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SINAMICSPOLYGONMaster-value-dependent characteristic functionality

Function Manual

10/2015Edition

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10/2015A5E33270641

SINAMICS

POLYGONMaster-value-dependent characteristic functionality

Function Manual

Preface

Fundamental safety instructions 1

Applications, characteristics 2

Installation and activation 3

Function description and commissioning 4

Parameters 5

Function diagrams 6

Faults and alarms 7

Appendix A

Index

Valid for

OA application Firmware version

POLYGON 1.1

for the drive

SINAMICS S120/S150 from 4.5

SINAMICS Integrated from 4.5

Warning notice system

This manual contains information which you must heed to ensure your own personal safety and to avoid material damage. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to equipment damage have no safety alert symbol. Depending on the hazard level, warnings are indicated in a descending order as follows.

If more than one level of danger is simultaneously applicable, the warning notice for the highest level is used. A warning notice with a safety alert symbol warning of injury to persons may also include a warning relating to property damage.

Qualified personnel

The product/system described in this documentation may only be operated by personnel qualified for the specific task in accordance with the relevant documentation for the specific task, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems.

Proper use of Siemens products

Note the following:

Trademarks

All names identified with ® are registered trademarks of Siemens AG. Any other names used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.

Disclaimer of liability

We have verified that the contents of this document correspond to the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. The information given in this document is reviewed at regular intervals and any corrections that might be necessary are made in the subsequent editions.

DANGER

indicates that death or serious injury will result if proper precautions are not taken.

WARNING

indicates that death or serious injury could result if proper precautions are not taken.

CAUTION

indicates that minor personal injury can result if proper precautions are not taken.

NOTICE

indicates that property damage can result if proper precautions are not taken.

WARNING

Siemens products are only permitted to be used for the applications listed in the catalog and in the associated technical documentation. If third-party products and components are deployed, then they must be recommended or approved by Siemens AG. These products can only function correctly and safely if they are transported, stored, set up, mounted, installed, commissioned, operated and maintained correctly. The permissible ambient conditions must be adhered to. Notices in the associated documentation must be observed.

Siemens AGDivision Digital FactoryP.O. Box 48 4890026 NUREMBERGGERMANY

Document order number: A5E3327064110/2015 Subject to change

Copyright © Siemens AG 2015.All rights reserved

Legal information

SINAMICS POLYGON

Function Manual (FH15), 10/2015, A5E33270641 5

Preface

Information about the SINAMICS documentation

The SINAMICS documentation is organized in 2 parts:

• General documentation/catalogs

• Manufacturer/service documentation

This documentation is part of the Technical Customer Documentation for SINAMICS.

In the interests of clarity, this documentation does not contain all the detailed information for all product types and cannot take into account every possible aspect of installation, operation or maintenance.

The contents of this documentation are not part of an earlier or existing agreement, a promise, or a legal agreement, nor do they change this. The Purchase Agreement contains the complete and exclusive obligations of Siemens, including the warranty provisions. These contractual warranty provisions are neither extended nor curbed as a result of the statements made in this documentation.

Target group

This documentation addresses commissioning engineers and service personnel who use SINAMICS.

Objective

This manual contains information about all parameters, function diagrams, faults, and warnings required to commission and service the system.

This manual should be used in addition to the other manuals and tools provided for the product.

Search tools

The following guides are provided to help you locate information in this manual:

1. Table of contents for the complete manual (Page 7)

2. List of abbreviations (Page 64)

3. Index (Page 77)

Technical Support

Country-specific telephone numbers for technical support are provided in the Internet:

http://www.siemens.com/automation/service&support

http://www.siemens.com/automation/service&support

Preface

SINAMICS POLYGON

6 Function Manual (FH15), 10/2015, A5E33270641

SINAMICS

Information about SINAMICS can be found on the Internet at the following address:

http://www.siemens.com/sinamics

http://www.siemens.com/sinamics

SINAMICS POLYGON


Table of contents

1 Fundamental safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.1 General safety instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.2 Industrial security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2 Applications, characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3 Installation and activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.1 Installing an OA-application using STARTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163.1.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173.1.2 Installing the OA Support Package in STARTER. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183.1.3 Download the technology package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193.1.4 Activating the OA-application in the drive object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203.1.5 Commissioning of the OA-application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3.2 Uninstalling an OA-application using STARTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3.3 Installation of an OA application via SINUMERIK HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233.3.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233.3.2 Installing the OA application on the drive device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243.3.3 Activating the OA application for the axis (drive object). . . . . . . . . . . . . . . . . . . . . . . . . . . . 253.3.4 Commissioning the OA application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

3.4 Uninstalling an OA application via SINUMERIK HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

4 Function description and commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4.1 How POLYGON works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304.1.1 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304.1.2 Conditioning the master value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324.1.3 Parameterizing the characteristic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

4.2 Examples of scaling the master value in POLYGON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364.2.1 Example 1 – rotary axis with incremental encoders without a gear unit . . . . . . . . . . . . . . . 364.2.2 Example 2 – rotary axis with incremental encoders and a gear unit . . . . . . . . . . . . . . . . . . 374.2.3 Example 3 – referencing of the OA application POLYGON . . . . . . . . . . . . . . . . . . . . . . . . . 374.2.4 Example 4 – referencing the OA application POLYGON using an absolute value encoder 38

4.3 Examples for characteristics for POLYGON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404.3.1 Example 5 – sine with modulo 360 ° . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404.3.2 Example 6 – superimposition of multiple characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . 424.3.3 Example 7 - compensation of transfer function and dead times . . . . . . . . . . . . . . . . . . . . . 45

4.4 Function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

4.5 Sampling times and number of controllable drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

4.6 Licensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

4.7 SINAMICS Safety Integrated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Table of contents

SINAMICS POLYGON


5 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

5.1 Overview of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

5.2 List of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

6 Function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

7 Faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

A Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

A.1 List of abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

A.2 Defining a characteristic (p31245, p31246[0…n]) with script. . . . . . . . . . . . . . . . . . . . . . . . 73A.2.1 Creating and running script . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73A.2.2 Example of a script. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

1

SINAMICS POLYGON


Fundamental safety instructions

Content

1.1 General safety instructions 10

1.2 Industrial security 11

1 Fundamental safety instructions

1.1 General safety instructions

SINAMICS POLYGON


1.1 General safety instructions

WARNING

Risk of death if the safety instructions and remaining risks are not carefully observed

If the safety instructions and residual risks are not carefully observed in the associated hardware documentation, accidents involving severe injuries or death can occur.

• Observe the safety instructions provided in the hardware documentation.

• When assessing the risk, take into account residual risks.

WARNING

Danger to life or malfunctions of the machine as a result of incorrect or changed parameter assignment

Machines can malfunction as a result of incorrect or changed parameter assignment, which in turn can lead to injuries or death.

• Protect the parameterization (parameter assignments) against unauthorized access.

• Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY-STOP or EMERGENCY-OFF).

SINAMICS POLYGON



1.2 Industrial security


Note

Industrial security

Siemens provides products and solutions with industrial security functions that support the secure operation of plants, solutions, machines, devices, and/or networks. They are important components in a holistic industrial security concept. With this in mind, Siemens products and solutions undergo continuous development. Siemens strongly recommends that you regularly check for product updates.

To ensure that Siemens products and solutions are operated securely, suitable preventive measures (e.g. cell protection concept) and each component must be integrated into a state-of-the-art holistic industrial security concept. Any third-party products that may be in use must also be taken into account. You will find more information about industrial security at:

http://www.siemens.com/industrialsecurity

To receive information about product updates on a regular basis, register for our product newsletter. You will find more information at:

http://support.automation.siemens.com

WARNING

Danger due to unsafe operating states caused by software manipulation

Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe operating states to develop in your installation which can result in death, severe injuries and/or material damage.

• Update your software regularly.

You can find information and newsletters on this subject at:


• Integrate the automation and drive components into a holistic, state-of-the-art industrial security concept for the plant or machine.

You can find more detailed information at:


• Make sure that you include all installed products into the integrated industrial security concept.







SINAMICS POLYGON


2

SINAMICS POLYGON


Applications, characteristics

Applications

For SINAMICS, the OA application "polygonal line" (POLYGON) is an expansion for the SERVO, VECTOR, and HLA drive objects.

The polygonal line application makes it possible to create a master-value-dependent output signal based on a parameterized characteristic in the current controller sampling time (or an integer multiple of the current controller sampling time). The characteristics is defined by up to 10000 equidistantly distributed interpolation points between which linear interpolation is performed. The y-values of the interpolation points can be taken from an Excel sheet using a script.

By interconnecting the output signals to different connector inputs, it is possible to create the different relationships via the characteristic functionality, e.g.:

• Position-position reference

• Position-speed reference

• Position-torque reference

For example, for the following applications:

• Generation of special signal shapes together with the OA application SETPGEN, which generates the setpoint.

• Compensation for dead times and transfer function of speed setpoint oscillation.

• Encoder actual value as the master value for operating on a user-defined torque profile.

• Drive-integrated cam.

2 Applications, characteristics

SINAMICS POLYGON


Characteristics

• Application of the master value and calculation of the output signal in the current controller sampling time or in discrete integer multiples of the current controller sampling time.

• Specification of the master value as an integer via a connector input. By default, the encoder position actual value Gn_XIST1 (r0479[0]) is interconnected to this input.

• Conversion of the master value into a length or angle unit that is suitable for the application via a rational scaling factor (integer numerator / integer denominator). This scaling factor also considers the gear ratio of a gear unit, if there is one, (gear factor).

• Definition of a reference point possible by taking over a setting value.

• Periodic repetition of the master value on rotary axes by specifying a modulo length.

• Dynamic master value offset possible via a connector input.

• 3 Fixed values available for the static interconnection of the master value, setting value, or master value offset.

• Generation of the output signal via parameterizable characteristic with up to 10000 interpolation points, which are distributed equidistantly over the modulo length. The characteristic is defined by the number of interpolation points and their y-values. Interpolation is performed linearly between the interpolation points.

Takeover of the y-values of the interpolation points from an Excel sheet possible using a script.

• Dynamic scaling of the output value via connector inputs:

– By specifying a factor (amplitude)

– By specifying an offset

• Provision of the scaled output signal via connector outputs for further interconnection as a percentage or integer. These connector outputs can, for example, be interconnected with connector inputs or analog outputs inside the controller.

Additional information about POLYGON

The OA application POLYGON is described in detail in Chapter "Function description and commissioning" (Page 29).

3

SINAMICS POLYGON


Installation and activation

Table of contents

3.1 Installing an OA-application using STARTER 16

3.2 Uninstalling an OA-application using STARTER 22

3.3 Installation of an OA application via SINUMERIK HMI 23

3.4 Uninstalling an OA application via SINUMERIK HMI 28

3 Installation and activation

3.1 Installing an OA-application using STARTER

SINAMICS POLYGON



This description to install and commission an OA-application is also applicable for engineering software with integrated STARTER (e. g. SIMOTION SCOUT).

Note

The subsequent description in this chapter refers to the fictitious OA-application "ABC_OA".

The procedure described in this chapter can be correspondingly applied to any real OA-application.

SINAMICS POLYGON




3.1.1 General information

Terms

• OA-application (OA, Open Architecture)

Software component (technology package) which provides additional functions for the SINAMICS drive system.

• OA Support Package (OASP)

By installing an OA Support Package (OASP), the STARTER commissioning tool is expanded by the corresponding OA-application.

An OA Support Package is only required if the associated OA-application is used. Generally, it can be obtained through your local Siemens office.

Devices

This description is applicable for devices that require a memory card (e.g. S120, automation systems with SINAMICS Integrated).

Requirements

1. The STARTER commissioning tool as of Version V4.2 must be installed.

2. The file for the OA Support Package "oasp_abc_oa_v1_2_oaif04402300.zip" must be located in a known directory.

The file name for the OA Support Package comprises the following elements:

– oasp = OA Support Package

– abc_oa = name of the OA-application

– v1_2 = version of the OA-application

– oaif04402300 = OA-Interface version (OA-interface version)

Version of the SINAMICS firmware from which this OA-application can be used (04402300 = V4.4).

Note

The following description assumes that the commissioning of the control and drive has been completed.



SINAMICS POLYGON


3.1.2 Installing the OA Support Package in STARTER

In the following, the OA-application is installed in STARTER as a technology package.

Requirements

1. The STARTER commissioning tool has been opened.

2. No project is open.

Procedure

Please proceed as follows:

1. Menu Tools > Select installation of libraries and technology packages ….

Fig. 3-1 Select and install OA Support Package (technology package)

2. Click the Add … button.

3. Open file "oasp_abc_oa_v1_2_oaif04402300.zip".

The technology package belonging to the OA-application ABC is added.

4. Click the Close button.

SINAMICS POLYGON




3.1.3 Download the technology package

In the following, the OA-application ABC_OA is loaded into the device using STARTER.

Requirements

1. A project matching the device is open.

2. The STARTER commissioning tool is in the ONLINE mode.

Procedure


1. Select the drive device in the project navigator.

2. In the shortcut menu (right mouse key), call the Select technology packages ….

The "Select technology packages" window opens.

3. For the technology package "ABC_OA", set the action "Load to target device"

Fig. 3-2 Select technology packages

4. Click the Execute actions button.

After successfully performing the action, the "OK" result field is displayed.

5. Then perform a power on (switch off/on) for the target device.

Additional information on the "Select technology package" dialog

• For a technology package, the "Version (online)" column is only populated after executing "Load to target device".

• The version data between "Version (offline)" and "Version (online)" can differ. When downloading the technology package, the version in the target device is always overwritten.



SINAMICS POLYGON


3.1.4 Activating the OA-application in the drive object

In the following, the OA-application is assigned to a drive object.

Requirements

1. A project matching the device is open.

2. The corresponding drive axes are created in the project.

3. The STARTER commissioning tool is in the OFFLINE mode.

Procedure


1. In the project navigator, select the drive object for which the OA-functionality is required (e.g. SERVO_03).

2. Select shortcut menu Properties (right mouse key).

3. Select the Technology packages tab.

4. Activate the checkbox for "ABC_OA" (set the check mark).

Fig. 3-3 Object properties

5. Click the OK button.

SINAMICS POLYGON




6. Checking the expert list of the drive object

The additional parameters of the installed OA-application must now be visible in the expert list of the corresponding drive object.

Fig. 3-4 Expert list

7. Download the project

To activate the OA-application for the drive object, a project download is required (establish the ONLINE mode, download the project).

3.1.5 Commissioning of the OA-application

By setting the corresponding additional parameters, the OA-application ABC_OA can be commissioned using the STARTER commissioning tool via the expert list.

Parameters p30000 … p30003 are available for ABC_OA.

Commissioning POLYGON

For the OA application POLYGON, parameters starting at p31230 are available, see "List of parameters" (Page 53).

Commissioning is described in detail in Chapter "Function description and commissioning" (Page 29).


3.2 Uninstalling an OA-application using STARTER

SINAMICS POLYGON


3.2 Uninstalling an OA-application using STARTERUninstalling an OA-application using STARTER is performed in the inverse sequence to that of installation.

1. Deactivate the OA-application in the drive object, see "Activating the OA-application in the drive object" (Page 20)

2. Delete the technology package belonging to the OA-application in the drive unit, see "Download the technology package" (Page 19).

– Deactivate the technology package in the OFFLINE mode.

– For the technology package in the ONLINE mode, select the "Delete" action and click the Execute actions button.

3. Uninstall the OA-application in STARTER, see "Installing the OA Support Package in STARTER" (Page 18).

SINAMICS POLYGON



3.3 Installation of an OA application via SINUMERIK HMI


3.3.1 General information

Terms

• OA application (OA, Open Architecture)

Software component (technology package) which provides additional functions for the SINAMICS drive system.

• Portable service system for NCU

Emergency Boot System (EBS) on a USB memory. If service is required, you can initiate that the NCU powers up from the service system, in order to execute various service tasks (e.g. data backup or update).

Devices

This description applies to SINUMERIK devices with SINAMICS Integrated (e.g. SINUMERIK 840D sl).

Note

The subsequent description in this chapter refers to the fictitious OA application "ABC_OA".

The procedure described in this chapter can be correspondingly applied to any real OA application.

Note

The portable service system for NCU, as well as the procedure to generate it on a USB memory, is described in detail in the following reference:

References: /IM7/ SINUMERIK operating system NCU commissioning manualChapter "Diagnostics and service"



SINAMICS POLYGON


Preconditions

1. The HMI appropriate for the associated SINUMERIK version must have been installed (e.g. HMI-Operate, used here, or HMI-Advanced).

2. A USB memory, which is installed on the portable service system for the NCU, is available.

3. The file for the OA application ABC_OA "abc_oa_v1_2_oaif04402300.tgz" is copied to the FAT partition of the USB memory with the portable service system.

The file name for the OA application ABC_OA comprises the following elements:

– abc_oa = name of the OA application

– v1_2 = version of the OA application

– oaif04402300 = OA interface version

Version of the SINAMICS firmware from which this OA application can be used (04402300 = V4.4).

3.3.2 Installing the OA application on the drive device

In the following, the OA application is installed on a drive object.

Procedure

1. Connect the USB memory with portable service system to USB interface X125 or X135 of the SINUMERIK NCU.

2. Restart the SINUMERIK NCU:

– Switch off the device and then switch on again.

or

– Press the "Reset" button.

SINUMERIK NCU starts with the service system.

3. In the service system, execute the following actions one after the other:

– In the main menu, select menu item "Update NCU Software and Data".

– Then select menu item "Update system software from USB memory stick".

– Select file "abc_oa_v1_2_oaif04402300.tgz" and acknowledge with "OK".

File "abc_oa.cfs" is extracted from file "abc_oa_v1_2_oaif04402300.tgz", and is saved in the directory "/card/oem/sinamics/oa".

4. Restart SINUMERIK NCU as described under Step 2.

The ABC_OA OA application is installed in the "/card/oem/sinamics/oa" directory when the system boots. The appropriate data is made available in the "abc_oa" subdirectory.

Note

The following description assumes that the commissioning of the control and drive has been completed.

SINAMICS POLYGON




3.3.3 Activating the OA application for the axis (drive object)

In the following, the ABC_OA OA application is assigned to the desired axes and the appropriate drive objects.

Configuration example

A 3-axis SINUMERIK system comprises the following drive objects, for instance:

• Control Unit (DO_1)

• Infeed (DO_2)

• X axis (DO_3, AX1)

• Y axis (DO_4, AX2)

• Z axis (DO_5, AX3)

Procedure

To activate the OA application on the desired axes, proceed as follows:

1. Deactivate the pulse enable for SINAMICS (e.g. via the EP terminal)

2. Control Unit: Set the configuration for the OA application

– p0009 = 0 → 50

3. Perform the following tasks for the first axis or drive object on which this OA application should be activated (e.g. DO_3, AX1):

– p4956[0] = 0 → 1

For SINUMERIK, this is displayed as follows in the drive machine data:

Fig. 3-5 OA application activated in the drive machine data



SINAMICS POLYGON


4. For additional axes on which this OA application is to be activated (e.g. DO_4, AX2), repeat step 3.

5. Control Unit: Exit the configuration for the OA application

– p0009 = 50 → 0

6. Backing up the parameters

7. Reactivate the pulse enable for SINAMICS

8. Check the parameter list for AX1

The additional parameters of the installed OA application must now be visible in the parameter list for the axis AX1 (DO_3).

Note

The number of OA applications is displayed in r4950.

r4955[0…8] contains the designation for OA application 1r4955[9…17] contains the designation for OA application 2, etc.

For r4950 = 1, the following applies:

• There is only one OA application.

• In this case, p4956[0] is used to activate an OA application.

For r4950 > 1, the following applies:

• Several OA applications are available.

• The associated index for activating the OA application ABC_OA depends on the designation.

– If "ABC_OA" is in r4955[0…8], the following applies p4956[0]

– If r4955[9…17] contains "ABC_OA", p4956[1] applies, etc.

Note

If extension modules (e.g. NX assembly units) are present, the following is true for axes calculated on these modules:

Commissioning mode (p0009 = 50) must be set for these modules before the OA application for these axes can be activated.

SINAMICS POLYGON




Fig. 3-6 Expert list

3.3.4 Commissioning the OA application

By setting the corresponding additional parameters, the OA application ABC_OA can be commissioned via HMI Operate.

Parameters p30000 … p30003 are available for ABC_OA.

Commissioning POLYGON

For the OA application POLYGON, parameters starting at p31230 are available, see "List of parameters" (Page 53).

Commissioning is described in detail in Chapter "Function description and commissioning" (Page 29).


3.4 Uninstalling an OA application via SINUMERIK HMI

SINAMICS POLYGON


3.4 Uninstalling an OA application via SINUMERIK HMI

Procedure

To uninstall an OA application via SINUMERIK HMI, proceed as follows:

1. Deactivate the OA application in the drive object, see "Activating the OA application for the axis (drive object)" (Page 25).

2. Stop the system:

– Connect via Secure Shell (SSH).

– Run the following command: sc stop all.

3. Delete the subdirectory and files on the memory card:

– Select the system data.

– Select directory "/oem/sinamics/oa" under the system CF card.

– Select "abc_oa" and delete.

– Select "abc_oa.cfs" and delete.

4. Carry out a POWER ON (switch off/switch on).

Note

Pay attention to the sequence when deleting:

First the subdirectory and then the file.

4

SINAMICS POLYGON


Function description and commissioning

Table of contents

4.1 How POLYGON works 30

4.2 Examples of scaling the master value in POLYGON 36

4.3 Examples for characteristics for POLYGON 40

4.4 Function diagrams 47

4.5 Sampling times and number of controllable drives 48

4.6 Licensing 49

4.7 SINAMICS Safety Integrated 50

This chapter describes the method of operation and commissioning of the OA application POLYGON. It complements the following chapters:

• "Applications, characteristics" (Page 13)

• "Installation and activation" (Page 15)

4 Function description and commissioning

4.1 How POLYGON works

SINAMICS POLYGON


4.1 How POLYGON worksThe OA application POLYGON allows you to generate an output signal depending on a master value via a characteristic. The characteristic is defined via interpolation points.

The master value is typically an encoder position actual value Gn_XIST1 (r0479[0]). In this case, the position actual value depends on the number of encoder pulses p0408 and the fine resolution p0418.

With parameters p31235 and p31236, the encoder position actual value Gn_XIST1 is converted to a length or angle unit suitable for the application, e.g. millidegrees (° / 1000) for rotary movements. If a gear unit is interposed between the motor or encoder and the load, the gear ratio is also considered in these parameters. A certain position actual value can be specified at a reference point by applying a setting value. A periodic signal is generated by defining a modulo length p31244.

Via the master value offset, a specific phase offset can be set during run time, for example, to consider the transfer function of the mechanical structure.

The characteristic if defined by up to 10000 equidistant interpolation points (p31245, POLYGON characteristic number of interpolation points). The y-values are stored in p31246[0…n] (POLYGON characteristic y-value). Interpolation is performed linearly between the interpolation points. The y-values of the interpolation points can be taken from an Excel sheet using a script. Any signal shape can be stored. The output amplitude can be freely scaled.

Superimposition of multiple characteristics is possible. In this way, additional signals can be superimposed on a useful signal. These additional signals can be generated, for example:

• With the OA application POLYGON as master-value-dependent additional signals, i.e. depending e.g. on the momentary angle of rotation.

• With the OA application SETPGEN as time-dependent additional signals that are independent of a master value.

The resulting signal can, for example, be interconnected as a torque, speed, or position actual value.

4.1.1 Commissioning

The following description of the functionality also describes the normal sequence for commissioning the POLYGON.

The "Examples of scaling the master value in POLYGON" (Page 36) and the "Examples for characteristics for POLYGON" (Page 40) are also used as a commissioning guide.

The installed OA application POLYGON is also transferred with the "Load to file system" function. This can be used for a series commissioning.

SINAMICS POLYGON




Preconditions

The following requirements must be met when commissioning the OA application POLYGON:

• When installed using STARTER:

– The OA application has been installed as a technology package in the STARTER, see "Installing the OA Support Package in STARTER" (Page 18).

– It is loaded into the Control Unit, see "Download the technology package" (Page 19).

– It is assigned to the SERVO, VECTOR, or HLA drive object, see "Activating the OA-application in the drive object" (Page 20).

• For installation using SINUMERIK HMI:

– The OA application has been installed on the drive device, see "Installing the OA application on the drive device" (Page 24)

– It is activated for the axis (drive object), see "Activating the OA application for the axis (drive object)" (Page 25).

Licensing is required, see "Licensing" (Page 49).

Configuration

The configuration of the POLYGON is shown in the following function diagrams:

• "7331 – POLYGON structure" (Page 60).

The settings required for the configuration are as follows:

1. Setting the sampling time for POLYGON

The sampling time is set as a multiple of the current controller sampling time (p0115[0]). The permissible sampling times are listed in detail in the description of p31230, see "List of parameters" (Page 53).

2. Interconnection and conditioning of the master value

– Interconnecting the signal source of the master value (CI: p31234)

– Scaling the master value: p31235, p31236

– Interconnecting the setting value and its application (CI: p31238, BI: p31239)

– Defining the modulo length: p31244

– Interconnecting the master value offset (CI: p31240)

See also Section "Conditioning the master value" (Page 32)

3. Parameterizing the characteristic

– Defining the number of interpolation points (p31245)

– Defining y-values of the interpolation points (p31246[0…n])

– Interconnecting the amplitude and offset (CI: p31247, CI: p31248)

– Enabling (BI: p31231)

See also Section "Parameterizing the characteristic" (Page 34)



SINAMICS POLYGON


4.1.2 Conditioning the master value

Interconnecting the signal source for the master value

The connector input p31234 is interconnected to the signal source provided by the master value. The master value source must provide the master value as an integer (data type Integer32).

Typical BICO connections include:

• Master value of a real axis

CI: p31234 = r0479[0] (diagnosis encoder position actual value Gn_XIST1, encoder 1)

• Virtual master value based on OA application SETPGEN

CI: p31234 = r31222 (SETPGEN output total integer)

• Virtual master value based on the function module EPOS (r0108.4 = 1)

CI: p31234 = r2665 (EPOS position setpoint)

Scaling the master value

The purpose of scaling is to represent the master value in a length or angle unit that is suitable for the application.

For rotary movements, the position actual value is best represented in angle units. Because of the higher resolution, it is advisable to choose millidegrees (° / 1000) as the unit. The scaling factors p31235 and p31236 will then contain the following values:

• p31235 (POLYGON master value scaling numerator):

The numeric value for 1 revolution is assigned to this parameter in the chosen angle unit.

With millidegrees as the unit, 360000 millidegrees corresponding to one revolution, i.e. p31235 = 360000.

• p31236 (master value scaling denominator):

– In the case of rotary encoders, the numeric value for 1 revolution is assigned to this parameter in encoder increments. This value depends on the resolution of the encoder used, which is specified in the following parameters:

p0408[0] (rotary encoder pulse number)

p0418[0] (fine resolution Gx_XIST1 (in bits))

The number of encoder increments per revolution is p0408[0] · 2p0418[0], i.e. p31236 = p0408[0] · 2p0418[0].

– With a virtual master value based on the OA application SETPGEN, p31236 must be chosen in accordance with the parameterization of SETPGEN.

– With a virtual value based on the function module EPOS, the value of r2524 (LU/revolution) can be assigned to parameter p31236.

Note

After startup, after data set switchover, or after park encoder, the following applies: The new value may only be available after several 100 ms at connecter inputs that are interconnected with connector output r0479[0].

SINAMICS POLYGON




Referencing using the setting value

The setting value and its application provides a way of defining a reference point.

• The setting value is defined in the length or angle units chosen by the user; the corresponding numeric value is, for example, stored in the fixed value p31241[0…2].

• The connector input p31238 (POLYGON master value setting value) is interconnected with the signal source of the setting value (factory setting p31241[0]).

• The setting value is applied with a 0/1 signal at the binector input p31239.

The setting value will be used for future changes to the scaled master value once it has been applied (master value after setting value = scaled master value + setting value – scaled master value on application of the setting value).

Modulo calculation

Modulo calculation permits periodic repetition of the master value for rotary axes. The modulo length depends on the periodic lengths of the master value and the output signal. It is defined in the length or angle unit chosen by the user. The corresponding numeric value is entered in p31244 (POLYGON modulo length).

By default, p31244 = 360000, that is the modulo length corresponds to one revolution in the unit millidegrees.

If the period lengths of the master value and the output signal are different, p31244 must be modified accordingly. For example, the torque characteristic of a cylinder in a 4-stroke internal combustion engine only repeats after 2 revolutions. In this case, the modulo length must be set to 2 revolutions, that is, p31244 = 720000.

The effective master value after modulo generation is displayed at the connector output r31242[0] (POLYGON master value active, master value before position offset).

Master value offset

The master value offset via the connector input p31240 (POLYGON master value offset) permits dynamic phase offset of the master value on rotary axes. The master value offset is defined in the length or angle unit chosen by the user. For static setting of the master value offset, one of the fixed values p31241[0…2] can be used.

The effective master value after master value offset is displayed at the connector output r31242[1] (POLYGON master value active, master value after position offset).

Note

Internally, the scaled master value is represented in data type FloatingPoint to minimize rounding differences.



SINAMICS POLYGON


4.1.3 Parameterizing the characteristic

Define interpolation points

The characteristic is defined via interpolation points.

• Number of interpolation points:

The number of interpolation points is defined in p31245 (POLYGON characteristic number of interpolation points). The interpolation points are equidistantly distributed over the modulo length.

For the following effective master values, the interpolation points are therefore at:

• y-values of the interpolation points

The y-values of the interpolation points are defined in p31246[0…n] (POLYGON characteristic y-value). Interpolation is performed linearly between the interpolation points.

The upper limit of the dynamic index is determined by p31245 (POLYGON characteristic number of interpolation points): .

Importing interpolation points from an Excel sheet

With a large number of interpolation points, manual entry in parameter p31245[1…n] is difficult and error-prone. The values are often calculated or measured values that are already available in a table.

The scripting functionality of the commissioning tool (e.g. STARTER) allows you to edit such tables if they are in the format of the Excel spreadsheet program. Appendix "Defining a characteristic (p31245, p31246[0…n]) with script" (Page 73) contains a script by way of example that takes over values from a column of an Excel sheet and writes them into the specified parameters.

Defining the amplitude and offset

The characteristic can be dynamically scaled via the connector inputs p31247 (POLYGON amplitude) and p31248 (POLYGON offset).

If these connector inputs are not interconnected, their factory settings will apply (1 for p31247 or 0 for p31248).

modulo length · , where

i : number of the interpolation point,

Note

The number 1.0 corresponds to 100 %. This means that, for example, for interconnection as a torque setpoint, a torque of p2003 (reference torque) is specified.

i p31245⁄

i 0, p31245 1–( )[ ]∈

n p31245 1–=

SINAMICS POLYGON




Interconnecting outputs

The scaled output signal is available for further interconnection at the following connector outputs:

• in r31249 (POLYGON output) as the percentage value.

This connector output can be interconnected as follows, for example:

– With connector inputs inside the closed-loop control, e.g.:

Supplementary setpoint (CI: p1075[C])

Supplementary torque (CI: p1511[C])

Speed controller P gain adaptation signal (CI: p1455[C])

Speed controller P gain scaling (CI: p1466[C]

– With connector inputs of other OA applications, e.g.

SETPGEN signal shape amplitude (CI: p31212[0…2])

SETPGEN signal shape offset (CI: p31214[0…2])

– With connector inputs of the OA application POLYGON on another drive object, e.g.

POLYGON amplitude (CI: p31247)

POLYGON offset (CI: p31248)

– With analog outputs, e.g.:

TM31 analog outputs, signal source (CI: p4071[0…1])

• in r31251 (POLYGON output integer) as an integer in format Integer32.

To improve the resolution, the signal can first be scaled with p31250 (POLYGON output integer scaling).

To enable the outputs, the binector input p31231 (POLYGON enable) must be interconnected with a 1 signal


4.2 Examples of scaling the master value in POLYGON

SINAMICS POLYGON


4.2 Examples of scaling the master value in POLYGONFor real axes, the encoder position actual value Gn_XIST1 (r0479[0]) is usually used as the master value. For this purpose, the connector input p31234 (POLYGON master value raw value) is interconnected to r0479[0].

The purpose of scaling is to represent the master value in a length or angle unit that is suitable for the application.

4.2.1 Example 1 – rotary axis with incremental encoders without a gear unit

For rotary movements, the position actual value is best represented in angle units. Because of the higher resolution, it is advisable to choose millidegrees (° / 1000) as the unit. The scaling factors p31235 and p31236 will then contain the following values:


1 Revolution corresponds to 360000 millidegrees


The numeric value for 1 revolution is assigned to this parameter in the chosen angle unit. This value depends on the resolution of the encoder used:

– p0408[0] (rotary encoder pulse number)

– p0418[0] (fine resolution Gx_XIST1 (in bits))

1 Revolution corresponds to p0408[0] · 2p0418[0].

The scaling factors for a sin/cos encoder with 512 pulses/revolution and a fine resolution of 11 bits are shown in the following table:

p31244 (POLYGON modulo length) permits periodic repetition of the master value for rotary axes. By default p31244 = 360000, that is, the modulo length corresponds to one revolution.

If the period lengths of the master value and the output signal are different, p31244 must be modified accordingly.

Table 4-1 Scaling of the master value for a rotary axis with incremental encoders without a gear unit

Parameter Parameter name Value Comment

p0408[0] Rotary encoder pulse number 512

p0418[0] Fine resolution Gx_XIST1 (in bits) 11 Corresponds to fine resolution 2048

p31234 POLYGON master value raw value r0479[0] Interconnection with encoder position actual value G1_XIST1

p31235 POLYGON master value scaling numerator 360000 1 revolution corresponds to 360000 millidegrees

p31236 POLYGON master value scaling denominator 1048576 1 revolution corresponds to p0408[0] · 2p0418[0] = 512 · 211 = 220.

p31244 POLYGON modulo length 360000 1 revolution

SINAMICS POLYGON




4.2.2 Example 2 – rotary axis with incremental encoders and a gear unit

If a gear unit is installed between the motor and load, the gear ratio is considered in the scaling parameters p31235 and p31236.


The number of revolutions of the load is considered as a factor.


The number of revolutions of the motor is considered as a factor.

The following table shows the scaling factors:

• Motor encoder is a sin/cos encoder with 512 pulses/revolution and a fine resolution of 11 bits, corresponding to "Example 1 – rotary axis with incremental encoders without a gear unit" (Page 36).

• A gear unit with the following gear factor is additionally installed between the motor and the load: 7 revolutions of the motor cause 3 revolutions of the load.

4.2.3 Example 3 – referencing of the OA application POLYGON

In parameters p31238 (POLYGON master value setting value), p31239 (POLYGON master value apply setting value) and p31241[0…2] (POLYGON fixed value), a reference point can be defined for the OA application POLYGON. Referencing must be performed when the axis is stopped.

General procedure:

• The setting value is defined in the length or angle units chosen by the user; the corresponding numeric value is, for example, stored in the fixed value p31241[0…2].

• The connector input p31238 (POLYGON master value setting value) is interconnected with the signal source of the setting value (factory setting p31241[0]).

• The setting value is applied with a 0/1 signal at the binector input p31239.

Table 4-2 Scaling of the master value for a rotary axis with incremental encoders with a gear unit



p0418[0] Fine resolution Gx_XIST1 (in bits) 11

p2504[DDS] LR motor/load motor revolutions 7 7 revolutions of the motor

p2505[DDS] LR motor/load load revolutions 3 3 revolutions of the load


p31235 POLYGON master value scaling numerator 1080000 3 load revolutions correspond to 3 · 360000 millidegrees.

p31236 POLYGON master value scaling denominator 7340032 7 revolutions of the motor correspond to 7 · 1048576.

p31244 POLYGON modulo length 360000 1 revolution of the load



SINAMICS POLYGON


4.2.4 Example 4 – referencing the OA application POLYGON using an absolute value encoder

If absolute encoders are used, the function module "Basic positioner, EPOS," can be used to reference the OA application POLYGON.

For example, the following figure shows the screen form "Mechanics" for a drive with modulo length 360000 LU (length units). The modulo length corresponds to 1 revolution of the load.

Fig. 4-1 Screen form "Mechanics" for configuration of the position control

Note

If the function module "Basic positioner, EPOS" or "Position control, LR" is used, please note:

The following settings must be made analogously:

1. For configuration of the drive:

The settings for position control (screen form "Mechanics" in the STARTER commissioning tool).

2. In the OA application POLYGON:

The settings for master value scaling (p31235, p31236) and modulo length (p31244).

SINAMICS POLYGON




Analogous parameterization of the OA application POLYGON is shown in the following table:

For referencing, the position actual value of the position control (r2521[0]) should be used as the setting value for POLYGON. This value must be applied in a 0/1 signal at the digital input 6.

This results in the following parameterization:

Table 4-3 Scaling of the master value in an analogous way to the "Mechanics" screen form



p0418[0] Fine resolution Gx_XIST1 (in bits) 11 Corresponds to fine resolution 2048


p31235 POLYGON master value scaling numerator 360000 1 revolution corresponds to 360000 millidegrees

Identical with p2506[DDS] (LR length unit LU per load revolution)

p31236 POLYGON master value scaling denominator 1048576 1 revolution corresponds to p0408[0] · 2p0418[0] = 512 · 211 = 220

p31244 POLYGON modulo length 360000 1 revolutions of the load

Identical with p2576 (EPOS modulo correction modulo range)

Table 4-4 Parameterization for application of the setting value


p31238 POLYGON master value setting value r2521[0] Interconnection with LR position actual value

p31239 POLYGON master value apply setting value CU_S: r0722.6 Interconnection with digital input DI 6


4.3 Examples for characteristics for POLYGON

SINAMICS POLYGON



4.3.1 Example 5 – sine with modulo 360 °

This example shows how a sinusoidal signal with 12 interpolation points (p31245 = 12) is generated via a modulo length of 360 ° (p31244 = 360000). The interpolation points of the characteristic are equidistantly distributed over the modulo length. The y-values of the interpolation points are set in p31246[0…11]. Interpolation is performed linearly between the interpolation points.

Scaling of the master value is performed analogously to the examples in Section "Examples of scaling the master value in POLYGON" (Page 36).

Table 4-5 Parameterization of the characteristics with 12 interpolation points


p31244 POLYGON modulo length 360000

p31245 POLYGON characteristic number of interpolation points

12

p31246[0] POLYGON characteristic y-values(0 degrees)

0.000000 sin (0 °) = 0


0.500000 sin (30 °) =


0.866025 sin (60 °) =


1.000000 sin (90 °) = 1

p31246[4] POLYGON characteristic y-values (120 degrees)

0.866025 sin (120 °) =


0.500000 sin (150 °) =


0.000000 sin (180 °) = 0


sin (210 °) =


sin (240 °) =


sin (270 °) =


sin (300 °) =


sin (330 °) =

1 2⁄

3 2⁄

3 2⁄

1 2⁄

0.500000– 1– 2⁄

0.866025– 3– 2⁄

1.000000– 1–

0.866025– 3– 2⁄

0.500000– 1– 2⁄

SINAMICS POLYGON




The following are shown:

• r31242[1]: POLYGON master value active, master value after position offset (orange)

• r31249: POLYGON output (black)

The zero lines of the signals shown are not identical.

Fig. 4-2 Example of a sinusoidal function with 12 interpolation points per 360 °

The following table shows parameterization of the characteristic with 1200 interpolation points by way of example.

The y-values can be calculated in an Excel sheet, for example, and written into parameter p31246[0…n] using a script. Appendix "Defining a characteristic (p31245, p31246[0…n]) with script" (Page 73) provides an example of a script that takes over values from a column of an Excel sheet and writes them into the specified parameters.

Note

The number 1.0 corresponds to 100 %. This means that, for interconnection as a torque setpoint, a torque of p2003 is specified.

Table 4-6 Parameterization of the characteristic with 1200 interpolation points


p31244 POLYGON modulo length 360000


1200 Taken over from the Excel sheet using a script.

p31246[0…1199] POLYGON characteristic y-values Calculated in an Excel sheet and taken over using a script.



SINAMICS POLYGON


The following are shown:


• r31249: POLYGON output (black)

The zero lines of the signals shown are not identical.

Fig. 4-3 Example of a sinusoidal function with 1200 interpolation points per 360 °

4.3.2 Example 6 – superimposition of multiple characteristics

The OA application POLYGON can be parameterized on multiple drive objects. This makes it possible to define individual frequencies separately.

Generation and superimposition of 2 master-value-dependent signals are shown below.

• On drive object SERVO_02, the measured torque characteristic of a 4-cylinder 4-stroke internal combustion engine is stored.

– Number of measurement points: 1264.

– The modulo length corresponds to 2 revolutions ( = 720 °).

• A sinusoidal oscillation is parameterized on drive object SERVO_03.

The aim is to generate 12 sine oscillations within the modulo length of the torque characteristic. The modulo length of the sine oscillation is therefore 1/12 of the modulo length of the torque characteristic ( = 60 °).

The following tables show the parameterization of the torque characteristic and the sine oscillation.

Scaling of the master values is performed identically on both drive objects and analogously to the examples in Section "Examples of scaling the master value in POLYGON" (Page 36). In particular, p31234 (POLYGON master value raw value) is interconnected to the same signal source (same drive object).

SINAMICS POLYGON




The variation over time of the following signals with a frequency of rotation of 20 Hz (cycle duration for 2 revolutions = 100 ms) is shown below:


• SERVO_02: r31249: POLYGON output (black)(torque characteristic)

• SERVO_03: r31249: POLYGON output (green)(sine oscillation)

Fig. 4-4 Torque characteristic and sine oscillation

To superimpose the sine oscillation of the torque characteristic, drive object SERVO_2 must be parameterized additionally (as shown in the following table):

Table 4-7 Parameterization of the torque characteristic with 1264 interpolation points to drive object SERVO_2


p31244 POLYGON modulo length 720000 2 revolutions



p31246[0…1263] POLYGON characteristic y-values Measured values taken over from the Excel sheet using a script.

p31247 POLYGON amplitude 1 Default setting

Table 4-8 Parameterization of the sine function with 1200 interpolation points on drive object SERVO_3


p31244 POLYGON modulo length 60000 12 sine oscillations within 2 revolutions



p31246[0…1199] POLYGON characteristic y-values Calculated in an Excel sheet and taken over using a script.

p31247 POLYGON amplitude r2900 Interconnected to fixed value 1 [%]

r2900[DDS] Fixed value 1 27.0 Corresponds to 27.0 %



SINAMICS POLYGON


The following figure shows the sum signal at a frequency of rotation of 20 Hz (cycle duration for 2 revolutions = 100 ms). The following signals are displayed:


• SERVO_02: r31249: POLYGON output (red)(torque characteristic with superimposed sine oscillations)

Fig. 4-5 Torque characteristic with superimposed sine oscillation

Table 4-9 Additional parameterization to drive object SERVO_2 for superimposition


p31248 POLYGON offset SERVO_3: r31249

Note

If the superimposing signal is not dependent on the master value (e.g. simulation of a constant resonant frequency), the OA application SETPGEN can also be used to generate it. The offset of POLYGON (p31248) is interconnected with the output signal of SETPGEN (r31215[0…2], r31220).

SINAMICS POLYGON




4.3.3 Example 7 - compensation of transfer function and dead times

In the case of known setpoint signals that have a sinusoidal curve, amplitude and phase deviations in the leading behavior can be compensated for.

The following figure shows the leading frequency response of a moderately set speed controller in the form of a Bode diagram:

Fig. 4-6 Measured frequency response of a speed controller

In this Bode diagram, for example, at 100 Hz (corresponds to 10 ms cycle duration of one sine oscillation), we can see a phase offset between the input and output signal of -97.9 ° and an amplitude reduction of -3.4 dB.

The following figure explicitly shows the phase offset and the amplitude reduction for a superimposed speed setpoint oscillation of 100 Hz ( = cycle duration 10 ms). The variation over time of the following signals is shown:

• r31242[0]: POLYGON master value active, master value before position offset (green)

• r0062: Speed setpoint after the filter (black)

• r0061[0]: Speed actual value, unsmoothed, encoder 1(red)

Fig. 4-7 Phase offset and amplitude reduction between the setpoint and actual value signals

With the OA application POLYGON, it is possible to generate an additional oscillation with the relevant frequency and a suitable phase offset and amplitude for the existing speed setpoint oscillation, depending on the position actual value. If this additional oscillation is superimposed on the existing oscillation, the amplitude reduction and the phase offset are reduced.



SINAMICS POLYGON


The following figure shows this principle for the oscillation with 100 Hz by way of example. If the resulting setpoint – corresponding to the leading frequency response – is subject to a phase offset of 97.9 ° and an amplitude increase of 150 % (corresponds to 3.4 dB), the resulting actual value has the correct phase angle and amplitude:

Fig. 4-8 Actual value after phase offset and amplitude increase of the setpoint

This is shown in the following figure. It shows:

• the original setpoint profile

• the actual value profile after adaptation of the phase angle and amplitude of the setpoint profile.

Fig. 4-9 Actual value profile after adaptation of the setpoint profile and original setpoint profile

To arrive at a correct compensation profile for changeable frequencies, the master value offset (CI: p31240) and the amplitude (CI: p31247) must be dynamically defined from outside.

An analog procedure can be used for compensation of dead times.

Note

If the signals are interconnected as a torque setpoint, the transfer function has a substantially higher cut-off frequency because the current controller sampling time is active. However, in this case, too, the effects mentioned are measurable and can be compensated for via this functionality.

SINAMICS POLYGON



4.4 Function diagrams

4.4 Function diagrams

Note

Only the function diagram for the OA application POLYGON is included in this manual, see Chapter "Function diagrams" (Page 59).

The function diagrams for SINAMICS are contained in the relevant product-specific Lists Manuals, for example:

References: /LH1/ SINAMICS S120/S150 List ManualChapter "Function diagrams"


4.5 Sampling times and number of controllable drives

SINAMICS POLYGON


4.5 Sampling times and number of controllable drivesThe sampling time of the OA application POLYGON is entered via p31230 as an integer multiple of the current controller sampling time p0115[0].

The OA application POLYGON requires additional CPU time. This can reduce the maximum number of drive axes that can be controlled.

The remaining CPU time (see r9976) can be used for POLYGON and other options (e.g. DCC).

Examples of additional use of CPU time

The following table lists the values for the additional use of CPU time:

• For different sampling times (p31230 · p0115[0]).

• For 1 axis with OA application POLYGON activated

• For 2 axes with OA application POLYGON activated.

• For 5 axes with activated OA-application POLYGON.

For 5 drives with servo control or hydraulic control (p0115[0, 1] = 125 µs) and infeed unit (p0115[0] = 250 µs), POLYGON can be operated with a sampling time of 125 µs for all SERVO or HLA drive objects.

For 5 drives with vector control (p0115[0] = 500 µs, p0115[1] = 2000 µs) and infeed (p0115[0] = 250 µs), for all VECTOR type drive objects, POLYGON can be operated with a sampling time of 500 µs.

Note:

Information on the system sampling times and the number of drives that can be controlled is provided in the following reference:

References: /FH1/ SINAMICS S120 Function Manual Drive FunctionsChapter "System sampling times and number of drives that can be controlled"

Table 4-10 POLYGON use of CPU time (examples)

Example Current controller

sampling time

POLYGON sampling time Additional use of CPU time(r9976[1])

p0115[0] p31230 p31230 · p0115[0] 1 Axis with POLYGON

2 Axes with POLYGON

5 Axes with POLYGON

1

125 µs a

a. Factory setting for drive object SERVO or HLA.

1 125 µs Approx. 3.2 % Approx. 6.4 % Approx. 16.0 %

2 4 500 µs Approx. 0.8 % Approx. 1.6 % Approx. 4.0 %


4

500 µs b

b. Factory setting for the VECTOR drive object.

1 500 µs Approx. 0.8 % Approx. 1.6 % Approx. 4.0 %



SINAMICS POLYGON



4.6 Licensing

4.6 LicensingA license key is required for the "POLYGON" OA application.

You can generate the appropriate license key using the WEB License Manager. To do this, you require the Certificate of License (CoL).

The order number (MLFB) for the Certificate of License (CoL) is as follows:

6SL3077-0AA00-7AB0

Note

Information and the procedure required for licensing is provided in the following reference:

References: /FH1/ SINAMICS S120 Function Manual Drive FunctionsChapter "Licensing"


4.7 SINAMICS Safety Integrated

SINAMICS POLYGON


4.7 SINAMICS Safety IntegratedThe functions implemented with this OA application are not part of the SINAMICS Safety Integrated functions, and do not influence the SINAMICS Safety Integrated functions.

Note

Information on SINAMICS Safety Integrated is provided in the following reference:

References: /FHS/ SINAMICS S120 Safety Integrated Function Manual

5

SINAMICS POLYGON


Parameters

Content

5.1 Overview of parameters 52

5.2 List of parameters 53

5 Parameters

5.1 Overview of parameters

SINAMICS POLYGON


5.1 Overview of parameters

All objects

"All objects" in the following list refers to all drive objects for which the OA application POLYGON has been released.

This comprises the following drive objects:

• HLA

• SERVO

• VECTOR

Note

An overview of the parameters, especially the explanation of the parameter list is contained in the product-specific List Manuals, for example:

References: /LH1/ SINAMICS S120/S150 List ManualChapter "Overview of parameters"

SINAMICS POLYGON


5 Parameters

5.2 List of parameters


Product: SINAMICS POLYGON, Version: 1101200, Language: engObjects: SERVO, VECTOR, HLA

Description: Sets the sampling time T for the OA application POLYGON.

The sampling time must be set a multiple of the current controller sampling time (p0115[0]).

Value: 0: Do not calculate1: T = 1 * p0115[0]2: T = 2 * p0115[0]4: T = 4 * p0115[0]8: T = 8 * p0115[0]16: T = 16 * p0115[0]32: T = 32 * p0115[0]64: T = 64 * p0115[0]

Note: POLYGON: Polygonal line (characteristic functionality dependent on the master value)

The characteristic is defined via the modulo length using equidistant interpolation points. The characteristic is linearly interpolated between the interpolation points.

Typical characteristics:

Position-position-reference, position-speed-reference, position-torque-reference

Description: Sets the signal source to enable the calculated values.

p31231 = 0 signal:

A value of 0 is output at connector output r31249/r31251.

p31231 = 1 signal:

The calculated value is output at connector output r31249/r31251.

Dependency: Refer to: p31230

Note: The characteristic is calculated depending on the sampling time setting in p31230.

Note

This chapter only includes the parameters for the OA application POLYGON.

The product-dependent parameters available for SINAMICS should be taken from the online help for the particular control or commissioning tool or, for example, from the following reference:

References: /LH1/ SINAMICS S120/S150 List ManualChapter "List of parameters"

p31230 POLYGON sampling time / Sampling timeAll objects Can be changed: C1(3) Calculated: - Access level: 3

Data type: Integer16 Dyn. index: - Func. diagram: 7331

P-Group: Functions Unit group: - Unit selection: -

Not for motor type: - Scaling: - Expert list: 1

Min Max Factory setting

0 64 1

p31231 BI: POLYGON enable / EnableAll objects Can be changed: T Calculated: - Access level: 3

Data type: Unsigned32 / Binary Dyn. index: - Func. diagram: 7331




- - 0

5 Parameters


SINAMICS POLYGON


Description: Sets the signal source for the master value.

Typical BICO interconnections:

- master value of a real axis

CI: p31234 = r0479[0] (diagnostics encoder position value Gn_XIST1, encoder 1)

- virtual master value based on OA SETPGEN

CI: p31234 = r31222 (SETPGEN output complete integer number)

- virtual master value based on EPOS

CI: p31234 = r2665 (EPOS position setpoint)

Note: EPOS: Basic positioner

SETPGEN: Setpoint generator

Description: Sets the numerator to scale the master value.

With p31235 and p31236, the master value of intrinsic units of the raw signal (e.g. encoder increments) are converted into length or angular units that match the particular application (e.g. millidegrees for rotational movement).

Example of rotational movement:

Master value p31234 = r0479[0] (default setting)

p31235 = 360000 (numerical value for one revolution in millidegrees)

p31236 = p0408[0] * 2^p0418[0] (numerical value for one revolution in encoder increments)

In addition, gearbox ratios can also be taken into account.

Dependency: Refer to: p31234, p31236, p31244

Note: LU: Length Unit

The following should be observed:

p31235 / p31236 < p31244

Description: Sets the denominator to scale the master value.

With p31235 and p31236, the master value of intrinsic units of the raw signal (e.g. encoder increments) are converted into length or angular units that match the particular application (e.g. millidegrees for rotational movement).

Example of rotational movement:

Master value p31234 = r0479[0] (default setting)

p31235 = 360000 (numerical value for one revolution in millidegrees)

p31236 = p0408[0] * 2^p0418[0] (numerical value for one revolution in encoder increments)

In addition, gearbox ratios can also be taken into account.

p31234 CI: POLYGON master value raw value / Mast val raw valAll objects Can be changed: T Calculated: - Access level: 3

Data type: Unsigned32 / Integer32 Dyn. index: - Func. diagram: 7331




- - 479[0]

p31235 POLYGON master value scaling numerator / Mast val scal numAll objects Can be changed: T Calculated: - Access level: 3





-2147483648 2147483647 1

p31236 POLYGON master value scaling denominator / MastVal scal denomAll objects Can be changed: T Calculated: - Access level: 3





-2147483648 2147483647 1

SINAMICS POLYGON


5 Parameters


Dependency: Refer to: p31234, p31235, p31244

Note: LU: Length Unit

The following should be observed:

p31235 / p31236 < p31244

Description: Sets the signal source for the setting value of the master value.

The setting value is used to reference the master value and is accepted for binector input p31239 = 0/1 signal.

The master value offset is entered in the length or angular unit selected by the user. The corresponding numerical value is saved, for example in fixed value p31241[0...2].

After being transferred, it is used as basis for future changes (using p31235/p31236) to the scaled master value (master value after setting value = scaled master value + setting value - scaled master value for accepting the setting value).

Dependency: Refer to: p31239, p31241, r31242

Note: The setting value is not scaled according to p31235/p31236.

It acts directly on the active master value (r31242[0...1]) before the modulo correction.

Description: Sets the signal source to accept the setting value for the master value (signal edge).

BI: p31239 = 0/1 signal:

The setting value available via connector input p31238 is accepted.

BI: p31239 = 1/0 signal:

No effect. The setting value remains valid.


Description: Sets the signal source for the dynamic offset of the master value.

Examples:

- phase offset.

- for taking into account the phase response of subordinate control loops as a function of the frequency.

The master value offset is entered in the length or angular unit selected by the user.

One of the fixed values p31241[0...2] can be used to statically enter the master value offset.

Dependency: Refer to: r31242

Note: It acts directly on the effective master value r31242[0].

p31238 CI: POLYGON master value setting value / Mast val set valAll objects Can be changed: T Calculated: - Access level: 3





- - 31241[0]

p31239 BI: POLYGON master value accept setting value / MastVal SetVal accAll objects Can be changed: T Calculated: - Access level: 3

Data type: Unsigned32 / Binary Dyn. index: - Func. diagram: 7331




- - 0

p31240 CI: POLYGON master value offset / Mast val offsetAll objects Can be changed: T Calculated: - Access level: 3





- - 0

5 Parameters


SINAMICS POLYGON


Description: Setting, display and connector output for the fixed values.

Index: [0] = Value 0[1] = Value 1[2] = Value 2

Note: Typical BICO interconnections can be established for commissioning and testing:

CI: p31234 = p31241[0...2]

CI: p31238 = p31241[0...2] (factory setting: CI: p31238 = p31241[0])

CI: p31240 = p31241[0...2]

Description: Display and connector output for the active master value (x value).

The value is based on the master value (p31234) and takes into account the selected scaling (p31235, p31236), the setting value (p31238) and the offset (p31240).

Index: [0] = Master value before offset[1] = Master value after offset

Dependency: Refer to: p31234, p31235, p31236, p31238, p31240

Description: Setting the modulo length.

The characteristic is periodically repeated depending on the modulo length.

Example:

p31244 = 360000 (master value, which corresponds to one mechanical revolution)

In this case, the active master value has a value range from 0 to 359999.

Dependency: Refer to: p31235, p31236

Note: The following should be observed:

p31235 / p31236 < p31244

p31241[0...2] CO: POLYGON fixed value / Fixed valueAll objects Can be changed: U, T Calculated: - Access level: 3





-2147483648 2147483647 0

r31242[0...1] CO: POLYGON master value active / Mast val activeAll objects Can be changed: - Calculated: - Access level: 3





- - -

p31244 POLYGON modulo length / Modulo lengthAll objects Can be changed: T Calculated: - Access level: 3

Data type: Unsigned32 Dyn. index: - Func. diagram: 7331




1 7200000 360000

SINAMICS POLYGON


5 Parameters


Description: Sets the number of interpolation points for the characteristic.


Note: The interpolation points are equidistantly distributed over the modulo length.

Description: Sets the y values for the interpolation points of the characteristic.


Note: The characteristic is linearly interpolated between the interpolation points (y values).

Description: Sets the signal source for the amplitude to dynamically scale the characteristic.

Description: Sets the signal source for the offset to dynamically offset the characteristic.

p31245 POLYGON characteristic number of interpolation points / Interp points qtyAll objects Can be changed: T Calculated: - Access level: 3

Data type: Unsigned16 Dyn. index: - Func. diagram: 7331




1 10000 360

p31246[0...n] POLYGON characteristic y values / Char y valuesAll objects Can be changed: U, T Calculated: - Access level: 3

Data type: FloatingPoint32 Dyn. index: p31245 Func. diagram: 7331




-340.28235E36 340.28235E36 0.000000

p31247 CI: POLYGON amplitude / AmplitudeAll objects Can be changed: T Calculated: - Access level: 3

Data type: Unsigned32 / FloatingPoint32 Dyn. index: - Func. diagram: 7331


Not for motor type: - Scaling: PERCENT Expert list: 1


- - 1

p31248 CI: POLYGON offset / OffsetAll objects Can be changed: T Calculated: - Access level: 3

Data type: Unsigned32 / FloatingPoint32 Dyn. index: - Func. diagram: 7331




- - 0

5 Parameters


SINAMICS POLYGON


Description: Display and connector output for the output value.

The value is calculated as follows:

Output p31249 = amplitude * y(x) + offset

Amplitude: p31247

y: p31246

x: r31242[1] (master value effectively offset by p31240)

Offset. p31248

Note: The characteristic is linearly interpolated between the interpolation points (y values).

Description: Sets the scaling of the output value for display as integer number.

Dependency: Refer to: r31249, r31251

Description: Display and connector output for the output value as integer number.

Dependency: Refer to: r31249, p31250

r31249 CO: POLYGON output / OutputAll objects Can be changed: - Calculated: - Access level: 3

Data type: FloatingPoint32 Dyn. index: - Func. diagram: 7331




- [%] - [%] - [%]

p31250 POLYGON output integer number scaling / Outp int no. scalAll objects Can be changed: U, T Calculated: - Access level: 3





-2147483648 2147483647 1

r31251 CO: POLYGON output integer number / Outp integer no.All objects Can be changed: - Calculated: - Access level: 3





- - -

6

SINAMICS POLYGON


Function diagrams

Content

7331 – POLYGON structure 60

Note

This chapter only includes the function diagram for the OA-application POLYGON.

The product-dependent function diagrams available for SINAMICS (e.g. function diagram 5020) are included in the following reference:

References: /LH1/ SINAMICS S120/S150 List ManualChapter "Function diagrams"

6F

un

ction dia

gram

s

SIN

AM

ICS

PO

LY

GO

N

60

Function

Manual (F

H15), 10/2

015, A5E

33270641

Fig.6

-173

31 – PO

LYG

ON

structure

- 7331 -Function diagram

87654321fp_7331_95_eng.vsdDO: HLA, SERVO, VECTOR

SINAMICS19.08.15 V01.01.00POLYGON - Structure

p31230 · p0115[0]

<1> p31230 = 1 Factory setting, sampling time = 1 * p0115[0] (Current controller sampling time)p31230 = 0 "Do not calculate"

<2> Calculation of the master value difference between 2 sampling times.<3> The internal calculation is performed with the FloatingPoint data type.<4> The interpolation points are equidistantly distributed over the modulo length.

(0)

Enablep31231

0r31249Output [%]

r31251

Output integer number

Output integer number scalingp31250 (1)

1

0

<1>

y

x

Master value raw value

(r0479[0])p31234

Modulo length1 ... 7200000

p31244 (360000)

Master valuescaling denominator

p31236 (1)

Master value scaling numerator

p31235 (1) Amplitude

(1)p31247

Offset

(0)p31248

Characteristic number of interpolation points

p31245 (360)

Characteristic y values

p31246[0...p31245 - 1] (0.0)

<4>

+ +

++ 180900 270 360

1,0

0,5

Master value offset

(0)p31240

r31242[0]Master value active, before position offset

r31242[1]Master value active, after position offset

Master value setting value

(p31241[0])p31238

(0)

Master value setting value acceptp31239

Example:p31244 = 360p31245 = 12

-0,5

-1,0

<3>

<3> <3>

p31241[0]Fixed value 0

p31241[0](0)


p31241[1](0)


p31241[2](0)

%

%

<2>

7

SINAMICS POLYGON


Faults and alarms

The POLYGON OA application does not have its own faults and alarms (messages).

Note

Information on messages that are output (faults, alarms) should be taken from the online help for the particular control or commissioning tool or, for example, from the following reference:

References: /LH1/ SINAMICS S120/S150 List ManualChapter "List of faults and alarms"

7 Faults and alarms

SINAMICS POLYGON


A

SINAMICS POLYGON


Appendix

Table of contents

A.1 List of abbreviations 64

A.2 Defining a characteristic (p31245, p31246[0…n]) with script 73

A Appendix

A.1 List of abbreviations

SINAMICS POLYGON



Note

The following list of abbreviations includes all abbreviations and their meanings used in the entire SINAMICS family of drives.

Abbreviation Source of abbreviation Significance

A

A… Alarm Warning

AC Alternating Current Alternating current

ADC Analog Digital Converter Analog-Digital converter

AI Analog Input Analog input

AIM Active Interface Module Active Interface Module

ALM Active Line Module Active Line Module

AO Analog Output Analog output

AOP Advanced Operator Panel Advanced Operator Panel

APC Advanced Positioning Control Advanced Positioning Control

AR Automatic Restart Automatic restart

ASC Armature Short Circuit Armature short-circuit

ASCII American Standard Code for Information Interchange

American coding standard for the exchange of information

AS-i AS-Interface (Actuator Sensor Interface) AS interface (open bus system in automation technology)

ASM Asynchronmotor Induction motor

B

BB Betriebsbedingung Operation condition

BERO - Contactless proximity switch

BI Binector Input Binector input

BIA Berufsgenossenschaftliches Institut für Arbeitssicherheit

BG-Institute for Occupational Safety and Health

BICO Binector Connector Technology Binector connector technology

BLM Basic Line Module Basic Line Module

BO Binector Output Binector output

BOP Basic Operator Panel Basic operator panel

C

C Capacitance Capacitance

C… - Safety message

CAN Controller Area Network Serial bus system

CBC Communication Board CAN Communication Board CAN

CBE Communication Board Ethernet PROFINET communication module (Ethernet)

CD Compact Disc Compact disk

CDS Command Data Set Command data set

CF Card CompactFlash Card CompactFlash card

CI Connector Input Connector input

SINAMICS POLYGON


A Appendix


CLC Clearance Control Clearance control

CNC Computer Numerical Control Computer-supported numerical control

CO Connector Output Connector output

CO/BO Connector Output / Binector Output Connector Output / Binector Output

COB ID CAN Object-Identification CAN Object-Identification

CoL Certificate of License Certificate of License

COM Common contact of a changeover relay Center contact of a changeover contact

COMM Commissioning Startup

CP Communication Processor Communications processor

CPU Central Processing Unit Central processing unit

CRC Cyclic Redundancy Check Cyclic redundancy check

CSM Control Supply Module Control Supply Module

CU Control Unit Control Unit

CUA Control Unit Adapter Control Unit Adapter

CUD Control Unit DC Control Unit DC

D

DAC Digital Analog Converter Digital analog converter

DC Direct Current DC current

DCB Drive Control Block Drive Control Block

DCBRK DC Brake DC braking

DCC Drive Control Chart Drive Control Chart

DCN Direct Current Negative Direct current negative

DCP Direct Current Positive Direct current positive

DDS Drive Data Set Drive Data Set

DI Digital Input Digital input

DI/DO Digital Input / Digital Output Digital input/output, bidirectional

DMC DRIVE-CLiQ Hub Module Cabinet DRIVE-CLiQ Hub Module Cabinet

DME DRIVE-CLiQ Hub Module External DRIVE-CLiQ Hub Module External

DMM Double Motor Module Double Motor Module

DO Digital Output Digital output

DO Drive Object Drive object

DP Decentralized Peripherals Distributed I/O

DPRAM Dual-Port Random Access Memory Dual-Port Random Access Memory

DQ DRIVE-CLiQ DRIVE-CLiQ

DRAM Dynamic Random Access Memory Dynamic Random Access Memory

DRIVE-CLiQ Drive Component Link with IQ Drive Component Link with IQ

DSC Dynamic Servo Control Dynamic Servo Control

DTC Digital Time Clock Timer

E

EASC External Armature Short-Circuit External armature short-circuit

EDS Encoder Data Set Encoder data set

EEPROM Electrically Erasable Programmable Read-Only Memory

Electrically Erasable Programmable Read-Only-Memory


A Appendix


SINAMICS POLYGON


EGB Elektrostatisch gefährdete Baugruppen Electrostatic sensitive devices

ELCB Earth Leakage Circuit-Breaker Residual current operated circuit breaker

ELP Earth Leakage Protection Ground-fault monitoring

EMC Electromagnetic Compatibility Electromagnetic compatibility

EMF Electromotive Force Electromotive force

EMK Elektromotorische Kraft Electromotive force

EMV Elektromagnetische Verträglichkeit Electromagnetic compatibility

EN Europäische Norm European Standard

EnDat Encoder-Data-Interface Encoder interface

EP Enable Pulses Pulse enable

EPOS Einfachpositionierer Basic positioner

ES Engineering System Engineering system

ESB Ersatzschaltbild Equivalent circuit diagram

ESD Electrostatic Sensitive Devices Electrostatic sensitive devices

ESM Essential Service Mode Essential service mode

ESR Extended Stop and Retract Extended stop and retract

F

F… Fault Fault

FAQ Frequently Asked Questions Frequently Asked Questions

FBLOCKS Free Blocks Free function blocks

FCC Function Control Chart Function control chart

FCC Flux Current Control Flux current control

FD Function Diagram Function diagram

F-DI Failsafe Digital Input Failsafe digital input

F-DO Failsafe Digital Output Fail-safe digital output

FEPROM Flash-EPROM Non-volatile write and read memory

FG Function Generator Function Generator

FI - Fault current

FOC Fiber-Optic Cable Fiber-optic cable

FP Funktionsplan Function diagram

FPGA Field Programmable Gate Array Field Programmable Gate Array

FW Firmware Firmware

G

GB Gigabyte Gigabyte

GC Global Control Global control telegram (broadcast telegram)

GND Ground Reference potential for all signal and operating voltages, usually defined as 0 V (also referred to as M)

GSD Gerätestammdatei Generic Station Description: Describes the features of a PROFIBUS slave

GSV Gate Supply Voltage Gate supply voltage

GUID Globally Unique Identifier Globally Unique Identifier


SINAMICS POLYGON


A Appendix


H

HF High frequency High frequency

HFD Hochfrequenzdrossel Radio frequency reactor

HLA Hydraulic Linear Actuator Hydraulic linear actuator

HLG Hochlaufgeber Ramp-function Generator

HM Hydraulic Module Hydraulic Module

HMI Human Machine Interface Human Machine Interface

HTL High-Threshold Logic Logic with high interference threshold

HW Hardware Hardware

I

i. V. In Vorbereitung Under development: This property is currently not available

I/O Input/Output Input/output

I2C Inter-Integrated Circuit Internal serial data bus

IASC Internal Armature Short-Circuit Internal armature short-circuit

IBN Inbetriebnahme Startup

ID Identifier Identification

IE Industrial Ethernet Industrial Ethernet

IEC International Electrotechnical Commission International Electrotechnical Commission

IF Interface Interface

IGBT Insulated Gate Bipolar Transistor Insulated gate bipolar transistor

IGCT Integrated Gate-Controlled Thyristor Semiconductor power switch with integrated control electrode

IL Impulslöschung Pulse suppression

IP Internet Protocol Internet protocol

IPO Interpolator Interpolator

IT Isolé Terre Non-grounded three-phase line supply

IVP Internal Voltage Protection Internal voltage protection

J

JOG Jogging Jogging

K

KDV Kreuzweiser Datenvergleich Data cross-check

KHP Know-how protection Know-how protection

KIP Kinetische Pufferung Kinetic buffering

Kp - Proportional gain

KTY - Special temperature sensor

L

L - Symbol for inductance

LED Light Emitting Diode Light emitting diode

LIN Linearmotor Linear motor

LR Lageregler Position controller

LSB Least Significant Bit Least Significant Bit

LSC Line-Side Converter Line-side converter


A Appendix


SINAMICS POLYGON


LSS Line-Side Switch Line-side switch

LU Length Unit Length unit

LWL Lichtwellenleiter Fiber-optic cable

M

M - Symbol for torque

M Masse Reference potential for all signal and operating voltages, usually defined as 0 V (also referred to as GND)

MB Megabyte Megabyte

MCC Motion Control Chart Motion Control Chart

MDI Manual Data Input Manual data input

MDS Motor Data Set Motor data set

MLFB Maschinenlesbare Fabrikatebezeichnung Machine-readable product code

MM Motor Module Motor Module

MMC Man-Machine Communication Man-machine communication

MMC Micro Memory Card Micro memory card

MSB Most Significant Bit Most significant bit

MSC Motor-Side Converter Motor-side converter

MSCY_C1 Master Slave Cycle Class 1 Cyclic communication between master (class 1) and slave

MSR Motorstromrichter Motor-side converter

MT Messtaster Probe

N

N. C. Not Connected Not connected

N… No Report No report or internal message

NAMUR Normenarbeitsgemeinschaft für Mess- und Regeltechnik in der chemischen Industrie

Standardization association for measurement and control in chemical industries

NC Normally Closed (contact) NC contacts

NC Numerical Control Numerical control

NEMA National Electrical Manufacturers Association Standardization association in USA (United States of America)

NM Nullmarke Zero mark

NO Normally Open (contact) NO contacts

NSR Netzstromrichter Line-side converter

NVRAM Non-Volatile Random Access Memory Non-volatile read/write memory

O

OA Open Architecture Software component (technology package) which provides additional functions for the SINAMICS drive system

OAIF Open Architecture Interface Version of the SINAMICS firmware as of which the OA-application can be used

OASP Open Architecture Support Package Expands the STARTER commissioning tool by the corresponding OA-application

OC Operating Condition Operation condition

OEM Original Equipment Manufacturer Original equipment manufacturer


SINAMICS POLYGON


A Appendix


OLP Optical Link Plug Bus connector for fiber-optic cable

OMI Option Module Interface Option Module Interface

P

p… - Adjustable parameters

P1 Processor 1 CPU 1

P2 Processor 2 CPU 2

PB PROFIBUS PROFIBUS

PcCtrl PC Control Master control

PD PROFIdrive PROFIdrive

PDS Power unit Data Set Power unit data set

PE Protective Earth Protective ground

PELV Protective Extra Low Voltage Safety extra-low voltage

PFH Probability of dangerous failure per hour Probability of dangerous failure per hour

PG Programmiergerät Programming device

PI Proportional Integral Proportional integral

PID Proportional Integral Differential Proportional integral differential

PLC Programmable Logical Controller Programmable logic controller

PLL Phase-Locked Loop Phase-locked loop

PM Power Module Power Module

PMSM Permanent-magnet synchronous motor Permanent-magnet synchronous motor

PN PROFINET PROFINET

PNO PROFIBUS Nutzerorganisation PROFIBUS user organization

PPI Point to Point Interface Point-to-point interface

PRBS Pseudo Random Binary Signal White noise

PROFIBUS Process Field Bus Serial data bus

PS Power Supply Power supply

PSA Power Stack Adapter Power Stack Adapter

PTC Positive Temperature Coefficient Positive temperature coefficient

PTP Point To Point Point-to-point

PWM Pulse Width Modulation Pulse width modulation

PZD Prozessdaten Process data

Q

R

r… - Display parameters (read only)

RAM Random Access Memory Speicher zum Lesen und Schreiben

RCCB Residual Current Circuit Breaker Residual current operated circuit breaker

RCD Residual Current Device Residual current operated circuit breaker

RCM Residual Current Monitor Residual current monitor

REL Reluctance motor textile Reluctance motor textile

RESM Reluctance synchronous motor Synchronous reluctance motor

RFG Ramp-Function Generator Ramp-function Generator


A Appendix


SINAMICS POLYGON


RJ45 Registered Jack 45 Term for an 8-pin socket system for data transmission with shielded or non-shielded multi-wire copper cables

RKA Rückkühlanlage Cooling unit

RLM Renewable Line Module Renewable Line Module

RO Read Only Read only

ROM Read-Only Memory Read-only memory

RPDO Receive Process Data Object Receive Process Data Object

RS232 Recommended Standard 232 Interface standard for a cable-connected serial data transmission between a sender and receiver (also known as EIA232)

RS485 Recommended Standard 485 Interface standard for a cable-connected differential, parallel, and/or serial bus system (data transmission between a number of senders and receivers, also known as EIA485)

RTC Real Time Clock Real-time clock

RZA Raumzeigerapproximation Space-vector approximation

S

S1 - Continuous operation

S3 - Intermittent duty

SAM Safe Acceleration Monitor Safe acceleration monitoring

SBC Safe Brake Control Safe brake control

SBH Sicherer Betriebshalt Safe operating stop

SBR Safe Brake Ramp Safe brake ramp monitoring

SBT Safe Brake Test Safe brake test

SCA Safe Cam Safe cam

SD Card SecureDigital Card Secure digital memory card

SDI Safe Direction Safe motion direction

SE Sicherer Software-Endschalter Safe software limit switch

SESM Separately-excited synchronous motor Separately excited synchronous motor

SG Sicher reduzierte Geschwindigkeit Safely-limited speed

SGA Sicherheitsgerichteter Ausgang Safety-related output

SGE Sicherheitsgerichteter Eingang Safety-related input

SH Sicherer Halt Safe stop

SI Safety Integrated Safety Integrated

SIL Safety Integrity Level Safety Integrity Level

SLM Smart Line Module Smart Line Module

SLP Safely-Limited Position Safely Limited Position

SLS Safely-Limited Speed Safely-limited speed

SLVC Sensorless Vector Control Sensorless vector control

SM Sensor Module Sensor Module

SMC Sensor Module Cabinet Sensor Module Cabinet

SME Sensor Module External Sensor Module External

SMI SINAMICS Sensor Module Integrated SINAMICS Sensor Module Integrated


SINAMICS POLYGON


A Appendix


SMM Single Motor Module Single Motor Module

SN Sicherer Software-Nocken Safe software cam

SOS Safe Operating Stop Safe operating stop

SP Service Pack Service pack

SP Safe Position Safe position

SPC Setpoint Channel Setpoint channel

SPI Serial Peripheral Interface Serial peripheral interface

SPS Speicherprogrammierbare Steuerung Programmable logic controller

SS1 Safe Stop 1 Safe Stop 1 (monitored for time and ramp)

SS2 Safe Stop 2 Safe Stop 2

SSI Synchronous Serial Interface Synchronous serial interface

SSM Safe Speed Monitor Safe feedback from speed monitor

SSP SINAMICS Support Package SINAMICS support package

STO Safe Torque Off Safe torque off

STW Steuerwort Control word

T

TB Terminal Board Terminal Board

TIA Totally Integrated Automation Totally Integrated Automation

TM Terminal Module Terminal module

TN Terre Neutre Grounded three-phase line supply

Tn - Integral time

TPDO Transmit Process Data Object Transmit Process Data Object

TT Terre Terre Grounded three-phase line supply

TTL Transistor-Transistor-Logic Transistor-Transistor-Logik

Tv - Rate time

U

UL Underwriters Laboratories Inc. Underwriters Laboratories Inc.

UPS Uninterruptible Power Supply Uninterruptible power supply

USV Unterbrechungsfreie Stromversorgung Uninterruptible power supply

UTC Universal Time Coordinated Universal time coordinated

V

VC Vector Control Vector control

Vdc - DC-link voltage

VdcN - Partial DC-link voltage negative

VdcP - Partial DC-link voltage positive

VDE Verband Deutscher Elektrotechniker Verband Deutscher Elektrotechniker [Association of German Electrical Engineers]

VDI Verein Deutscher Ingenieure Verein Deutscher Ingenieure [Association of German Engineers]

VPM Voltage Protection Module Voltage Protection Module

Vpp Volt peak to peak Volt peak to peak

VSM Voltage Sensing Module Voltage Sensing Module


A Appendix


SINAMICS POLYGON


W

WEA Wiedereinschaltautomatik Automatic restart

WZM Werkzeugmaschine Machine tool

X

XML Extensible Markup Language Extensible markup language (standard language for Web publishing and document management)

Y

Z

ZK Zwischenkreis DC link

ZM Zero Mark Zero mark

ZSW Zustandswort Status Word


SINAMICS POLYGON


A Appendix

A.2 Defining a characteristic (p31245, p31246[0…n]) with script


A.2.1 Creating and running script

Creating a script folder

You must first create the folder, in which to store the scripts, in the commissioning tool STARTER or SIMOTION SCOUT.

Proceed as follows:

1. Select the drive device in the project navigator.

2. Select Expert > Insert script folder from the shortcut menu.

The folder SCRIPTS will be created below the drive device. The script described below will be stored in this folder.

Creating and running the script

Proceed as follows to create a script in this folder:

1. Select the SCRIPTS folder in the project navigator and choose Insert new object > Script from the shortcut menu.

2. Define the name of the script (e.g. Get_Excel_Data) and confirm with OK.

Names of scripts must comply with the following rules for identifiers:

– They are made up of letters (A … Z, a … z), numerals (0 … 9), and underscores ( _ ).

– The first character must be a letter or underscore.

– This can be followed by as many letters, digits or underscores as needed in any order.

– Exception: You must not use more than one underscore in succession.

– Both upper- and lower-case letters are allowed. There is no distinction between upper and lower case notation.

3. Select a script and choose Open from the shortcut menu.

4. Edit the content of the script.

For example, you can copy the script printed in Section "Example of a script" (Page 74) and modify it to meet your requirements.

5. Select the script in the project navigator and choose Accept and execute from the shortcut menu.

Note

You will find more information on scripting in the online help of the commissioning tool.

A Appendix


SINAMICS POLYGON


A.2.2 Example of a script

The following example contains a script that has the following effect:

• The Excel file "D:\Project_folder\characterics_values.xls" opens and the table "Sample 1" is read.

• All values that are in rows 6 to 1205, column "C" of this table are read and written into a dynamic array.

• The upper limit of the array is calculated and written into parameter p31245 of drive "SERVO_02" of device "DEVICE-1".

• The values of the array are written into parameter p31246[0…n] of the same drive.

Table A-1 Example script

' Get_Excel_Data Option Explicit ' All variables must be declared '#region declaration

Dim oExcel ' Object for Excel applicationDim oBook ' Object for Excel workbookDim oSheet ' Object for Excel sheetDim oCell ' Object for cell of the Excel sheetDim iCountRow ' Counter for rows of the Excel sheetDim Values() ' Dynamic array for imported valuesDim iCountValue ' Counter for the index of array "Values()"

Const XLS_FILE_NAME = "D:\Project_folder\characterics_values.xls"

' Path and filename of the Excel workbookConst SHEET_NAME = "Sample 1" ' Name of the sheetConst COLUMN_VALUE = "C" ' Column with the values to be importedConst START_ROW = 6 ' First row with the values to be importedConst END_ROW = 1205 ' Last row with the values to be importedConst PRECISION = 1 ' Size of steps of the import

' ( = precision of the interpolation)Const DEVICE_NAME = "DEVICE-1" ' Name of the drive unitConst DRIVE_NAME = "SERVO_02" ' Name of the drive

'#endregion #declaration# '#region Initial

Set oExcel = CreateObject("Excel.Application") oExcel.Visible = False oExcel.Workbooks.Open(XLS_FILE_NAME)

Set oBook = oExcel.Workbooks(1) Set oSheet = oBook.Worksheets(SHEET_NAME)

'#endregion #Initial# ' Continued: Next page

SINAMICS POLYGON


A Appendix


'######################################################################################## ' Read values from the column of the Excel sheet and write them into the array "Values()" '######################################################################################## ' Initialization of the counteriCountRow = START_ROW ' Counter for rows of the Excel sheetiCountValue = 0 ' Counter for the index of array "Values()" ' All cells in the column "COLUMN_VALUE"For Each oCell In oSheet.Range(COLUMN_VALUE & ":" & COLUMN_VALUE) ' Abort if the value range is too large

If ((END_ROW - START_ROW + 1) / PRECISION) > 10000 Then MsgBox "Error: Value range exceeded! Max. 10000 values!" Exit For

End If ' Abort if cell empty (no content)

If Len(oCell.Value) = 0 And oCell.Row >= START_ROW And oCell.Row <= END_ROW Then MsgBox "Error: Empty cell " & COLUMN_VALUE & oCell.Row & "!" iCountValue = iCountValue - 1 Exit For

End If ' Regular end of processing when last row reached

If oCell.Row > END_ROW Then Exit For

End If ' Condition as to whether cell will be read and the value written into the array

If oCell.Row >= START_ROW And iCountRow = oCell.Row Then ReDim Preserve Values(iCountValue)

' Adapt upper limit of the dynamic array "Values()"Values(iCountValue) = oSheet.Range(COLUMN_VALUE & oCell.Row).Value

' Read value of the current cell of the Excel sheet' Write value into the highest element of the array "Values()"

' Increment the array index counter:

iCountValue = iCountValue + 1 ' Counter for the index of array "Values()"iCountRow = iCountRow + PRECISION ' Counter for rows of the Excel sheet,

' Size of steps PRECISIONEnd If

Next ' End of the For loop ' After regular exit of the For loop, the following applies: ' The counter "iCountValue" contains the number of interpolation points AddAParameterToDevice Values ' Call of function "AddAParameterToDevice" '#region dispose

Set oSheet = Nothing Set oBook = Nothing oExcel.Quit Set oExcel = Nothing

'#endregion #dispose# ' Continued: Next page

Table A-1 Example script, continued

A Appendix


SINAMICS POLYGON


'########################################################################################## ' Function AddAParameterToDevice ' Transfer of the values of the array into p31245 and p31246[0...n] of the drive object '########################################################################################## Private Function AddAParameterToDevice(Byval Values()) ' Declaration

Dim iCount ' Counter for array index "Values()" and p31246Dim indexParameter ' Variable for string "p31246[icount]"

' Initialization

iCount = 0 ' Abort if reading the Excel sheet was terminated irregularly

If ((END_ROW - START_ROW + 1) / PRECISION) > iCountValue Then MsgBox "Importing of Excel table abnormally terminated!" Exit Function

End If ' Write number of interpolation points (iCountValue) into p31245

PROJ.Devices(DEVICE_NAME).TOs(DRIVE_NAME).Symbols("p31245") = iCountValue ' Write values from array "Values()" into p31246[0...n]

For iCount = 0 To (((END_ROW - START_ROW + 1) / PRECISION) - 1) indexParameter = "p31246[" & iCount & "]" PROJ.Devices(DEVICE_NAME).TOs(DRIVE_NAME).Symbols(indexParameter) = Values(iCount) ' MsgBox "Write p31246[" & iCount & "]"

Next ' End of the For loop

AddAParameterToDevice = True End Function ' End of the script

Table A-1 Example script, continued

SINAMICS POLYGON


Index

Numbers7331

POLYGON structure, 60

AABC_OA, 16, 23

Activating via HMI-Operate, 25Activation using STARTER, 20Uninstallation via HMI, 28Uninstalling using STARTER, 22

Additional use of CPU time, 48Address

Technical Support, 5Applications of POLYGON, 13

CCertificate of License, 49Characteristics of POLYGON, 14Commissioning

ABC_OA using STARTER, 21ABC_OA via HMI, 27POLYGON, 21, 27, 30

Conditioning the master valueDescription, 32Examples, 36

Controllable drives (number), 48

DDevices

OA application using STARTER, 17OA application via SINUMERIK HMI, 23

EEmergency Boot System (ESB), 23Engineering software

SCOUT, 16STARTER, 16

ExamplesParameterizing the characteristic, 40Referencing, 37, 38Scaling the master value, 36Use of CPU time, 48

FFunction diagram

POLYGON structure, 60SINAMICS product-specific, 59

GGeneral information

about parameters, 52

HHMI-Advanced, 24HMI-Operate, 24Hotline, 5

IIndustrial security, 11Installation of an OA application

via HMI, 23Installion of an OA application

using STARTER, 16

LLicense key, 49Licensing, 49List

Abbreviations, 64Complete table of contents, 7Index, 77List of abbreviations, 64Parameter, 53

List of abbreviations, 64

NNotes

Hotline, 5Product information, 6Technical Support, 5

Index

SINAMICS POLYGON


OOA application

Definition of terms, 17, 23OA application ABC_OA

Activating via HMI-Operate, 25Activation using STARTER, 20Commissioning, 16, 21, 23, 27Installation using STARTER, 16Installation via HMI, 23OA Support Package Installation, 18Technology package download, 19

OA application POLYGONCPU time, 48Function diagram, 60List of parameters, 53

OA interfaceDefinition of terms, 17, 24Example, 17, 24

OA Support PackageDefinition of terms, 17

Objective of this manual, 5Order number, 49

PParameter, 53Parameterizing the characteristic

Description, 34Examples, 40

POLYGONApplications, 13Characteristics, 14Commissioning, 21, 27, 30Configuration, 31CPU time, 48Definition of terms, 13Function diagram, 47, 60Licensing, 49List of parameters, 53Preconditions for commissioning, 31Structure, 60

PreconditionsCommissioning POLYGON, 31Installation of an OA application via

SINUMERIK HMI, 24Product information, 6Pulse enable, 25

RRequirements

Installation of an OA application using STARTER, 17

SSafety instructions

Fundamental, 9General, 10Industrial security, 11

Sampling times, 48Scaling the master value

Description, 32Examples, 36

SCOUT, 16Search tools for this manual, 5Service system

Definition of terms, 23SINAMICS Safety Integrated, 50STARTER, 16Support, 5Support Request, 5System utilization, 48

TTarget group for this manual, 5Technical Support, 5Term

OA application, 17, 23OA interface, 17, 24OA Support Package, 17POLYGON, 13Portable service system for NCU, 23Service system, 23

UUninstalling an OA application

using STARTER, 22via HMI, 28

Use of CPU time (SERVO, VECTOR, HLA), 48

VVersion

HMI, 24List of parameters, 53OA interface, 17, 24SINUMERIK, 24

WWEB License Manager, 49

Siemens AGDigital FactoryMotion ControlP.O. Box 318091050 ERLANGENGERMANY

Subject to change© Siemens AG 2015

www.siemens.com/motioncontrol

http://www.siemens.com/motioncontrol

Documents

Function Manual POLYGON - cache.industry.siemens.com€¦ · Function Manual Preface Fundamental safety instructions 1 Applications, characteristics 2 Installation and activation