

Version 1.3 07/01/1999 Page 1

We reserve the right to modify functions, technical data, standards, drawings and

parameters.

We have checked the contents of this document to ensure that they coincide with the

described hardware and software. However, deviations cannot be completely ruled-

out, so we cannot guarantee complete conformance. However, the information in this

document is regularly checked and the necessary corrections will be included in

subsequent editions. We are thankful for any recommendations or suggestions.

e-mail: [email protected]

Version 1.3 07/01/1999 Page 2

 NOTE:
These instructions do not purport to cover all details or variations in equipment, nor to
provide for every possible contingency to be met in connection with installation,
operation or maintenance. Should further information be desired or should particular
problems arise which are not covered sufficiently for the purchasers purposes, please
contact your local Siemens office.

Further, the contents of these instructions shall neither become a part of nor modify
any prior or existing agreement, commitment or relationship. The sales contract
contains the entire obligation of Siemens Energy & Automation. The warranty
contained in the contract between the parties is the sole warranty of Siemens Energy &
Automation. Any statements contained herein do not create new warranties nor
modify the existing warranty.

Note:

This Quick Startup Guide is not an autonomous document, but is intended to direct users to the
section in the Operating Instructions which are important for start-up. Thus, these brief instructions
can only be completely valid when used in conjunction with the Operating Instructions. It is
especially important to observe the warning and information regarding potential hazards in the
Operating Instructions.

Warning:

Electrical equipment has parts an components which are at hazardous voltage levels.
If the warning information in the detailed Operating Instructions is not observed, this can result
in severe bodily injury or material damage.
Only appropriately qualified personnel may work with this equipment.
These personnel must be knowledgeable with all of the warning information and
service/maintenance measures of the Operating Instruction.

Perfect and safe operation of this equipment assumes professional transport, storage, erection and
installation as well as careful operating control and service.

Version 1.3 07/01/1999 Page 3

Parameterization of Base Unit
Section 1 Table of Contents:

1.1 Power Section Definition

1.2 Factory Reset

1.3 Drive Setting with Siemens Motor

1.4 Drive Control Word

1.5 Tuning Drive and Current Loop

1.6 Communication Board Configuration

Note: Refer to Operating Instruction Manual for power and

control connections.

Version 1.3 07/01/1999 Page 4

1.1 Power Section Definition
Note: Power Section is pre-defined at the factory. Power Section
Definition is require if a new board CUMC board is put into the drive
or boards are switched between units with different ratings. Drive
should be defaulted and re-parameterized after Power Section
Definition.

P060 = 8 Select Power Section

Definition Menu

Input Code for unit

P070 = ? (MRPD, see List or Rating
Plate)

P060 = 1 Return to Parameter Menu

Version 1.3 07/01/1999 Page 5

Unit List
PWE: Parameter Value
In[A]: Rated Output Current in Amps (P072)

Frequency Converter
Compact PLUS AC-AC type

PWE Order Number In[A]

1 6SE7011-5EP50 1.5
3 6SE7013-0EP50 3.0
5 6SE7015-0EP50 5.0
7 6SE7018-0EP50 8.0
9 6SE7021-0EP50 10.0
13 6SE7021-4EP50 14.0
15 6SE7022-1EP50 20.5
17 6SE7022-7EP50 27.0
19 6SE7023-4EP50 34.0

Frequency Inverter
Compact PLUS DC-AC type

PWE Order Number In[A]

2 6SE7012-0TP50 2.0
4 6SE7014-0TP50 4.0
6 6SE7016-0TP50 6.1
8 6SE7021-0TP50 10.2
12 6SE7021-3TP50 13.2
14 6SE7021-8TP50 17.5
16 6SE7022-6TP50 25.5
18 6SE7023-4TP50 34.0
20 6SE7023-8TP50 37.5

Version 1.3 07/01/1999 Page 6

Frequency Inverter
Construction Type: Compact DC-AC

PWE Order Number In[A]

4 6SE7016-1TA51 6.1
10 6SE7018-0TA51 8.0
12 6SE7021-0TA51 10.2
19 6SE7021-3TB51 13.2
26 6SE7021-8TB51 17.5
36 6SE7022-6TC51 25.5
43 6SE7023-4TC51 34.0
47 6SE7023-8TD51 37.5
53 6SE7024-7TD51 47.0
57 6SE7026-0TD51 59.0
67 6SE7027-2TD51 72.0

Frequency Converter
Construction Type: Compact AC-AC

PWE Order Number In[A]

3 6SE7016-1EA51 6.1
9 6SE7018-0EA51 8.0
11 6SE7021-0EA51 10.2
18 6SE7021-3EB51 13.2
25 6SE7021-8EB51 17.5
35 6SE7022-6EC51 25.5
42 6SE7023-4EC51 34.0
46 6SE7023-8ED51 37.5
52 6SE7024-7ED51 47.0
56 6SE7026-0ED51 59.0
66 6SE7027-2ED51 72.0

Version 1.3 07/01/1999 Page 7

Frequency Inverter
Construction Type: Chassis Unit DC-AC

PWE Order Number In[A]

75 6SE7031-0TE50 92.0
83 6SE7031-2TF50 124.0
91 6SE7031-5TF50 146.0
99 6SE7031-8TF50 186.0* 155.0*
1 2

103 6SE7032-1TG50 210.0* 175.0*

1 2

109 6SE7032-6TG50 260.0* 218.0*

1 2

113 6SE7033-2TG50 315.0* 262.0*

1 2

117 6SE7033-7TH50 370.0* 308.0*

1 2

120 6SE7035-1TJ50 510.0* 423.0*

1 2

Frequency Converter
Construction Type: Chassis Unit AC-AC

PWE Order Number In[A]

74 6SE7031-0EE50 92.0
82 6SE7031-2EF50 124.0
90 6SE7031-5EF50 146.0
98 6SE7031-8EF50 186.0* 155.0*
1 2

102 6SE7032-1EG50 210.0* 175.0*

1 2

108 6SE7032-6EG50 260.0* 218.0*

1 2

112 6SE7033-2EG50 315.0* 262.0*

1 2

116 6SE7033-7EH50 370.0* 308.0*

1 2

147 6SE7035-1EK50 510.0* 423.0*

1 2

* 1
Theoretical rated output current at 3 kHz Pulse Frequency
* 2
Rated output current at 5 kHz Pulse Frequency; the permissible rated
output current will be reduced further at higher pulse frequencies

Note: P67 (cooling option; 0=air, 1=water). For certain applications, water cooled
units can be used without current derating and the parameter P67 can be
set to 1 (contact your Application Engineer for further information).

Version 1.3 07/01/1999 Page 8

1.2 Factory Reset

6: Parameter Changes
P053 = 6 permitted via PMU and Serial
Interface (OP1 and PC)

2: Menu Select = Fixed

P060 = 2 Settings

P366 = 0 Select Factory Setting

0: Standard
1: Standard with OP1 Control
2: Cabinet Unit with Terminal
Strip Control
3: Cabinet Unit with OP1
Control
P970 = 0 Start Parameter Reset
0: Parameter Reset
1: No Parameter Change

Note: After Factory Reset unit

will switch to status 5 (P060 =
5) Drive Setting

Version 1.3 07/01/1999 Page 9

1.3 Drive Setting with Siemens Motor

P060 = 5 Select Drive Settings

Enter Input Line Voltage eg. 620 VDC Unit

P071 = ? (VDC for DC Supply and
(for 460 VAC Rectifier)

eg. 460 VAC

r.m.s. VAC for AC Supply)

Select Motor Type

P095 = ? 1: 1FT6/1FK6 Servo-Motor
2: 1PA6/1PH7/1PL6
P095 = 1 2 Induction-Motor

Input Code number for

P096 = ? 1FT6/1FK6 motor (See List)
Input Code number for
P097 = ? 1PA6/1PH7/1PL6 motor
(See List)
P115 = 1 Load pre-set motor Data
Input Maximum Motor Rated Current is listed on Motor
Nameplate. Current may be increased
P128 = ? Output Current(A) if the duty cycle is not continuous to
account for required current inrush
of dynamic servo motion.
Select Motor Encoder
Motor Order 1FT6/1FK6 1PL7/1PH7/1PL6/1PH4
th th th
Code n Digit: n = 14 n=9
1: 2-Pole Resolver T R
P130 = ? 3: Encoder (Sin/Cos)
ERN 1381 N
ERN 1387 A M
4.Multiturn Encoder E E
Absolute EQN 1325
5. Pulse Encoder N/A H/J
in Slot C

Version 1.3 07/01/1999 Page 10

 P290 = 0 Select Type of Current Control
0: Closed-Loop Current Control
P290 = 0 & P290 = 0 &
1FT6/1FK6 1PH7=1PA6/1PL6/1PA4

Input Field Weakening

P293 = ? Frequency in Hz
(Calculated w/ Self Tune P115)

Select Flux Control

P294 = ? 0: Closed-Loop, Flux Control
Active
1: Open-Loop, Flux Control
Not Active
Select Controller Dynamics
P296 = 1 0: Highest Dynamics
1: Average Dynamics
2: Lowest Dynamics

Input Reference Value for

P353 = ? Speed Variables in rpm.
(Normalization Value for
Speed)
eg: P353 = 6000 rpm

P452.1 4 = ? Input Maximum Speed Positive

Direction (P452) and Negative
P453.1 4 = ? Direction (P453) in %.
(Referenced to P353)
eg. P452 = 100%

P060 = 1 Select Drive Parameter Menu

Complete.
For Detailed Parameterization
See Compendium Section 6.

Version 1.3 07/01/1999 Page 11

Lists of stored motors - Synchronous Motors
1FK6 / 1FT6
Input in Motor order number Speed Torque Current
P096 (MPRD) n n [rpm] M n [Nm] I n [A]
1 1FK6032-6AK7 6000 0.8 1.5
2 1FK6040-6AK7 6000 0.8 1.8
3 1FK6042-6AF7 3000 2.6 2.4
4 1FK6060-6AF7 3000 4.0 3.1
5 1FK6063-6AF7 3000 6.0 4.9
6 1FK6080-6AF7 3000 6.8 5.3
7 1FK6083-6AF7 3000 10.5 7.8
8 1FK6100-8AF7 3000 12.0 9.0
9 1FK6101-8AF7 3000 15.5 10.8
10 1FK6103-8AF7 3000 16.5 11.6
11 1FT6031-4AK7_ 6000 0.75 1.2
12 1FT6034-1AK7_-3A
1FT6034-4AK7_ 6000 1.4 2.1
13 1FT6041-4AF7_ 3000 2.15 1.7
14 1FT6041-4AK7_ 6000 1.7 2.4
15 1FT6044-1AF7_-3A
1FT6044-4AF7_ 3000 4.3 2.9
16 1FT6044-4AK7_ 6000 3.0 4.1
17 1FT6061-6AC7_ 2000 3.7 1.9
18 1FT6061-1AF7_-3A
1FT6061-6AF7_ 3000 3.5 2.6
19 1FT6061-6AH7_ 4500 2.9 3.4
20 1FT6061-6AK7_ 6000 2.1 3.1
21 1FT6062-6AC7_ 2000 5.2 2.6
22 1FT6062-1AF7_-3A
1FT6062-6AF7_ 3000 4.6 3.4
23 1FT6062-6AH7_ 4500 3.6 3.9
24 1FT6062-6AK7_ 6000 2.1 3.2
25 1FT6064-6AC7_ 2000 8.0 3.8
26 1FT6064-1AF7_-3A
1FT6064-6AF7_ 3000 7.0 4.9
27 1FT6064-6AH7_ 4500 4.8 5.5
28 1FT6064-6AK7_ 6000 2.1 3.5
29 1FT6081-8AC7_ 2000 7.5 4.1
30 1FT6081-8AF7_ 3000 6.9 5.6
31 1FT6081-8AH7_ 4500 5.8 7.3
32 1FT6081-8AK7_ 6000 4.6 7.7
33 1FT6082-8AC7_ 2000 11.4 6.6
34 1FT6082-1AF7_-1A
1FT6082-8AF7_ 3000 10.3 8.7
35 1FT6082-8AH7_ 4500 8.5 11.0
36 1FT6082-8AK7_ 6000 5.5 9.1
37 1FT6084-8AC7_ 2000 16.9 8.3
38 1FT6084-1AF7_-1A
1FT6084-8AF7_ 3000 14.7 11.0
39 1FT6084-8AH7_ 4500 10.5 12.5
40 1FT6084-8AK7_ 6000 6.5 9.2
41 1FT6084-8SC7_ 2000 23.5 12.5
42 1FT6084-8SF7_ 3000 22.0 17.0
43 1FT6084-8SH7_ 4500 20.0 24.5
44 1FT6084-8SK7_ 6000 17.0 25.5
45 1FT6086-8AC7_ 2000 23.0 10.9
46 1FT6086-1AF7_-1A
1FT6086-8AF7_ 3000 18.5 13.0

Version 1.3 07/01/1999 Page 12

Input in Motor order number Speed Torque Current
P096 (MPRD) n n [rpm] M n [Nm] I n [A]

47 1FT6086-8AH7_ 4500 12.0 12.6

48 1FT6086-8SC7_ 2000 33.0 17.5
49 1FT6086-8SF7_ 3000 31.0 24.5
50 1FT6086-8SH7_ 4500 27.0 31.5
51 1FT6086-8SK7_ 6000 22.0 29.0
52 1FT6102-8AB7_ 1500 24.5 8.4
53 1FT6102-1AC7_-1A
1FT6102-8AC7_ 2000 23.0 11.0
54 1FT6102-8AF7_ 3000 19.5 13.2
55 1FT6102-8AH7_ 4500 12.0 12.0
56 1FT6105-8AB7_ 1500 42.0 14.5
57 1FT6105-1AC7_-1A
1FT6105-8AC7_ 2000 38.0 17.6
58 1FT6105-8AF7_ 3000 31.0 22.5
59 1FT6105-8SB7_ 1500 57.0 21.5
60 1FT6105-8SC7_ 2000 55.0 28.0
61 1FT6105-8SF7_ 3000 49.0 35.0
62 1FT6108-8AB7_ 1500 61.0 20.5
63 1FT6108-8AC7_ 2000 55.0 24.5
64 1FT6108-8SB7_ 1500 83.0 31.0
65 1FT6108-8SC7_ 2000 80.0 39.0
66 1FT6132-6AB7_ 1500 62.0 19.0
67 1FT6132-6AC7_ 2000 55.0 23.0
68 1FT6132-6AF7_ 3000 36.0 23.0
69 1FT6132-6SB7_ 1500 100.0 36.0
70 1FT6132-6SC7_ 2000 98.0 46.0
71 1FT6132-6SF7_ 3000 90.0 62.0
72 1FT6134-6AB7_ 1500 75.0 24.0
73 1FT6134-6AC7_ 2000 65.0 27.0
74 1FT6134-6SB7_ 1500 130.0 45.0
75 1FT6134-6SC7_ 2000 125.0 57.0
76 1FT6134-6SF7_ 3000 110.0 72.0
77 1FT6136-6AB7_ 1500 88.0 27.0
78 1FT6136-6AC7_ 2000 74.0 30.0
79 1FT6136-6SB7_ 1500 160.0 55.0
80 1FT6136-6SC7_ 2000 150.0 72.0
81 1FT6108-8SF7_ 3000 70.0 53.0
Motor list 1FK6 / 1FT6

Version 1.3 07/01/1999 Page 13

Lists of stored motors Asynchronous Motors Note 1PA6 - 4 = 1PH7 - 2
1PA6 / 1PL6
Input in Motor order Rated Pole pair Current Voltage Torque Frequency
P097 number speed number I n [A] U n [V] M n [Nm] f n [Hz]
(MPRD) n n [rpm] Zp
1 1PA6101-4_F 1750 2 9.0 398 24 60.3
2 1PA6103-4_D 1150 2 9.6 390 36 40.6
3 1PA6103-4_F 1750 2 12.7 398 34 60.9
4 1PA6103-4_G 2300 2 15.4 398 31 78.9
5 1PA6105-4_F 1750 2 16.2 398 44 60.3
6 1PA6107-4_D 1150 2 16.0 381 60 40.3
7 1PA6107-4_F 1750 2 20.1 398 57 60.4
8 1PA6131-4_F 1750 2 23.7 398 71 59.7
9 1PA6133-4_D 1150 2 27.5 381 112 39.7
10 1PA6133-4_F 1750 2 33.1 398 96 59.7
11 1PA6133-4_G 2300 2 42.3 398 93 78.0
12 1PA6135-4_F 1750 2 40.0 398 117 59.5
13 1PA6137-4_D 1150 2 40.6 367 162 39.6
14 1PA6137-4_F 1750 2 53.0 357 136 59.5
15 1PA6137-4_G 2300 2 53.9 398 127 77.8
16 1PA6163-4_B 400 2 28.2 274 227 14.3
17 1PA6163-4_D 1150 2 52.1 364 208 39.2
18 1PA6163-4_F 1750 2 69.0 364 185 59.2
19 1PA6163-4_G 2300 2 78.5 398 158 77.3
20 1PA6163-4_B 400 2 35.6 294 310 14.3
21 1PA6167-4_D 1150 2 66.4 357 257 39.1
22 1PA6167-4_F 1750 2 75.2 398 224 59.2
23 1PA6184-4_B 400 2 51.0 271 390 14.2
24 1PA6184-4_D 1150 2 89.0 383 366 39.2
25 1PA6184-4_F 1750 2 122.0 388 325 59.0
26 1PA6184-4_L 2900 2 158.0 395 265 97.4
27 1PA6186-4_B 400 2 68.0 268 506 14.0
28 1PA6186-4_D 1150 2 116.0 390 485 39.1
29 1PA6186-4_F 1750 2 168.0 385 465 59.0
30 1PA6186-4_L 2900 2 205.0 395 333 97.3
31 1PA6224-4_B 400 2 89.0 2 68 725 14.0
32 1PA6224-4_D 1150 2 162.0 385 670 38.9
33 1PA6224-4_F 1750 2 205.0 395 605 58.9
34 1PA6224-4_L 2900 2 275.0 395 490 97.3
35 1PA6226-4_B 400 2 116.0 264 935 14.0
36 1PA6226-4_D 1150 2 200.0 390 870 38.9
37 1PA6226-4_F 1750 2 255.0 395 737 58.9
38 1PA6226-4_L 2900 2 350.0 390 610 97.2
39 1PA6228-4_B 400 2 138.0 272 1145 13.9
40 1PA6228-4_D 1150 2 240.0 390 1070 38.9
41 1PA6228-4_F 1750 2 350.0 395 945 58.8
42 1PA6228-4_L 2900 2 405.0 395 710 97.2
43 1PL6184-4_B 400 2 69.0 300 585 14.4
44 1PL6184-4_D 1150 2 121.0 400 540 39.4
45 1PL6184-4_F 1750 2 166.0 400 486 59.3

Version 1.3 07/01/1999 Page 14

Lists of stored motors Asynchronous Motors
1PA6 / 1PL6
Input in Motor order Rated Pole pair Current Voltage Torque Frequency
P097 number speed number I n [A] U n [V] M n [Nm] f n [Hz]
(MPRD) n n [rpm] Zp
46 1PL6184-4_L 2900 2 209.0 400 372 97.6
47 1PL6186-4_B 400 2 90.0 290 752 14.3
48 1PL6186-4_D 1150 2 158.0 400 706 39.4
49 1PL6186-4_F 1750 2 231.0 400 682 59.3
50 1PL6186-4_L 2900 2 284.0 390 494 97.5
51 1PL6224-4_B 400 2 117.0 300 1074 14.2
52 1PL6224-4_D 1150 2 218.0 400 997 39.1
53 1PL6224-4_F 1750 2 292.0 400 900 59.2
54 1PL6224-4_L 2900 2 365.0 400 675 97.5
55 1PL6226-4_B 400 2 145.0 305 1361 14.0
56 1PL6226-4_D 1150 2 275.0 400 1287 39.2
57 1PL6226-4_F 1750 2 355.0 400 1091 59.1
58 1PL6226-4_L 2900 2 485.0 395 889 97.4
59 1PL6228-4_B 400 2 181.0 305 1719 14.0
60 1PL6228-4_D 1150 2 334.0 400 1578 39.2
61 1PL6228-4_F 1750 2 473.0 400 1448 59.0
62 1PL6228-4_L 2900 2 534.0 400 988 97.3
Motor list 1PA6 / 1PL6

Version 1.3 07/01/1999 Page 15

 1.4 Drive Control Word
Function Diagrams will be referred to in brackets with their number. Please refer
to function diagrams in the compendium. Example [Diagram Number]

Function Digital Inputs/Outputs:

Diagram Assign Digital Inputs
[90] Binector Assignments for
Control may be made from
Digital Inputs

Function P555, P556 & P557 can be

Diagram Assign Off2(Coast Stop) used to assign Coast to Stop
[180]

Assign Off3(Quick Stop) P558, P559 & P560 can be

used to assign Quick Stop

Assign ON/OFF1 P554 MUST be assigned to

activate drive. Note:
Acceleration and Deceleration
will be based on ramp
generator [320]
[180] Assign Other
Functionality as
Required
Function
Diagram See [190]
[190]
Assign Other Control
Functionality as
Required

Note: OFF3 is different as compared to the VC drive, it is not a

fast ramp, but rather a stop with maximum torque from the
inverter (only limited by current limit)!

Version 1.3 07/01/1999 Page 16

 1.5 Tuning Drive and Current Loop
P060 = 5 Select Drive Settings

Drive will Calculate Parameters

P115 = 1 based on Motor selected above
and P115 returns to 0.

Select Parameter Menu

P060 = 1

Function Assign Drive Control Word

Diagram
[180]
P554 = Binector On.
A Digital Input can be used.
eg: P554 = 20(Digital Input 6)

Select Current Loop Tune from

P115 = 2 PMU.
Note: Motor Shaft can move.
All OFF commands are valid.

Fault Turn drive on when the PMU

occurs if not When PMU displays displays A078.
turned on
within 20s A078 switch Drive on. Motor will make a sound for
approximately 2 -20 seconds.

When Auto-Tune is complete

Auto-Tune Complete Drive will be in State o008.
Turn Onswitch low and Drive
will return to State o009,Drive
Ready.

Version 1.3 07/01/1999 Page 17

1.6 Communication Board Configuration

P060 = 4 Select Board Configuration

Menu
CBx Inserted? YES Parameterize CBx Boards
NO See Function Diagrams
P711 = ?
to
P721.1 5 = ? Simolink Address
0: Dispatcher (Master)
>0: Transceiver (Slave)
SLB Inserted? YES
NO SLB Telegram Failure Time
P740 = ?
SLB Transmit Power
P741 = ? 1: Up to 15 m
2: Up to 25 m
3: Up to 40 m
P742 = ? P740 = 0

P740
=1 P743 = 0 P743=0, Automatic number of
node evaluation.
Enter Number of Channels
P745 = ?
Enter Simolink Cycle Time(must
P746 = ? correspond to pulse frequency, i.e. =3.2)

Simolink Receive Address =

P749.1 8 = ? Node. Channel
YES
CBP Inserted?
NO
P918.1 2 = ? Input CBP Bus Addresses

Return to Parameter Menu

P060 = 1

Version 1.3 07/01/1999 Page 18

 Section 2:
Servo Drive Tuning Procedure

SIMOVERT MASTERDRIVES
6SE70 MC

Motion Control

Version 1.3 07/01/1999 Page 19

Servo Drive Tuning Procedure
Section 2 Table of Contents:

2.1 Drive Tuning Considerations and Overview

2.2 Configuring Drive

2.3 Configuring Drive For Speed Controller Tuning

2.4 Set Speed Controller Proportional Gain (Kp)

2.5 Set Speed Controller Integral Gain (Tn)

2.6 Set Position Controller Proportional Gain

Version 1.3 07/01/1999 Page 20

 This Diagram illustrates the Signal and Logic Flow
in the 6SE70 MC. Refer to section 3.6 for more
details.

MC Signal Flow and Logic Flow:

Signal Flow Logic Flow
Feed Forward MD49

Encoder [330] Evaluation [815] Mode Manager Output Signals Position Speed
[802] [817] Controller Controller
[340] [360]
Mode Manager
Control Word 1 Position Control [802]
ON / OFF [180] Signals [809] Torque
Controller
[370]
Setup Mode
[819]
Current
Controller
Rough Pulse Machine Data Homing Mode [390]
[813] [804]
[821]

MDI Mode[823]
M
Control Mode
[825]

Virtual Master Sync - Big Sync Input Gearbox / Cam Position Setpoint Generation
[832] Picture [831] [834] [835] [836]

Cam Profile Sync. Displace

[839] [841]

Sync. Catch-up
[837]

Position Correction
[843]

Version 1.3 07/01/1999 Page 21

2.1 Drive Tuning Considerations and Overview
Always tune speed- and position controller with physical system connected to
motor.

Speed Loop Tuning

Typically the minimum production speed of the application should be used to
start optimization. Observe the torque and the current limit to reduce steps at
high gains. e.g. 10% base speed(minimum production speed) with a 0.5% step
jump.

Observe the actual speed by setting the analog output P640 to KK151. The
analog output is multiplied by a factor of five (P643 = 50) and it is also OFFSET
by 5 V (P644 = -5). This is necessary to see the small 0.5% jumps in the
system speed.

Step One: Set integration to a large number in order to eliminate its effects
(P240 >= 250ms). Observe jumps while increasing Proportional Gain (P235).
(Proportional Gain will be mostly in the range of 50 to 200). The goal is to attain
a rapid jump that is still stable.
Note: Observe the current controller to not run into current limits while optimizing.

Step Two: Gradually decrease the integration time (P240) to achieve a 30% to
40% overshoot and a nearly critical damping of the actually speed system.

Speed controller to slow Speed controller to fast Speed controller perfect

P235 to small P240 to small, P235 to large

Version 1.3 07/01/1999 Page 22

 Notes:

While tuning the speed controller, make sure the torque step does not reach the
limits of torque or current (a step of 0.5% causes a 100% torque step when gain
is 200). For high gains the step should be smaller e.g. 0.1%. Check controller
setting at minimum speed and maximum speed and watch behavior during ramp
up, ramp down and fast stop.

Set the integral part of speed controller (P240 [360]) to maximum(1000) to

eliminate the influence of it. Increase the proportional gain for fast response
without overshoot. Increase smoothing if necessary to increase proportional
gain. Reduce the step if the proportional gain is higher than 100 ( step * gain =
torque-step).

Decrease the integral part to reach a 43% overshoot in step response. The
theoretical value is Tn = 4 * (2ms + Tgl); Tgl is the smoothing time of the actual
speed value ( if no smoothing is used Tn can be 7 to 8 ms).

In multi-drive applications the smoothing factor must be equal for all the drives
which have to perform together in order to get the same response from every
drive. Also, the smoothing of the setpoint must be the same as the smoothing of
the actual value.

If no smoothing of the actual value is used( P223 = 0), then the smoothing factor
of the speed controller setpoint should be 0.5ms to 0.8ms. Because of different
calculation cycles between the position controller and the speed controller,
setpoint smoothing is required to produce a smoother torque setpoint.

Version 1.3 07/01/1999 Page 23

Because of mechanical instability and thief belts the actual speed may look as
follows:

Speed controller acceptable Speed controller P235 to high

Run the system using a ramp generator up to full system speed and observe the
current setpoint. There will be some oscillations in the current and speed while
running at full speed. These oscillations may dampen out with a load applied to
the system. If the oscillations do not dampen out with a load applied the
proportional gain of the speed controller may need to be reduced. Also, spikes in
the current at a fixed frequency for a synchronous machine may indicate a
mechanical problem in the machine itself.

Note: Optimization should be carried out such that Proportional Gain maintains a
proportional relationship with the inertia of the system throughout the load
cycle. In other words, if the inertia of the system varies the Proportional
Gain should be adapted to this varying inertia so that proportional
relationship between the two is maintained ( i.e. Adaptive Gain [360]).

Position Loop Tuning

Setup a LU system and ActWtF (IBF) factor for the drive. Add steps to the actual
position to achieve a setpoint step. The step response should be without
overshoot. The position controller should work with proportional gains only!

Important:
P205 [340]has to be set up properly according to the LU-system. You can
change the LU-system later without changing P204 [340]. Only parameter P205
has to be changed to maintain the same behavior of the position loop. The pre-
control/Feed Forward of the speed controller should be 100% for stiff control with
rotational applications(not linear) and Synchronization.

The position controller can be limited with P207[340]. It is important to limit the
speed controller input signal if it is to be used without ramps. Many Synchronous
systems will require the position controller to be limited. (2 5%)

Version 1.3 07/01/1999 Page 24

Observe either the actual speed or the actual position. Both of these can be
observed while adjusting the position controller gain, P204[340].

Ideal Speed Ramp Speed Ramp with Overshoot Realistic Speed

Response

Version 1.3 07/01/1999 Page 25

2.2 Configuring Drive

Default Drive Quick Parameterization:

Default Procedure (Section 1.2,
page 7)

Quick Parameterization:
Motor and Drive Settings Drive Settings with Siemens
Motor (Section 1.3, page 8)

Quick Parameterization:
Setup Control Word Drive Control Word
(Section 1.4, page 14)

Quick Parameterization Guide:

Tune Current Loop Tuning Drive and Current Loop
(Section 1.5, page 15)

Technology Options Quick

Define LU System Setup Method:
Establishing LU System
(Section 3.5, page 39)

Proceed to next section

2.3 Configuring Drive
For Speed Controller
Tuning

Version 1.3 07/01/1999 Page 26

 2.3 Configuring Drive For Speed Controller Tuning
Function
Diagram P401 = 10% Main Setpoint = 10%
[290]
Jump = .5%
P402 = .5% (Set Main Ref Ramp times as
needed [320] P462, P464)

Function Select Analog Switch to Jump

Diagram U177.02 = KK0042 with.
[750]

U176 = 18(DIN5) Assign Switch to Input

Activate Switch
U950.86 = 4

Function Assign Switch Output to Jump

Diagram
[360]
P224 = KK0526 Speed after ramp
Function
Diagram P443 = KK0041 Assign Main Setpoint
[310]

Function Set Analog Output to Actual

Diagram P640 = KK0151 Speed Setpoint
[80]

P643 = 150 Scale Output X15 to show

small jump
P644 = -10 Shift Output down

Version 1.3 07/01/1999 Page 27

 2.4 Set Speed Controller Proportional Gain (Kp)
Function
Diagram Attach Oscilloscope Analog Output Terminals X101
[360] 11 &12

Scale Scope Typically 5mV, 100ms and DC

Offset

Observe Step Response Start with On command

assigned previously

Set P240 = 1000 This eliminates the effects of

Controller Integration.

Adjust P235 Attain highest possible values

(50 to 200) and ideal speed
Proportional Gain jump. There should be NO
overshoot when using
proportional gain only!

Smooth Feedback P223 This will reduce Motor Noise,

Only if Necessary! however it will slow system
reponse down. ( Typical value:
1 to 5)

Ideal Step
Response

Version 1.3 07/01/1999 Page 28

 2.5 Set Speed Controller Integral Gain (Tn)
Function
Diagram P640 = KK168 Observe Current Setpoint at
[80] analog output

P643 = 10 No Scaling

No Offset
P644 = 0

Scale Scope

Function
Observe Step Response Start with On command
Diagram
assigned previously
[360] of Current Setpoint

Adjust Kp (P235) and Only for Excessive Oscillation!

smoothing (P223) to You are looking for a sharp
limit excessive oscillation current spike and stable
settling.

Adjust P240 (Tn) Look for signal to jump then

settle, ignore normal current
oscilation. Set at the point
where you see no effect if you
increase P240.

Theoretical:
Tn= 4 *(2ms + Tgl) = P240
Tgl = P223 Actual speed smoothing
with no smoothing, Tn can be as small
as 7 to 8 ms.

Ideal Current Step Response

Version 1.3 07/01/1999 Page 29

Observe Step Response Observe the speed controller
step response as above.
of Speed Controller Theoretically an Ideal
overshoot should be 43%.
P240 [360] should be reduced
Observe at 0%, 10%, 50% & to acheive the desired
100% and look for oscilations.
overshoot.
Reduce P235 to fix this as
needed.

Speed controller acceptable Speed controller P235 to high

Realistic Speed Controller Step Response

Proceed to Position
Controller Tuning in
Section 2.6

Version 1.3 07/01/1999 Page 30

 Ideal Speed Controller Step Response and
Current Step Response Plotted with
SIMOVIS Trace Function.

Version 1.3 07/01/1999 Page 31

 2.6 Set Position Controller Proportional Gain
Cycle Control Power
Function
Diagram
[340] P206 = 0 Set Position Loop Integral Gain

P210 = 1 Release Position Controller

P207 = 5% Limit Output of Position

Controller
Because of different calculation
cycles between the position
If P223 = 0, controller and the speed
controller, setpoint smoothing is
Then P221 = 0.5 to required to produce a smoother
0.8ms torque setpoint.

Function
Diagram P190 = KK415 Position Controller Setpoint will
[340] come from U2015

U015 = r201 + Set Position Controller Setpoint

to current position plus a 10
(10 degree step in LU) degree step. (eg: U015 = 100)

Function P640 = KK151 Set Analog output to Speed

Diagram Controller Output
[80]

P643/P644 = 150/0 Scale Analog output / No Offset

Version 1.3 07/01/1999 Page 32

 Scale Scope

Function Step the Axis by ten Set U015 to add an additional

Diagram
[340] degrees (Turn drive on) 10 degree step. Observe the
step on the oscilloscope.

Adjust P204 Position loop proportional gain.

Function If values of P204 are too great
Diagram Range .1 to 1+ the system will oscillate and
[340]
For a Good Step become unstable.

Ideal Speed Ramp Speed Ramp with Overshoot Realistic Speed

Response

Version 1.3 07/01/1999 Page 33

Realistic Speed Controller Step Response and
Current Controller Response

Version 1.3 07/01/1999 Page 34

 Unstable Speed Controller Step Response and
Current Controller Response

Version 1.3 07/01/1999 Page 35

After P204 is Optimized Set a very long integration time
to cancel out residual error
Set P206 = 250 which may occur over time.

Record values: Basic Speed Controller and

Position Controller Tuning
P120-P125,235, 240, Complete.
223, 204, 207, 206
Proceed to Technology Tuning

Note: When integration time is enabled, check to make sure that no overshoot
occurs. If speed controller pre-control is properly adjusted the
integration time can actually be left off (P206=0 [340]).

Version 1.3 07/01/1999 Page 36

Technology Additional Tuning
Set MD49 Run the drive through
technology to find the ideal
Feed Forward value (MD49).
Remember that Machine Data
values must be activated at
U502. Rotary systems should
have a pre-control/ Feed
Foward of 100%. For Linear
systems start with at least 50%
pre-control/ Feed Forward.

Run the system up to 100%

speed
If the system will not operate at
Verify speed controller and 100% speed these parameters
position controller gain may need to be re-optimized or
decreased.

Tuning Procedure completed

Remember that the Feed Forward will provide the setpoint for the
Speed Controller velocity and the Position Controller can have a
relatively small gain because it is only closing the loop to eliminate
error. Individual systems will require different values for Feed
Forward.

Note: U502 is not needed if Synchronization is used like a free

function block.

Version 1.3 07/01/1999 Page 37

 Section 3:
Technology Options Quick
Setup Method

SIMOVERT MASTERDRIVES
6SE70 MC

Motion Control

Version 1.3 07/01/1999 Page 38

MASTERDRIVE MOTION CONTROL:
TECHNOLOGY OPTIONS QUICK SETUP
METHOD
Typical changes to Parameters needed for using Technology
Options.
Intended to be used with function diagrams listed in [ ] .

Purpose:

The purpose of this document is to lead the user through a

typical setup of the Technology options for a MASTERDRIVE Motion

Controller. Follow through each of the steps, with the stated function

diagrams, and apply them to your individual setup. These steps will

lead you through general technology activation without the use of a

download file. The Control flow sequenceand the Activation &

Settingsections illustrate the setup required for use with the

Operating Mode Manager. The individual setup of the drive control

and IO is left to the user. This should be used as a checklist for

connecting drive functions and performing required definitions.

Version 1.3 07/01/1999 Page 39

Technology Options Quick
Setup Method
Section 3 Table of Contents:
3.1 Default Drive

3.2 Set Motor Data

3.3 Verify Technology Activation

3.4 Choose Operating Mode Manager

3.5 Establishing Length Unit System

3.6 Control Flow Sequence

3.7 Activation and Settings

3.8 Verify and Define Common Machine Data

3.9 Homing Procedure Checklist

3.10 MDI Operation Checklist

3.11 Synchronism Method

3.12 Operation Signal Assertion

Version 1.3 07/01/1999 Page 40

3.1 Default Drive Quick Startup Guide Section 1.2

3.2 Set Motor Data Quick Startup Guide Section 1.3

3.3 Verify F01 Technology Activation [850]

If n978 = 1 technology is activated.
If n978 = 0 see [850].

3.4 Choosing Operating Mode Manager [802]

Operating Mode Manager Operating Mode Manager

allows the user to change
U953.32 = 4 activate Manager
between modes of operation
U953.33 = 20 inactive sync
free function including:
0: No Operation
1: Set Up
2: Homing
3: MDI
4: Control
5: Automatic Positioning
6: Automatic Single Block
B. Sync. Mode Operation 11: Synchronous
As Free Function Operation
U953.32 = 20 inactive As an alternative the Synchronous
Manager Mode of operation may be
U953.33 = 4 activate Sync exclusively selected. The Operating
Mode Manager takes up processor
time when activated. If only the
Sync Mode is going to be used then
this section may be activated on its
own.

Version 1.3 07/01/1999 Page 41

3.5 Establish Length Unit System

Rotary System LU represents Length Unit. The

Define LU/Revolution Equivalent terminology of Length Units is used
to define units of measurement that
Example: the drive will count when turning the
If: 1LU = .1 degree motor.

Then: 3,600 LU/rev The user will define distances that

the drive moves in the measure of
Length Units. Length Units provide
flexibility because the user can
define Linear or Rotary Axis systems
to their needs.

Encoder Type Resolution Achievable Positioning

Accuracy
(inc/rev) (Pulse/rev)
Resolver 4096 (212) 1024

Pulse Encoder 4096 1024 with a 1024 PPR encoder

Sin/Cos Encoder 16777216 (224) 105 to 106

ERN1381/1387

Multiturn/Absolute 16777216 (224) 105 to 106

Value Encoder
EQN1325

Note: For any systems, which are vibration/position critical, a better feedback
device should be used, such as a Sine/Cosine Encoder.

In practice, the resolution of the encoder must be higher than the

requested positioning accuracy by a factor of 4 to 10. The levels of
achievable accuracy given above are only rough guidelines.

Determine Encoder Resolution: [330.3]

Depending on the type of feedback
Set parameter P171 according to the device which is used varying bit
encoder resolution. values of resolution are available for
the drive to operate with.
If resolution is 4096 ticks/rev: The number of bits that the drive will
4096 = 2 P171 = 12 use as feedback is entered into
P171.

Version 1.3 07/01/1999 Page 42

Set Actual Weighting
Factor (ActWtF, or IBF) The ActWtF (IBF) factor represents a
weighting factor between the
IBF = (LU/rev) / (Encoder resolution LU/revolution and the encoder
ticks/ rev) resolution. The user defines both of
these values.
IBF = (P169).(P170___eight digits)
Calculation and Parameter limits
P169 equals the integer value may be reached if the user attempt
P170 must equal an eight digit to have values that are too large in
decimal number both the LU/revolution and Encoder
Resolution that is utilized.

ie: Good Example The IBF Factor should be less than

If: 3600 LU/rev and 4096 or equal to 1 if possible. If the IBF
counts/rev factor is greater than 1 the drive will
then: ActWtf or IBF = .87890625 be attempting to count LUs to
P169 = 0 accuracy greater than the feedback
P170 = 87890625 device is generating.

ie: Bad Example

If: 36,000 LU/rev and 4096
counts/rev
then: ActWtf or IBF = 8.7890625
P169 = 8
P170 = 7890625

[340.3]
Set the Rated Speed for
Position Control (1000
P205 is used to define the speed for
LU/min) position control resulting at 100%
P205 = (P353, rpm) x (LU/rev) speed (actual value).
1000
Note: P205 is limited to 10,000,000
ie: Good Example with version 1.3 software.
If: Max Speed = 6000 rpm Parameter limits may effect the
and 3,600 LU/rev users ability to utilize the full
Then: P205 = 21,600 resolution of the encoder and
quantity of Length Units.

Version 1.3 07/01/1999 Page 43

3.6 Control Flow Sequence
Follow the Signal and Logic Flow through these function diagrams.

MC Signal Flow and Logic Flow:

Signal Flow Logic Flow
Feed Forward MD49

Encoder [330] Evaluation [815] Mode Manager Output Signals Position Speed
[802] [817] Controller Controller
[340] [360]
Mode Manager
Control Word 1 Position Control [802]
ON / OFF [180] Signals [809] Torque
Controller
[370]
Setup Mode
[819]
Current
Controller
Rough Pulse Machine Data Homing Mode [390]
[813] [804]
[821]

MDI Mode[823]
M
Control Mode
[825]

Virtual Master Sync - Big Sync Input Gearbox / Cam Position Setpoint Generation
[832] Picture [831] [834] [835] [836]

Cam Profile Sync. Displace

[839] [841]

Sync. Catch-up
[837]

Position Correction
[843]

Version 1.3 07/01/1999 Page 44

Function Diagram: Description:

[809] Position Control Signals This block is used as a control word

for the Technology (F01). Modes of
operation and control signals are
assigned at this point.

[802] Operating Mode Manager Operating Mode Manager allows the

user to change between modes of
operation including:
0: No Operation
1: Set Up
2: Homing
3: MDI
4: Control
5: Automatic Positioning
6: Automatic Single Block
11: Synchronous
Operation

[819] Setup Mode Set-up Mode is used for position

controlled inching. Set-up Mode
takes into account software limits for
position.

[821] Homing Mode Homing Mode is used to approach a

predefined position. This position is
used to define the reference system
for the Axis. An external signal
(BERO signal), such as a proximity
switch, will indicate when the Axis is
in place.

[823] MDI Positioning Mode MDI mode is used for point to point
positioning. MDI defines the
acceleration, speed and position for
a movement of the axis.

[825] Control Mode Control Mode is used for position

controlled inching. Control Mode is
similar to Set-up Mode but it does
NOT take into account software
limits for position.

Version 1.3 07/01/1999 Page 45

Function Diagram: Description:

[831] Synchronism Mode (overview) Synchronism Mode is used for the

synchronization of several axiss.
Functions such as Virtual Master,
Engaging/Disengaging, Gear Ratio,
Cam Table and Position Correction
are incorporated into the
synchronization functionality of the
Technology (F01).

[832] Synchronism Virtual Master The Virtual Master is used as a

reference for each axis to follow.
The advantage of a Virtual Master
verses a Real Master is a
disturbance free system.

The Virtual Master is given speed

reference, initial position, reset
signals and start/stop signals.

[834] Synchronism Input and The Master Axis Signal is assigned

Engaging / Disengaging here. Engaging and Disengaging
represent a clutching function that
allows the Axis to match the master
and be ramped on and off.

[835] Synchronism Gearbox and The Gearbox can be used to define

Cam Table a ratio between the Master Axis and
the following Axis.

[836] Position Setpoint Generation Position Setpoint and Speed Pre-

Control signals are generated after
signal has gone passed through
Technology Options.

[837] Synchronism Catch-up function This function can be used to

accelerate the drive to the speed of a
running machine.

Version 1.3 07/01/1999 Page 46

Function Diagram: Description:

[839] Synchronism Cam Table The Cam Table can be used as a

mapping function between the
Master Axis and a following Axis.
Profiles are loaded into the table and
the following axis can be set to follow
irregular motion profiles.

[841] Angular Sync & Displacement Used to Displace Angle Absolute,

Relative or to match Master.

[843] Position Correction Used to correct for position errors by

comparing actual position to a
reference position.

Version 1.3 07/01/1999 Page 47

3.7 Activation & Settings
This section outlines the drive activation and settings that must be done in order
to configure the drive for Technology Control. Refer to the Function Diagrams in
[#] while defining the required signals.

Position Control Signals [809] Example:

Activate Block U953.30 = 4 U710.29=10
Mode Selection Address U710.29 Indexes 29 to 32 U710.30=12
U710.32=14
U710.30 are used to define U710.28=18
U710.31 the Mode of U710.3= 18
U710.32 Operation Digital Inputs to
Jog Forward, DIN select U710.28 *Can tie Start switch modes
Start, DIN select U710.03 to Jog and start
functions

Example:
Define ON/OFF in Control word P554 = DIN? [180] P554 = 20
Make sure OFF123 are enabled Digital In 6

Link Speed Controller input to Position Controller Output. [360] [340]

P220 = KK131

Link Position Value & Measured parameters [815.3] [330]

U535 = 120
U539 = 122

Define Position Sensing Parameters [330] [815]

P172 = 302
P174 = 301
P184 = 303

Example:
Assign Rough Pulse P178 = DIN [330] P178 = 16
MD45 (U501.45) [813] U501.45=70
00
See Section 3.8 (below) U536.1 6 = DIN U502 = 2

Optimize Position Controller P204.001 = (<2) (adjust when

working) Example:
P210 = 1 P204 = 1
P211 = 1 [340]

Version 1.3 07/01/1999 Page 48

3.8 Verify and Define Common Machine Data [821]
U501.0MD#
MD# Description Units

MD3 Home Position Coordinate Post Stop (LU)

MD4 Home Displacement LU
MD6 Home Reduced Speed 1000 LU/min
MD7 Home Approach Speed 1000 LU/min
MD10 Encoder Offset LU
MD11 Rotary/Linear Axis Rotary = # LU/rev & Linear = 0
MD14 Follow Error monitoring @ standstill LU
MD15 Follow Error monitoring in motion LU
MD16 In Position Timer monitoring ms
MD17 In Position Exact Stop Window LU
MD18 Home Accel displacement search 1000LU/s
MD19 Home Decel displacement search 1000LU/s
MD23 Max Speed 1000LU/min
MD41 Home Accel Time-Homing ms
MD42 Home Decel Time-Homing ms
MD49 Speed Pre-Controller 0 100 %
MD45 [813]
10 10 10 1010 10
E6 E5 E4 E3 E2 E1
Function: 0 = NO Function
1 = Start and Operate
2 = Start OR Operate
3 = Position Feedback Set on Fly (Automatic Mode)
4 = External Block Change (Automatic Mode)
5 = In Process Measure
6 = Collision (Automatic Mode)
* 7 = Prox Switch for Reference [821.4]
9 = Read in enable
U536.01 (0) E1 U536.05 (18) E5
.02 (0) E2 .06 (20) E6
.03 (0) E3 example, U501.45 = 7000, Prox signal set to switch
.04 (16) E4 defined in fourth index of U536

Version 1.3 07/01/1999 Page 49

Typical Changes to Demo Unit Machine Data - Check Values for your Application
U501.11 = 36,000 LU/rev
U501.14 = 2750
U501.17 = 2200
U501.23 = 216,000
U501.45 = 7000

Guidelines from the MC Manual:

MD23 = Max Traversing Velocity (1000LU / min)
MD14 >= 5 * (Actual Following Error at Standstill (LU) )
Note: MD14 & MD17 may have to be higher than suggested values
depending on the individual system.
MD15 >= 1.5 * MD23 / Kv (P204)
MD16 ~ 500 to 2000 ms
MD17 < MD14
MD18/MD19 = If unsatisfied with default accel / decel, then calculate
based on MD23 max speed and the desired acceleration time.

Changes to Machine Data Must be Manually Activated (U502 = 2)

U502 = 0 1 2
Ok Change Occurred Activate Change

3.9 Homing Procedure Checklist

Set & Activate required Machine Data (above) U502

Set Control Signals / Mode U710 / [809]
Start Enable / OFF 123 Enable Control Word [180]
Jog Forward Defined U710 / [809]
Prox Signal Defined P178 / U536 / MD45

Version 1.3 07/01/1999 Page 50

3.10 Manual Data Input (MDI) Checklist

See [823]

Define MDI Data Sets 0 9 in terms of required motion Acceleration Speed and
Position:
G (Accel Function) Position X Speed

U55X.001 U55X.002 U55X.003

X=0 9

Set Control Signals / Mode [809]

n540.14 = Mode In Display
Select MDI Data Set via Bits 8 11 [809]
Example:
If: Data Set 1 (X = 0)
Then: U710.09 = 1

Set G (Acceleration) Functions U55X.001 [823]

90 = Absolute Position 30 = 100%
91 = Relative Position 31 = 10%
39 = 90%
Example:
If: Relative Motion from current position and 100% Acceleration ramp
Then: U55X.001 = 9130

Set Position Data U55X.002 (LU) [823]

Example:
If: 3600 LU/rev and 90 degree turn required
Then: U55X.002 = 900 LU

Set Speed Data U55X.003 (10 LU/min) [823]

Example:
If: Speed = 100 rpm and 3600 LU/rev
Then: ( (100 rev/min) X (3600 LU / rev) ) / 10
U55X.003 = 36,000

Version 1.3 07/01/1999 Page 51

3.11 Synchronism Method

A. Virtual Master Setup

B. Simolink Setup
C. Assign Sync Functions
D. Cam Operations

A. Virtual Master Setup [832]

Activate Function Block U953.34 = 4

Assign Setpoint Input U681 = 11 (Analog Input)

Set rated speed U682

6000 rpm * (36,000 LU/rev) * (1/10)
U682 = 21,600,000

Verify Control Signals U684.01 Reset

.02 Start/Stop
.03 Set to Initial Position

Set Ramp Acceleration U685 (1000LU / s)

Set the Enable for Virtual Master U689

Set Integrator Axis Cycle Length U687 = LU/rev = 36,000

B. Simolink Setup [140]

Assign SLB Node Address

P740 = 0 (Master) / 1 (Slave)

Define:
Signal Power P742
# Nodes P743
# Channels P745

Assign Transmit on Master [160]

P751.01 = KK817 (Transmit High Word from Virtual Master)
P751.02 = KK817 (Low Word)

Assign Receive on all Drives [150]

P749.01 = Node Channel (e.g. = 0.0)

Version 1.3 07/01/1999 Page 52

C. Assign Sync Functions [834]

Leave U953.33 = 20 unless using explicitly

1. Assign Position Setpoint

U600.01 = KK7031 (Connector from Simolink Word Channel 0)
U606 = 0

2. Assign U601 = Rotary Axis Length = (36,000LU/rev)

3. Engaging / Disengaging [834]

Define Sync Op Mode P602

Set Accel + Decel Length = U610 (LU)
Total Cycle Length = U611 (LU)
Couple Position = U608 (LU)

Enable Engaging / Disengaging U612

Define Clutching U656

4. Gear Box Definition [835]

Numerator: U604.1
Denominator: U604.2

5. Select Operation: U603 [834]

1:1
Gear
Cam

6. Verify Position Control Reference [340.1]

P190 = 310 Default

Version 1.3 07/01/1999 Page 53

D. Manual Cam Profile Setup [839]

Note: Should use a download file to configure complex cam operations.

Note: Table Parameters cannot be checked (Loaded) if the table, to be checked,

is currently selected (U650).

Table Configuration U615

=1 200 point table
=2 Two 100 point tables
Cam Mode U616
Y scale, X scale, continuous/stop, absolute/relative
Table Width U620
# Support Points U629
X Axis Support Points U630.1-50 / U631.1-50
Y Axis Support Points U635.1-50 / U636.1-50

Note: (If operating in a continuous mode, you may wish to have the first
coordinate and the last coordinate the same, to avoid jumping motion)

Define Starting Point U618

Set Table U619
Select Table U650

Check Table to Load it. U617.1 = 2 Check table 1

U617.2 = 2 Check table 2
If U617 = 0 then okay to proceed

[836]
Selection of Cam U603 = 2

Version 1.3 07/01/1999 Page 54

3.12 Operation Signal Assertion
(These signals must be seen by the drive)

Turning System On
OFF1 = OFF2 = OFF3 = ECN = 1
(Profibus must see LB = 1)

Jog Function
Turning System On
Mode = Setup = 1 Control word bits 31 to 28 [809]

Jog Forward or Jog Backward Bit 25 or 26

Home Function
Turning System On
Mode = Home = 2 Control word bits 31 to 28 [809]

Machine Data must be programmed in drive

Jog Forward or Jog Backward Bit 25 or 26

Rough Pulse must be assigned P501.45, U536, P178

MDI Function
Turning System On
Mode = MDI = 3 Control word bits 31 to 28 [809]

MDI Program Select Bits 15 to 8

MDI program must be in drive

Start Bit 2

Sync Function
Turning System On
Mode = Sync = 11 Control word bits 31 to 28 [809]

Virtual Master & Simolink must be setup

Start Bit 2
Start/Enable Virtual Master

Version 1.3 07/01/1999 Page 55