SINUMERIK 840D sl. Service - Configuring Commissioning. Manual (2011-2020)

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6.6 Diagnostics → Trace

Trace result

The following graphic is displayed after the trace has been stopped:

Select the "≪ Back" softkey to save the session.

Select what you wish to save with the "Save trace >" softkey: Variables and settings with or

without recorded values (graphic).

The name of the session and target directory can be changed.

6.6.3

Example: Zooming in/zooming out

Trace view: Zoom

Procedure:

1. Select the "Fit all" softkey to scale all of the curves.

2. Press the following keys to select curve 1 (position actual value measuring system 1) and

curve 2 (position setpoint) for the next steps:

3. Select the "Zoom >" softkey.

4. Select the "Fit overlaid" softkey to precisely place both curves one above the other. Each curve

is individually scaled using the "Fit separated".

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6.6 Diagnostics → Trace

6.6.5

Example: Positioning the cursor

Positioning the cursor

Procedure:

1. Select the "Cursors >" softkey and position the active cursor A at the required position.

2. Select the "Cursor B >" softkey and position the active cursor B at the required position.

3. Select the "Both Cursors" softkey in order to read the precise value of the cursor positions

below the graphic:

6.6.6

Example: Trace session with PLC variables

Trace recording of PLC signals

Procedure:

1. Using softkey "New trace (Drive/NC)", open a new session.

2. Select the "Choose variable >" softkey, and under "Filter: PLC" to restrict the selection to PLC

variables.

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6.6.7

Example: Trace session with drive variables

Record the drive trace

Procedure:

1. Open a new session for drive variables.

2. From the list, insert parameter r722 "CU digital inputs status":

3. Select the "Settings" softkey to enter the trigger condition:

4. Select "If variable", and from the "Quick List", insert variable r722.

5. Under condition, select "At bit mask" and enter the required value as decimal number:

6. Confirm with "OK" to accept the settings.

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6.6 Diagnostics → Trace

7. Select softkey "View trace" followed by "Start trace".

8. The trace starts, if r722.1=1 and r722.2=1 are set ⇒ decimal value 6 and stops, which means

if the trigger condition is satisfied.

6.6.8

Key combinations to use the trace

Key combinations

Key combinations, which function with the control keys as well as on an external keyboard.

List view:

Copy selection.

Insert selection.

Delete selection.

Trace view:

Display the individual curves from left → right

Display the individual curves from right → left

Spaces: Select the display curve.

(corresponds to the "Select/Legend" softkey)

Arrow keys: Shift the image section either up or down.

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6.7 Diagnostics → drive system

SINAMICS faults and alarms

SINAMICS alarms can be of the alert (A = Alert) or fault (F = Fault) type:

• To activate the fault and warning buffer output for SINAMICS, set

MD13150 $MN_SINAMICS_ALARM_MASK to the hexadecimal value "D0D". This

automatically outputs the pending faults and warnings of the drive in the message line.

• The parameter r0945 shows the number of faults that have occurred.

• Pending warnings are indicated by parameter r2122 of the relevant drive component.

• The number of warnings that have occurred after the last reset is available in parameter

p2111 of the drive components.

• Setting p2111 = 0 results in the deletion of all existing warnings of this component and

updates the current warnings still pending. This parameter is reset to zero for a power on of

the drive unit.

Example

To display the online help for a pending fault or warning on SINUMERIK Operate, the

line must be marked (in orange). You can find remedial measures in the online help.

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6.8

Modular machine

6.8.1

What does "modular machine" mean?

"Modular machine" concept

The modular machine concept is based on a maximum target topology created offline. The

maximum design of a particular machine type is referred to as the maximum configuration in

which all the machine components that may be used are pre-configured in the target topology.

By deactivating or deleting drive objects (p0105 = 2), sections of the maximum configuration

can be removed. If a component fails, for example, this sub-topology can also be used to allow

a machine to continue running until the spare part is available. In this case, however, no BICO

source must be interconnected from this drive object to other drive objects.

NOTICE

Data backup

To prevent data loss, save the drive data in a commissioning archive (Page 317), before you

make any changes!

Drive unit - Configuration

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The "Commissioning" → "Drive system" → "Drive unit" operating area provides the following

functions under "Configuration":

• "Configuration" > "Change >"

- Change the name of the drive object

- Change the name of the component

- Change the comparison level

• "Configuration" → "Sort >":

• "Configuration" → "Display options >":

Drive unit - topology

The "Commissioning" → "Drive system" → "Drive unit" operating area provides the following

functions under "Topology":

• "Topology" → "Change >"

- Delete a drive object

- Delete the component

- Enable/disable drive objects

- Drive object: Change name/number

- Component: Change name/number

• "Topology" → "Add component >"

• "Topology" → "Display options >":

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Note

Changing the topology

Changing the topology does not require that the first commissioning is repeated.

Example: Components without DRIVE-CLiQ

To display components, which are not connected via DRIVE-CLiQ, in "Display options" under

"Filter" select option "off":

6.8.2

Modify configuration

Drive unit: Changing the configuration

Before you make changes to the configuration, create a commissioning archive of the drive data,

or check whether a data backup already exists.

Procedure:

1. In the operating area, select "Commissioning" → "Drive system" → "Drive unit"

→ "Configuration" → Softkey "Change":

2. Before you make changes to the configuration, create a commissioning archive of the drive

data, or check whether a data backup already exists.

3. Navigate to the drive object or the component that is to be changed.

4. A new designation is adopted using key "INSERT".

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Drive unit: Sorting configuration

Select softkey "Sort >" to sort the display according to one of the following criteria:

6.8.3

Check topology

Comparing topologies

For the topology, you can select between graphic topology display and tabular topology display:

• In the operating area, select "Commissioning" → "Drive system" → "Topology" in the graphic

display.

• In the operating area, select "Commissioning" → "Drive system" → "Drive unit" → "Topology"

in the tabular form.

To check whether the displayed target topology matches the actual topology of the system,

select softkey "Topology comparison" or the view "Comparison actual/target topology".

Note

Component number

You will need the component numbers in order to configure direct measuring systems manually.

Example: Topology display (graphic)

Based on Create MyConfig , the topology is shown graphically and supports the following

functions:

• Selecting the drive device

• Displaying the actual topology

• Displaying the target topology

• Display to compare the target topology (top, white backg60round) with the actual topology

(bottom, bright blue backg60round)

• A fault description when faults are active

• Increasing or decreasing the size of the view using the zoom function

• Displaying the properties of the selected component

• Identifying a component using an LED

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Note

Functional scope of the "Topology display"

The functionality under "Drive system" → "Topology display" is a display function with the

objective of identifying topology errors.

Contrary to this, in the drive unit functionality under "Drive device" → "Topology " (tabular form)

the following additional functions are integrated:

• Activating/deactivating drive objects

• Deleting drive objects

• Adding and deleting components

Target topology

The graphic topology display is shown using the "Target topology" view as example:

Figure 6-4

Target topology - without error

A DRIVE-CLiQ port is always simultaneously selected for the component in focus. The Drive-CLiQ

connection at a selected port is graphically highlighted.

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Actual topology

The graphic topology display in the case of an error is shown using the "Actual topology" view:

Figure 6-5

Actual topology - with error

Precondition:

It is assumed that the target topology has no error.

As a consequence, the errors are only displayed in the actual topology.

If a component has an error, then in addition to the symbol in the graphic,

error information is also provided at the bottom right in the detailed view.

Focus on the component involved to analyze the error that has occurred. To do this, change into

the "Topology comparison" view in order to compare the actual topology (top) with the saved

target topology (bottom).

After switching over the vertical softkey bar, the following properties of the focused component

are displayed:

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6.8.4

Changing topology

Drive unit: Changing the topology

Before you make changes to the topology, create a commissioning archive with the drive data,

or check whether a data backup already exists.

Procedure:

1. In the operating area, select "Commissioning" → "Drive system" → "Drive unit" → "Topology"

→ Softkey "Change":

2. Navigate to the drive object or the component that is to be changed.

3. A new designation is adopted using key "INSERT".

Note

Effect in the drive firmware:

Changing the name and the number influences the target topology and the actual topology.

Changing the comparison level influences the topology comparison.

6.8.5

Activating/deactivating drive object

Activating/deactivating drive objects

Before you make changes to the topology, create a commissioning archive with the drive data,

or check whether a data backup already exists.

Procedure:

1. In the operating area, select "Commissioning" → "Drive system" → "Drive unit" → "Topology"

→ Softkey "Change".

2. Select a drive object, for example SERVO_3.3:3

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3. Select softkey "Activate/deactivate drive object" and follow the instructions:

Note

Safety Integrated

Note that axes with enabled safety functions cannot be deactivated.

4. Once successfully deactivated, the drive object and the associated components are grayed

out.

5. Select softkey "Activate/deactivate drive object" to again activate the drive object and then

follow the additional instructions:

Example: Series commissioning

When commissioning several machines of the same type (series commissioning), a non existent

drive object is marked with p0105 = 0. This creates a commissioning archive that is transferred

to the next machine.

In this case, to avoid triggering alarm 201416, the serial number of this component must be

deleted, and for this component, parameter p0105 = 2 "Deactivate drive object and not

available" must be set.

Note

General conditions for deactivating:

• If a component is deactivated, only the component with the correct serial number or none

may be inserted.

• If a component with a different serial number is inserted, this is by definition a different

component. If no other component remains, it must certainly be an excess component. This

component is marked as an additional component and alarm 201416 triggered.

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6.8.6

Deleting a drive object

Before you make changes to the topology, create a commissioning archive with the drive data,

or check whether a data backup already exists.

Procedure:

1. In the operating area, select "Commissioning" → "Drive system" → "Drive unit" → "Topology"

→ Softkey "Change".

2. Select a drive object, for example SERVO_3.3:6 Only then is softkey "Delete drive object"

active. A security prompt then follows before the drive object is deleted:

3. If a data backup is available, confirm with "OK" to delete the drive object from the target

topology.

4. The Motor Module can now be removed.

6.8.7

Delete the component

Before you make changes to the topology, create a commissioning archive with the drive data,

or check whether a data backup already exists.

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Procedure:

1. In the operating area, select "Commissioning" → "Drive system" → "Drive unit" → "Topology"

→ Softkey "Change".

2. Select a component, for example, encoder SM_36. Only then is softkey "Delete component"

active. A security prompt then follows before the component is deleted:

3. If you are certain, confirm with "OK" to delete the component from the target topology and

remove the component.

Note

Comparison actual/target topology

The component is marked in red and an alarm is output as the component is included in the

actual topology as long as it is inserted.

6.8.8

Adding components

If you connect a new component (e.g. SMC20) via DRIVE-CLiQ to the drive system, the drive

detects the change in the actual topology and displays the actual/target topology difference.

• GRAY: Desired state, drive object / component not plugged in or deactivated in the drive

system. Use the cursor keys to select the required line. The state is indicated in the bottom

part of the window.

• RED: Actual state, drive object/component available in the actual topology.

New components that have not yet been commissioned have a component number > 200.

The new component must then be configured and assigned to a drive object (Motor Module)

using the drive wizard.

NOTICE

Plugging in components

Only plug in (connect) components when the drive unit is switched off.

In the "Topology" dialog, start at the actual state: The new component has not been connected

yet.

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Procedure:

1. To connect a new DRIVE-CLiQ component to a Motor Module, select "Commissioning" →

"Drive system" → "Drive device" → "Topology" in the operating area.

2. Select the Motor Module and press softkey "Add component >". The system identifies the new

component and outputs the following message:

3. Press "OK" as confirmation to configure and accept this component. Determining the device

configuration may take several minutes.

You receive the following prompt after the device configuration:

4. Confirm with "OK" to carry out a power on reset. The unit configuration is finished. The

component has been accepted. The following message will then appear:

The encoder component was added to the target topology.

5. Press "OK" to include the component in the topology although it is not yet assigned to any

drive:

- Select "Drive unit" to open the drive wizard. Select the drive and assign the new encoder

in the encoder configuration to the drive.

- Press "OK" to assign this component to the drive later.

6.8.9

Replacing a SINAMICS S120 component

Requirements

There are two procedures for replacing components:

1. Replacing SMI or SMx motor components.

2. Replacing an existing Motor Module with a more powerful Motor Module.

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The following preconditions are satisfied:

• The two Motor Modules are of the same type.

• The serial number is different: ⇒ In this case, another configuration is not required.

• The difference between the two Motor Modules, for example, is 9 A instead of 5 A.

Note

Do not make a permanent change in the drive system.

Before you replace the DRIVE-CLiQ component, change the comparison level.

Replacing SMI or SMx motor components

Note

The new SMI/SMx motor component must not yet be inserted!

Operating sequence:

1. You have removed the previous SMI or SMx motor component.

This motor component is missing in the actual topology. SINAMICS indicates this in the form

of a topology error alarm.

The "Commissioning" → "Drive system" → "Drive units" → "Topology" dialog shows the

previous motor component to be replaced in "gray", i.e. present only in the target topology.

2. In the "Commissioning" → "Drive system" → "Drive units" → "Topology" → "Change..." dialog,

remove the SMI/SMx motor component awaiting replacement from the target topology

using the "Delete component" dialog.

NOTICE

Data loss

Save the drive data that has been changed before switching off (for example, to a drive data

archive).

3. Switch off the drive system and switch on again.

4. In the "Commissioning" → "Drive system" → "Drive units" → "Topology" dialog, check whether

the SMI/SMx motor component has been removed from the target topology:

- The alarm topology error is no longer pending.

- The "Commissioning" → "Drive system" → "Drive units" → "Topology" dialog no longer

shows any differences.

5. Switch off the drive system.

6. Plug in the new SMI/SMx motor component.

7. Switch on the drive system.

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8. Add the new SMI/SMx motor component to the target topology using the "Commissioning"

→ "Drive system" → "Drive units" → "Topology" → "Add component" dialog.

9. Assign the added SMI/SMx motor component via the "Commissioning" → "Drive system" →

"Drives" drive wizard.

Replacing a Motor Module

The replacement of components after the first commissioning, e.g. in order to use an ALM with

a higher power 16 kW → 50 kW, must be performed in such a way that the configuration data

is reimported and is up to date.

Note

Firmware update

The firmware of the configured drive components is updated correctly only when the

components were inserted in the switched-off state. The subsequent insertion of drive

components must ONLY be performed in the switched-off state.

If a drive component is replaced by a component with a different article number, e.g. a more

powerful module, after first commissioning, observe the following sequence:

Procedure:

1. Select "Drive unit" → "Topology" → "Change".

2. Select the module and select "Deactivate drive object".

3. Replace the module in the cabinet.

4. Select the module and select "Activate drive object".

5. The configuration data of the new module is read in.

6. Update the drive data in the commissioning archive with the new configuration data.

6.8.10

Example: Subsequently installing a component

Precondition

To write to Control Unit parameters and drive parameters and activate them, as a minimum, the

"Service" access level is required.

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Overview of the drive state

Using the "Activate drives" softkey, in the "Drive state overview" open a table listing all of the

drive objects, which shows the actual state of parameter p0105: "Activate/deactivate drive

objects". Furthermore, the connection status is shown as a symbol:

DO status (p0105)

Symbol

Significance

[0] deactivated

The component is not inserted, and the status is

deactivated.

[0] deactivated

The component is inserted, and the status is deac-

tivated

[1] activated

The component is inserted, and the status is acti-

vated.

[1] activated

The component is inserted, and the status is acti-

vated: Component with fault.

[2] deactivated without

- without symbol -

The component is not inserted, the status is deac-

hardware

tivated:

However, the component is included in the target

topology.

Note

Status p0105 = [2] deactivated without hardware

In the "Drive state overview", only the two states "[1] activated" and "[0] deactivated" are listed

for a drive object.

If a drive object exists with status [2] deactivated without hardware, then the status must be

changed to "[0] deactivated" and then the hardware component must be inserted and

connected.

The "Data backup" column shows the following symbols:

The backup of the drive parameters for every drive object is saved at:

/user/sinamics/smi/backup

Parameter data of drive objects are copied to the CompactFlash card of the control

system from a Create MyConfig package.

If the configuration parameters are overwritten when subsequently connecting the

motor with DQI encoder for the automatic controller data calculation, then when

activating, these parameters are again written to the drive object.

Subsequently inserting a component

In a Create MyConfig package, you can define and transfer the configuration parameters of the

"electronic rating plate" for motors with DQI encoder, without the hardware component having

to be already installed. The motor and encoder data are then already transferred to the

CompactFlash card when reading in the archive; however, the parameters are only activated

after the motor has been installed.

The following procedure applies both when commissioning as well as when replacing parts and

components.

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Press the "Activate all" softkey to execute the following steps:

1. Read out the motor data on the electronic rating plate.

2. In comparison to p0300 "Select motor type", check as to whether the configured data match

the configured component.

3. Activate the drive object.

4. Automatically calculate the controller data.

5. Overwrite parameters with the configured data from the Create MyConfig package.

6. Backup the parameters.

This operation can take several minutes. A progress display is shown.

When changing the status from "[0] deactivated" → "[1] activated" the backup of this drive object

is created in the following directory on the CompactFlash card: /user/sinamics/smi/backup. The

data for all drive objects is saved at: /user/sinamics/data

If several drive objects are selected, then you can select different procedures for each of the

individual drive objects:

1. "Only activate" softkey to activate parameters that are already saved to the CompactFlash

card.

2. "CMC data" softkey, to calculate the controller data and to activate the data saved from a

Create MyConfig package to the CompactFlash card.

3. "Last backup" softkey to restore the last data backup of the drive object from the backup file.

4. "Exit" softkey to exit the view of the drive objects.

5. You have the following alternatives after successfully completing the procedure:

- "Cancel" softkey to exit the procedure without restarting the system. As a consequence,

the parameters are not yet active.

- Press the softkey "Accept" to activate the parameters and to execute a restart the system

Reset (po).

Replacing a device

Service & Support Portal: (https://support.industry.siemens.com/cs/de/en/view/99457853 )

SIMOTICS Service Manual: Encoder replacement for SIMOTICS S- 1FK7 G2, S-1FG1 and S-1FT7

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6.9

Tips for commissioning the SINAMICS drives

6.9.1

Displaying the firmware version of the drive components

Firmware version of the drive components

To check the version of the drive components, select in the "Commissioning" operating area →

"Drive system" → " Drive device" → "Configuration":

The version for each component is displayed in the "FW version" column. The firmware version

is read out from the following SINAMICS parameters:

• r0018: Firmware version of the integrated Control Unit and of the CU_NX expansion, which

is always identical to the version of the SINAMICS system software.

• r0128: Firmware version of the infeed module

• r0975[2 and 10]: Firmware version of the Motor Module

• r0148[0...2]: Firmware version of the Sensor Modules that belong to the Motor Module

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6.9.2

Check the line data of the infeed

Checking and setting the power data

Finally, after commissioning the drive system, check the power data of the infeed module. In the

operating area "Commissioning" → "Drive system" → "Infeed", the "Power data" softkey is

enabled if the infeed module has already been commissioned and the data have been saved in

the non-volatile memory:

The following power data are configured:

• When the checkbox is selected, the line/DC link identification is activated once the infeed

pulse has been enabled (p3410). The infeed then switches to operational mode.

Note

DC link identification

If the line supply environment changes or the components on the DC link change (e.g. after

setting up the equipment at the customer site or after expanding the drive group), the

checkbox must be set again: Hence the "Line data" softkey in the overview in order to restart

the line/DC link circuit identification.

If p3410 = 5 is saved in the commissioning archive, then the line/DC link identification starts

automatically once the drive data is input into the archive.

Only then can it be guaranteed that the infeed operates with the optimum controller settings.

• Enter the device connection voltage: This is the basis for the mains overvoltage (p0281 -

p0283), for which an alarm is issued when the threshold is exceeded or undershot (warning

threshold and trip threshold). The actual line voltage is determined automatically and the

adjustment is made based on this value.

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• The actual line frequency for the infeed is determined automatically. In parameter p0284,

p0285 you set the warning threshold at which an alarm is triggered (presetting of the

monitoring function: 45 Hz to 65 Hz).

• Quick stop for axes when the voltage dips after a delay time in [ms]:

In the event of a voltage dip, alarm 207862 "External fault 3" is triggered, followed by alarm

207841 "Drive: Infeed operation withdrawn", and the associated fault response is initiated

from p2101. If an alarm is not to be initiated for very short voltage dips, this can be

configured with the ON-delay time p2101.

The switch-on delay is not active for each specific drive, but per infeed - and therefore for all

the drives connected to this infeed. This does not affect alarms, for example from the DC link,

and they continue to be triggered.

6.9.3

Mains and DC link identification of the infeed module

Objective

To optimally set the current and voltage control, start a mains and DC link identification after

completing the commissioning of the drive.

Automatic identification

The automatic identification determines characteristic mains and DC link characteristics, which

serve as the basis for optimally set controllers in the Line Module. You can adapt the dynamics

of the voltage control with p3560.

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Manual identification

Further identification methods:

• p3410 = 4 (identify and save controller setting with L adaptation)

An identification run for the total inductance and DC link capacitance is initiated when the

pulses are next enabled: Two measurement routines with different current magnitudes. The

determined data (r3411 and r3412) is entered into p3421 and p3422. At the same time, the

controllers are recalculated and the parameters for current controller adaptation are defined

(p3620, p3622). The parameters for the infeed module are then automatically stored in a

non-volatile memory. The infeed unit continues to operate without any interruption with the

new controller parameters.

• p3410 = 5 (resetting, saving ID and controller setting with L adaption)

The parameter values for line inductance and DC link capacitance are reset before the first

identification run:

p3421 = p0223 and p3422 = p0227

• p3410 = 6 (Setting, C-identifying and saving robust current controller)

For infeed units of the type Chassis 2, use p0220 ≥ 110 to select corresponding Active

Interface Modules of the Chassis 2 (AIM Chassis-2) design and start the automatic controller

setting with p3410 = 6. At the same time, the value of the DC link is determined in a

shortened measurement. All of the other controller parameters are already preset by setting

p3410 = 6.

- Advantage: For modified mains parameters (e.g. switchover to a different mains), no

adaptation of the controller parameters and mains identification is required.

- Disadvantage: Unlike identification over p3410 = 5, the automated controller setting

leads to losses in the dynamic response.

P3410 = 0 is automatically set when an identification routine is successfully completed.

Further information can be found in the SINAMICS S120 Function Manual Drive Functions

6.9.4

Rules for wiring the DRIVE-CLiQ interface

Topology rules

When wiring components with DRIVE-CLiQ, the following rules apply: The rules are subdivided

into obligatory rules, which must be observed, and optional rules, which enable automatic

topology detection if they are adhered to.

Obligatory rules:

• A maximum of 198 DRIVE-CLiQ node components can be connected for each NCU.

• Up to 16 nodes can be connected to a DRIVE-CLiQ socket.

• A maximum of seven nodes can be connected in one row. A row is always considered from

the perspective of the closed-loop control module.

• Ring wiring is not permitted.

• Components must not be double-wired.

Optional rules:

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6.9 Tips for commissioning the SINAMICS drives

When the optional rules for the DRIVE-CLiQ wiring are observed the components concerned will

be automatically assigned to the drives:

• For one Motor Module, the related motor encoder must also be connected.

• Due to the improved performance utilization, use as many DRIVE-CLiQ points on the NCU as

possible.

• It is essential that you comply with the optional rules when using the macro. This is the only

way to achieve a proper assignment of the drive components.

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Figure 6-6

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Use of the SMC40

The SMC40 Sensor Module Cabinet-Mounted is used to convert encoder signals from absolute

encoders with EnDat 2.2 to DRIVE-CLiQ. Two encoder systems with EnDat 2.2 can be connected

to the SMC40. Their signals are converted independent of each other on two DRIVE-CLiQ

encoder signals.

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6.9 Tips for commissioning the SINAMICS drives

Connection conditions

To ensure that the SMC40 Sensor Module Cabinet-Mounted is integrated into the topology

during the initial commissioning, you must absolutely observe the following rules:

• Connect at least one of the DRIVE-CLiQ interfaces X500/1 or X500/2 on the SMC40 using

DRIVE-CLiQ.

• Connect one EnDat encoder to the corresponding encoder interface X520/1 (to X500/1) or

X520/2 (to X500/2).

• Operate the SMC40 only in a star topology. The DRIVE-CLiQ X500/1 and X500/2 sockets

cannot be used for a series connection.

NOTICE

Display in the "Topology" dialog

The SMC40 is only integrated into the actual topology if the DRIVE-CLiQ interfaces X500/x and

the corresponding encoder interfaces X520/x are assigned.

Without a connected encoder, it is also not possible to subsequently integrate the SMC40 in the

topology.

6.9.5

Drive-object assignment for PROFIBUS connection

Drive object number

PROFIBUS telegrams (internal PROFIBUS, HW Config) are used to specify the process data to be

exchanged between the NC and the drives. The sequence of the drive objects (configurable/

configured using HW Config) involved in PROFIBUS process-data exchange is defined via a drive-

object list.

The drive-object numbers (DO numbers) can be viewed under "Commissioning > Machine data

> Control Unit MD/Infeed MD/Drive MD" in the component name line. An example of a Control

Unit name might be: "DP3.Slave3:CU_003 (1)". The DO number appears inside the brackets

"(…)".

List of drive objects

You usually configure eight drive objects (default setting): The drive objects have drive-object

numbers and are entered in parameter p0978[0…9] as a list of drive objects:

p0978[0] = 3

Motor Module 1

p0978[1] = 4

Motor Module 2

p0978[2] = 5

Motor Module 3

p0978[3] = 6

Motor Module 4

p0978[4] = 7

Motor Module 5

p0978[5] = 8

Motor Module 6

p0978[6] = 1

Control Unit

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6.9 Tips for commissioning the SINAMICS drives

p0978[7] = 2

Infeed (ALM)

p0978[8] = 0

---

p0978[n] = 0

---

PROFIBUS telegram 370 for the infeed (ALM) is not supported by SINUMERIK. However,

according to the SINAMICS rule, all DO from parameter p0101 have to be assigned in parameter

p0978. For this reason, the DO number of the infeed should be entered in index 9.

Note

The list of DO involved in process-data exchange is completed by entering the value "0".

The list of drive objects is already preassigned in the following sequence by the system upon

initializing the drive (acceptance of topology): ALM, 1st Motor Module … n, CU; e.g. 2-3-4-5-1.

Components that do not communicate via PROFIBUS automatically have "255" preassigned to

them.

Example: Assigning drive objects

The following table shows on a SINAMICS S120 component structure the drive object

assignment for the drive parameters:

• One Control Unit (CU)

• One Active Line Module (ALM)

• Three Motor Modules

Assignment p0978[0…9] for supply with DRIVE-CLiQ connection:

Component

Index p0978

List of drive objects

1. Motor Module

2. Motor Module

3. Motor Module

not found

255¹⁾

not found

255¹⁾

not found

255¹⁾

ALM (only if protocol 370 is available)

255¹⁾

not found

0²⁾

ALM (default setting for SINUMERIK)

1) Not active

2) Ends the exchange of PZD

The following table describes the assignment of the drive objects in p0978[0…9] for an infeed

without DRIVE-CLiQ connection. This assignment is also done for a drive group with NX

module.

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6.9 Tips for commissioning the SINAMICS drives

Assignment of p0978[0…9] for infeed without DRIVE-CLiQ connection:

Component

Index p0978

List of drive objects

1. Motor Module

2. Motor Module

3. Motor Module

not found

255¹⁾

not found

255¹⁾

not found

255¹⁾

ALM (only if protocol 370 is available)

255¹⁾

not found

0²⁾

not found

1) Not active

2) Ends the exchange of PZD

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6.9 Tips for commissioning the SINAMICS drives

Example: Drive group

Using the example of a SINAMICS S120 drive line-up, the significance of the drive components

on drive objects is shown: Each drive object has its own parameter list.

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Drive group

The component number is assigned by the drive after detection of the DRIVE-CLiQ topology. The

associated component numbers can be found in the "Commissioning" → "Machine data" →

"Drive MD" → "Select axis" operating area:

Parameter

Parameter designation

p0121

Power unit component number

p0131

Motor component number

p0141

Sensor Module (encoder interface) component number

p0142

Encoder component number

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6.9 Tips for commissioning the SINAMICS drives

6.9.6

Adjusting speed and brake behavior

Speed adjustment

The following parameters can be set in the "Commissioning" → "Machine data" → "Drive MD"

operating area:

Speed adjustment:

• Spindle drive:

p0500 = 102, speed setpoint in p0322 corresponds to setpoint 4000 0000hex

• Feed drive:

p0500 = 101, speed setpoint in p0311 corresponds to setpoint 4000 0000hex

The speed setpoint can be diagnosed in the relevant drive in r2050[1+2] and r2060[1].

Brake behavior OFF3

Depending on the requirements, the brake behavior for each drive can be adjusted to the signal

2. OFF3.

Default setting p1135 = 0 brake with maximum current.

Using drive-specific parameterization, a flatter braking ramp can be set with the parameters

p1135, p1136, p1137 .

Maximum braking ramp setting: 600 seconds.

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Communication between the NC and the drive

7.1

Overview of NC and drive communication

What will be configured next?

The initial commissioning of the PLC and SINAMICS drives is completed.

The machine data that communicates with the drive is:

• General machine data

General machine data required for communication with the drive via PROFIBUS that has been

preset with default values. These values can be taken over during the initial commissioning:

- The telegram type for transfer

- The logical addresses for the PLC

• Axis-specific machine data

The axis component for transfer of the setpoints and actual values for the relevant axis, is set

in the axis machine data.

Assignment of machine data

Using the example of a SINAMICS S120 module structure (one NCU, one ALM, three Motor

Modules (MM)), the following table illustrates the assignment of the machine data for input

address/output address/telegram/setpoint/actual value.

SINAMICS

STEP 7 (HW Config)

General machine data

Axis machine data²⁾

S120

DP slave properties

Component

Message frame

I/O address¹⁾

MD13120[0]

MD13050

MD13060

MD30110/

MD30130

type and length

I/O address¹⁾

[0...5] I/O ad-

[0...5] mes-

MD30220

Type of out-

dress¹⁾

sage frame

setpoint /

put Setpoint

type

actual value

assignment

MM1

136 - PZD-11/19

4100

136

MM2

136 - PZD-11/19

4140

136

MM3

136 - PZD-11/19

4180

136

Not available

136 - PZD-11/19

4220

136

Not available

136 - PZD-11/19

4260

136

Not available

136 - PZD-11/19

4300

136

391 - PZD-3/7

6500

ALM

370 - PZD-1/1

6514

Do not change preassignment.

The axis-specific machine data for the configuration of the setpoints and actual values is pre-assigned using the "Assign axis"

function.

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Communication between the NC and the drive

7.2 Configuring the communication to the drive

7.2

Configuring the communication to the drive

Default settings

The telegram length in the hardware configuration is preassigned with the associated I/O

addresses. This pre-assignment for SINAMICS corresponds to the following telegrams with the

maximum possible telegram length:

• Telegram 136: for the axes

• Telegram 391: For the CU

• Telegram 370: for the ALM

This ensures that all telegrams can be supplied without change.

Telegram lengths and I/O addresses

Procedure:

1. To view this configuration, click in the HW Config on the module "SINAMICS Integrated" and

select "Object properties", using the <right mouse button>.

2. Select the "Configuration" tab and select the "Overview" tab to display the lengths of the

preassigned telegrams.

The diagram shows the default setting of the telegrams for 6 axes (object 1 ... 6):

3. Click "OK" to close the dialog.

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7.2 Configuring the communication to the drive

Example

The address areas are displayed in the detail view by clicking the "SINAMICS Integrated" object.

Here, for example, address 4100 corresponds to the address entered in MD13050 $MN_DRIVE-

LOGIC_ADRESS[0]. The addresses have a gap of 40 bytes. The example shows the assignment of

the I/O addresses of the PLC configuration to MD13050 $MN_DRIVE-LOGIC_ADRESS[ 0 … 5]:

Figure 7-1

Telegram lengths and I/O addresses

Default setting in the NC:

MD13050 $MN_DRIVE_LOGIC_ADRESS[0] = 4100

For the 1st axis

MD13050 $MN_DRIVE_LOGIC_ADRESS[1] = 4140

For the 2nd axis

MD13050 $MN_DRIVE_LOGIC_ADRESS[2] = 4180

For the 3rd axis

MD13050 $MN_DRIVE_LOGIC_ADRESS[3] = 4220

For the 4th axis ... etc.

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Communication between the NC and the drive

7.3 Configuring the I/O address and telegram

Procedure:

1. The connection of the relevant axes to the drive via PROFIBUS is displayed in operating area

"Commissioning" → "Drive system" → "Drive units" → "PROFIBUS/PROFINET":

2. Select softkey "Change >", to change the assignment with softkeys "Up"/"Down" with arrow:

Note

Communication between the NC and the drive

Carefully ensure that the set I/O addresses and telegram types match the settings in the

hardware configuration to guarantee communication between NC and drive.

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Communication between the NC and the drive

7.4 Process data transfer between the NC and drive

7.4

Process data transfer between the NC and drive

Telegram types

Which telegram types are available?

• Standard telegrams

The standard telegrams are structured in accordance with the PROFIdrive Profile V4.1. The

internal process data links are set up automatically in accordance with the telegram number

setting.

• Manufacturer-specific telegrams

The manufacturer-specific telegrams are structured in accordance with internal company

specifications. The internal process data links are set up automatically in accordance with the

telegram number setting.

The telegram length for communication with the drive is specified in the HW Config, and

depends on the required axis functions, e.g. the number of encoders or the functionality of the

deployed drive.

Note

If the telegram length of a drive component is changed in HW Config, the selection of the

telegram type also has to be adapted in the configuration of the interface in the NC.

The following manufacturer-specific telegrams can be set with parameter p0922:

Telegrams for the axes (SERVO):

Torque

Position

DSC

Encoder

Adapta-

reduc-

feedfor-

control-

tion pa-

tion

ward

ler gain

rameter

control

116

118

136

146

138

148

139

149

166

Telegrams 146, 148, 149 also have an additional control and status word.

Telegrams for the integrated SINAMICS Control Unit (CU_I):

370

Infeed

390

without probe for NX extension

391

up to 2 probes for the NCU

395

16 probes and digital inputs/outputs

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7.4 Process data transfer between the NC and drive

Communication between the NC and the drive

The telegrams from the NC to the drive are transferred via the internal PROFIBUS of the NCU:

• Send telegrams (drive → NC)

• Receive telegrams (NC → drive)

The telegrams are standard telegrams with pre-defined assignment of the process data (PZD),

and are interconnected in the drive object using BICO technology.

The following drive objects can exchange process data:

1. Active Line Module (A_INF)

2. Basic Line Module (B_INF)

3. Motor Module (SERVO)

4. Control Unit (CU_I, CU)

The sequence of the drive objects in the telegram on the drive side can be set in parameter

p0978[0...15]: Operating area "Commissioning" → "Machine data" → "Control Unit parameters".

Selecting a telegram via p0922 of the related drive object ("Commissioning" → "Machine data"

→ "Drive parameters" operating area) determines the process data to be transferred.

The receive and send words comprise the following elements:

• Receive words: Control words or setpoints

• Send words: Status words or actual values

Further details are found in the following SINAMICS Manuals:

• SINAMICS S120 Function Manual (FH1) (https://support.industry.siemens.com/cs/ww/en/

view/109771805) in the Section "Communication"

• SINAMICS S120/S150 List Manual (LH1) (https://support.industry.siemens.com/cs/ww/en/

view/109763271) in the Section "Function block diagrams"

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Communication between the NC and the drive

7.5 Drives: Assign axis

7.5

Drives: Assign axis

Condition

The commissioning of the drives has been completed.

Assigning drive and axis

Procedure:

1. Press the "Drive system" → "Drives" softkeys in the "Commissioning" operating area.

2. With the "Drive +/-" or "Select drive" softkeys, select the drive; in this example, SERVO_3.3:3

for the spindle.

3. To assign the drive to an axis, press the "Axis assignment >" softkey on the vertical softkey bar.

4. Mark the uppermost selection box for the "Setpoint: Axis → drive".

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7.5 Drives: Assign axis

5. Mark the next selection box for the "Actual value: Encoder → axis" and assign a measuring

system in accordance with the table below.

6. Select the drive object from "NC drive number": The associated I/O address from the PLC

configuring is then displayed automatically.

7. Click "OK" to confirm the assignment and write the data.

Encoder selection and assignment

The assignment of an axis to a drive is called setpoint assignment; the assignment of an

encoder to an axis is called actual value assignment. The assignments are described below. A

setpoint assignment (axis → drive) without encoder assignment is permitted because not all

axes require encoders, e.g. spindles. The encoders are assigned automatically if they have

already been configured for the drive and are transferred in the telegram.

The tables show which SINAMICS encoders are supported by which telegram:

Message

(1 / 2)

102

103

104

105

frames

Encoder 1

Encoder 2

Message

106

107

116

118

136/146

138/148

139/149

166

frames

Encoder 1

Encoder 2

The numbers in the lines for encoder 1 / encoder 2 indicate the running number of the encoder

on the SINAMICS drive. This number is transferred in the selected telegram to the NC and

assigned to the axis as encoder 1 or encoder 2.

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Communication between the NC and the drive

7.5 Drives: Assign axis

The telegrams in MD13060 $MN_DRIVE_TELEGRAM_TYPE are preassigned with the values from

the HW Config. This preassignment is set correspondingly for the assignment of the drive to an

axis. The following also applies to a setpoint assignment: MD30130 $MA_CTRLOUT_TYPE[ ] = 1.

Selecting the assignment procedure

Select from the following procedures in the "Assignment Procedure" dialog:

• Via axis machine data (NC drive number)

The NC drive number is retained and written for the selected axis into the following axis

machine data:

MD30110 $MA_CTRL_OUT_MODULE_NR and MD30220 $MA_ENC_MODUL_NR

• Via general machine data (I/O address) = default setting

For this assignment procedure, the I/O address assigned to the drive using the NC drive

number is written to the following general machine

data: MD13050 $MN_DRIVE_LOGIC_ADDRESS[<NC drive number> - 1]. This assumes that

the I/O address default setting is not changed in the PLC project.

• User-defined

If you select this option, the selection list can be edited under "NC drive number". Then assign

a drive number and the displayed I/O address to the axis selected above. This option is

recommended only for experienced machine manufacturers!

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7.6 Configuring machine axes

7.6

Configuring machine axes

7.6.1

Axis assignment

Introduction

Generally, a distinction is made between four types of axes:

• Machine axes

Machine axes are the motion units existing on a machine, which can also be designated as

linear or rotary axes, depending on their usable movement.

• Channel axes

The total of all machine, geometry and special axes assigned to a channel is designated as

channel axes. In this context, the geometry and special axes constitute the program-

technological part of the machining process, i.e. they are used for programming in the parts

program. The machine axes constitute the physical part of the machining process, i.e. they

carry out the programmed traversing movements on the machine.

• Geometry axes

The geometry axes constitute the rectangular Cartesian basic coordinate system of a

channel. Generally, (Cartesian arrangement of the machine axes) direct imaging of the

geometry axes to the machine axes is possible. If the arrangement of the machine axes,

however, is not Cartesian at right angles, the imaging is performed using a kinematic

transformation.

• Special axes

Special axes are all other channel axes that are not geometry axes. Unlike for geometry axes

(Cartesian coordinate system), no geometric context is defined for special axes, neither

between additional axes nor with respect to geometry axes.

Note

Geometry and special axes

A maximum of three channel axes can be declared as geometry axes. The geometry axes must

be assigned to the channel axes in ascending order without any gaps. All channel axes that are

not geometry axes are special axes.

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Communication between the NC and the drive

7.6 Configuring machine axes

Axis assignment

The assignment of geometry axes to channel axes and channel axes to machine axes, as well as

the definition of the names of the different axis types is realized via machine data. The following

diagram illustrates this relationship:

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Axis assignment

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Communication between the NC and the drive

7.6 Configuring machine axes

Channel axis gaps

Normally, using MD20070, a channel axis is assigned to one machine axis. Not every channel

axis must be assigned to a machine axis. Each channel axis with MD20070 [n] = 0 is not assigned

any machine axis and represents a channel axis gap.

Channel axis gaps allow the creation of a uniform configuration of the channel axes over

different machine versions of a series. Each channel axis of the series has a defined task or

function. If the function and therefore the machine axis is not available on a specific machine,

the relevant channel axis is not assigned a machine axis:

MD20070 $MC_AXCONF_MACHAX_USED[<channel axis>] = 0

Advantages:

• Commissioning archive with uniform basic configuration

• Simple post configuration for the specific machine

• Flexible portability of part programs

Enabling channel axis gaps

The use of channel axis gaps is enabled using the machine data:

MD11640 $MN_ENABLE_CHAN_AX_GAP = 1 (channel axis gap allowed).

If the use of channel axis gaps has not been enabled, then the value 0 for channel axis n in the

following machine data terminates the allocation of additional machine axes to possible

channel axes from channel axis n onwards:

MD20070 $MC_AXCONF_MACHAX_USED[<channel axis n>]

Supplementary conditions:

• Regarding the number of channel axes and the indexing, a channel axis gap counts just the

same as axes.

• Ensure that a geometry axis is not assigned to a channel axis, that is not assigned to a

machine axis (channel axis gap). No alarm is displayed.

• Transformation: When configuring a channel axis in the following machine data, which is not

assigned a machine axis (channel axis gap), an alarm is output:

- MD24110 ff. $MC_TRAFO_AXES_IN1...8

- MD24120 ff. $MC_TRAFO_GEOAX_ASSIGN_TAB1...8

Example

The 5th channel axis "B" in MD20070 is not assigned to a machine axis.

If channel axis gaps are enabled, six machine axes (1 - 4, 5, 6) are available.

If channel axis gaps are not enabled, then there are four machine axes (1 - 4) available.

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Communication between the NC and the drive

7.6 Configuring machine axes

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7.6.2

Axis names

Machine axes

Each machine axis, channel axis and geometry axis is assigned an individual name that clearly

identifies the axis. Machine axis names must be unambiguous for the entire NC. The name of the

machine axes are defined via the following machine date:

MD10000 $MN_AXCONF_MACHAX_NAME_TAB [n] (machine axis name)

The specified names and the associated index are used in the following cases:

• Accessing axis-specific machine data (loading, saving, displaying)

• Reference point approach from the parts program G74

• Measuring

• Test point traversing from the parts program G75

• Traversing the machine axis from the PLC

• Display of axis-specific alarms

• Display in the actual-value system (machine-related)

• DRF handwheel function

Channel axes

The name of the channel axes are defined via the following machine date:

MD20080 $MC_AXCONF_CHANAX_NAME_TAB[n] (name of the channel axis in the channel)

Channel axis names must be unambiguous for the entire channel.

Geometry axes

The names of the geometry axes must be absolutely unique throughout the channel, and are

defined using the following machine data:

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7.6 Configuring machine axes

MD20060 $MC_AXCONF_GEOAX_NAME_TAB [n] (geometry axis in the channel)

The names for channel and geometry axes are used in the part program for programming

general traversing movements and to describe the workpiece contour.

• Path axes

• Synchronized axes

• Positioning axes

• Command axes

• Spindles

• Gantry axes

• Coupled axes

• Guide value coupling axes

7.6.3

Drive assignment

The assignment of machine axes to the SERVO drive objects is realized using machine data.

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7.6 Configuring machine axes

Assignment:

1. Using this machine data, the NC is informed about the I/O addresses of the SERVO drive

objects defined in the PLC project:

MD13050 $MN_DRIVE_LOGIC_ADDRESS[n]

2. Using the following machine data, the setpoint and actual values of the machine axes are

assigned to the relevant drive objects:

- MD30110 $MA_CTRLOUT_MODULE_NR[0]

- MD30220 $MA_ENC_MODULE_NR[0]

The logical drive number m to be entered into both machine data, refers to the I/O address

entered in ① under index n = (m - 1).

3. Using machine data MD10000 $MN_AXCONF_MACHAX_NAME_TAB, the machine axes in

the NC are assigned a unique name. Index n addresses machine axis (n+1).

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8.1

Machine and setting data

Setting machine data

Adaptation of the control at the machine is performed using the machine and setting data.

• The machine data (MD) is divided into the following areas:

- General machine data

- Channel-specific machine data

- Axis-specific machine data

- Parameters for the Control Unit

- Parameter for the infeed

- Drive parameters

• The setting data (SD) is divided into the following areas:

- General setting data

- Channel-specific setting data

- Axis-specific setting data

The following table provides an overview of the machine data and setting data areas:

Range

Designation

from 9000 to 9999

Display machine data

from 10000 to 18999

General NC machine data

from 19000 to 19999

Reserved

from 20000 to 28999

Channel-specific machine data

from 29000 to 29999

Reserved

from 30000 to 38999

Axis-specific machine data

from 39000 to 39999

Reserved

from 41000 to 41999

General setting data

from 42000 to 42999

Channel-specific setting data

from 43000 to 43999

Axis-specific setting data

from 51000 to 51299

General configuration machine data

from 51300 to 51999

General cycle machine data

from 52000 to 52299

Channel-specific configuration machine data

from 52300 to 52999

Channel-specific cycle machine data

from 53000 to 53299

Axis-specific configuration machine data

from 53300 to 53999

Axis-specific cycle machine data

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8.1 Machine and setting data

The SINUMERIK Operate Online Help provides a context-related description of the

machine data and setting data.

Effectiveness

The effectiveness of a machine data item specifies when the change becomes active:

The changed machine data require an "NCK Reset" to become effective.

The changed machine data must be activated by pressing the <RESET> key.

The changed machine data must be activated by pressing the "Apply MD" softkey.

The changed machine data becomes active immediately.

Changes to the setting data always take effect immediately.

A complete description of the machine data and setting data is provided in the List Manual

Machine Data and Parameters (https://support.industry.siemens.com/cs/document/

109766213)

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8.2 Procedure when commissioning the NC

8.2

Procedure when commissioning the NC

NC commissioning

We recommend the following sequence when commissioning the NC:

Procedure

Reference

①

Parameter sets of axis/spindle

• Velocities, setpoint/actual value systems, closed-loop

control

• Spindles

②

Axis configuration

• Axes, coordinate systems, frames

• Synchronous spindles

• Rotary axes

• Compensations

③

Parameterizing axis data:

Velocities, setpoint/actual value systems, closed-loop con-

trol

• Parameterizing the incremental-rotary measuring

system

• Setpoint/actual value system → Actual value resolution

• Parameterizing the incremental-linear measuring

• Setpoint/actual value system → Actual value resolution

system

• Setpoint/actual value system → Actual value resolution

• Parameterizing the absolute measuring system

• Setpoint/actual value system

• Setpoint/actual-value channels

• Tuning of the control

• Dynamic Stiffness Control (DSC)

• Rotary axes

• Positioning axes

• Closed-loop control

• Position controller

• Closed-loop control

• Speed setpoint calibration

• Velocities

• Axis velocity matching

• Axis monitoring, protection zones

• Axis monitoring functions (static)

• Axis monitoring, protection zones

• Axis monitoring functions (dynamic)

④

Parameterizing the spindle data:

Spindles

• Setpoint/actual-value channels

• Setpoint/actual value system

• Measuring systems

• Setpoint/actual value system

• Gear stages

• Gear stages for spindles and gear change change

• Velocities and setpoint adaptation

• Gear stages for spindles and gear change change

• Spindle positioning

• Spindle modes > Axis mode

• Spindle synchronization

• Reference / synchronize

• Monitoring

• Spindle monitoring

⑤

Referencing axis/spindle:

Reference point approach

• Incremental measuring system

• Referencing with incremental measurement systems

• Distance-coded reference marks

• Referencing with distance-coded reference marks

• Absolute encoder homing

• Referencing with absolute encoders

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8.2 Procedure when commissioning the NC

References:

• "Basic Functions" (https://support.industry.siemens.com/cs/document/109766213 )

Function Manual

- Axes, coordinate systems, frames

- Various NC/PLC interface signals and functions

• "Monitoring and Compensating" (https://support.industry.siemens.com/cs/document/

109766213)

- Axis monitoring functions

- Compensations

• "Axes and Spindles" (https://support.industry.siemens.com/cs/document/109766213 )

Function Manual

- Velocities, setpoint/actual value systems, closed-loop control

- Positioning axes

- Homing

- Spindles

- Synchronous spindle

Setting the technology

User views are lists of machine data and setting data that are compiled for a special application.

In order to set all the technology-relevant data for a turning machine or milling machine on the

control, the following user views are available to facilitate the commissioning:

• Setup_Milling

• Setup_Turning

The files are stored on the CompactFlash card under:

/user/sinumerik/hmi/template/user_views/param

Product announcement (https://support.industry.siemens.com/cs/de/en/view/

80582059)

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8.3 Memory configuration

8.3

Memory configuration

Requirement

A dialog is provided in the "Commissioning" → "NC" → "NC memory" operating area which

supports you when partitioning the NC memory. The "Service" access level is required for this.

Memory division

The memory-configuring NC machine data is divided into various function areas, such as tool

management‚ user data‚ zero offsets and memory types. The graphic with the following legend

shows the division of the individual data areas:

The following memory expansions are available as licensed software option:

• Additional 2 MB CNC user memory (6FC5800-0AD00-0YB0)

• Additional PLC user memory (6FC5800-0AD10-0YB0)

• Execution from external storage (EES) (6FC5800-0AN75-0YB0)

• Expanded CNC user memory (6FC5800-0AN77-0YB0)

• Additional user memory on the CompactFlash card of the NCU (6FC5800-0AP12-0YB0)

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8.4 Friction compensation with adaptive characteristics

8.4

Friction compensation with adaptive characteristics

8.4.1

Overview

Preconditions

Only those axes are listed for friction compensation for which MD32490 = 3 or 4 is set.

Machine data

Meaning

MD32500 $MA_FRICT_COMP_ENABLE = 1

Enable friction compensation for this axis

Friction compensation with adaptive characteristics:

MD32490 $MA_FRICT_COMP_MODE = 3

Injection time depends on the velocity setpoint

MD32490 $MA_FRICT_COMP_MODE = 4

Injection time depends on the position controller

output

Software option

In order to use this function a license is required for the following option:

"Friction compensation with adaptive characteristic curves" (6FC5800-0_S06-0Yx0)

Call the function at the control in the "Commissioning" → softkey "Friction compensation"

operating area. The softkey is not shown until the option has been set.

Backing up tuning results

When tuning, the axis machine data are changed as follows during the measuring series:

• When a measurement series is started, the friction compensation values in the axis machine

data are reset.

• When the measurement series is exited, the new friction compensation values are written to

the axis machine data and backed up.

• When the measurement series is canceled, the previous friction compensation values are

restored in the machine data.

NOTICE

Backing up tuning results

If the power fails during the tuning process, tuning result data can be lost.

⇒ SINUMERIK 840D sl: In order to avoid that tuning results are lost, it is recommended that you

create a commissioning archive with NC data that contains the axis machine data of the last

complete measurement series. You do not have to select the "With compensation data" option.

⇒ SINUMERIK 828D: In order to avoid that tuning results are lost, it is recommended that you

create a data class archive of the type "INDIVIDUAL" that contains the friction compensation

data of the last complete measurement series.

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8.4 Friction compensation with adaptive characteristics

Additional information is provided in Chapter "Compensations" in the "Monitoring and

Compensating" Function Manual.

8.4.2

Axis selection and status display

What is displayed in this dialog?

In the dialog "Axis selection for automatic tuning", for each channel, select the axes for

automatic friction compensation.

Automatic tuning:

Before starting automatic tuning:

For Automatic tuning, in a channel, select several axes that should be automatically tuned one

after the other. The automatic tuning for the selected axes is started for each channel.

Status display:

The following status data is displayed while tuning:

• "waits" for the selected axes, where tuning has still not been started.

• "being tuned" for the axis that is presently being tuned.

• "tuned" for axes, where tuning has already been successfully completed and saved.

Note

Time required (radius, feedrates)

The time required for the automatic tuning is obtained from the selected feedrates and the

radius: Align the feedrates in the channel setting data (Page 216) for the tuning of the axes to

the machining velocities of the machine.

After completing automatic tuning:

To visualize the measurement results, for the automatic tuning process, after each step, the

tuning result is saved as screenshot under the following path: ../user/sinumerik/hmi/data/cst

When tuning an axis, the resolution for the screenshots is the same for all feedrates, and is not

selected less than 1 μm.

After completing tuning of an axis in the channel, the compensation values are written to the

axis machine data and the status display updated.

Tuning quality:

The displayed maximum deviation can vary when repeating the tuning process at the same axis.

If, after measurement, the deviation for a feedrate has not improved when compared to the

initial state, compensation values are not written to the axis machine data.

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8.4 Friction compensation with adaptive characteristics

Commissioning archive:

The tuning results in the axis machine data and also the tuning status of the axes are backed up

in the "NC data" commissioning archive. If the commissioning archive with the tuning data from

machine A is read into machine B, then the NC data are completely read in.

• The axis machine data is read in and becomes effective.

• The axis tuning status is read in. Only when selecting the "Friction compensation" dialog, as

a result of the different serial numbers of the system CompactFlash card, you will be

prompted to accept or reject the tuning status.

General conditions for the commissioning sequence:

• For a feed override not equal to 100 %, the selected axis traverses with the reduced feed. The

tuning (automatic and manual) is held, and the circular representation is suppressed until

the feed override has been again set to 100%.

• The computational resolution in MD10200 $MN_INT_INCR_PER_MM and

MD10210 $MN_INT_INCR_PER_DEG must be at least 10000.

• Tuning is not started if, for the selected axes, the following machine data cannot have a value

of 0:

MD32450 $MA_BACKLASH

MD32456 $MA_BACKLASH_DYN

MD32572 $MA_FRICT_V_PULSE_DELAY_TIME

MD32575 $MA_FRICT_V_PULSE_SMOOTH_TIME

MD32578 $MA_FRICT_T_PULSE_SMOOTH_TIME

MD32579 $MA_FRICT_PRETRIGGER_TIME

Manual tuning:

To start manual tuning press the "Manual tuning" softkey. In the next dialog, select the axes that

you wish to tune.

After completing tuning for an axis in the channel, the compensation values are written to the

axis machine data and the status display updated.

⇒ Further actions:

• "Start" softkey to start automatic friction compensation.

• "Manual tuning >" softkey, to start friction compensation with manual input of the

compensation values.

• "OK" softkey to confirm your selection.

• "Cancel" softkey to cancel the selection.

The online help for friction compensation on the SINUMERIK Operate supports you

during optimization.

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8.4 Friction compensation with adaptive characteristics

8.4.3

Friction compensation - automatic tuning

Operation on the SINUMERIK Operate

The axes selected in the particular channel are automatically traversed individually one after the

other.

Procedure:

1. The radius and the feedrate for the measurements are preset in the following channel setting

data and apply for all axes in the channel.

Designation

Unit

Machine data

Radius (linear axis)

SD55820 $SCS_FRICT_OPT_RADIUS

Radius (rotary axis)

° (degrees)

SD55821 $SCS_FRICT_OPT_RADIUS_ROT

Feedrate (linear axis)

[mm/min]

SD55822 $SCS_FRICT_OPT_FEED[0...8]

Feedrate (rotary axis)

[°/min]

SD55823 $SCS_FRICT_OPT_FEED_ROT[0...8]

2. Press the "Start" softkey to start measurements. A part program is then automatically

generated; this is done by calling CYCLE790 which reverses the axis with the preset feedrate.

Before the part program is started, a check is made as to whether the entered feedrates can

be achieved based on the dynamic response of the axis. If feedrates are selected to be too

high, a message is output that the feedrates should be reduced.

3. If the entered feedrates have been successfully tested and found to be OK, the part program

is opened in order to add additional program instructions. Confirm with "OK" to close the

window and continue.

On completion of the tuning of an axis in the channel, the compensation values are saved in the

axis machine data and the status display is updated. The next axis is then automatically tuned

in this channel.

Note

Gantry axis grouping

For a gantry axis grouping, only the guide axis is displayed. On completion of the tuning, the

compensation values of the guide axis are copied to the synchronous axes.

⇒ Further actions:

• "Start" softkey to start tuning.

• "Graphic" softkey to change to the graphic display.

• "Data list" softkey to switch to the list of axis machine data and channel setting data.

• "Cancel" softkey to cancel tuning.

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8.4 Friction compensation with adaptive characteristics

8.4.4

Friction compensation - manual tuning

Operation on the SINUMERIK Operate

With this function, you can optionally traverse one or two axes. The measurement is graphically

displayed as circle diagram. The values entered for the friction compensation only apply to the

axis which is selected in the header line.

The scaling in the graphic display is adapted automatically as long as a scaling value is not

entered manually. Up to nine measurements with different feedrates can be performed in one

pass. With 1-axis and 2-axis traversing, the upper and the lower reversal points are relevant for

tuning. The measurement consists of an initialization phase and the actual measuring process.

The current status is displayed at the bottom right in the status line via a progress indicator.

Procedure:

1. Press the "Axis +" or "Axis -" softkey to select the axis for which you activated friction

compensation.

The radius, the feedrate and the direction of rotation for the measurements are preset in the

following channel setting data and apply for all axes in the channel. They can be adapted by

pressing the "Data list" softkey:

Designation

Unit

Machine data

Radius (linear axis)

SD55820 $SCS_FRICT_OPT_RADIUS

Radius (rotary axis)

° (degrees)

SD55821 $SCS_FRICT_OPT_RADIUS_ROT

Feedrate (linear axis)

[mm/min]

SD55822 $SCS_FRICT_OPT_FEED[0...8]

Feedrate (rotary axis)

[°/min]

SD55823 $SCS_FRICT_OPT_FEED_ROT[0...8]

Direction of rotation (only

---

SD55828 $SCS_FRICT_OPT_DIR

active for two axes)

2. To start the measurement, press the "Start" softkey. A part program is then automatically

generated and selected by the NC; this is done by calling CYCLE790 which reverses the axis

with the preset feedrate.

Before the part program is started, a check is made as to whether the entered feedrates can

be achieved based on the dynamic response of the axis. If this is not the case, a message is

issued to reduce the feedrates.

3. The part program for the measurement series is then opened if you want to add further

commands. Confirm with "OK" to close the window and continue.

4. Press the NC Start key to start tuning.

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8.4 Friction compensation with adaptive characteristics

5. The first step with the first feedrate of the measurement series is selected. Enter the friction

compensation values in the following entry fields:

Input field

Unit

Machine data

Amplitude

[mm/min]

MD32571 $MA_FRICT_VELO_STEP

or [°/min]

Decay time

[s]

MD32574 $MA_FRICT_V_PULSE_DECAY_TIME

Active time

[s]

MD32573 $MA_FRICT_V_PULSE_CONST_TIME

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For both traversing directions, as default setting, the same compensation values are entered.

By selecting the option "Set reversal points separately", you can enter different compensation

values for an axis, depending on the particular traversing direction.

6. Press the "Next step" softkey to start a new measurement with the next feedrate and enter

new values. If the measurement is repeated, the values appropriate for the feedrate from the

last measurement are proposed.

After the last step, the measuring series is terminated with "OK" and the data is saved.

Note

Incremental value change

Use the following shortcut keys to change the compensation values incrementally:

• The selected entry field is activated with the <INSERT> key, and the color changes.

• The values are changed with different increments with the <Page Up> / <Page Down> keys

and the ↑↓ cursor keys.

• End the input with the <INPUT> key.

⇒ Further actions:

• "Axis +" or "Axis -" softkey to select the axis for which the friction compensation is activated.

• "Start" softkey to start the measurement.

• "Next step" softkey to select the next feedrate.

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8.4 Friction compensation with adaptive characteristics

• "Previous step" softkey to return to the previous feedrate.

• "Data list" softkey to switch to the list of machine data.

• "Cancel" softkey to cancel the recording and reject the entries.

• "OK" softkey to accept the values determined during the friction compensation.

8.4.5

Data list

In the data list, axis machine data and channel setting data are displayed, which are relevant

for "Friction compensation with adaptive characteristics".

The values can be modified before the start. Changes cannot be made while tuning.

To start tuning with fewer than nine steps, overwrite the feedrates that are not required in the

channel setting data MD55822 $SCS_FRICT_OPT_FEED and

MD55823 $SCS_FRICT_OPT_FEED_ROT with zero without any gaps. If, after a feedrate = 0, a

value ≠ 0 is found, then the procedure is canceled.

The following also applies: MD55822[0] ≠ 0 and MD55823[0] ≠ 0

⇒ Further actions:

Softkey "<<" to return to the "Friction compensation" dialog.

8.4.6

Example for a linear axis (automatic tuning)

Requirement

The machine data for activating the friction compensation is set for the Y axis:

• MD32490 = 3

• MD32510 = 1

The Y axis is measured with the following settings:

• Radius 5 mm in SD55820 $SCS_FRICT_OPT_RADIUS

• Feedrates in SD55822[n] $SCS_FRICT_OPT_FEED

• The active time is not adapted.

Result of the Y axis

Step 1 of 8: 700 mm/min

Amplitude: 68.696 mm/min

Decay time: 0.017 s

Step 2 of 8: 560 mm/min

Amplitude: 66.240 mm/min

Decay time: 0.017 s

Step 3 of 8: 350 mm/min

Amplitude: 43.330 mm/min

Decay time: 0.021 s

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8.4 Friction compensation with adaptive characteristics

Step 4 of 8: 140 mm/min

Amplitude: 23.848 mm/min

Decay time: 0.038 s

Step 5 of 8: 1060 mm/min

Amplitude: 84.688 mm/min

Decay time: 0.015 s

Step 6 of 8: 1410 mm/min

Amplitude: 90.018 mm/min

Decay time: 0.014 s

Step 7 of 8: 1770 mm/min

Amplitude: 109.839 mm/min

Decay time: 0.012 s

Step 8 of 8: 2120 mm/min

Amplitude: 123.012 mm/min

Decay time: 0.009 s

The following characteristics show the amplitude and the decay time for different acceleration

levels:

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SINUMERIK 840D sl. Service - Configuring Commissioning. Manual (2011-2020) - page 81