16 Motor Syn0 S

Comm_Motor page 01
SITRAIN / METAL ACADEMY

Siemens AG 2011 - all rights reserved
Commissioning the Motor Module
DR-SM150
List of Contents
4.1 Opening Cabinet Doors / Grounding Make Proof Switch ...................................... 4
4.2 Verifying Essential Settings on the Excitation Unit (DC-Master) ........................... 4
4.3 Deleting Faults in the message buffer ................................................................ 6
4.4 Energizing the DC-Master ..................................................................................... 8
4.5 Measuring the Exciter Current ............................................................................... 22
4.6 Substituting the Automation via DCC-Chart, LCOMRG .................................. 24
4.7 Automatic Optimization and Identification of Current Loop Data (in the DC-Master) 30
4.8 Optimization of the Exciter Current Controller (in the DC-Master) ..................... 32
4.9 Tracing Signals at the Input- or Output-Channels of DCC-Blocks ........................ 38
4.10 Verifying Essential Settings on the Motor Module ................................................. 44
4.11 Rotor Position Detection ........................................................................................ 48
4.12 Operation of the Motor in I/f-Mode ...................................................................... 54
4.13 Operation of the Motor in Speed Control ............................................................ 62
4.14 Transition Current Model Voltage Model .................................................. 66
4.15 Setting the Scaling of the Magnetizing Inductance, d-axis ................................ 68
4.16 Excitation Current Adaptation (Balancing-Factor / G-Factor) .............................. 70
4.17 Optimization of the Current Controllers (via I
Sq
) ................................................... 74
4.18 Optimization of the Flux Controller ....................................................................... 86
4.19 Optimization of the Speed Controller via Step of Setpoint ................................. 92
4.20 Optimization of the Speed Controller via Step of Load ....................................... 98
4.21 Setting the Infeed Pre-Control ............................................................................... 102
4.22 Adjusting the Instrumentation Meters .................................................................... 106
4.23 Final Steps .............................................................. 108
page 02
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4.4 Energizing the DC-Master ..................................................................................... 8
4.5 Measuring the Exciter Current ............................................................................... 22
4.6 Substituting the Automation via DCC-Chart, LCOMRG .................................. 24
4.7 Automatic Optimization and Identification of Current Loop Data (in the DC-Master) 30
4.8 Optimization of the Exciter Current Controller (in the DC-Master) ..................... 32
4.9 Tracing Signals at the Input- or Output-Channels of DCC-Blocks ........................ 38
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4.1 Opening Cabinet Doors / Grounding Make Proof Switch ...................................... 4
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page 01
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Comm_Motor page 03
Comparison of Essential Settings for the Excitation
r072 * P076 p390
P101 p388
- P100 serves as scaling reference and
as excitation current limit
(along with P171: I.exc.max = P100 * P171).
- P78 acts as scaling reference for the
line input voltage.
- p390 defines the HW-rating of the DC-Master and the scaling reference on SIMOTION/SINAMICS.
- p388 represents the maximum armature voltage available for a line input voltage as set in P101; P101.max = 1.35 * P78).
- p389 acts as exciter current setpoint in no-load condition (i.Sq = 0).
Exciter setpoint from SIMOTION DCC via
PROFIBUS and Free Blocks of DC-Master
P820
Unless the exciter winding is equipped with temperature
sensors, the I
2
t-monitoring should not be deactivated.
DR-SM150
page 04
4 Commissioning the Motor (Motor Module)
4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / 4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / 4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / 4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / CroundIng Mnko Iroof SwIfch CroundIng Mnko Iroof SwIfch CroundIng Mnko Iroof SwIfch CroundIng Mnko Iroof SwIfch
>onIy for InformnfIon< >onIy for InformnfIon< >onIy for InformnfIon< >onIy for InformnfIon<
CommIssIonIng of fho Mofor ModuIo wIII onIy bo sfnrfod onco fho commIssIonIng of fho Infood hns boon
comIofod. Somo gonornI roquIromonfs, howovor, hnvo fo bo consIdorod boforo commIssIonIng fho Mofor ModuIo
In fho snmo wny ns fhoy hnvo boon consIdorod boforo commIssIonIng fho Infood.
Ior dofnIIs Ionso rofor fo foIcs 3.l fo 3.3 of fho socfIon CommIssIonIng fho Infood.
4.2 Verifying Essential Settings on the Excitation Unit (DC-Master)
Basic commissioning of the DC-Master has already been carried out by downloading the assigned file (via Drive
Monitor). Furthermore a number of faults which were due to some minor mismatch between the required
parameterization of the DC-Master and the settings assigned to it via download already have been cleared by
adapting the respective parameters.
Before the DC-Master is switched on for the first time, some essential parameters should be checked to verify that
the download file which has been used matches with the given set-up:
- P079 = 1, P601.3 = K9210 (particular settings, if the DC-Master is used for excitation)
- P171 = 120%, P172 = -10% (current limits; unless required differently)
- P150 = 10
0
(training rack: 60
0
), P151 = 150
0
(alpha_G limit, alpha_W limit)
The parameters for Rated excitation voltage and Rated excitation current have to be functionally identical both in
the DC-Master and in the Motor Module; verify that this requirement is given in the current parameterization (refer to
the information in the slide).
Af sIfo nIIcnfIons I0?6 Is fyIcnIIy sof fo l00 fho soffIng of 20 Is roquIrod nf fho frnInIng rnck bocnuso of
fho Inrgo nrmnfuro curronf rnfIng of fho CMnsfor In comnrIson fo fho smnII oxcIfor curronf rnfIng of fho
synchronous mofor lroquIromonf I0?6 > Il00 * Il?l / r0?2.
4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / 4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs /
>onIy for InformnfIon< >onIy for InformnfIon< >onIy for InformnfIon< >onIy for InformnfIon< >onIy for InformnfIon< >onIy for InformnfIon< >onIy for InformnfIon< >onIy for InformnfIon< >onIy for InformnfIon<
CommIssIonIng of fho Mofor ModuIo wIII onIy bo sfnrfod onco fho commIssIonIng of fho Infood hns boon
comIofod. Somo gonornI roquIromonfs, howovor, hnvo fo bo consIdorod boforo commIssIonIng fho Mofor ModuIo
In fho snmo wny ns fhoy hnvo boon consIdorod boforo commIssIonIng fho Infood.
Ior dofnIIs Ionso rofor fo foIcs 3.l fo 3.3 of fho socfIon CommIssIonIng fho Infood.
4.2 Verifying Essential Settings on the Excitation
Basic commissioning of the DC-Master has already been carried out by downloading the assigned file (via Drive
Monitor). Furthermore a number of faults which were due to some minor mismatch between the required
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4 Commissioning the Motor (Motor Module)
4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / 4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / 4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / 4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / 4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / 4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / 4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / 4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs / 4.l OonIng fho CnbInof oors of ModIum VoIfngo Comnrfmonfs /
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page 03
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sensors, the I
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- p388 represents the maximum armature voltage available for a line input voltage as set in P101; P101.max = 1.35 * P78).
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Unless the exciter winding is equipped with temperature
t-monitoring should not be deactivated.
Comm_Motor page 05
Excitation-specific Settings of the DC-Master
DR-SM150
page 06
4.3 Deleting Faults in the message buffer
During commissioning a large number of alarm and fault messages have been indicated and acknowledged; all alarm
and fault messages are stored in the message buffer and can be viewed on the OP177 via key F4/MSG Buffer.
Have a look at the message buffer and delete its contents as follows:
- HW key F6/Diagn.
- SW button Delete Old Messages
- User = ADMINor User = 0100
- Password = 100
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Have a look at the message buffer and delete its contents as follows:
- HW key F6/Diagn.
- User = ADMINor User = 0100
- Password = 100
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4.3 Deleting Faults in the message buffer
uring commissioning a large number of alarm and fault messages have been indicated and acknowledged; all alarm
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page 05
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Comm_Motor page 07
Status Word 2 Excitation
DR-SM150
page 08
4.4 Energizing the DC-Master
To test the function of the DC-Master, its line breaker has to be switched on (key K5/Exc. Breaker ON), followed by
the on command to enable its pulses via key K6/Excit. ON.
Response to the command exciter line breaker on is enabled only if the Infeed signals ready (if it is switched on).
Select Local Mode, switch on the Auxiliaries, switch on the Infeed and switch on the Exciter line breaker: you will
observe that the assigned contactor (K1 on the auxiliaries rack) closes but trips again nearly immediately.
Which alarm message is (temporarily) displayed:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Refer to the mill stand function diagrams of the DC-Master and find out whether the feedback message exciter
breaker On is indicated on the PMU while contactor K1 is closed (use the PMU to read the message, because Drive
Monitor is too slow to indicate a signal of such short duration).
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Select Local Mode, switch on the Auxiliaries, switch on the Infeed and switch on the Exciter line breaker: you will
observe that the assigned contactor (K1 on the auxiliaries rack) closes but trips again nearly immediately.
Which alarm message is (temporarily) displayed:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Refer to the mill stand function diagrams of the DC-Master and find out whether the feedback message exciter
breaker On is indicated on the PMU while contactor K1 is closed (use the PMU to read the message, because Drive
Monitor is too slow to indicate a signal of such short duration).
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o test the function of the DC-Master, its line breaker has to be switched on (key K5/Exc. Breaker ON), followed by
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page 07
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Comm_Motor page 09
Source of Excitation Breaker Control
excitation breaker control via
D445 / ET200
0
1
DC-Master
1
0
DR-SM150
page 10
You will observe that no feedback signal is identified. The reason could be a true fault in the feedback circuit, but this
signal will also be missing (not being wired to the DC-Master to terminal X171:36 at all) if the exciter breaker is
controlled from external, typically via ET200 as true on the training rack.
(To avoid additional trouble later on, close switch S16 which actually simulates an exciter contactor feedback fault.)
The definition control via DC-Master respectively control from external is set on blocks TPH949 and TPH943 in
chart AUXS, sheet B1; assign the correct control request to the related blocks.
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The definition control via DC-Master respectively control from external is set on blocks TPH949 and TPH943 in
chart AUXS, sheet B1; assign the correct control request to the related blocks.
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You will observe that no feedback signal is identified. The reason could be a true fault in the feedback circuit, but this
signal will also be missing (not being wired to the DC-Master to terminal X171:36 at all) if the exciter breaker is
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page 09
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Comm_Motor page 11
Definition: Continuous Signal or Pulse Signal
excitation breaker
control via
pulse
signal
0
continuous
signal
1
DR-SM150
page 12
On repeating the test you will notice that the excitation breaker is still tripping after a short delay. On chart AUXS,
sheet E2, block EXB150 the switching characteristic of the exciter breaker control has to be defined (continuous
signal or pulse signal).
Check the wiring scheme of the training rack Auxiliaries to find out whether a continuous signal or a pulse signal is
used; adapt the programming of the DCC-chart accordingly.
Verify the success of this modification: the exciter breaker K1 closes and remains closed.
(A lead to chart AUXS, E2 is given by the temporarily displayed OP177 message =.WA75/E2, Self tripping excitation
breaker.)
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used; adapt the programming of the DCC-chart accordingly.
Verify the success of this modification: the exciter breaker K1 closes and remains closed.
(A lead to chart AUXS, E2 is given by the temporarily displayed OP177 message =.WA75/E2, Self tripping excitation
breaker.)
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On repeating the test you will notice that the excitation breaker is still tripping after a short delay. On chart AUXS,
sheet E2, block EXB150 the switching characteristic of the exciter breaker control has to be defined (continuous
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page 11
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Comm_Motor page 13
Control Word 1 Excitation
r000
S1
S2
DR-SM150
page 14
Now switch on the exciter via key K6/Excit. ON. You will observe no function whatsoever.
To find the very basic reason, check the drives status via missing enables and set the responsible parameter to its
required value:
p . . . . . . . . . . = . . . . . . . . . . .
You will notice that a fault is signaled. Identify the fault message indicated for drive device VECTOR:
current fault: . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Open the expert list for object Vector and analyze the settings in p405 (this parameter was indicated to have a
parameterization error) under the aspect of using an HTL-encoder in the given hardware. Crosscheck the respective
settings in p404 and adapt them to the requirements of the HTL-encoder:
p . . . . . . . . . . . . . . = . . . . . . . . . . p . . . . . . . . . . . . . . = . . . . . . . . . .
Remove the 24VDC supply from component SMC30 and put it back on again: after a short delay the SMC30 reads
RDY = green.
Upload these changes to the PG/PC, save the changes in the project and save these changes on the CFC.
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p . . . . . . . . . . = . . . . . . . . . . .
You will notice that a fault is signaled. Identify the fault message indicated for drive device VECTOR:
current fault: . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Open the expert list for object Vector and analyze the settings in p405 (this parameter was indicated to have a
parameterization error) under the aspect of using an HTL-encoder in the given hardware. Crosscheck the respective
settings in p404 and adapt them to the requirements of the HTL-encoder:
p . . . . . . . . .
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Now switch on the exciter via key K6/Excit. ON. You will observe no function whatsoever.
To find the very basic reason, check the drives status via missing enables and set the responsible parameter to its
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page 13
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Comm_Motor page 15
Adapting the Encoder Settings
DR-SM150
page 16
Again switch on the exciter via key K6/Excit. ON. Now you will observe the following:
- the command is accepted but the pulses are not enabled
- after elapse of the monitoring time, the Motor Module and the Motor signal Fault
(red symbols on the OP177) and
- the excitation circuit breaker is tripped.
Analyze the indication shown on the PMU of the DC-Master before and after the command key K6/Excit. ON.
Refer to the supplied circuit diagrams of the training rack and to the function diagrams of the DC-Master to find the
reason of the still observed malfunction.
Take the appropriate action to eliminate this cause:
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(red symbols on the OP177) and
- the excitation circuit breaker is tripped.
Analyze the indication shown on the PMU of the DC-Master before and after the command key K6/Excit. ON.
Refer to the supplied circuit diagrams of the training rack and to the function diagrams of the DC-Master to find the
reason of the still observed malfunction.
Take the appropriate action to eliminate this cause:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Again switch on the exciter via key K6/Excit. ON. Now you will observe the following:
- the command is accepted but the pulses are not enabled
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page 15
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Comm_Motor page 17
Fault Messages of the DC-Master
DR-SM150
page 18
Again switch on the exciter via key K5/Ex. Breaker ON and key K6/Excit. ON. You will notice that presently the
Motor Module, the Motor and the Exciter indicate Fault immediately.
Find out which fault message and which fault value is shown for the DC-Master:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Assign the correct parameter value on the DC-Master (EEPROM) and again switch on the exciter via
key K5/Ex. Breaker ON and key K6/Excit. ON.
Once again, the Motor Module, the Motor and the Exciter indicate Fault immediately.
As before, find out which fault message and which fault value is shown for the DC-Master:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed information about the line voltages of the DC-Master is provided via connectors K301 to K303.
Assign the correct parameter value on the DC-Master (EEPROM) and again switch on the exciter via
You will notice that:
- the command is accepted but the pulses are not enabled (the LED assigned to K6 flashes)
(red symbols on the OP177).
Again analyze the indication shown on the PMU of the DC-Master before and after the command key K6/Excit.
ON; refer to the circuit diagrams of the training rack and to the function diagrams of the DC-Master to find the reason.
Take the appropriate action:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Assign the correct parameter value on the DC-Master (
Once again, the Motor Module, the Motor and the Exciter indicate Fault immediately.
As before, find out which fault message and which fault value is shown for the DC-Master:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed information about the line voltages of the DC-Master is provided via connectors K301 to K303.
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Again switch on the exciter via key K5/Ex. Breaker ON and key K6/Excit. ON. You will notice that presently the
Motor Module, the Motor and the Exciter indicate Fault immediately.
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page 17
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Comm_Motor page 19
Cross-Reference from OP177-Messages to Charts to Periphery
chart
CPU
SIMU
AINF1
LCOMRG
DOPAR
COMCBE
INPUT
POSIT
chart
MOPRO
INAUX
INAUXD
AUX1
AUX2
TMONI
AUXCU
AUXS
chart
AUX2D
AUX1D
TMONID
PANEL
MSG
OUAUX
OUAUXD
OUTPUT
=.WA
01
03
05
06
07
10
11
12
=.WA
53
61
62
71
72
73
74
75
=.WA
77
78
79
81
82
97
98
99
actual messages X
Date Time Text
29/10/10 09:55:45 =.WA11 / I3 (=.DA/1.9)
Switch on fault excitation converter fan 1
>display OP177<
from OP177 chart reference (=.WA xx) to chart, section, page
follow the message-relevant signal to the variable / relate variable to process data word / find assigned node and PZD-no.
follow the connected signal to the responsible origin
The assignment of the message prompt (e.g. =.WA11) can be found in object properties of the DCC-chart as Author
DR-SM150
page 20
Once again switch on the exciter via key K5/Ex. Breaker ON and key K6/Excit. ON: now the pulses are enabled
and exciter current is flowing through the synchronous motor; message exciter converter fan fault, however, is
signaled.
Use the information on the OP177 to find chart, section and page which processes this message:
information of OP177 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
chart . . . . . . . . . . . . section . . . . . . . . . . . . page . . . . . . . . . . . .
Conclude by logic thinking which of the signals you have to follow upstream:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Follow this signal by double-clicking on the signal connection to the left of the block assigned to the signal line until
you reach the variable linking this message to the I/O-container:
variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Follow this variable to its origin and substitute the binector of the missing input by a constant H:
U . . . . . . . . . . = . . . . . . . . . . .
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information of OP177 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
chart . . . . . . . . . . . . section . . . . . . . . . . . . page . . . . . . . . . . . .
Conclude by logic thinking which of the signals you have to follow upstream:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Follow this signal by double-clicking on the signal connection to the left of the block assigned to the signal line until
you reach the variable linking this message to the I/O-container:
variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Once again switch on the exciter via key K5/Ex. Breaker ON and key K6/Excit. ON: now the pulses are enabled
and exciter current is flowing through the synchronous motor; message exciter converter fan fault, however, is
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follow the message-relevant signal to the variable / relate variable to process data word / find assigned node and PZD-no.
Comm_Motor page 21
Measurement of the Exciter Current in the DC-Master
G161
G162
G121
G121
DR-SM150
page 22
4.5 Measuring the Exciter Current
Apart from the direct measurement of the exciter current via ammeter the exciter current can be measured via
parameters on the DC-Master and via indication on the OP177 (both as setpoint values and as actual values).
Read the exciter current on all locations suggested below and crosscheck the readings to verify that they are all
matching:
OP177 main faceplate IEact = . . . . . . . . . . . . . . .
F10/Motor FLUX = . . . . . . . . . . . . . . .
F10/Motor IEACT = . . . . . . . . . . . . . . .
K1/Actual values IEact = . . . . . . . . . . . . . . .
DC-Master diagram G162 r020 = . . . . . . . . . . . . . . . % of . . . . . . . . . . A = . . . . . . . . . . A
diagram G162 K115 = . . . . . . . . . . . . . . . % of . . . . . . . . . . A = . . . . . . . . . . A
diagram G161 K133 = . . . . . . . . . . . . . . .
The last step of commissioning the DC-Master consists of the optimization of the exciter current circuit on behalf of
the DC-Master.
As the exciter current for the synchronous motor is controlled via the armature current of the DC-Master, its armature
current controller has to be optimized.
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Read the exciter current on all locations suggested below and crosscheck the readings to verify that they are all
OP177 main faceplate IEact = . . . . . . . . . . . . . . .
F10/Motor FLUX = . . . . . . . . . . . . . . .
F10/Motor IEACT = . . . . . . . . . . . . . . .
K1/Actual values IEact = . . . . . . . . . . . . . . .
DC-Master diagram G162 r020 = . . . . . . . . . . . . . . . % of . . . . . . . . . . A = . . . . . . . . . . A
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part from the direct measurement of the exciter current via ammeter the exciter current can be measured via
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G162
Comm_Motor page 23
Drive Control via DCC-Chart LCOMRG
control commands
status messages
actual values setpoints / limits
operating modes
Line CoOrdinator Master Ramp Generator
DR-SM150
page 24
4.6 Substituting the Automation via DCC-Chart, LCOMRG
Up to now the required sequence of switching on the Auxiliaries, the Infeed, the Exciter Breaker and the Excitation has
been activated via OP177 in mode Local. Once the entire system is in operation, control of the SM150 will be in
mode Remote via Base Automation, MRG.
An alternative to Automation is provided on DCC-chart LCOMRG, sheet C2. From this chart the SM150 can be
switched on in mode Remote the same way as from the OP177 (all DCC-interlocking for the required sequence
is provided).
Additionally a number of test-signals for the optimization of control loops are ready to be activated.
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An alternative to Automation is provided on DCC-chart LCOMRG, sheet C2. From this chart the SM150 can be
switched on in mode Remote the same way as from the OP177 (all DCC-interlocking for the required sequence
is provided).
Additionally a number of test-signals for the optimization of control loops are ready to be activated.
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4.6 Substituting the Automation via DCC-Chart, L
Up to now the required sequence of switching on the Auxiliaries, the Infeed, the Exciter Breaker and the Excitation has
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Comm_Motor page 25
Exciter Control via DCC-Chart LCOMRG
Startup Mode
Excitation Startup Mode
Auxiliaries = On
Main C.B. = On
Excitation Breaker = On
Test Signal = On
STARTUP
EXC_STARTUP
BM_AUXON
POW_ON
ON
EXC_ENREF
Excitation = On BM_STC_ON
LCO_CONTROL
LCO_CTL_010
1
3
2
4
5
7
6
LCO_ACT_STATUS
sequence of operation
Define the current setpoint before switching on the Test Signal
DR-SM150
page 26
Change over to mode Remote (key K17/Remote): with exception of the Auxiliaries all systems switch off.
Open DCC-chart LCOMRG, sheet C2, select Test Mode and set Watch On for blocks LCO_ACT_STATUS,
LCO_ZSW_D1, LCO_CONTROL and LCO_CTL_010.
Verify that the feedback message BM_AUXONS corresponds to the control command BM_AUXON by switching
the Auxiliaries off and on via LCOMRG; verify that Startup Mode is selected.
Using LCOMRG, switch on the test signal for the optimization of the exciter current as suggested; if relevant, check
the feedback on the assigned block:
- EXC_STARTUP
- ALM_ON Infeed switches on
- ON exciter breaker closes
- BM_STC_ON exciter pulses are enabled, current setpoint = 0 (- - on PMU)
- EXC_ENREF current setpoint > 0 ( I on PMU) S
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Verify that the feedback message BM_AUXONS corresponds to the control command BM_AUXON by switching
the Auxiliaries off and on via LCOMRG; verify that Startup Mode is selected.
Using LCOMRG, switch on the test signal for the optimization of the exciter current as suggested; if relevant, check
the feedback on the assigned block:
- EXC_STARTUP
- ALM_ON
ON
BM_STC_ON
- EXC_ENREF
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Change over to mode Remote (key K17/Remote): with
Open DCC-chart LCOMRG, sheet C2, select Test Mode and set Watch On for blocks LCO_ACT_STATUS,
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LCO_CTL_010
Comm_Motor page 27
Definition of the Pulse-Width of the Test Signal
EXC_SETP1
Flashing
duration
EXC_SETP2
Flashing
duration
DANGER ! Please note that DCC-input values of 1.0 represent 100.0% !
DR-SM150
page 28
Record the value of the exciter current e.g. on the DC-Masters PMU at r020:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Calculate the values for EXC_SETP1 and EXC_SETP2 as follows (100% = p390_Vector):
- EXC_SETP1 = 50% of the rated exciter current (generally used);
select 50% of the rated armature current of the DC-Master (P100)
. . . . . . . . . . . . . . . . . . . . . .
- EXC_SETP2 = 70% of EXC_SETP1
. . . . . . . . . . . . . . . . . . . . . .
Verify your settings by measurement: r020 = 35% / 50% / 35%, (100% = P100_DC-Master).
Follow the signal of the exciter current setpoint in the DCC-charts to find out where to set the pulse-width of the test
signal:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Change the pulse-width to 1s.
- EXC_SETP1 = 50% of the rated exciter current (generally used);
select 50% of the rated armature current of the DC-Master (P100)
. . . . . . . . . . . . . . . . . . . . . .
EXC_SETP2 = 70% of EXC_SETP1
Verify your settings by measurement: r020 = 35% / 50% / 35%, (100% = P100_DC-Master).
Follow the signal of the exciter current setpoint in the DCC-charts to find out where to set the pulse-width of the test
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Record the value of the exciter current e.g. on the DC-Masters PMU at r020:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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100.0% !
Comm_Motor page 29
Automatic Identification of Current Loop Data
Excitation Startup Mode
Auxiliaries = On
Power = On
Excitation Breaker = On
Test Signal = Off
EXC_STARTUP
BM_AUXON
POW_ON
ON
EXC_ENREF
Excitation = Off / On BM_STC_ON
LCO_CONTROL
3
2
4
5
7
6
DR-SM150
page 30
4.7 Automatic Optimization and Identification of Current Loop Data (in the DC-Master)
The exciter winding resistance and the exciter winding inductivity are typically preset by Siemens in parameters P110
(armature winding resistance) and P111 (armature winding inductivity). They can, however, also be crosschecked or
identified by an automatic Optimization and Identification (manual tuning will not improve the settings beyond the
result of the automatic identification).
First take a note of the presently set values of following parameters (left column):
- armature resistance P110 = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
- armature inductivity P111 = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
- proportional gain P155 = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
- integral action time P156 = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
In LCOMRG, switch off the test signal (EXC_ENREF = L) and switch off the excitation (BM_STC_ON = L), set
P51 = 25 (request to auto-tune the pre-control and the current controller) and start the routine by switching the
excitation back on again (BM_STC_ON = H).
You will notice that the DC-master issues F50. Analyze the prompted fault value, note down the current value of the
responsible parameter and TEMPORARILY adapt the setting to carry out the identification routine.
P . . . . . . . . . . = . . . . . . . . . . . . . . . / . . . . . . . . . . . . . . .
current setting temporary setting
On completion note down the automatically identified values in the column on the right. Armature resistance and
armature inductivity have to match fairly well; values for the current controller may differ and will be manually
optimized in the next step.
Set the parameter you have temporarily adapted back to its original value.
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result of the automatic identification).
First take a note of the presently set values of following parameters (left column):
- armature resistance P110 = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
- armature inductivity P111 = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
- proportional gain P155 = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
- integral action time P156 = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
In LCOMRG, switch off the test signal (EXC_ENREF = L) and switch off the excitation (BM_STC_ON = L), set
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4.7 Automatic Optimization and Identification of Current Loop Data (in the DC-Master)
The exciter winding resistance and the exciter winding inductivity are typically preset by Siemens in parameters P110
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Comm_Motor page 31
Trace-Tool of Drive Monitor
Start of trigger by command Start of trigger as specified
Selection of
signals to
be recorded Sampling rate
and pre-trigger
recording of signal samples processing of signals transfer of samples to PG/PC
DR-SM150
page 32
4.8 Optimization of the Exciter Current Controller (in the DC-Master)
To optimize the exciter current controller the exciter current actual value has to be recorded and its response to a
step of setpoint has to be evaluated.
To correctly analyze any optimization, none of the variables of the closed loop in question must be limited; in the given
situation this applies for the firing angle.
The trace recording can be done both within the DC-Master (Drive Monitor) and within Simotion (Scout).
To optimize the PI-controller, the exciter current actual value, the step of exciter current setpoint and the firing
angle will be recorded using the tool Drive Monitor.
Refer to function diagrams G162 and G163 and assign the a.m. signals to be recorded (as close to the current
controller as possible):
- exciter current setpoint K . . . . . . . . . . . .
- exciter current actual value K . . . . . . . . . . . .
- firing angle current controller K . . . . . . . . . . . .
- firing angle pre-control K . . . . . . . . . . . .
To be able to identify a limiting of the firing angle, relate the percent reading of K100 representing the currently set
limit of the firing angle to its degree reading (refer to the given characteristic):
r018 = . . . . . . . . . . . . . . . degrees
K100 = . . . . . . . . . . . . . . . %
[%] (K100)
[degr] (r018)
+100
-33.3
120 60
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step of setpoint has to be evaluated.
situation this applies for the firing angle.
The trace recording can be done both within the DC-Master (Drive Monitor) and within Simotion (Scout).
To optimize the PI-controller, the exciter current actual value, the step of exciter current setpoint and the firing
angle will be recorded using the tool Drive Monitor.
Refer to function diagrams G162 and G163 and assign the a.m. signals to be recorded (as close to the current
controller as possible):
- exciter current setpoint K . . . . . . . . . . . .
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4.8 Optimization of the Exciter Current Controller (in the DC-Master)
To optimize the exciter current controller the exciter current actual value has to be recorded and its response to a
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processing of signals
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Sampling rate
and pre-trigger
transfer of samples to PG/PC
Comm_Motor page 33
Pre-Control and PI-Controller
P154 = 0 I-controller blocked
1 I-controller active
P164 = 0 P-controller blocked
1 P-controller active
DR-SM150
set as
P111 *
to minimize mutual influence of Pre-control and PI-controller
*
P153 = 0 no pre-control
3 pre-control
for field windings of SYN-motors
page 34
(Armature) Current Pre-Control and (armature) current PI-Controller act in parallel.
To manually optimize the PI-controller, first deactivate the Pre-Control (P113 = 0); the response must show no visible
overshoot.
The PI-controller will be optimized in its classical way by starting with a P-controller with a small proportional gain
(P155) and then increasing the gain such that the current steps up to its setpoint value without overshoot and without
developing noticeable noise (in doubt, select the smaller value rather than the larger).
Optimized proportional gain, P155 = . . . . . . . . . . . . . .
To optimize the integral property the integral component is activated, a large integral action time (P156) is selected
initially and then reduced to get a response with an overshoot of close to 15 % with the pre-control contributing to the
transient; with the PI-controller by itself an overshoot of about 4 % would be expected.
Optimized integral action time, P156 = . . . . . . . . . . . . . .
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The PI-controller will be optimized in its classical way by starting with a P-controller with a small proportional gain
(P155) and then increasing the gain such that the current steps up to its setpoint value without overshoot and without
developing noticeable noise (in doubt, select the smaller value rather than the larger).
Optimized proportional gain, P155 = . . . . . . . . . . . . . .
To optimize the integral property the integral component is activated, a large integral action time (P156) is selected
initially and then reduced to get a response with an overshoot of close to 15 % with the pre-control contributing to the
transient; with the PI-controller by itself an overshoot of about 4 % would be expected.
Optimized integral action time, P156 = . . . . . . . . . . . . . .
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(Armature) Current Pre-Control and (armature) current PI-Controller act in parallel.
To manually optimize the PI-controller, first deactivate the Pre-Control (P113 = 0); the response must show no visible
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Comm_Motor page 35
Optimization of the Exciter Current Controller (in DC-Master)
1.0 / 10.0s k.P = 0.5 / 10.0s OPT 0.2 / 10.0s
Optimization of the gain (k.P)
Optimization of the integral action time (T.N)
k.P = 0.5 / T.N = 0.01s OPT 0.5 / 0.003s 0.5 / 50 ms
DR-SM150
page 36
Having added Pre-Control in parallel to the PI-controller a significant overshoot results.
Improve the transient response to avoid the overshoot while keeping the dynamic setting of your optimization as
follows:
- check the impact of P191 by looking at the controller output (K110)
- set this filter to get a minimum overshoot of the current actual, P191 = . . . . . . . . . . . . . .
(Note: P191 is not adjusted by the autotune function; it has to be set manually).
All settings on the DC-Master have now been completed. Make sure that you have made these settings on the
EEPROM and save the parameterization by uploading the data (i.e. as a delta-file, type changed parameters only).
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- set this filter to get a minimum overshoot of the current actual, P191 = . . . . . . . . . . . . . .
(Note: P191 is not adjusted by the autotune function; it has to be set manually).
All settings on the DC-Master have now been completed. Make sure that you have made these settings on the
EEPROM and save the parameterization by uploading the data (i.e. as a delta-file, type changed parameters only).
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Having added Pre-Control in parallel to the PI-controller a significant overshoot results.
Improve the transient response to avoid the overshoot while keeping the dynamic setting of your optimization as
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T.N = 0.01s OPT
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Comm_Motor page 37
Trace-Tool of Scout
chart OUTPUT
block SFLD20
signal Y
chart OUTPUT
block SFLD30
signal X
signal to be traced
DR-SM150
page 38
4.9 Tracing Signals at the Input- or Output-Channels of DCC-Blocks
The exciter current setpoint originates from Simotion DCC, the exciter current actual value is fed back to Simotion
DCC; therefore both signals can also be traced using the Scout tracer.
These variables can be picked up in their nature as process data words; equally though they can be recorded at the
output Y or at the input X of any block within the DCC-charts.
Open the I/O-container and find out which variables are assigned to the following:
- exciter current setpoint: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
- exciter current actual value: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Via Chart reference data localize the DCC-chart and sheet where the a.m. signals originate:
Follow both of these values until you come to a block which is referencing the signal; take a note of the name of the
block and of its input / output at the remote end of the I/O-variable (select the unscaled value):
Select the recording properties of the Scout tracer as suggested in the slide.
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These variables can be picked up in their nature as process data words; equally though they can be recorded at the
output Y or at the input X of any block within the DCC-charts.
Open the I/O-container and find out which variables are assigned to the following:
Via Chart reference data localize the DCC-chart and sheet where the a.m. signals originate:
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4.9 Tracing Signals at the Input- or Output-Channel
The exciter current setpoint originates from Simotion DCC, the exciter current actual value is fed back to Simotion
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page 37
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Comm_Motor page 39
Assigning DCC-Signals as Pins to the Tracer
DR-SM150
page 40
Inputs and outputs of DCC-blocks can be picked up as Pins of the DCC-chart.
Define the Scout trace tool to record the two exciter current values.
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Inputs and outputs of DCC-blocks can be picked up as Pins of the DCC-chart.
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page 39
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Define the Scout trace tool to record the two exciter current values.
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Comm_Motor page 41
Analyzing the Step Response
OUTPUT._dcc_instances._output_sfld30.x
INPUT._dcc_instances._input_rfld210.y
OUTPUT._dcc_instances._output_sfld30.x
INPUT._dcc_instances._input_rfld210.y
t
rise
= 33ms (typical value 20 30ms)
t
dead
DR-SM150
page 42
Analyze the step response of the exciter actual current as regards:
- overshoot . . . . . . . . . . . . . . % of step (must be no more than 15%)
- dead time . . . . . . . . . . . . . . ms (typically 10 to 15ms)
- rise time . . . . . . . . . . . . . . ms (typically 20 to 30ms)
Discontinue the Excitation Startup Mode by reversing your steps on LCOMRG:
- Test Signal = off EXC_ENREF = 0
- Excitation = off BM_STC_ON = 0
- Excitation Breaker = off ON = 0
- Infeed = off ALM_ON = 0
- Excitation Startup Mode = off EXC_STARTUP = 0
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- rise time . . . . . . . . . . . . . . ms (typically 20 to 30ms)
Discontinue the Excitation Startup Mode by reversing your steps on LCOMRG:
- Test Signal = off
- Excitation = off
- Excitation Breaker = off ON = 0
- Infeed = off
- Excitation Startup Mode = off EXC_STARTUP = 0
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Analyze the step response of the exciter actual current as regards:
- overshoot . . . . . . . . . . . . . . % of step (must be no more than 15%)
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page 41
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_output_sfld30.x
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_input_rfld210.y
Comm_Motor page 43
Essential Siemens-Set Values for the Motor
to be set as per Siemens-data
to be set in accordance
with site measurements
to be set as per
motor rating plate
to be set as per motor data
sheet or as per Siemens-data
DR-SM150
page 44
4.10 Verifying Essential Settings on the Motor Module
SM150 drive projects as supplied by Siemens will typically already contain all relevant Motor Data. The rating plate
of the motor has to be checked against the data set in the project. If any differences are found, the reason has to be
thoroughly investigated before taking an appropriate action.
Equivalent Circuit Diagram Data and Motor Characteristic are preset as well and should not have to be modified.
The slide above indicates the parameters involved; the values are relevant for the training unit and will only
coincidentally correspond to site settings.
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Equivalent Circuit Diagram Data and Motor Characteristic are preset as well and should not have to be modified.
The slide above indicates the parameters involved; the values are relevant for the training unit and will only
coincidentally correspond to site settings.
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4.10 Verifying Essential Settings on the Motor Module
SM150 drive projects as supplied by Siemens will typically already contain all relevant Motor Data. The rating plate
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page 43
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Comm_Motor page 45
Encoder Data
track A
track B
zero
mark
zero mark
. . . . . . . . .
0
0
362
0
360
0
position by adding pulses
DR-SM150
page 46
Encoder Data have to be set in accordance with to the encoder used; these data are preset as well.
As indicated in the slide above, parameters for the voltage level and for the encoder pulse number have to be
parameterized to identical settings in two different pairs of parameters.
If fault F31100 or F31101 is signaled, the zero flag tolerance, p430[0].21 should be set to Yes.
Tho ovnIunfIon vIn SMC30 rosonds vory sonsIfIvoIy fo mInor chnngos of fho zorouIso osIfIon. If fho oncodor
foodbnck ronds onIy mInor fIucfunfIons, n.m. fnuIfs mny nonr In IW vorsIon 2.6 fho sonsIfIvIfy of fho SMC30
wIII bo moro ronsonnbIy sof nnd fhIs robIom wIII bo soIvod nf fho sourco.
If the transition from current model to voltage model (this topic is dealt with later) becomes irregular with time, the
rotor position adaptation, p430[0].22 should be set to Yes.
Tho rofor osIfIon Is cnIcuInfod on fho bnsIs of fho InIfInI rofor osIfIon dofocfIon I.o. oxocufod nufomnfIcnIIy
nffor swIfchIng on fho oxcIfor curronf by nddIng fho IncomIng uIsos or rovoIufIon. An orronoous Icku of
uIsos Iong oncodor cnbIos wIII grndunIIy shIff fho cnIcuInfod rofor osIfIon fo nn Incorrocf vnIuo nnd fhus
InfIuonco fho oornfIon In modo curronf modoI nnd fho frnnsIfIon from curronf modoI fo voIfngo modoI. If fho
rofor osIfIon ndnfnfIon Is ncfIvnfod, fho zoro uIso rondjusfs fho cnIcuInfod osIfIon wIfh ovory rovoIufIon.
If fault F31118 is signaled, the dn/dt-monitoring should be deactivated by setting p492 = 0.
Af hIgh sood nnd hIgh oncodor rosoIufIon fho soffwnro mny dofocf n non oxIsfIng crIfIcnI dn/df whIch shouId bo
surossod.
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If fault F31100 or F31101 is signaled, the zero fla
Tho ovnIunfIon vIn SMC30 rosonds vory sonsIfIvoIy fo
foodbnck ronds onIy mInor fIucfunfIons, n.m. fnuIfs mny nonr In IW vorsIon 2.6 fho sonsIfIvIfy of fho SMC30
wIII bo moro ronsonnbIy sof nnd fhIs robIom wIII bo soIvod nf fho sourco.
If the transition from current model to voltage mode
rotor position adaptation, p430[0].22 should be set to Yes.
Tho rofor osIfIon Is cnIcuInfod on fho bnsIs of fho
nffor swIfchIng on fho oxcIfor curronf by nddIng fho IncomIng uIsos or rovoIufIon. An orronoous Icku of
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Encoder Data have to be set in accordance with to the encoder used; these data are preset as well.
As indicated in the slide above, parameters for the voltage level and for the encoder pulse number have to be
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page 45
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position by adding pulses
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Comm_Motor page 47
Principle of Rotor Position Detection
U
L1
U
L2
U
L3
I
E
U
L1
I
E.set
U
L2
U
L3
S
torque
To achieve maximum torque at a given stator current (stator flux) the
stator flux vector has to be positioned perpendicular to the rotor flux vector;
in consequence the rotor position has to be known at any time:
- initially it is identified via rotor position detection (after switching on I.E)
- from here on it is calculated by counting the encoder pulses while
in current model operation (low speed)
Detection of the rotor position by trigonometric evaluation of the voltages
induced in the stator (U
res
in direction of U
L1
is defined as zero degrees).
U
L1
U
L2
U
L3
U
res
DR-SM150
page 48
4.11 Rotor Position Detection
When switching on the exciter current, the di
E
/dt generates a voltage pulse in the stator windings; the individual values
of the induced voltage depend on the respective angles. The trigonometric evaluation provides information about the
currently valid rotor position.
The phase voltages U
L1
to U
L3
can be picked up on parameters r089[0] to r089[2], the actual flux is available on
r084[0], parameters r1626[0] / r1641[0] indicate the excitation current setpoint / actual value and the pole position can
be monitored by parameter r93.
Set up the SINAMICS tracer to record these values for 250ms with a pre-trigger of 50ms.
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currently valid rotor position.
The phase voltages U to U
L3
can be picked up on parameters r089[0] to r089[2], the actual flux is available on
r084[0], parameters r1626[0] / r1641[0] indicate the excitation current setpoint / actual value and the pole position can
be monitored by parameter r93.
Set up the SINAMICS tracer to record these values for 250ms with a pre-trigger of 50ms.
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hen switching on the exciter current, the di
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page 47
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Comm_Motor page 49
Rotor Position Identification
f = 300 Hz (t.P = 3.3 ms)
The persisting voltage originates from the ripple of
the exciter current (6 current pulses per 20 ms at
line frequency = 50 Hz 3.3 ms per current pulse).
The long time view (1 s) reveals the different
voltage values generated by the gradient di.E/dt
u.L1
u.L2
u.L3
rotor position
i.exc.set
i.exc.act
flux
All signals are shown in their true physical relation
DR-SM150
page 50
Monitor these values as a result to switching on the exciter current (either via LCOMRG or via OP177).
The rotor position detection indicates the identified rotor position after evaluation of the motor voltages
(unsymmetrical initial values) induced by the di/dt of the exciter current.
Even after the exciter current has reached its steady state value, its ripple still generates motor voltages.
With exception of the first tens of ms the flux increases with PT1-property.
Please note that the signals shown in the above slide are shifted on the time axis to represent their true physical
relation.
(For the values one can record, different delay times of the internal algorithms apply. In analyzing these signals
relative to each other you would conclude that motor voltages are induced with the exciter current still zero and that
the rotor position is identified directly by switching on the exciter current setpoint; neither of these conclusions is
physically possible!)
Note down the identified Pole position angle, turn the shaft by a self estimated number of degrees and verify that the
now identified position reads:
new value = previous value +/- degrees of movement.
After you have changed the rotor position you will notice that the three motor voltages show a difference of values and
polarity (which of course is the input information for the calculation of the rotor position).
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unsymmetrical initial values) induced by the di/dt of
Even after the exciter current has reached its steady state value, its ripple still generates motor voltages.
With exception of the first tens of ms the flux increases with PT1-property.
Please note that the signals shown in the above slide are shifted on the time axis to represent their true physical
(For the values one can record, different delay times of the internal algorithms apply. In analyzing these signals
relative to each other you would conclude that motor voltages are induced with the exciter current still zero and that
the rotor position is identified directly by switching on the exciter current setpoint; neither of these conclusions is
physically possible!)
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Monitor these values as a result to switching on the exciter current (either via LCOMRG or via OP177).
The rotor position detection indicates the identified rotor position after evaluation of the motor voltages
unsymmetrical initial values) induced by the di/dt of
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page 49
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f = 300 Hz (t.P = 3.3 ms)
The persisting voltage originates from the ripple of
the exciter current (6 current pulses per 20 ms at
line frequency = 50 Hz
voltage values generated by the gradient di.E/dt
Comm_Motor page 51
Actual Flux and Ready for Operation
current
model
(IMO)
flux setpoint
p1579 (100%)
100%
motor model
U
E
i
S
i
E
i

U
S
U
p
L
Hd
- motor magnetizing
inductance, p360
- scaling factor, p655
L
Hd

act
i

i
E.set
i
E.act flux actual
r0084

act
i
E.act

act
flux characteristic
D
C
-
M
a
s
t
e
r
p655 = 135
L.Hd (motor model) = L.Hd ( real motor)
flux.act
i.exc.act , i.exc.set = 15 %
flux.act
p655 = 170
L.Hd (motor model) >> L.Hd ( real motor)
85 %
DR-SM150
page 52
Trace following signals:
- exciter current setpoint r1626
- exciter current actual value r1641
- actual flux r84
You will observe that the actual flux increases up to 85% and then is substituted by 100%. This changeover to the
substitute value will always occur at 85% and acts as an internal enable signal inevitably required to run the motor.
You can monitor this essential response of the flux on the OP177 via key F13 / Graph.
If the actual flux doesnt reach the 85% value, one/several of the motor data or the voltage scaling (parameters p6753
to p6755) are likely to be set incorrect.
The setting of the magnetizing inductance (p360 * p655) for the motor circuit substitute diagram defines the exciter
current setpoint to generate the requested flux.
[A large magnetizing inductance (X.Hd) requires only a small exciter current (i.Exc) to generate flux.]
The actual exciter current is converted to the actual flux via the i.Exc / Flux characteristic up to 85%. If this value has
been reached the actual flux is defined 100% until changeover from the current model (IMO) to the voltage model
(UMO).
[If the i.Exc / Flux characteristic is matched to the real motor, the small exciter current will be calculated into a
sufficiently large actual flux, provided that the magnetizing inductance of the real motor is large. If, however, the
magnetizing inductance of the real motor is smaller than programmed as substitute circuit value, the generated
exciter current will be rather small and will in consequence be calculated into a small actual flux only.]
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You will observe that the actual flux increases up to 85% and then is substituted by 100%. This changeover to the
substitute value will always occur at 85% and acts as an internal enable signal inevitably required to run the motor.
You can monitor this essential response of the flux on the OP177 via key F13 / Graph.
If the actual flux doesnt reach the 85% value, one/several of the motor data or the voltage scaling (parameters p6753
to p6755) are likely to be set incorrect.
The setting of the magnetizing inductance (p360 * p655) for the motor circuit substitute diagram defines the exciter
current setpoint to generate the requested flux.
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exciter current setpoint r1626
- exciter current actual value r1641
r84
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page 51
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Comm_Motor page 53
Operation in I/f-Mode via OP177
K9
Local
K3
AUX
ON
K4
Power
ON
K5
Exc.
Breaker
ON
F1
Start
K11
AUX
OFF
K12
Power
OFF
K13
Exc.
Breaker
OFF
I/f-mode is selected / deselected automatically
if requested via the Start-up menu of the OP177
Sequence of OP177 commands to go into operation
Sequence of OP177 commands to quit operation
to force (even large) current
(excess current reactive)
- speed setpoint via
Start-up menu
of the OP177
- acceleration and
deceleration via
ramps of the
setpoint channel
for details refer to next slide
DR-SM150
page 54
4.12 Operation of the Motor in I/f-Mode
Before changing to an operating mode which evaluates current and voltage feedback values, verify that the Actual
Value Offset Correction is enabled and check the identified offset value (follow the procedure as suggested for the
Infeed on pages 33/34; parameters p6902 and p6903 have to be set to Enable Offset Calculation; the values of the
related read parameters have to float around zero).
Trusting that current and voltage evaluation are correct further tests (speed feedback evaluation, transformation angle)
can be carried out in I/f-mode, where the stator current is directly set. In case of doubt about correct current and
voltage evaluation V/f-mode has to be used for analysis. In V/f-mode the current is defined via stator voltage, so
great care has to be used not to have the current shoot up.
In I/f-mode the stator current will be forced by the direct setting, possibly even to large values (taking all excess
current as reactive current). To tolerate this condition, the tolerance monitoring of the exciter current has to be
increased; verify that parameters p3201 and p3202 are both set to 100% (this value should actually be set already).
As in V/f-mode, the rotor position calculation is not active in I/f-mode either. As logical consequence, the rotor has
to be given ample time to follow the stator field.
Due to control via OP177, the ramp settings of the Vector setpoint channel now determine the rate of change of
speed unless you exclusively use the [ /\ ] or [ \/ ] buttons to control the speed. In this case ramps set to 60s within the
OP177 Motorpot overrule the ramp settings in the setpoint channel.
Set the ramp-up and the ramp-down time to 50s each (p1120, p1121).
To operate the drive in I/f-mode, Auxiliaries, Infeed and Exciter have to be switched on beforehand; these control
operations can be performed comfortably via OP177.
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related read parameters have to float around zero).
Trusting that current and voltage evaluation are correct further tests (speed feedback evaluation, transformation angle)
can be carried out in I/f-mode, where the stator current is directly set. In case of doubt about correct current and
voltage evaluation V/f-mode has to be used for analysis. In V/f-mode the current is defined via stator voltage, so
great care has to be used not to have the current shoot up.
In I/f-mode the stator current will be forced by the direct setting, possibly even to large values (taking all excess
current as reactive current). To tolerate this condition, the tolerance monitoring of the exciter current has to be
increased; verify that parameters p3201 and p3202 are both set to 100% (this value should actually be set already).
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4.12 Operation of the Motor in I/f-Mode
efore changing to an operating mode which evaluates current and voltage feedback values, verify that the Actual
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OFF
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Start-up menu
- acceleration and
deceleration via
ramps of the
setpoint channel
Comm_Motor page 55
Operation in I/f-Mode
F14
Start
up
K6
Excit.
ON
I/f-Control
Selection
Start up menu
pops up
I/f-Control is
preselected
Status I/f-control changes to ON,
I/f-Control is set automatically
Exciter current builds up
(OP177: 20%);
Stator current is enabled
O
F
F
-
s
e
q
u
e
n
c
e
O
N
-
s
e
q
u
e
n
c
e
K14
Excit.
OFF
Selection
one 0.5s pulse
Exciter current
is switched off
Stator current is disabled;
I/f-control is deselected
Stator Current
Setpoint (020%)
Stator Frequency
Setpoint (0100)
Stator Current
Setpoint (200%)
with =2.5% up to 20% with =2.5% down to 0%
f
max
= 10 Hz via DCC
in steps of =1Hz
F14
Start
up
Changeover to
Local Speed Control
N_REF_LOCAL
Speed setpoint for
Local Speed Control
DR-SM150
page 56
Now follow the sequence suggested above to activate the I/f-mode;
with Stator Current Setpoint = 0 the Actual Stator Current already reads a small percentage
Increase the Stator Current Setpoint in steps of 2.5% to initially 20% (the response to the setpoint is noticeably
delayed) and verify the following:
- the torque generating actual current (r78) oscillates around 0%
- the actual stator current on the OP177 oscillates around 20% (Stator Current Setpoint)
Now increase the Stator Frequency Setpoint in steps of 1Hz to 5Hz. You will observe the following:
- the drive accelerates; Stator Frequency Setpoint and Actual Stator Frequency read 5Hz,
- several alarms are indicated.
In small steps decelerate the drive to 0Hz, in small steps reduce the current setpoint to 0 %, discontinue I/f-control,
analyze the alarm messages, check related parameters and assign the correct settings:
p . . . . . . . . . . = . . . . . . . . . . .
p . . . . . . . . . . = . . . . . . . . . . .
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Increase the Stator Current Setpoint in
delayed) and verify the following:
- the torque generating actual current (r78) oscillates around 0%
- the actual stator current on the OP177 oscillates around 20% (Stator Current Setpoint)
Now increase the Stator Frequency Setpoint in
the drive accelerates; Stator Frequency Setpoint and Actual Stator Frequency read 5Hz,
- several alarms are indicated.
In small steps decelerate the drive to 0Hz, in small steps reduce the current setpoint to 0 %, discontinue I/f-control,
analyze the alarm messages, check related parameters and assign the correct settings:
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Now follow the sequence suggested above to activate the I/f-mode;
with Stator Current Setpoint = 0 the Actual Stator Current already reads a small percentage
Increase the Stator Current Setpoint in steps of 2.5%
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0%)
=2.5% down to 0%
Comm_Motor page 57
Current Measurement with Clamp-on Probe
Measuring small currents
(up to 10 A, e.g. gating current of SCRs)
DC to MHz, typically monitored on scope
Measuring moderate currents (up to 100 A)
DC to kHz, typically monitored on scope
Measuring large currents (up to 1000 A).
DC to kHz, monitored on display.
DR-SM150
Comm_Motor page 58
Current Measurement with Rogowski Coil
Coil
Integrator
If necessary, use open coil.
With half a turn, just double
the measured values.
www.sirent.de
rearch term: Rogowski
DR-SM150
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Current Measurement with Rogowski Coil
If nec
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Measuring moderate currents (up to 100 A)
Measuring large currents (up to 1000 A).
DC to kHz, monitored on display.
Comm_Motor page 59
Verifying the Symmetry of Currents and Voltages
U
L1
U
L2-L1
U
L3-L1
U
L2
r89[0]
r89[1]
5% / div 10ms / div 5% / div 10ms / div current voltage
phase L1
phase L2
phase L3
120
0
120
0
PSA
raw
values
Power
Stack
Adapter
DR-SM150
page 60
Resume operation in I/f-mode, verify that no alarms are signaled and check the matching of the speed setpoint
value to the speed feedback value.
Run the drive at 10Hz and record the phase currents, r69[0 to 2] with Sinamics tracer 1 and the phase voltages,
r89[0 to 2] with Sinamics tracer 2 to get a recording similar to the one above.
(Suggested settings: endless trace, ring buffer, cycle clock = 2ms, recording time = 250ms.)
A missing or unsymmetrical feedback value of phase voltages or phase currents would easily be identified.
In case of some faulty feedback value it may prove helpful to check the raw actual values as picked up by the PSA
from the AVT-Cs via fiber optic on sockets X72 toX75 after having been assigned to r-parameters.
Find out which assignment is true between socket, parameter number and physical quantity:
socket physical quantity parameter no.
X72 . . . . . . . . . . . . . . . . . . . . . . . . .
X73 . . . . . . . . . . . . . . . . . . . . . . . . .
X74 . . . . . . . . . . . . . . . . . . . . . . . . .
X75 . . . . . . . . . . . . . . . . . . . . . . . . .
Trace voltages U
L1
, U
L2
, U
L2-L1
, U
L3-L1
and verify that the relation of the voltages to each other is correct.
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(Suggested settings: endless trace, ring buffer, cycle clock = 2ms, recording time = 250ms.)
A missing or unsymmetrical feedback value of phase voltages or phase currents would easily be identified.
In case of some faulty feedback value it may prove helpful to check the raw actual values as picked up by the PSA
from the AVT-Cs via fiber optic on sockets X72 toX75 after having been assigned to r-parameters.
Find out which assignment is true between socket, parameter number and physical quantity:
socket physical quantity parameter no.
X72 . . . . . . . . . . . . . . . . . . . . . . . . .
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Resume operation in I/f-mode, verify that no alarms are signaled and check the matching of the speed setpoint
value to the speed feedback value.
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Comm_Motor page 61
Operation in Speed Control (with Encoder)
K9
Local
K3
AUX
ON
K4
Power
ON
K5
Exc.
Breaker
ON
F1
Start
K11
AUX
OFF
K12
Power
OFF
K13
Exc.
Breaker
OFF
K6
Excit.
ON
K14
Excit.
OFF
K2
N*=0
K10
K18
F14
Start
up
N_REF_LOCAL
direct entry of
speed setpoint
Increase of speed
towards positive
Increase of speed
towards negative
Request of
speed = zero
ON-sequence
OFF-sequence
DR-SM150
page 62
4.13 Operation of the Motor in Speed Control
IIonso nofo nf sIfo you musf sfrIcfIy obsorvo nII gonornI nnd IocnI snfofy ruIos boforo nccoIornfIng fho drIvo fo
somo Inrgor sood!
At the training drive, consider the maximum speed to be 2400 rpm (80%). Using the control keys and buttons of the
OP177, run the motor in responsible steps up to the maximum speed presently possible (Training Center: 80%).
If the drive should trip before reaching 80% speed, evaluate the fault messages and set the responsible parameter to
a sufficiently large value:
p . . . . . . . . . . = . . . . . . . . . . .
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At the training drive, consider the maximum speed to
P177, run the motor in responsible steps up to the maximum speed presently possible (Training Center: 80%).
If the drive should trip before reaching 80% speed, evaluate the fault messages and set the responsible parameter to
a sufficiently large value:
p . . . . . . . . . . = . . . . . . . . . . .
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4.13 Operation of the Motor in Speed Control
IIonso nofo nf sIfo you musf sfrIcfIy obsorvo nII g
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speed setpoint
Comm_Motor page 63
Equivalent Circuit and Vector Diagram of the Synchronous Motor
L
D q
p0350
p0361
U
S
p0356
p0355
U
P
R
S
R
Dq
L
S
L
Hq
p0359
L
D d
p0350
p0360
U
S
U
E
p0356
p0354
U
P
R
S
R
Dd
L
S
L
Hd
p0358
ECD
d-axis
ECD
q-axis
d-axis
q-axis
p652
p659
p660
p653
p657
p658
p655
p656
scaling parameters
simplified ECD of synchronous motor
u
S
u
P
L
S
L
Hd
i
S
emf
i
S
*
(
X
S
+
X
H
d
)
emf u
S
u
P

i
S
i
Sq
i
Sd
i
S
* (X
S
+ X
Hd
)
i
S
i
Sq
emf u
S
u
P
i
S
i
Sq
i
Sd

i
S *
(
X

S
+
X
H
d )
emf u
S
u
P
DR-SM150
page 64
In the basic example above of the salient pole machine the magnetic field is set up by the permanent magnets. The
magnetic field is positioned in the d-axis and changes its position once the rotor starts to rotate.
The stator windings have to generate another magnetic field (in the q-axis) which is perpendicular to the field in the d-
axis to create a maximum of torque for any given current.
Depending on the data of the equivalent circuit components and the counter-emf (which is proportional both to speed
and to magnetic flux) a stator voltage has to be generated such that the motor doesnt develop a stator current
component i.Sd.
By changing the relation between the values of u.S and emf the stator current i.S can be shifted out of its vertical
position. A positive component i.Sd will increase the flux of the motor, a negative component i.Sd will decrease the flux
of the motor.
The data of the equivalent circuit components are defined in parameters (p350 p361) and scaled (multiplied by a
percent value) via p652 p660. An adaptation of a set motor value is commonly carried out via the assigned scaling
parameter.
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Depending on the data of the equivalent circuit components and the counter-emf (which is proportional both to speed
and to magnetic flux) a stator voltage has to be generated such that the motor doesnt develop a stator current
component i.Sd.
By changing the relation between the values of u.S and emf the stator current i.S can be shifted out of its vertical
position. A positive component i.Sd will increase the flux of the motor, a negative component i.Sd will decrease the flux
of the motor.
The data of the equivalent circuit components are defined in parameters (p350 p361) and scaled (multiplied by a
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In the basic example above of the salient pole machine the magnetic field is set up by the permanent magnets. The
magnetic field is positioned in the d-axis and changes its position once the rotor starts to rotate.
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Comm_Motor page 65
Transition Current Model Voltage Model
Current Model (IMO)
flux angle via rotor angle;
actual flux via characteristic,
then substituted by 100%
Voltage Model (UMO)
flux angle and actual flux
via actual values of i
S
, u
S
and substitute circuit data
flux
speed

100%
flux value
r84

act
motor model
U
E
i
S
i
E
i

U
S
U
p
L
Hd
u
S.act
i
S.act
i
E.act
rotor angle
flux angle

act
IMO UMO
p1752 * p1756
p1752
enable voltage model
and flux controller

act
i
E.act
flux characteristic
L
HD
small
L
HD
large
voltage model (UMO)
current model (IMO)
hysteresis
DR-SM150
page 66
4.14 Transition Current Model Voltage Model
In Vector Control Modes the position of the vector of the rotor flux is permanently available on the basis of following
relations:
- when the excitation current is enabled, the rotor position is identified by trigonometric
evaluation of the induced stator voltages
- up to the next zero pulse the position is calculated by evaluation of the A/B-track pulses
- at the next zero pulse the A/B-track pulse counter is reset and starts a new count
(the number of A/B pulses to the next zero pulse is monitored).
This flux angle is calculated by a Current Model (IMO) at lower frequencies and by a Voltage Model (UMO) at
higher frequencies.
While the current model calculates the flux angle initially on the basis of the rotor position and the flux value on the
basis of exciter current and flux characteristic, the voltage model uses the actual values of stator current components,
stator voltage and the substitute circuit diagram data of the motor to determine both the flux angle and the flux value.
Using actual values for the calculation gives more accurate results once a certain minimum frequency is reached
(typically: 10 20% of the rated frequency) if the substitute circuit diagram data of the motor are programmed
correctly.
The transition between the models is set by parameters changeover speed, p1752 and changeover hysteresis,
p1756 (refer to above slide).
If the substitute circuit diagram data of the motor are known, the transition parameters are preset by Siemens.
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evaluation of the induced stator voltages
- up to the next zero pulse the position is calculated by evaluation of the A/B-track pulses
- at the next zero pulse the A/B-track pulse counter is reset and starts a new count
(the number of A/B pulses to the next zero pulse is monitored).
This flux angle is calculated by a Current Model (IMO) at lower frequencies and by a Voltage Model (UMO) at
higher frequencies.
While the current model calculates the flux angle initially on the basis of the rotor position and the flux value on the
basis of exciter current and flux characteristic, the voltage model uses the actual values of stator current components,
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n Vector Control Modes the position of the vector of the rotor flux is permanently available on the basis of following
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Comm_Motor page 67
Setting the Magnetizing Inductance
p655 = 175% p655 = 145%
p655 = 205%
settings for these traces of exciter current (r1626) and actual flux (r84):
p1752 = 40 % of n
rated
, p1756 = 50% / speed setpoint = 40 %
u
S
u
p
emf
i
S
*R
S
i
S
*X
S
i
S
*X
H
i
S
i
Sq
i
Sd
i
E
i
i
S
100%
8%
100%
8%
DR-SM150
page 68
4.15 Setting the Scaling of the Magnetizing Inductance, d-axis
The design and evaluation of the vector diagram shows that a smaller magnetizing inductance (X.H) requires a larger
magnetizing current (the smaller the inductivity the more magnetizing current is required to generate the same flux).
The larger magnetizing current is provided by a near proportional increase of the exciter current.
At the moment of enabling the voltage model (UMO), the flux as calculated by the evaluation of the actual stator
current, stator voltage and magnetizing inductance X.H is output as actual flux (r84).
If the magnetizing inductance is programmed to a value smaller than actually true in the motor, too much exciter
current will result. The evaluation of exciter current and stator current in the vector diagram will conclude a large
magnetizing current and a flux value larger than 100% in consequence.
If this value of the actual flux as calculated is other than the setpoint (typically 100 %), the flux controller changes the
exciter current to reach a calculated value of 100% of actual flux (once activated; even if X.H is programmed
incorrectly).
Ramp the drive up to e.g. 40% (1200 rpm) of speed and read the values for actual flux (r84) and exciter current
(r1641) via expert list. Find a setting for the Scaling of the Magnetizing Inductance, p655 such that the actual flux
reads 100%.
p655 = . . . . . . . . . . . . . %
The Scaling of the magnetizing Inductance d-axis (p655) has to be optimized in the no load condition. The Scaling
of the magnetizing Inductance q-axis (p656) is related to load and has to be optimized once load is available.
uo fo nrfIcuInrIfIos of fho Iow voIfngo synchronous mofor usod on fho frnInIng rnck fho ofImIzod soffIng for
655 mIghf Iond fo nn unsuccossfuI gonornfIon of fho fIux In fho wnko of osIfIon IdonfIfIcnfIon whon swIfchIng
on fho oxcIfor curronf. If fhIs sIfunfIon comos u, roduco 655 In sfos of 5 unfII fho fIux buIIds u corrocfIy.
As nnofhor nrfIcuInrIfy of fho frnInIng unIf If mIghf hnon fhnf fho fIux foodbnck romnIns nf l00 ovon wIfh
fho oxcIfor curronf swIfchod off. In fhIs cnso, frIggor n Coy !AM fo !OM of nII drIvo dovIcos concornod nnd
cnrry ouf n oworon rosof of fho 445. VorIfy fho soffIng 655 = l45 nrfIcuInr roquIromonf of fho frnInIng
rnck nof n sIfo rocoduro!.
The larger magnetizing current is provided by a near proportional increase of the exciter current.
At the moment of enabling the voltage model (UMO), the flux as calculated by the evaluation of the actual stator
current, stator voltage and magnetizing inductance X.H is output as actual flux (r84).
If the magnetizing inductance is programmed to a value smaller than actually true in the motor, too much exciter
current will result. The evaluation of exciter current and stator current in the vector diagram will conclude a large
magnetizing current and a flux value larger than 100% in consequence.
If this value of the actual flux as calculated is other than the setpoint (typically 100 %), the flux controller changes the
exciter current to reach a calculated value of 100% of actual flux (once activated; even if X.H is programmed
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The design and evaluation of the vector diagram shows that a smaller magnetizing inductance (X.H) requires a larger
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Comm_Motor page 69
Excitation Current Adaptation / Magnetizing Inductance
-i
Sd
+i
Sd

ideal
response
rated flux
(100%)
at i
Sd
= 0
flux increases with - reduction of p655
- increase of p1625
-i
Sd
+i
Sd

ideal
response
p1625 K KK K
flux increases for negative i
Sd
when increasing p1625
p655 L LL L
p1625 K KK K
p0655 scaling magnetizing inductance d-axis
p1625 excitation current setpoint calibration
site recording
DR-SM150
page 70
4.16 Excitation Current Adaptation (Balancing-Factor / G-Factor)
The flux of the synchronous motor is defined both by the magnetizing stator current component, i
sd
and by the
excitation current in the exciter winding, i
Exc
.
Since the physical influence on the flux is different for each of the two currents, their relative effects are taken into
account by the implied algorithms of Vector Control.
As you can see in the diagrams above, the two parameters used in the definition of the flux setpoint (p1625, via DC-
Master exciter current) and in the calculation of the actual flux (p655) both influence the value of the flux at i
Sd
= 0.
The example of a site-recording in the above slide shows the variables recorded by the PDA recording system as
response to a testing sequence commonly applied.
The settings of a.m. parameters has to match statically (parameters set such as to get 100 % flux). Additionally,
however, these parameters have to be set such as to have the flux increase slightly if the stator operates with a
negative field generating current component (negative i
Sd
).
The mutual influence of these parameters has to be balanced (balancing-factor / G-factor).
Note down the currently set values for the parameters listed below:
p1625 [%] = . . . . . . . . . . p655 [%] = . . . . . . . . . . r84 [%] = . . . . . . . . . .
step 1 increase the field generating current component i
Sd
(p1620) in steps of -5 % to -25 %
observing the flux which should not exceed 140 %
step 2 reduce p1625 to get a flux of 105 %
step 3 in steps, set p1620 to zero the flux will drop to less than 100 %
step 4 reduce p655 to again have a flux of 100 %
step 5 repeat the sequence (step 1 to step 4) until the flux reads 100 % with p1620 = 0 % and 105 % with
p1620 = -25 %.
Note down the values finally set: p1625 [%] = . . . . . . . . . . p655 [%] = . . . . . . . . . .
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Since the physical influence on the flux is different for each of the two currents, their relative effects are taken into
account by the implied algorithms of Vector Control.
As you can see in the diagrams above, the two parameters used in the definition of the flux setpoint (p1625, via DC-
Master exciter current) and in the calculation of the actual flux (p655) both influence the value of the flux at i
The example of a site-recording in the above slide shows the variables recorded by the PDA recording system as
response to a testing sequence commonly applied.
The settings of a.m. parameters has to match statically (parameters set such as to get 100 % flux). Additionally,
however, these parameters have to be set such as to have the flux increase slightly if the stator operates with a
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4.16 Excitation Current Adaptation (Balancing-Fact
The flux of the synchronous motor is defined both by the magnetizing stator current component, i
Exc
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Comm_Motor page 71
Verification of the Setting of the Balancing-Factor
Interaction between stator flux current and rotor exciter current
change of the stator flux current
from 0% to -25% in steps of -5%
field generating stator
current component / r76
excitation current
DC-Master / r1641
actual flux / r84
DR-SM150
page 72
Verify the correct settings by studying the expected interaction between I
Sd
(r76), I
exc
(r1641) and flux (r84) by carrying
out a test as follows (e.g. at 750 rpm):
- assign r76, r1641 and r84 to be recorded by the tracer (suggested recording: endless trace)
- start the tracer and set I
Sd
via p1620 successively to following values (in %):
0 / -5 / -10 / -15 / -20 / -25 / -20 / -15 / -10 / -5 / 0 (steps are in % of the rated motor current; p323)
- stop the tracer and verify that the exciter current (r1641) increases whenever the field generating stator current
(r76) decreases and that the flux increases slightly (up to 105 % at p1625 = -25 %).
Please note: the exciter current (r1641) must never become zero since this corresponds to an open exciter circuit
and bears the risk of resulting in high voltage on the exciter circuit.
To allow the I
Sd
controller a fair margin of positive control, define a minimum stator current:
p1620 = -10 % (I
Sd
= -10%).
As observed in the previous test, this setting increases the exciter current of the DC-Master but keeps the flux
constant.
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- stop the tracer and verify that the exciter current (r1641) increases whenever the field generating stator current
(r76) decreases and that the flux increases slightly (up to 105 % at p1625 = -25 %).
Please note: the exciter current (r1641) must never become zero since this corresponds to an open exciter circuit
and bears the risk of resulting in high voltage on the exciter circuit.
To allow the I
Sd
p1620 = -10 % (I
As observed in the previous test, this setting increases the exciter current of the DC-Master but keeps the flux
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DC-Master / r1641
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Comm_Motor page 73
Principle of Generating a Step of I
Sq
-Setpoint / Torque Limit

speed
controller
.
.
n
set
n
act
torque
limit
p1520
N_SET = steady state speed
TQ_LIM = torque limit (pos + neg)
torque limit (from SIMOTION)
P
r
o
f
i
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I
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a
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e
d
DR-SM150
page 74
Sq
)
In this step the response of the I
Sq
-Controller to a step of I
Sq
-setpoint will serve to verify respectively to improve the
optimization of the current controllers which has been carried out in the previous step.
A common practical procedure to generate an I
Sq
-setpoint step is to step up the speed setpoint by a fairly large value
(i.e. 10%) but limit the torque setpoint to the value intended as I
Sq
-setpoint step (this step acts temporarily only until
the actual speed has reached the speed setpoint; for the short rise time of the actual current, however, this time is
more than required).
Even though the torque limit could be set at the output of the speed controller directly (by parameter) a preferred
approach is to manipulate the torque limit as it is requested from Simotion-DCC via Profibus.
Alternatively to the technological limit a manual limit can be set in LCOMRG, sheet C2, block SETPOINTS_010.
The value at the input TQ_LIM is used to define the effective torque limit.
(Please remember: a value of 1.0 in DCC represents 100%.)
Follow the torque limit TQ_LIM downstream through the charts to find out which PZD word transfers the torque limit to
object Vector:
- PZD word for torque limit: . . . . . . . . . . . . . . . . . . .
In Starter, follow this PZD word to the menu where the torque is limited and find which parameter could be used
alternatively:
- parameter for torque limit: . . . . . . . . . . . . . . . . . . .
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A common practical procedure to generate an I
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the actual speed has reached the speed setpoint; for the short rise time of the actual current, however, this time is
more than required).
Even though the torque limit could be set at the output of the speed controller directly (by parameter) a preferred
approach is to manipulate the torque limit as it is requested from Simotion-DCC via Profibus.
Alternatively to the technological limit a manual limit can be set in LCOMRG, sheet C2, block SETPOINTS_010.
The value at the input TQ_LIM is used to define the effective torque limit.
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Comm_Motor page 75
Generating a Step of I
Sq
-Setpoint via LCOMRG
request for
continuous steps
steady state
speed
torque limit
(pos + neg)
general
control of
the drive
*
p.77
DR-SM150
page 76
To operate the drive via LCOMRG, set the operating mode to Remote (K17/Remote).
For the current test the drive will be run at a base speed (set via block SETPOINTS_010, input N_SET) to which an
additional step of speed will be added.
For this purpose LCOMRG offers a continuous step generator which is activated on block LCO_CTL_010 via input
CONT_STEP_RE.
For this purpose LCOMRG offers a continuous step generator which is activated on block LCO_CTL_010 via input C
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To operate the drive via LCOMRG, set the operating mode to Remote (K17/Remote).
For the current test the drive will be run at a base speed (set via block SETPOINTS_010, input N_SET) to which an
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p.77
Comm_Motor page 77
Continuous Step Generator
a (ms)
0.5 * cycle time
cycle time adjustment
step value Inevitable requirement: c > a / the settings of a and b define the symmetry of the generated signal
b
2 * c
a, b
c (ms)
request: continuous steps
*
p.75
DR-SM150
page 78
Activate the continuous step generator and follow the request to the next chart. Use input Factor of block OPTI_050
to define a (symmetrical) signal with a sweep time of 5s.
Define a step of speed of 10% (setting: 0.1 !) and roughly estimate the result of your settings on output
STEP_RESONSE of block OPTI_100.
If satisfied, deactivate the continuous step generator.
Now define the intended I
Sq
-setpoint step by setting the torque limit TQ_LIM to 10% (setting: 0.1 !), assign a base
speed of 30% (setting: 0.3 !) and start the drive via LCOMRG (after each command wait for the feedback information):
STARTUP / BM_AUXON / ALM_ON / ON / BM_STC_ON / CNTR_EN
The drive will run up to a steady speed of 30%.
Activate the continuous step generator and verify that the speed is changing between 30% and 40%.
STEP_RESONSE of block OPTI_100.
If satisfied, deactivate the continuous step generator.
Now define the intended I
Sq
-setpoint step by setting the torque limit TQ_LIM to 10% (setting: 0.1 !), assign a base
speed of 30% (setting: 0.3 !) and start the drive via LCOMRG (after each command wait for the feedback information):
STARTUP / BM_AUXON / ALM_ON / ON / BM_STC_ON / CNTR_EN
The drive will run up to a steady speed of 30%.
Activate the continuous step generator and verify that the speed is changing between 30% and 40%.
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Activate the continuous step generator and follow the request to the next chart. Use input Factor of block OPTI_050
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Inevitable requirement: c > a / the settings of a and b define the symmetry of the generated signal
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Inevitable requirement: c > a / the settings of a and b define the symmetry of the generated signal
Comm_Motor page 79
General View of the Step-Response of I
Sq
+10%
-10%
+5%
40%
30%
n
setpoint
n
actual
I
Sq
-actual
I
Sq
-setpoint
short sampling time recording
for analysis and optimization
DR-SM150
page 80
Prepare the tracer to record following variables:
- I
Sq
-setpoint, r77 - I
Sq
-actual value, r78
- speed setpoint, r60 - actual speed, r63
Suggested trigger settings
- initially, to get a general view: endless trace, recording time = 8s
- for the optimization: sampling rate = 0.125ms / pre-trigger = 50ms / recording duration = 255ms /
trigger condition = current setpoint > 10%
You will observe that the torque generating current component steps from an average of +5% to the set value of +10%
respectively -10% (the base torque of 5% is required to overcome friction).
Increase the torque limit to get a change of I
Sq
-setpoint of about +20%.
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Suggested trigger settings
- initially, to get a general view: endless trace, recording time = 8s
- for the optimization:
You will observe that the torque generating current component steps from an average of +5% to the set value of +10%
respectively -10% (the base torque of 5% is required to overcome friction).
Increase the torque limit to get a change of I
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Prepare the tracer to record following variables:
-actual value, r78
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Comm_Motor page 81
Optimization of the Current Controller (via I
Sq
-setpoint)
0.25 / 1000ms 0.35 / 1000ms
0.25 / 8ms 0.25 / 6ms OPT 0.25 / 3ms
0.1 / 1000ms
DR-SM150
page 82
The current controller settings as already set by optimizing the controllers via steps of i.Sd have to prove to be correct
by applying steps of i.Sq.
For training purposes, follow the standard procedure to optimize the PI current controller once more:
- start with a large integral action time (P-controller) to optimize the gain
- set the gain to get a fast response but no overshoot
- reduce the integral action time to again get a fast response but no overshoot
Find the optimum values for the current controller settings (they must be very similar to the values found by
optimization i.Sd):
gain, p1715 = . . . . . . . . . . . . . . and integral action time, p1717 = . . . . . . . . . . . . . .
Analyze the resulting rise time; you should find a value in the range of 5ms 10ms. If in doubt as to the correct setting,
the less dynamic setting should be preferred.
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- start with a large integral action time (
set the gain to get a fast response but no overshoot
- reduce the integral action time to again get a fast response but no overshoot
Find the optimum values for the current controller settings (they must be very similar to the values found by
optimization i.Sd):
Analyze the resulting rise time; you should find a value in the range of 5ms 10ms. If in doubt as to the correct setting,
the less dynamic setting should be preferred.
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The current controller settings as already set by optimizing the controllers via steps of i.Sd have to prove to be correct
- start with a large integral action time (
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Comm_Motor page 83
Step Response of the I
Sq
-Current Controller
site recording
rise time: 6ms
rise time: 3ms
DR-SM150
page 84
To give you a feeling of a site-recording, the above slide also shows the signals as they are found at site using the
PDA recording system.
Once you have finished the verification of your current controller properties, set the torque limit to a sufficiently large
value, i.e. TQ_LIM = 0.75 (LCOMRG, C2, SETPOINTS).
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To give you a feeling of a site-recording, the above slide also shows the signals as they are found at site using the
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Comm_Motor page 85
Flux Control Loop [6726, 6723, 6728]
[%]
[%]
p1643[D] (0.40)
via EMF; on basis of actual values
of i
S
, u
S
and substitute circuit data

set
100%
base speed
typ. 60%
max speed
100%
example for
rolling mill
application
dynamic
support
main control
of the flux
p1590[D] (0.5) p1592[D] (200)
to verify the G-factor
about zero in
steady state
for correct X.H
r1624
DR-SM150
page 86
4.18 Optimization of the Flux Controller
Within the motor the flux is generated mainly by the excitation winding (via DC-Master, I
Exc
) but additionally by the flux
generating current component (I
Sd
) of the stator.
Flux control is accordingly assigned to two flux controllers, a PI-controller defining the setpoint for I
Exc
and a
P-controller for the setpoint of I
Sd
.
For the optimization of the two flux controllers a step of flux setpoint acting simultaneously on both controllers will be
used. By alternatively assigning a value of 0% respectively 5% as supplementary flux setpoint (parameter p1572) a
setpoint step is generated. The controller settings will be adapted to obtain an optimized step response.
Since the actual flux is calculated on the basis of the EMF, the drive has to be run at a speed where the voltage
model is active (for the given situation: n > 30%).
Prepare the tracer to record following values:
- actual flux, r84
- I
Sd
-actual value, r76
- I
Exc
-actual value, r1641
Suggested trigger settings:
sampling rate = 0.625ms / pre-trigger = 400ms / recording duration = 1700ms / trigger condition = actual flux > 104%
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generating current component (I
Flux control is accordingly assigned to two flux controllers, a PI-controller defining the setpoint for I
P-controller for the setpoint of I .
For the optimization of the two flux controllers a step of flux setpoint acting simultaneously on both controllers will be
used. By alternatively assigning a value of 0% respectively 5% as supplementary flux setpoint (parameter p1572) a
setpoint step is generated. The controller settings will be adapted to obtain an optimized step response.
Since the actual flux is calculated on the basis of the EMF, the drive has to be run at a speed where the voltage
model is active (for the given situation: n > 30%).
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4.18 Optimization of the Flux Controller
ithin the motor the flux is generated mainly by the excitation winding (via DC-Master, I
) of the stator.
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Comm_Motor page 87
Optimization of the PI-Flux Controller
0.4 / 10000ms 1.4 / 10000ms 1.0 / 10000ms
1.0 / 200ms
OPTIMUM
1.0 / 75ms 1.0 / 50ms
I
Exc, actual
(r1641)
actual flux (r84)
DR-SM150
page 88
The optimization of the the two controllers has to be done one by one (one controller is deactivated while the other
controller is optimized).
Note down the controller settings valid at the moment:
p1600 = . . . . . . . . . . . . . p1590 = . . . . . . . . . . . . . p1592 = . . . . . . . . . . . . .
To carry out the optimization of the PI-controller, the P-controller has to be deactivated by setting p1600 = 0.
Run the drive at a speed of 40% (either via LCOMRG or via OP177).
As for other PI-controllers, follow the standard procedure to optimize the PI flux controller:
- start with an integral action time of 10 000ms (P-controller) to optimize the gain
- reduce the integral action time to get next to none overshoot
Find optimized values for the flux controller settings:
p1600 = . . . . . . . . . . . . . p1590 = . . . . . . . . . . . . . p1592 = . . . . . . . . . . . . .
To carry out the optimization of the PI-controller, the P-controller has to be deactivated by setting p1600 = 0.
Run the drive at a speed of 40% (either via LCOMRG or via OP177).
As for other PI-controllers, follow the standard procedure to optimize the PI flux controller:
- start with an integral action time of 10 000ms (
- reduce the integral action time to get next to none overshoot
Find optimized values for the flux controller settings:
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Optimization of the P-Flux Controller / Final Result
1.0 3.0
OPTIMUM
2.5
I
Sd, actual
(r76)
actual flux (r84)
50 ms/div
actual flux
(r84)
OPTIMUM
PI-controller: 1.0 / 75ms
P-controller 1.2
rise time:
60ms
DR-SM150
page 90
To optimize the P-controller, set its gain to its initially valid value (p1600 = . . . . . . . . . . . .), deactivate the PI-controller
by assigning the gain to p1590 = 0 and optimize the gain of the P-controller to again get a next to none overshoot:
gain, p1600 = . . . . . . . . . . . . . .
Set p1590 back to its optimized value (previous page) and analyze the resulting transient of the actual flux.
You will notice that the added influence of both flux controllers results in a too large overshoot.
Reduce the gain of the P-controller to half of its current setting: gain P-controller, p1600 = . . . . . . . . . .
The transient should now show only a slight overshoot. Analyze the rise time; you should find a value in the range
of 50ms to 100ms.
Finally monitor the actual flux for a down-step of the flux setpoint from 105% to 100% (via changing p1572 from 5%
to 0%). The resulting overshoot will be larger than for the up-step.
If it is too large (or oscillating) the P-controller gain should be reduced still further to avoid the possible risk of DC-link
overvoltage.
When running the drive at constant speed also verify that the flux setpoint at the output of the PI-flux controller (r1593)
reads about zero. Any noticeable deviation results from either an incorrect setting of the magnetizing inductance;
i.e. its scaling parameter p655 or an incorrect evaluation of the actual values of motor voltage or motor current.
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gain, p1600 = . . . . . . . . . . . . . .
Set p1590 back to its optimized value (previous page) and analyze the resulting transient of the actual flux.
You will notice that the added influence of both flux controllers results in a too large overshoot.
Reduce the gain of the P-controller to half of its current setting: gain P-controller, p1600 = . . . . . . . . . .
The transient should now show only a slight overshoot. Analyze the rise time; you should find a value in the range
of 50ms to 100ms.
Finally monitor the actual flux for a down-step of the flux setpoint from 105% to 100% (via changing p1572 from 5%
to 0%). The resulting overshoot will be larger than for the up-step.
If it is too large (or oscillating) the P-controller gain should be reduced still further to avoid the possible risk of DC-link
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To optimize the P-controller, set its gain to its initially valid value (p1600 = . . . . . . . . . . . .), deactivate the PI-controller
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Comm_Motor page 91
Speed Controller
Kp
Tn
natural frequency
damping
dead time
reference model
off
on
t
same rise time
DR-SM150
page 92
4.19 Optimization of the Speed Controller via Step of Setpoint
Any controller optimization is based on the consideration of the system properties of the respective control loops.
Unlike all the other controllers where the system properties are (at least to a very large extent) constant for any kind
of load or speed, the system properties of the speed control loop may change considerably with a change of speed
or with a change of dynamic load (moment of inertia).
For this reason the optimization of the speed controller should not be based on one single operating point but it has to
be valid for the entire range of operation. If the system properties change considerably (i.e. proportional to the speed
or in relation to the number of revs of the shaft like for a winding stand) the speed controller settings have to be
(automatically) adapted as necessary (menu Adaptation).
DCC-chart LCOMRG, sheet C2 offers essentially following functionality to optimize the speed controller or to test
speed control loop properties:
1) ramping the speed up to a constant value with subsequent setpoint steps
(step up, step down at regular intervals)
2) performing reversing runs with defined ramp times within defined speed limits
3) stepping the speed up to maximum speed (preset step: 2%)
4) simulating a step of load (adding a step of torque)
Adaptation: if the moment of inertia changes along with the speed or with time, the controller properties have to be
adapted to the change of the controlled system.
Reference model: the reference model converts a step of setpoint to a signal comparable to the actual speed
feedback value. In consequence the set-actual deviation is nearly zero; the Integral-controller channel is not
contributing to the PI-controller output which makes the PI-controller functionally a P-controller with Value Optimum
Properties no overshoot.
Steps of load are controlled with the high dynamic property of the PI-controller.
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of load or speed, the system properties of the speed control loop may change considerably with a change of speed
or with a change of dynamic load (moment of inertia).
For this reason the optimization of the speed controller should not be based on one single operating point but it has to
be valid for the entire range of operation. If the system properties change considerably (i.e. proportional to the speed
or in relation to the number of revs of the shaft like for a winding stand) the speed controller settings have to be
(automatically) adapted as necessary (
DCC-chart LCOMRG, sheet C2 offers essentially following functionality to optimize the speed controller or to test
speed control loop properties:
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4.19 Optimization of the Speed Controller via Step of Setpoint
Any controller optimization is based on the consideration of the system properties of the respective control loops.
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Comm_Motor page 93
Functionalities to Optimize the Speed Controller
CONT_STEP_RE continuous step response generator
activated additionally to N_SET
HIN und HER the speed setpoint is ramped from
plus N_SET to minus N_SET
ENABLE_OPT I steps the speed up to maximum speed
with a fixed step value
ENABLE TOPT provides for steps of torque
downstream of the speed controller
n
actual
I
Sq,set
speed is ramping up;
controller properties
cannot be analyzed!
I
Sq, actual
(r77)
n
actual
(r61)
n
set
(r1438)
must not be limited !
DR-SM150
page 94
Functionality Cont_Step_Re will be used first to optimize the speed controller at a constant base speed which is
preferably selected to correspond to the dominating operating speed (or at a speed at which basic controller settings
apply which will be adapted in operation i.e. with the change of speed).
At the training rack the system properties of the speed loop are the same at any speed.
Select a base speed of initially 60% (N_SET = 0.6 !) and define the step of speed to be 2% (LCOMRG, sheet D1,
block OPTI_100, input X2 = 0.02).
[The step value has to be small enough not to have torque or current limited; so start with a really small value initially.]
Switch on the drive via LCOMRG, have it run up to the set speed of 60% and activate continuous setpoint steps
(CONT_STEP_RE).
- speed setpoint, r1438
- actual speed, r61
- I
Sq
-setpoint, r77
Suggested trigger settings:
sampling rate = 1.0ms / pre-trigger = 200ms / recording duration = 2000ms / trigger condition = speed setpoint > 61%
Analyze the recorded signals.
In particular have a look at the peak value of the torque generating stator current component (r77):
peak value of r77: . . . . . . . . . . . . . .
This peak value has to be noticeably smaller the set torque limit (p1520) to allow for the optimization
(when the gain is optimized it may be increased well beyond its initial value; the larger the gain, the larger the I
Sq
peak
value for the same value of step).
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Select a base speed of initially 60% (N_SET = 0
block OPTI_100, input X2 = 0.02).
[The step value has to be small enough not to have torque or current limited; so start with a really small value initially.]
Switch on the drive via LCOMRG, have it run up to the set speed of 60% and activate continuous setpoint steps
(CONT_STEP_RE).
- speed setpoint, r1438
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Functionality Cont_Step_Re will be used first to optimize the speed controller at a constant base speed which is
preferably selected to correspond to the dominating operating speed (or at a speed at which basic controller settings
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Comm_Motor page 95
Optimization of the Speed Controller via Step of Setpoint
18 / 10000ms 25 / 10000ms 8 / 10000ms
18 / 100ms
OPTIMUM
18 / 40ms
t.rise = 25ms
18 / 25ms
DR-SM150
page 96
The PI speed controller is optimized following the same sequence as has been used for other PI-controllers. The
typical aim of the optimization, however, is to find a step response featuring a considerable overshoot (details will
follow).
Start the optimization by following the standard procedure:
- set an integral action time of 10 000ms (P-controller) to optimize the gain
- reduce the integral action time to get only one undershoot of the actual speed (the resulting overshoot will
range within 20% to 50%; the value depends on the mechanical properties of the load).
[The noise of the actual speed may make it difficult to identify the undershoot; looking at the current setpoint in
comparison an identification of the correct setting will be successful.]
Note down the optimized values for the speed controller settings and the resulting rise time:
proportional gain, p1460 = . . . . . . . . . . . . . . rise time = . . . . . . . . . . . . . .
integral action time, p1462 = . . . . . . . . . . . . . .
IIonso nofo fhnf fho soffIngs nnd fho rosuIfs you hnvo found In fhIs sfo nro vnIId for fho smnII synchronous
mofor wIfh fho vory smnII momonf of InorfIn.
Af sIfo nII fImo vnIuos wIII fyIcnIIy dIffor InfogrnI ncfIon fImo = l00ms 200ms, rIso fImo = 80ms l00ms.
If Is suggosfod fo ofImIzo fho sood confroIIor somowhnf Ioss dynnmIc fhnn roosod nbovo fo onsuro nn
uncrIfIcnI nnd sfnbIo oornfIon of fho comIofo drIvo sysfom onco nII fho roInfod mofors nro InforncfIng by fho
couIIng of fho Iond.
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- set an integral action time of 10 000ms (
- reduce the integral action time to get only one undershoot of the actual speed (the resulting overshoot will
range within 20% to 50%; the value depends on the mechanical properties of the load).
[The noise of the actual speed may make it difficult to identify the undershoot; looking at the current setpoint in
comparison an identification of the correct setting will be successful.]
Note down the optimized values for the speed controller settings and the resulting rise time:
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The PI speed controller is optimized following the same sequence as has been used for other PI-controllers. The
typical aim of the optimization, however, is to find a step response featuring a considerable overshoot (details will
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18 / 25ms
Comm_Motor page 97
Optimization via Simulated Step of Load
Profibus
Integrated
i.Sq.set
simulated
load
i.Sq.act
-
-
current
controller
negative torque limiting symmetrical
DR-SM150
page 98
4.20 Optimization of the Speed Controller via Step of Load
In actual operation steps of setpoint as used in the previous approach of optimization will rarely occur because any
request to change the speed will pass a ramp function generator (either the one within the drives setpoint channel or
some other implemented in the higher level control like Automation.
In practical operation the motor will have to handle steps of load. Since real steps of load can hardly be generated on
demand, simulated steps of load are used to test the response of the drive to a step of disturbance variable.
Set the commissioning torque limit in LCOMRG, block SETPOINTS_010, input TQ_LIM to 75% and verify via Starter
that this value is active.
This setting limits the maximum torque the drive will accept on request from the speed controller to 75%. In
consequence a simulated load of more than 75% cannot be counteracted by the speed controller; the drive would
accelerate up to the voltage limit!
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In practical operation the motor will have to handle steps of load. Since real steps of load can hardly be generated on
demand, simulated steps of load are used to test the response of the drive to a step of disturbance variable.
Set the commissioning torque limit in LCOMRG, block SETPOINTS_010, input TQ_LIM to 75% and verify via Starter
that this value is active.
This setting limits the maximum torque the drive will accept on request from the speed controller to 75%. In
consequence a simulated load of more than 75% cannot be counteracted by the speed controller; the drive would
accelerate up to the voltage limit!
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4.20 Optimization of the Speed Controller via Step of Load
In actual operation steps of setpoint as used in the previous approach of optimization will rarely occur because any
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ing sy
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Comm_Motor page 99
Optimization of the Speed Controller via Step of Load
cycle time c
step value - inevitable requirement: c > a
- the settings of a and b
define the symmetry of
the generated signal
c
a, b
a
b
dynamic speed controller setting: Impact Speed Drop (ISD) < 0.25 %s
load =20% 40% 60%
n: 1div=0.5% i: 1div=20% t: 1div=0.1s
18 / 200ms 18 / 40ms
ISD =
0.55 %s
ISD =
0.15 %s
8 / 200ms
ISD =
1.25 %s
t
n
load = 50%
DR-SM150
page 100
Go to chart LCOMRG, sheet D5, block OPTI_101, input X2 and set the disturbance variable to simulate a 10% load
for 1s with a 1s zero load interval (remember that a setting of 1 acts as 100% ! ).
Switch on the drive via LCOMRG, have it run up to a speed of 60% and activate the simulated disturbance variable
(ENABLE_TOPT).
Trace the same signals as before for a step of load of 20%, 40% and 50%: you will notice that the maximum loss of
speed is proportional to the step of load.
If your drive should trip with overcurrent, fault 30001 while simulating steps of load, check your current controller
settings; at the TC-stand they should read p1715 = 0.15, p1717 = 6ms (in particular your gain might be set too
large). If necessary, adapt your settings.
If you compare the step response for a constant step of load but for different controller settings you will notice that the
area made up by the loss of actual speed versus the constant speed setpoint decreases the more dynamically the
speed controller is set.
This area defines the quality of the speed controller setup. It is known by the name Impact Speed Drop and should
be less than 0.25%s for a step of load of 50% according to following equation
(you might want to substitute your signal by an approximated triangle):
ISD = 0.5 * t * n [t in s, n in % (n
max
= 100%), ISD in %s]
Take one of your traces for the optimized speed controller and calculate the ISD:
ISD = . . . . . . . . . . . . %s
Once you terminate this test, set the value of the disturbance variable to 0% and disable the additional step of
torque.
To continue, be sure that the speed controller data are set to your optimized values.
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Trace the same signals as before for a step of load of 20%, 40% and 50%: you will notice that the maximum loss of
speed is proportional to the step of load.
If your drive should trip with overcurrent, fault 30001 while simulating steps of load, check your current controller
settings; at the TC-stand they should read p1715 = 0.15, p1717 = 6ms (in particular your gain might be set too
large). If necessary, adapt your settings.
If you compare the step response for a constant step of load but for different controller settings you will notice that the
area made up by the loss of actual speed versus the constant speed setpoint decreases the more dynamically the
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Go to chart LCOMRG, sheet D5, block OPTI_101, input
for 1s with a 1s zero load interval (remember that a setting of 1 acts as 100%
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8 / 200ms
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Comm_Motor page 101
DC-Link Voltage Pre-Control
i.Sq pre-control
of up to four
Motor Modules
with pre-control
ideally zero
U.DC
distribution of
the overall i.Sq
request to the
overall number
of ALMs
Pre-Control
0 off
100 on
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L
i
n
k
active power
setpoint
r82[3]
MoMo 1
r82[3]
MoMo 4
.
.
.
DR-SM150
page 102
4.21 Setting the Infeed Pre-Control
As you can see in the function diagram, the control of the DC-link voltage combines the outputs of the DC-link voltage
controller and of the pre-control channel. As common in such an arrangement, the pre-control has to be set to fully
provide the voltage request; the PI-controller will act as a correction controller only (it will become active to handle
any step of disturbance variable which might occur in the DC-link itself).
The active power requested by the Motor Module is transferred to the Infeed via CU-link and has to be scaled with the
aim of minimizing the contribution of the PI-voltage controller (r77 should ideally read zero with a setting of p3521
close to 100 %).
If sovornI Mofor ModuIos nro connocfod fo n common CIInk bus, onch Mofor ModuIo hns nn Inuf fo roquosf Ifs
own ncfIvo owor fho scnIIng wIII fhon bo symmofrIcnIIy sIIf I.o. fhroo Mofor ModuIos 352l = 33.3 .
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The active power requested by the Motor Module is transferred to the Infeed via CU-link and has to be scaled with the
aim of minimizing the contribution of the PI-voltage controller (r77 should ideally read zero with a setting of p3521
close to 100 %).
If sovornI Mofor ModuIos nro connocfod fo n common
own ncfIvo owor fho scnIIng wIII fhon bo symmofrIcnIIy sIIf I.o. fhroo Mofor ModuIos
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Comm_Motor page 103
Influence of the DC-Link Voltage Pre-Control
p3521 = 100%
p3521 = 150% p3521 = 50% p3521 = 0%
U
DC, actual
i
sq
(precontrol)
i
sq
(U
DC
control)
DR-SM150
page 104
At present the pre-control is already active (generally enabled by p3400.11 = ON / scaled with 100 % via p3521[0]).
Prepare the tracer to record following Infeed values (endless trace with 5s recording time / sampling rate = 4ms):
- I
active
-setpoint, r77 - P
pre-control
, r3522[0] - U
DC
-actual, r70[0]
To tune the Infeed Pre-Control, a reversing run with about 50 % torque generating current component will be
required. Operate the drive using the commissioning mode HIN und HER and adjust the acceleration and
deceleration ramps to get I
Sq
-actual = 50 %).
Use the parameter for the scaling (p3521) to analyze its influence on the recorded signals:
- without pre-control the PI-controller provides all active current for the change of load
- with 100% pre-control the PI-controller operates in idle state
- if the pre-control is too large, the PI-controller counteracts
- the quality of the DC-link voltage is roughly the same for any setting
(UNLESS the limits of the PI-controller should be reached)
Finally find the optimized setting (such that the PI-controller output, r77 shows the least deflection):
p3521 = . . . . . . . . . . . %
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pre-control
To tune the Infeed Pre-Control, a reversing run with about 50 % torque generating current component will be
required. Operate the drive using the commissioning mode HIN und HER and adjust the acceleration and
deceleration ramps to get I
Sq
-actual = 50 %).
Use the parameter for the scaling (p3521) to analyze its influence on the recorded signals:
- without pre-control the PI-controller provides all active current for the change of load
- with 100% pre-control the PI-controller operates in idle state
- if the pre-control is too large, the PI-controller counteracts
- the quality of the DC-link voltage is roughly the same for any setting
(UNLESS the limits of the PI-controller should be reached)
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Prepare the tracer to record following Infeed values (endless trace with 5s recording time / sampling rate = 4ms):
, r3522[0] - U
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Comm_Motor page 105
Adjusting Instrumentation Meters
<1> <2> <3> <4>
f
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c
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a
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a
m
PSA-meters can be tested by
assigning 0%, 100% directly or
by parameters r6888[0 3].
These parameters additionally
offer a -100% value and a
sawtooth signal (-100% to 100%).
-1.0 +1.0
+10V
-10V
Offset = 0
Scaling = 1
-1.0
+10V
-10V
Offset = 0
Scaling = 2
+5V
-5V
+1.0
-1.0 +1.0
+10V
-10V
Offset = -1
Scaling = 2
in
out
DR-SM150
page 106
4.22 Adjusting the Instrumentation Meters
When you run the TC-drive you will notice that the instrumentation meters indicate unexpected values.
The meters of the training rack are wired as per standard (refer to the excerpt of the circuit diagram above). Find out
first which meter is connected to which PSA terminal:
Signal PSA terminal Signal in-par. out-par. scaling offset
standard required p6860 cd. p6870 cd.
Voltage . . . . . . . . . . . Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current . . . . . . . . . . . Current . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed . . . . . . . . . . . Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power . . . . . . . . . . . DC-link . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Next find out which input-parameters you have to use to feed a signal to the assigned meters as required and which
output-parameters you have to wire to get the physical quantity indicated (select the smoothed values).
Use the Calibration signals for PSA analog outputs to test the assignment and function of the meter for the speed:
constant value 0 0% / constant value -1.0 (1.0) -100% (100%).
Program the parameters for scaling and offset to tune the meter as required.
Now assign the smoothed actual speed to this meter and verify that the speed is indicated as requested:
- Speed 0rpm 0% / value as scaled in p2000 100% (same at positive and negative speed)
(run the drive via OP177 at various positive and negative speed values).
Follow the same approach for the other signals and have the meters indicate as suggested:
- Voltage 0V 0% / value as scaled in p2001 100% (same at positive and negative speed)
- Current 0A 0% / value as scaled in p2002 100% (same at positive and negative speed)
- DC-link 0V 0% / 600V 100%
Voltage . . . . . . . . . . . Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current . . . . . . . . . . . Current . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed . . . . . . . . . . . Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power . . . . . . . . . . . DC-link . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Current . . . . . . . . . . . Current . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed . . . . . . . . . . . Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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4.22 Adjusting the Instrumentation Meters
hen you run the TC-drive you will notice that the instrumentation meters indicate unexpected values.
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Scaling = 2
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PSA-meters can be tested by
assigning 0%, 100% directly or
by parameters r6888[0 3].
These parameters additionally
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Comm_Motor page 107
Saving all Settings in Non Volatile Memories
HD HD
RAM RAM
Copy RAM to ROM
Save parameters
SIMOTION_CX32 // SINAMICS-Integrated PG / PC
Load
to PG
Save project
Reboot
Parameter reset
Load to
target
Open project
RAM RAM
Offline
PG-RAM
SIMOTION_D445
NV
RAM
Actual data
to RAM *
Copy RAM to ROM
Download
Reboot
RAM RAM
Online
D445-RAM
D445
CFC
for:
SIM_D445
SIM_CX32
SIN_Int.
for:
SIM_CX32
SIN_Int.
not for
SIM_D445
* special type of
SIMOTION variables
DR-SM150
page 108
4.23 Final Steps
In operation a more moderate ramping than currently valid will be preferred; please set the ramp times (p1120, p1121)
to 5s each.
Af sIfo fho rnm fImos of fho InfornnI rnm funcfIon gonornfor ll20, ll2l nro fyIcnIIy sof fo l s. Tho rnm
fImos noodod for oornfIon nro nIwnys Inrgor fhoy nro sof vIn AufomnfIon ns roquIrod In fho IndIvIdunI
oornfIng sfngos suorosod on fho InfornnI rnms.
With the adaptation of the pre-control the link of the Infeed to the Motor Module is commissioned additionally to the
Motor Module itself; the entire system is now ready for operation.
At the very end of commissioning, dont forget following steps:
- verify that Control via LCOMRG is disabled (all control inputs read zero) and define N_SET = 0
- download Simotion D445 and save the changes on the CFC (Copy RAM to ROM)
- upload the online changes you have made on the Infeed (CX32)
- save the changes on the CFC (Copy RAM to ROM)
- upload the online changes you have made on the Motor Module (Vector)
- save the changes on the CFC (Copy RAM to ROM)
- save the uploaded data in your project (Save project)
- archive your project
Af sIfo fho rnm fImos of fho InfornnI rnm funcfIon
fImos noodod for oornfIon nro nIwnys Inrgor fhoy nro sof vIn AufomnfIon ns roquIrod In fho IndIvIdunI
oornfIng sfngos suorosod on fho InfornnI rnms.
With the adaptation of the pre-control the link of
Motor Module itself; the entire system is now ready for operation.
At the very end of commissioning, dont forget following steps:
- verify that Control via LCOMRG is disabled (all control inputs read zero) and define N_SET = 0
- download Simotion D445 and save the changes on the CFC (Copy RAM to ROM)
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n operation a more moderate ramping than currently valid will be preferred; please set the ramp times (p1120, p1121)
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page 107
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SIMOTION_CX32 // SINAMICS-Integrated
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SIMOTION_CX32 // SINAMICS-Integrated
Reboot Re Re Re ot ot ot Re Re Re ot ot ot Re Re Re Re ot ot Re Re Re Re ot ot
Parameter reset Pa me me me mete Pa Pa Pa Pa me me me me mete mete Pa Pa Pa Para Pa me me mete te
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Comm_Motor page 109
Important Values for the Motor Module
for commissioning purposes / protection DEF = 100% Current limit software p6920
0.8 to 1.2 => 160 to 240 Hz -> WE = 1.0 Switch frequency factor for RZA p6961
U/F Table guide p6974 [0-37]
U/F Table type p6972 [0-7]
Parameters
Raw actual value to X75 -> U_wu 9971 PSA raw value loaded to X75 r6765[0n]
Raw actual value to X74 -> U_vu 9971 PSA raw value loaded to X74 r6764[0n]
Raw actual value to X73 -> I_W 9971 PSA raw value loaded to X73 r6763[0n]
Raw actual value to X72 -> I_U 9971 PSA raw value loaded to X72 r6762[0n]
PSA Raw Values
Double smoothed speed actual value 4715 Nist_smoothed (p1441 & p0045 = smoothing) r0063[1]
Actual value can also be calculated (sensorless) 4715 Nist_smoothed (p1441 = smoothing) r0063[0]
Speed actual value unsmoothed (raw value) 4715 Nist_unsmoothed from SMC30 r0061
Speed
Active power setpoint 6714 P_nom r0082[2]
Active power actual value smoothed 6714 P_act_smoothed r0082[1]
Active power actual value unsmoothed 6714 P_act r0082[0]
Power
Motor- current actual value reactive component 6714 Id_act r0076
Motor- current actual value active component 6714 Iq_act r0078
Motor voltage actual value 6732 Motor_PhaseVoltages r0089[0-4]
Filtered current actual value (r6910) as sine wave 6732 I_Ist_Motor_corrected (without pulsing) r0069[0-4]
Calculated motor voltage actual values (R,S,T, , ) 6732 U_act_Motor with harmonic oscillations (raw values) r6911 [0-4]
Calculated motor current actual values - I_act_Motor_with harmonic oscillations (raw values) r6910 [0-4]
U & I
Comment Sheet Meaning Actual Value
DR-SM150
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page 109
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for commissioning purposes / protection
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0.8 to 1.2 => 160 to 240 Hz -> WE = 1.0
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Raw actual value to X75 -> U_wu
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Raw actual value to X74 -> U_vu
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Raw actual value to X73 -> I_W
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Raw actual value to X72 -> I_U
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Actual value can also be calculated (sensorless)

16 Motor Syn0 S

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