Siemens SIMOTION D410-2DP/PN, SIMOTION D410-2 DP Installation Manual
SIMOTION
SIMOTION D410-2
Valid for SIMOTION D410-2 DP and D410-2 DP/PN as
of Version 4.4
Preface
Commissioning and Hardware Installation Manual
Safety instructions
Description
Installing
Connecting
Commissioning (hardware)
Parameter assignment /
addressing
Commissioning (software)
1
2
3
4
5
6
7
Service and maintenance
Diagnostics
Configuring drive-related I/
Os (without symbolic
assignment)
Standards and approvals
ESD guidelines
8
9
A
B
C
01/2015
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may 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.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used.
A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, 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:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation.
If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks 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 reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in
this publication is reviewed regularly and any necessary corrections are included in subsequent editions.
Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
Ⓟ 02/2015 Subject to change
Copyright © Siemens AG 2012 - 2015.
All rights reserved
Preface
Contents of the Commissioning and Hardware Installation Manual
This document is part of the SIMOTION D documentation package.
Scope
The SIMOTION D410‑2 Commissioning and Hardware Installation Manual describes the
commissioning and installation of the SIMOTION D410‑2 DP and SIMOTION D410‑2 DP/PN
Standards
control units. A separate
SIMOTION D410 DP and SIMOTION D410 PN Control Units.
The software configuration is described in this manual based on SIMOTION SCOUT and
SIMATIC STEP 7 Version V5.x.
Information of configuration of the SIMOTION D Control Units in the Engineering Framework
Totally Integrated Automation Portal (SCOUT in the TIA Portal), you will find in the configuration
manual
SIMOTION D4xx‑2 Control Units as of firmware V4.3.
The SIMOTION system was developed in accordance with ISO 9001 quality guidelines.
SIMOTION SCOUT TIA
SIMOTION D410
. The TIA Portal requires at least SIMOTION SCOUT V4.4 and
Commissioning Manual is available for the
Sections in this manual
The following is a description of the purpose and use of this Commissioning and Hardware
Installation Manual:
● Description
This section describes the SIMOTION system and its integration into the information
landscape.
● Installing
This section provides information on the the various installation options for the device.
● Connecting
This section provides information about connecting and cabling the various devices, and
about the communication interfaces.
● Commissioning (hardware)
This section describes how to start up the device and what you must take into account.
● Parameter assignment / addressing
This section describes how to integrate the SIMOTION D410‑2 cm a project and how to
configure the interfaces.
● Commissioning (software)
This section describes how to configure a system and how to test the configured drives and
axes.
SIMOTION D410-2
Commissioning and Hardware Installation Manual, 01/2015 3
Preface
● Service and maintenance
This section describes how to replace a module, how to run updates, and how to modify
settings.
Diagnostics
●
This section provides information on the service and diagnostics options, as well as LED
states.
● Appendices with factual information for reference (for example, Standards and Approvals,
ESD guidelines, etc.)
● Index for locating information.
SIMOTION Documentation
An overview of the SIMOTION documentation can be found in the SIMOTION Documentation
Overview document.
This documentation is included as electronic documentation in the scope of delivery of
SIMOTION SCOUT. It comprises ten documentation packages.
The following documentation packages are available for SIMOTION V4.4:
● SIMOTION Engineering System Handling
● SIMOTION System and Function Descriptions
● SIMOTION Service and Diagnostics
● SIMOTION IT
● SIMOTION Programming
● SIMOTION Programming - References
● SIMOTION C
● SIMOTION P
● SIMOTION D
● SIMOTION Supplementary Documentation
Additional information
Click the following link to find information on the following topics:
● Ordering documentation / overview of documentation
● Additional links to download documents
● Using documentation online (find and search manuals/information)
http://www.siemens.com/motioncontrol/docu
My Documentation Manager
Click the following link for information on how to compile documentation individually on the
basis of Siemens content and how to adapt it for the purpose of your own machine
documentation:
SIMOTION D410-2
4 Commissioning and Hardware Installation Manual, 01/2015
Training
FAQs
Technical support
Preface
http://www.siemens.com/mdm
Click the following link for information on SITRAIN - Siemens training courses for automation
products, systems and solutions:
http://www.siemens.com/sitrain
Frequently Asked Questions can be found in SIMOTION Utilities & Applications, which are
included in the scope of delivery of SIMOTION SCOUT, and in the Service&Support pages
in Product Support:
http://support.automation.siemens.com
Country-specific telephone numbers for technical support are provided on the Internet under
Contact:
http://www.siemens.com/automation/service&support
Disposal and recycling
SIMOTION D410-2 is an environmentally friendly product! It includes the following features:
In spite of its excellent resistance to fire, the flame-resistant agent in the plastic used for
●
the housing does not contain halogens.
● Identification of plastic materials in accordance with ISO 11469.
● Less material used because the unit is smaller and with fewer components thanks to
integration in ASICs.
The disposal of the products described in this manual should be performed in compliance with
the valid national regulations.
The products can be largely recycled owing to their low pollutant content. To recycle and
dispose of your old device in an environmentally friendly way, please contact a recycling
company certified for electronic waste.
If you have any further questions about disposal and recycling, please contact your local
Siemens representative. Contact details can be found in our contacts database on the Internet
at:
http://www.automation.siemens.com/partner
Further information / FAQs
You can find further information on this manual under the following FAQ:
http://support.automation.siemens.com/WW/view/de/27585482
SIMOTION D410-2
Commissioning and Hardware Installation Manual, 01/2015 5
Preface
The following information sources are also available:
SIMOTION Utilities & Applications: SIMOTION Utilities & Applications will be included in
●
the SIMOTION SCOUT scope of delivery and, along with FAQs, also contain free utilities
(e.g. calculation tools, optimization tools, etc.) as well as application examples (ready-toapply solutions such as winders, cross cutters or handling)
● The latest SIMOTION FAQs at http://support.automation.siemens.com/WW/view/en/
10805436/133000
● SIMOTION SCOUT online help
● For additional documentation, see the
document).
Overview of SIMOTION documentation
(separate
SIMOTION D410-2
6 Commissioning and Hardware Installation Manual, 01/2015
Table of contents
Preface.........................................................................................................................................................3
1 Safety instructions......................................................................................................................................13
1.1 Fundamental safety instructions............................................................................................13
1.1.1 General safety instructions.....................................................................................................13
1.1.2 Safety instructions for electromagnetic fields (EMF)..............................................................16
1.1.3 Handling electrostatic sensitive devices (ESD)......................................................................16
1.1.4 Industrial security...................................................................................................................17
1.1.5 Residual risks of power drive systems...................................................................................18
1.2 Specific safety information for SIMOTION D410-2................................................................21
2 Description..................................................................................................................................................23
2.1 System overview....................................................................................................................23
2.2 System components...............................................................................................................28
2.3 I/O integration.........................................................................................................................33
2.4 Commissioning software........................................................................................................34
3 Installing.....................................................................................................................................................37
3.1 General requirements............................................................................................................37
3.2 Mounting the SIMOTION D410-2 on the power module........................................................38
3.3 Mounting the SIMOTION D410-2 on the mounting plate.......................................................41
3.4 Mounting the SIMOTION D410-2 in the power module chassis............................................43
4 Connecting.................................................................................................................................................45
4.1 General Overview..................................................................................................................45
4.2 General rules for operating the SIMOTION D410-2...............................................................49
4.3 Protective conductor connection and potential equalization..................................................51
4.4 Connecting the power supply.................................................................................................55
4.4.1 Safety rules............................................................................................................................55
4.4.2 Wiring the power supply.........................................................................................................55
4.5 Connecting DRIVE-CLiQ components...................................................................................58
4.6 Connecting I/Os.....................................................................................................................59
4.7 Creating a shield connection..................................................................................................60
4.8 Connecting PROFIBUS/MPI..................................................................................................61
4.8.1 PROFIBUS connection components......................................................................................61
4.8.2 PROFIBUS cables and connectors........................................................................................61
4.8.3 Length of PROFIBUS cables.................................................................................................62
4.8.4 Rules for the laying of PROFIBUS cables..............................................................................63
4.8.5 Connecting PROFIBUS DP (interface X21 and X24).............................................................63
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4.8.6 Connection rules in the PROFIBUS subnet...........................................................................64
4.8.7 Operating interface X21 as an MPI........................................................................................66
4.9 Connecting PROFINET IO components (D410-2 DP/PN only)..............................................69
4.9.1 Wiring PROFINET..................................................................................................................69
4.9.2 PROFINET cables and connectors........................................................................................69
4.10 Connecting Ethernet..............................................................................................................72
4.11 Routing...................................................................................................................................74
4.11.1 Routing on SIMOTION D.......................................................................................................74
4.11.2 Routing on SIMOTION D (SINAMICS integrated)..................................................................77
4.12 Connecting an external encoder............................................................................................78
5 Commissioning (hardware).........................................................................................................................79
5.1 Overview................................................................................................................................79
5.2 Inserting the CompactFlash card...........................................................................................80
5.3 Checking the system..............................................................................................................82
5.4 Switching on the power supply...............................................................................................83
5.5 Performing a reset..................................................................................................................85
5.6 User memory concept............................................................................................................86
5.6.1 SIMOTION D410-2 memory model........................................................................................86
5.6.2 Properties of the user memory...............................................................................................87
5.6.3 Operations and their effect on the user memory....................................................................90
5.6.4 Replacing modules in the spare part scenario.......................................................................96
5.7 Fan.........................................................................................................................................99
5.7.1 Cooling the SIMOTION D410-2.............................................................................................99
5.7.2 Overview of fan states............................................................................................................99
5.7.3 Response to overtemperature..............................................................................................101
6 Parameter assignment / addressing.........................................................................................................103
6.1 Software requirements.........................................................................................................103
6.2 Creating a project and configuring the communication........................................................104
6.2.1 Creating a SIMOTION project and inserting a SIMOTION D410-2......................................104
6.2.2 Configuring the PROFIBUS PG/PC interface......................................................................106
6.2.3 Configuring the Ethernet PG/PC interface...........................................................................108
6.2.4 Display of the SIMOTION D410-2 in HW Config..................................................................110
6.3 Configuring PROFIBUS DP.................................................................................................112
6.3.1 General information about PROFIBUS DP communication.................................................112
6.3.2 Operating SIMOTION D410-2 on PROFIBUS DP...............................................................113
6.3.3 Assigning PROFIBUS addresses in HW Config..................................................................115
6.3.4 Setting the DP cycle and system cycle clocks.....................................................................115
6.3.5 Rules for cycle clock settings with SIMOTION D410-2 DP..................................................117
6.3.6 Cycle clock scaling of external PROFIBUS interface to internal PROFIBUS interface........119
6.3.7 Creating a new PROFIBUS DP subnet................................................................................121
6.3.8 Establishing a PG/PC assignment.......................................................................................122
6.4 Configuring the MPI bus.......................................................................................................123
6.4.1 Operating interface X21 as an MPI......................................................................................123
6.4.2 MPI parameters....................................................................................................................123
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6.5 Configuring PROFINET IO...................................................................................................124
6.5.1 General information about communication via PROFINET IO.............................................124
6.5.2 Setting a send cycle clock and system cycle clocks............................................................128
6.5.3 Properties of PROFINET......................................................................................................130
6.5.4 Configuration tasks..............................................................................................................131
6.5.5 Rules for cycle clock settings with SIMOTION D410-2 DP/PN............................................131
6.6 Configuring an Ethernet subnet...........................................................................................134
6.6.1 General information about communication via Ethernet......................................................134
6.6.2 Configuring the Ethernet connection in HW Config..............................................................135
6.6.3 Configuring Ethernet addresses in HW Config....................................................................136
6.6.4 Reading out IP and MAC address........................................................................................137
7 Commissioning (software)........................................................................................................................139
7.1 Overview of commissioning.................................................................................................139
7.1.1 Requirements for commissioning.........................................................................................139
7.1.2 Symbolic assignment / adaptation.......................................................................................139
7.1.3 Procedure when commissioning..........................................................................................143
7.1.4 Important functions for the project handling and for the commissioning..............................143
7.2 Performing an offline configuration......................................................................................145
7.2.1 Overview..............................................................................................................................145
7.2.2 Accessing the drive wizard...................................................................................................146
7.2.3 Configuring components......................................................................................................146
7.2.4 Downloading the project to the target system......................................................................158
7.2.5 Loading a project created offline to the CompactFlash card................................................159
7.2.6 Downloading the project incl. sources and additional data..................................................160
7.2.7 Archiving a project on the CompactFlash card (zip file).......................................................160
7.3 Performing an online configuration......................................................................................162
7.3.1 Overview..............................................................................................................................162
7.3.2 Establishing the online connection.......................................................................................163
7.3.3 Starting automatic configuration...........................................................................................163
7.3.4 Reconfiguring SINAMICS components................................................................................166
7.3.5 Downloading the project to SIMOTION D410-2...................................................................167
7.4 Additional information on configuring the SINAMICS Integrated.........................................169
7.4.1 Setting DP Slave properties.................................................................................................169
7.4.2 Using vector drives ..............................................................................................................171
7.4.3 Setting the SIMOTION time of day.......................................................................................173
7.4.4 Synchronizing the SINAMICS clock.....................................................................................173
7.4.5 Backing up / restoring / deleting SINAMICS NVRAM data..................................................177
7.4.6 SINAMICS diagnostic buffer................................................................................................180
7.4.7 Acyclic communication with the drive...................................................................................181
7.4.8 Control properties and performance features......................................................................182
7.4.9 Current controller cycle clocks <> 125 µs / use of output cams and measuring inputs.......182
7.5 Testing the configured drive using the drive control panel...................................................184
7.6 Creating and testing axes....................................................................................................186
7.6.1 Overview of SIMOTION Engineering...................................................................................186
7.6.2 Creating an axis with the axis wizard...................................................................................186
7.6.3 Testing an axis with the axis control panel...........................................................................193
7.7 Setting up addresses and message frames.........................................................................195
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7.7.1 Setting up communication for symbolic assignment............................................................195
7.7.2 Message frame configuration...............................................................................................195
7.8 Linking an additional encoder (optional)..............................................................................199
7.8.1 General information..............................................................................................................199
7.8.2 Configuring additional encoders on the drive.......................................................................200
7.8.3 Connecting additional encoders via PROFIBUS/PROFINET...............................................201
7.9 Symbolic assignment of I/O variables..................................................................................202
7.9.1 Assignment to the PROFIdrive message frame of the TO axis ..........................................202
7.9.2 Assignment to drive parameters..........................................................................................202
7.10 Configuring drive-related I/Os..............................................................................................206
7.10.1 Overview of the symbolic configuration of I/Os....................................................................206
7.10.2 Configuration options...........................................................................................................207
7.10.3 SIMOTION D410-2 Configuring I/Os....................................................................................208
7.10.4 Configuration of CU3xx/TMxx I/Os ......................................................................................210
7.11 Configuring technology objects and I/O variables................................................................211
7.11.1 Configuring global measuring inputs....................................................................................211
7.11.2 Configuring local measuring inputs......................................................................................212
7.11.3 Configuring output cams / cam tracks..................................................................................212
7.11.4 Configuring an I/O variable..................................................................................................215
7.12 Creating a DMC20/DME20 DRIVE-CLiQ hub......................................................................217
7.12.1 Hub properties......................................................................................................................217
7.12.2 Creating a DRIVE-CLiQ hub................................................................................................218
7.13 Creating and programming TM41........................................................................................219
7.13.1 TM41 properties...................................................................................................................219
7.13.2 Configuring TM41 at SINAMICS Integrated.........................................................................219
7.13.3 Configuring the TM41 using the axis wizard........................................................................220
7.14 Optimizing the drive and controller.......................................................................................222
7.14.1 Overview of automatic controller setting..............................................................................222
7.14.2 Automatic speed controller setting.......................................................................................223
7.14.3 Automatic position controller setting....................................................................................224
7.14.4 Measuring functions, trace, and function generator.............................................................225
7.14.5 Manual speed controller optimization...................................................................................227
7.15 Loading and saving SIMOTION user data...........................................................................231
7.16 Deleting data........................................................................................................................233
7.16.1 Overview of data deletion.....................................................................................................233
7.16.2 SIMOTION D410-2 memory reset........................................................................................233
7.16.3 Deleting user data on CompactFlash card...........................................................................236
7.16.4 Setting SINAMICS Integrated to the factory settings...........................................................237
7.16.5 Restoring the default settings for the SIMOTION D410-2....................................................237
7.17 System shutdown.................................................................................................................239
7.18 Configuring Safety Integrated functions...............................................................................240
7.18.1 Overview..............................................................................................................................240
7.18.2 Activate Safety Integrated functions ....................................................................................242
7.19 Hot plugging.........................................................................................................................247
7.20 Quantity structures...............................................................................................................248
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7.21 Migration from SIMOTION D410 to SIMOTION D410-2......................................................250
7.21.1 Upgrade from SIMOTION D410 to SIMOTION D410-2.......................................................250
7.21.2 Permissible combinations....................................................................................................252
7.21.3 CompactFlash card and license combinations.....................................................................253
7.22 Special functions SIMOTION D410-2..................................................................................255
7.22.1 Automatic restart after FAULT state.....................................................................................255
7.22.2 Triggering a restart with a user program..............................................................................256
8 Service and maintenance.........................................................................................................................259
8.1 Overview..............................................................................................................................259
8.2 Replacing modules...............................................................................................................263
8.2.1 Spare parts replacement for SIMOTION D410-2.................................................................263
8.2.2 Removing and replacing the SIMOTION D410-2.................................................................263
8.2.3 Replacing DRIVE-CLiQ components...................................................................................265
8.2.4 Replacing the fan.................................................................................................................267
8.2.5 Replacing the CompactFlash card.......................................................................................268
8.3 Customizing the project........................................................................................................269
8.3.1 Overview..............................................................................................................................269
8.3.2 Creating backup copies (project/CF)....................................................................................269
8.3.3 Backing up user data (back up variables)............................................................................269
8.3.4 Upgrading a user project to the new SCOUT version..........................................................271
8.3.5 Platform replacement via XML export/import.......................................................................272
8.3.6 Preparing the device replacement.......................................................................................274
8.3.7 Device replacement in HW Config.......................................................................................275
8.3.8 Upgrading technology packages..........................................................................................276
8.3.9 Upgrading the device version of SINAMICS S120 Control Units.........................................278
8.3.10 Upgrade the libraries............................................................................................................279
8.3.11 Save project, compile and check consistency......................................................................280
8.4 Performing a firmware and project update...........................................................................281
8.4.1 Upgrading the boot loader on the CompactFlash card........................................................281
8.4.2 Update - preparatory measures...........................................................................................281
8.4.3 Update via SIMOTION IT web server..................................................................................282
8.4.4 Upgrade via device update tool (upgrading SIMOTION devices)........................................283
8.4.5 Update via CompactFlash card............................................................................................285
8.4.5.1 Backup of CompactFlash card data.....................................................................................285
8.4.5.2 Firmware update using a CompactFlash Card.....................................................................287
8.4.5.3 Upgrading SINAMICS..........................................................................................................287
8.4.5.4 Download project to target system.......................................................................................289
8.5 SIMOTION CompactFlash card...........................................................................................291
8.5.1 Changing the CompactFlash card........................................................................................291
8.5.2 Writing to a CompactFlash card...........................................................................................292
8.5.3 Formatting the CompactFlash card......................................................................................292
8.5.4 Boot loader on the CompactFlash card................................................................................293
8.5.5 Recommended method of handling CompactFlash cards...................................................294
8.5.6 Card reader for CompactFlash cards...................................................................................295
9 Diagnostics...............................................................................................................................................297
9.1 Diagnostics via LED displays...............................................................................................297
9.2 Diagnostic data and non-volatile SIMOTION data...............................................................304
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9.2.1 Overview..............................................................................................................................304
9.2.2 Backup of diagnostic data and non-volatile SIMOTION data...............................................304
9.2.2.1 Diagnostics data...................................................................................................................304
9.2.2.2 Non-volatile SIMOTION data (retain data)...........................................................................305
9.2.3 Save diagnostic data during running operation....................................................................305
9.2.4 Save diagnostic data during the startup...............................................................................306
9.2.5 Storing the diagnostic data and non-volatile SIMOTION data.............................................308
9.2.6 Diagnostics via websites......................................................................................................309
9.2.7 Delete/restore non-volatile SIMOTION data........................................................................310
9.2.7.1 Overview..............................................................................................................................310
9.2.7.2 Restoring data with switch position "1" or "A"......................................................................312
9.2.8 Back up diagnostic data and non-volatile SIMOTION data via the web server....................312
9.3 Additional service and diagnostics options..........................................................................314
9.3.1 SIMOTION Task Profiler application....................................................................................314
9.3.2 Diagnostics via the SIMOTION IT web server.....................................................................314
A Configuring drive-related I/Os (without symbolic assignment).................................................................317
A.1 Overview..............................................................................................................................317
A.2 Local and global measuring inputs.......................................................................................318
A.3 Configuring local measuring inputs......................................................................................320
B Standards and approvals..........................................................................................................................323
B.1 General rules........................................................................................................................323
B.2 Device-specific information..................................................................................................325
C ESD guidelines.........................................................................................................................................327
C.1 ESD definition......................................................................................................................327
C.2 Electrostatic charging of individuals.....................................................................................328
C.3 Basic measures for protection against discharge of static electricity...................................329
Index.........................................................................................................................................................331
SIMOTION D410-2
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Safety instructions
1.1 Fundamental safety instructions
1
1.1.1
General safety instructions
DANGER
Danger to life due to live parts and other energy sources
Death or serious injury can result when live parts are touched.
Only work on electrical devices when you are qualified for this job.
●
● Always observe the country-specific safety rules.
Generally, six steps apply when establishing safety:
1. Prepare for shutdown and notify all those who will be affected by the procedure.
2. Disconnect the machine from the supply.
– Switch off the machine.
– Wait until the discharge time specified on the warning labels has elapsed.
– Check that it really is in a no-voltage condition, from phase conductor to phase
conductor and phase conductor to protective conductor.
– Check whether the existing auxiliary supply circuits are de-energized.
– Ensure that the motors cannot move.
3. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water.
4. Isolate or neutralize all hazardous energy sources by closing switches, grounding or shortcircuiting or closing valves, for example.
5. Secure the energy sources against switching on again.
6. Ensure that the correct machine is completely interlocked.
After you have completed the work, restore the operational readiness in the inverse sequence.
WARNING
Danger to life from hazardous voltage when connecting an unsuitable power supply
Touching live components can result in death or severe injury.
Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV
●
(Protective Extra Low Voltage) output voltages for all connections and terminals of the
electronics modules.
SIMOTION D410-2
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Safety instructions
1.1 Fundamental safety instructions
WARNING
Danger to life from touching live parts on damaged devices
Improper handling of devices can result in damage.
For damaged devices, hazardous voltages can be present at the enclosure or at exposed
components; if touched, this can result in death or severe injury.
● Observe
the limit values specified in the technical specifications during transport, storage,
and operation.
● Do not use damaged devices.
WARNING
Danger to life through electric shock due to unconnected cable shields
Hazardous
touch voltages can occur through capacitive cross-coupling due to unconnected
cable shields.
● As a minimum, connect cable shields and the cores of power cables that are not used
(e.g. brake cores) at one end at the grounded housing potential.
WARNING
Danger to life due to electric shock when not grounded
For missing or incorrectly implemented protective conductor connection for devices with
protection
class I, high voltages can be present at open, exposed parts, which when touched,
can result in death or severe injury.
● Ground the device in compliance with the applicable regulations.
WARNING
Danger to life due to fire spreading if housing is inadequate
Fire and smoke development can cause severe personal injury or material damage.
● Install
devices without a protective housing in a metal control cabinet (or protect the device
by another equivalent measure) in such a way that contact with fire inside and outside the
device is prevented.
● Ensure that smoke can only escape via controlled and monitored paths.
SIMOTION D410-2
14 Commissioning and Hardware Installation Manual, 01/2015
Safety instructions
1.1 Fundamental safety instructions
WARNING
Danger to life from unexpected movement of machines when using mobile wireless devices
or mobile phones
Using mobile radios or mobile phones with a transmit power > 1 W closer than approx. 2 m
to the components may cause the devices to malfunction, influence the functional safety of
machines therefore putting people at risk or causing material damage.
● Switch
off wireless devices or mobile phones in the immediate vicinity of the components.
WARNING
Danger to life due to fire if overheating occurs because of insufficient ventilation clearances
Inadequate
ventilation clearances can cause overheating of components followed by fire and
smoke development. This can cause death or serious injury. This can also result in increased
downtime and reduced service life for devices/systems.
● Ensure compliance with the specified minimum clearance as ventilation clearance for the
respective component.
WARNING
Danger of an accident occurring due to missing or illegible warning labels
Missing or illegible warning labels can result in accidents involving death or serious injury.
●
Check that the warning labels are complete based on the documentation.
● Attach any missing warning labels to the components, in the national language if
necessary.
● Replace illegible warning labels.
WARNING
Danger to life when safety functions are inactive
Safety functions that are inactive or that have not been adjusted accordingly can cause
operational faults on machines that could lead to serious injury or death.
● Observe
the information in the appropriate product documentation before commissioning.
● Carry out a safety inspection for functions relevant to safety on the entire system, including
all safety-related components.
● Ensure that the safety functions used in your drives and automation tasks are adjusted
and activated through appropriate parameterizing.
● Perform a function test.
● Only put your plant into live operation once you have guaranteed that the functions relevant
to safety are running correctly.
SIMOTION D410-2
Commissioning and Hardware Installation Manual, 01/2015 15
Safety instructions
1.1 Fundamental safety instructions
Note
Important safety notices for safety functions
If you want to use safety functions, you must observe the safety notices in the safety manuals.
WARNING
Danger to life or malfunctions of the machine as a result of incorrect or changed
parameterization
a result of incorrect or changed parameterization, machines can malfunction, which in turn
As
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).
1.1.2 Safety instructions for electromagnetic fields (EMF)
WARNING
Danger to life from electromagnetic fields
Electromagnetic fields (EMF) are generated by the operation of electrical power equipment
such as transformers, converters or motors.
People with pacemakers or implants are at a special risk in the immediate vicinity of these
devices/systems.
Ensure that the persons involved are the necessary distance away (minimum 2 m).
●
1.1.3 Handling electrostatic sensitive devices (ESD)
Electrostatic
or devices that may be damaged by either electric fields or electrostatic discharge.
sensitive devices (ESD) are individual components, integrated circuits, modules
SIMOTION D410-2
16 Commissioning and Hardware Installation Manual, 01/2015
NOTICE
Damage through electric fields or electrostatic discharge
Safety instructions
1.1 Fundamental safety instructions
Electric
fields or electrostatic discharge can cause malfunctions through damaged individual
components, integrated circuits, modules or devices.
● Only pack, store, transport and send electronic components, modules or devices in their
original packaging or in other suitable materials, e.g conductive foam rubber of aluminum
foil.
● Only touch components, modules and devices when you are grounded by one of the
following methods:
– Wearing an ESD wrist strap
– Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring
● Only place electronic components, modules or devices on conductive surfaces (table with
ESD surface, conductive ESD foam, ESD packaging, ESD transport container).
1.1.4 Industrial security
Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, solutions, machines, equipment and/or networks. They are
important components in a holistic industrial security concept. With this in mind, Siemens’
products
you regularly check for product updates.
and solutions undergo continuous development. Siemens recommends strongly that
For the secure operation of Siemens products and solutions, it is necessary to take suitable
preventive action (e.g. cell protection concept) and integrate each component into a holistic,
state-of-the-art industrial security concept. Third-party products that may be in use should also
be considered. For more information about industrial security, visit http://www.siemens.com/
industrialsecurity.
To stay informed about product updates as they occur, sign up for a product-specific
newsletter. For more information, visit http://support.automation.siemens.com
SIMOTION D410-2
Commissioning and Hardware Installation Manual, 01/2015 17
Safety instructions
1.1 Fundamental safety instructions
WARNING
Danger as a result of unsafe operating states resulting from software manipulation
Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe
operating states to develop in your installation which can lead to death, severe injuries and/
or material damage.
Keep the software up to date.
●
Information and newsletters can be found at:
http://support.automation.siemens.com
● Incorporate the automation and drive components into a state-of-the-art, integrated
industrial security concept for the installation or machine.
For more detailed information, go to:
http://www.siemens.com/industrialsecurity
● Make sure that you include all installed products into the integrated industrial security
concept.
1.1.5 Residual risks of power drive systems
The
control and drive components of a drive system are approved for industrial and commercial
use in industrial line supplies. Their use in public line supplies requires a different configuration
and/or additional measures.
These components may only be operated in closed housings or in higher-level control cabinets
with protective covers that are closed, and when all of the protective devices are enabled.
These components may only be handled by qualified and trained technical personnel who are
knowledgeable and observe all of the safety instructions on the components and in the
associated technical user documentation.
SIMOTION D410-2
18 Commissioning and Hardware Installation Manual, 01/2015
Safety instructions
1.1 Fundamental safety instructions
When assessing the machine's risk in accordance with the respective local regulations (e.g.
EC Machinery Directive), the machine manufacturer must take into account the following
residual risks emanating from the controller and drive components of a drive system:
1. Unintentional
movements of driven machine components during commissioning, operation,
maintenance, and repairs caused by, for example:
– Hardware faults and/or software errors in sensors, controllers, actuators, and connection
systems
– Response times of the controller and drive
– Operating and/or ambient conditions outside of the specification
– Condensation / conductive contamination
– Parameterization, programming, cabling, and installation errors
– Use of radio devices/cellular phones in the immediate vicinity of the controller
– External influences / damage
2. In the event of a fault, exceptionally high temperatures, including an open fire, as well as
emissions of light, noise, particles, gases, etc. can occur inside and outside the inverter,
for example:
– Component malfunctions
– Software errors
– Operating and/or ambient conditions outside of the specification
– External influences / damage
Inverters of the Open Type / IP20 degree of protection must be installed in a metal control
cabinet (or protected by another equivalent measure) such that the contact with fire inside
and outside the inverter is not possible.
3. Hazardous touch voltages caused by, for example:
– Component malfunctions
– Influence of electrostatic charging
– Induction of voltages in moving motors
– Operating and/or ambient conditions outside of the specification
– Condensation / conductive contamination
– External influences / damage
4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a risk
to people with a pacemaker, implants or metal replacement joints, etc. if they are too close.
5. Release of environmental pollutants or emissions as a result of improper operation of the
system and/or failure to dispose of components safely and correctly.
SIMOTION D410-2
Commissioning and Hardware Installation Manual, 01/2015 19
Safety instructions
1.1 Fundamental safety instructions
Note
The components must be protected against conductive contamination (e.g. by installing them
in a control cabinet with degree of protection IP54 according to IEC 60529 or NEMA 12).
Assuming that conductive contamination at the installation site can definitely be excluded, a
lower degree of cabinet protection may be permitted.
For more information about residual risks of the components in a drive system, see the relevant
sections in the technical user documentation.
SIMOTION D410-2
20 Commissioning and Hardware Installation Manual, 01/2015
1.2 Specific safety information for SIMOTION D410-2
1.2 Specific safety information for SIMOTION D410-2
Observe the following safety information when working with SIMOTION D410-2 and its
components!
WARNING
Danger to life from hazardous voltage when connecting an unsuitable power supply
Only safety extra low voltage in accordance with EN/IEC 609501 may be connected at all
connectors and terminals.
WARNING
Danger to life from unexpected movement of machines on automatic restart
automatic restart can be programmed for SIMOTION controllers. When the power returns,
An
the axes start automatically.
Make sure this presents no hazard to personnel or property.
NOTICE
Safety instructions
Damage to the CompactFlash card from electrical fields or electrostatic discharge
The CompactFlash card is an ESD-sensitive component.
De-energize the SIMOTION D410‑2 device before inserting or removing the CompactFlash
card. The SIMOTION D410‑2 is in a de-energized state when all the LEDs are OFF.
Comply with the ESD rules.
NOTICE
Overheating if ventilation clearances are too small
Insufficient ventilation clearances result in overheating and therefore in more failures and a
shortened life of systems / devices.
Make sure the ventilation clearances of 50 mm are provided above and below the
components. The ventilation openings may not be covered by connecting cables.
SIMOTION D410-2
Commissioning and Hardware Installation Manual, 01/2015 21
Safety instructions
1.2 Specific safety information for SIMOTION D410-2
SIMOTION D410-2
22 Commissioning and Hardware Installation Manual, 01/2015
Description
2.1 System overview
SIMOTION D
SIMOTION D is a drive-based version of SIMOTION based on the SINAMICS S120 drive
family.
With SIMOTION D, the SIMOTION PLC and motion control functionalities as well as the
SINAMICS S120 drive software run on shared control hardware.
SIMOTION D is available in two versions:
SIMOTION D410-2 is a compact Control Unit predestined for single-axis applications.
●
● SIMOTION D4x5-2 is a Control Unit for multi-axis applications in the SINAMICS S120
booksize format.
The following performance variants of the SIMOTION D4x5-2 Control Units are offered:
Control Unit Performance variant Range of applications
SIMOTION D425-2 BASIC performance For up to 16 axes
SIMOTION D435-2 STANDARD performance For up to 32 axes
SIMOTION D445-2 HIGH performance For up to 64 axes
SIMOTION D455-2 ULTRA-HIGH performance For up to 128 axes or applications with very
2
short control cycles
Note
The SIMOTION D410-2 is described in this manual.
Separate manuals are available for the SIMOTION D4x5-2 and the SIMOTION D4x5 and
SIMOTION D410 predecessor modules.
SIMOTION D is an integral part of the Totally Integrated Automation (TIA) concept. TIA is
characterized by integrated data management, configuration, and communication for all
products
the SIMOTION D410-2.
Note
In order to cover all variants of SIMOTION D in blocksize format, the product will be referred
to as "D410-2". Specific product designations will be used for information that applies only to
one product version, e.g. D410-2 DP/PN.
SIMOTION D410-2
Commissioning and Hardware Installation Manual, 01/2015 23
and systems. Thus, an extensive toolbox of automation modules is also available for
Description
2.1 System overview
SIMOTION D410-2
Figure 2-1 SIMOTION D410-2 DP (pictured on left), SIMOTION D410-2 DP/PN (pictured on right)
SIMOTION D410-2 is a compact Control Unit for single-axis applications.
The Control Unit is snapped directly on to the SINAMICS Power Module in blocksize format
and has an integrated drive control for either one servo, one vector or one V/f axis.
SIMOTION
D410-2 can be extended with additional SINAMICS S110/S120 control units (e.g.
CU310‑2) and so can also be used for smaller multi-axis applications (e.g. with 2 - 3 axes).
SIMOTION D410-2
24 Commissioning and Hardware Installation Manual, 01/2015
Example of a single-axis application
3RZHU
'5,9(&/L4
3RZHU
352),%86'3
'5,9(&/L4
Figure 2-2 Application example with one axis
The example shows a single-axis application, consisting of a SIMOTION D410-2 (Control
Unit) ① that is snapped directly on to the SINAMICS Power Module in blocksize format ②.
motors are supplied with power via the Power Module. The encoder is connected by means
The
of DRIVE-CLiQ.
Description
2.1 System overview
Example of a multi-axis application
SIMOTION D410-2
Commissioning and Hardware Installation Manual, 01/2015 25
Figure 2-3 Application example with 3 axes
Description
2.1 System overview
The example shows an application with 3 axes, consisting of:
Application
● One
● Two SINAMICS S120 CU310‑2 DP ②, snapped onto a Power Module in blocksize format
SIMOTION D410-2 DP (Control Unit) ①, snapped on to the Power Module in blocksize
format ③
The SIMOTION D410-2 DP is snapped directly on to the SINAMICS Power Module. The
motors are supplied with power via the Power Module. The encoder is connected by means
of DRIVE-CLiQ.
③
The Control Units are connected to the SIMOTION D410-2 DP via PROFIBUS DP. The
two SINAMICS S120 CU310‑2 DP are snapped directly on to the SINAMICS Power Module.
The motors are supplied with power via the Power Modules. The encoders are connected
by means of DRIVE-CLiQ.
Note
Path interpolation is supported as of V4.4.
Combining
and plant engineering.
Applications include:
a Power Module with SIMOTION D410-2 forms a compact single drive for machine
● Machine concepts with central drive (e.g. presses, printing and packaging machines, etc.)
● Modular machine concepts where the machine modules were broken down into single axes
● Single drives with high accuracy, stability and concentricity requirements (compared with
standard drives) in machine and industrial plant engineering
● Single drives for transport tasks (conveying, raising, lowering)
● Single drives with integrated PLC functionality and expanded motion control functionality
such as output cams or cams
● Drives without power recovery (wire drawing, extruding)
● Drive connections with high availability requirements (incoming supply failure may not
cause all axes to fail)
● Small multi-axis groupings (typically 2 to 3 axes) based on SINAMICS S110/120 blocksize.
Hardware components
As central hardware the SIMOTION D410-2 Control Unit is made up of the SIMOTION runtime
system and the SINAMICS drive control.
A range of additional SINAMICS S120 components, such as SMx encoder systems or Terminal
Modules can be connected via DRIVE‑CLiQ.
With a few exceptions (e.g. no BOP20 Basic Operator Panel, etc.), the drive control integrated
in SIMOTION D410-2 has the same control properties and performance features as the
SINAMICS S120 CU310-2 Control Unit.
SIMOTION D410-2
26 Commissioning and Hardware Installation Manual, 01/2015
Extension of the drive computing performance
fully utilize the motion control performance of a SIMOTION D410-2 when required, the drive-
To
side computing performance can be extended by connecting additional SINAMICS S/G Control
Units (e.g. CU305, CU310‑2, CU320‑2, CU250S‑2, etc.) via PROFIBUS or PROFINET to the
SIMOTION D410‑2.
Software components
The basic functionality of SIMOTION D is supplied on a CompactFlash card containing the
following:
● The SIMOTION runtime system with the following functions:
– Freely programmable runtime system (IEC 61131)
– Various runtime levels (tasks)
– PLC and arithmetic functionality
– Motion control functions
– Communication functions
Description
2.1 System overview
● The SINAMICS S120 drive control with the following functions:
– Closed-loop current and torque control
– Closed-loop speed control
SIMOTION D410-2
Commissioning and Hardware Installation Manual, 01/2015 27
Description
2.2 System components
2.2 System components
Overview
SIMOTION D410-2 communicates with the components of the automation landscape via the
following interfaces:
●
PROFIBUS DP (D410-2 DP and D410-2 DP/PN)
● PROFINET IO (D410-2 DP/PN only)
● Ethernet
● DRIVE-CLiQ (DRIVE Component Link with IQ)
● Power Module interface (PM-IF)
SIMOTION D features a SINAMICS Integrated drive element. Communication with the
SINAMICS Integrated is via PROFIBUS mechanisms (DP Integrated), via PROFIdrive
telegrams.
Shorter cycle times and greater numbers of addresses for each node are achieved with the
"DP Integrated" compared to the "external PROFIBUS DP."
The most important components of the system and their functions are shown below.
Table 2-1 System components
Component Function
SIMOTION D410‑2 … is the central motion control module.
The module contains the programmable SIMOTION runtime of SIMO‐
TION D410‑2 and the SINAMICS S120 drive runtime software.
You can use the integrated high-speed I/Os (onboard I/Os) as:
●
User-addressable process I/Os
● Homing inputs
● Fail-safe digital inputs
● Fail-safe digital output
● Inputs for measuring inputs
● Outputs for fast output cams
● Analog input
The measuring sockets can output any analog signals.
The DRIVE-CLiQ interface permits a fast connection to the SINAMICS drive
components.
System software The basic functionality of SIMOTION D410‑2 is supplied separately on a
CompactFlash Card containing the following:
SIMOTION runtime (kernel)
●
● Drive software of SINAMICS S120
The CompactFlash card is not included in the scope of delivery.
Power supply (PS) … provides the electronic power supply for SIMOTION D410‑2 (e.g. SITOP
power supply).
SIMOTION D410-2
28 Commissioning and Hardware Installation Manual, 01/2015
PROFIBUS DP
Description
2.2 System components
SIMOTION D410-2 can communicate with the following components via the PROFIBUS DP
interface.
Table 2-2
Component Function
Programming device (PG/PC) … configures, assigns parameters, programs, and tests using the SIMOTION SCOUT En‐
SIMATIC HMI device ... is used for operating and monitoring functions. This is not an essential requirement for
Other controllers (e.g. SIMO‐
TION or SIMATIC)
Distributed I/O systems
SIMATIC ET 200MP Modular I/O system for cabinet installation and high channel densities in the SIMAT‐
SIMATIC ET 200M Modular I/O system for cabinet installation and high channel densities in the SIMAT‐
SIMATIC ET 200SP Finely scalable I/O system for cabinet installation; ET 200SP features a single-cable and
SIMATIC ET 200S Finely scalable I/O system for control cabinet installation and particularly time-critical appli‐
SIMATIC ET 200pro Modular I/O system with IP65/IP67 degree of protection for machine-related applications
SIMATIC ET 200eco I/O system with IP65/IP67 rating for machine-related applications with no control cabinet,
Other PROFIBUS I/O
Gateways
Drive interfaces
Drive units with PROFI‐
BUS DP interface
(e.g. CU310-2 DP)
Teleservice adapter Remote diagnostics
Components on PROFIBUS DP
gineering System (ES).
the operation of the SIMOTION D410-2.
… e.g. higher-level controller (plant controller); modular machine concepts with multiple
controllers, distributed across individual machine modules.
IC S7‑1500 packaging system. SIMATIC ET 200MP permits the shortest bus cycle times
and fastest response time even with large volumes of data.
IC S7‑300 packaging system.
multi-cable
low part variety.
cations; including motor starters, safety technology and individual grouping of load groups.
no control cabinet; with features such as more compact designs, integrated PROFIsafe
with
safety technology, PROFINET connection, and live module replacement.
with a flexible and fast connection system in ECOFAST or M12.
● DP/AS-Interface Link 20E and DP/AS-Interface Link Advanced for the PROFIBUS DP
gateway to AS-Interface
DP/DP coupler for connecting two PROFIBUS DP networks
●
● ADI4
● IM 174 (Interface Module for 4 axes) for the connection of drives with analog ±10 V
... convert speed setpoints into signals for controlling the motor and supply the power re‐
quired to operate the motors.
Can also be operated as an isochronous slave on the PROFIBUS DP.
(Analog Drive Interface for 4 axes) for the connection of drives with analog ±10 V
setpoint interface or for external encoders
setpoint interface, external encoders or the connection of stepper drives with pulse/
direction interface
connection with push‑in terminals, compact dimensions, high performance, and
SIMOTION D410-2
Commissioning and Hardware Installation Manual, 01/2015 29
Description
2.2 System components
PROFINET IO
The SIMOTION D410‑2 DP/PN can communicate with the following components via the
onboard PROFINET IO interface.
Table 2-3
Component Function
Programming device (PG/PC) … configures, assigns parameters, programs, and tests using the SIMO‐
SIMATIC HMI device ... is used for operating and monitoring functions. This is not an essential require‐
Other controllers (e.g. SIMOTION or SI‐
MATIC)
Master computer … communicates with other devices via UDP, TCP/IP.
Distributed I/O systems
SIMATIC ET 200MP Modular I/O system for cabinet installation and high channel densities in the SI‐
SIMATIC ET 200M Modular I/O system for cabinet installation and high channel densities in the SI‐
SIMATIC ET 200SP Finely scalable I/O system for cabinet installation; ET 200SP features a single-
SIMATIC ET 200S Finely scalable I/O system for control cabinet configuration and particularly time-
SIMATIC ET 200pro Modular I/O system with IP65/67 degree of protection for machine-related appli‐
SIMATIC ET 200eco PN Compact block I/O with IP65/66/67 degree of protection for cabinet-free usage in
Other PROFINET IO I/O devices
Drive units with PROFINET IO interface ... convert speed setpoints into signals for controlling the motor and supply the
Gateways
Components on the PROFINET IO
TION SCOUT Engineering System (ES).
ment for the operation of a control unit.
… e.g. higher-level controller (plant controller); modular machine concepts with
multiple controllers, distributed across individual machine modules.
MATIC
cycle times and fastest response time even with large volumes of data.
MATIC S7-300 packaging system.
cable
performance, and low part variety.
critical applications; including motor starters, safety technology and individual
grouping of load groups.
cations
PROFIsafe safety technology, PROFINET IO connection and live module replace‐
ment.
machines with M12 connection method. Very rugged and resistant encapsulated
metal enclosure.
power required to operate the motors.
● IE/AS-Interface link PN IO for the PROFINET IO gateway to AS-Interface
PN/PN coupler for connecting two PROFINET IO networks
●
S7‑1500 packaging system. SIMATIC ET 200MP permits the shortest bus
and multi-cable connection with push‑in terminals, compact dimensions, high
with no control cabinet; with features such as compact designs, integrated
SIMOTION D410-2
30 Commissioning and Hardware Installation Manual, 01/2015
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