Siemens SINAMICS S210,SIMOTICS S-1FK2 Operating Instructions Manual
Operating instructions
SINAMICS S210 converter
SIMOTICS S-1FK2 servomotor
12/2017Edition
Servo drive system
SINAMICS S210
www.siemens.com/drives
SINAMICS/SIMOTICS
SINAMICS/SIMOTICS
SINAMICS S210 servo drive system
Firmware V5.1
Preface
Fundamental safety
instructions
1
Operating Instructions
Description
Configuring
Safety functions integrated in
the drive
Installing
Commissioning and
diagnostics in the Web server
Diagnostics
Technical specifications
2
3
4
5
6
7
8
Dimension drawings
Decommissioning and
disposal
Ordering data
Parameters
Faults and alarms
Appendix
9
10
11
12
13
A
12/2017
A5E41702836B AA
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
A5E41702836B AA
Ⓟ 12/2017 Subject to change
Copyright © Siemens AG 2017.
All rights reserved
Preface
Keeping the documentation safe
This documentation should be kept in a location where it can be easily accessed. Make the
documentation available to the personnel responsible.
Target group
These operating instructions are intended for persons who perform different tasks in the drive
environment, e.g. for:
● Planning engineers
● Project engineers
● Machine manufacturers
● Commissioning engineers
● Electricians
● Installation personnel
More information
My support
● Service technician
● Warehouse personnel
Information on the following topics is available at:
● Ordering documentation / overview of documentation
● Additional links to download documents
● Using documentation online (find and search in manuals / information)
Additional information on drive technology (
13204)
If you have any questions relating to the technical documentation (e.g. suggestions,
corrections) then please email them to the following address: Email
(mailto:docu.motioncontrol@siemens.com)
The following link provides information on how to create your own individual documentation
based on Siemens content, and adapt it for your own machine documentation:
My support (https://support.industry.siemens.com/My/de/en/documentation)
https://support.industry.siemens.com/cs/de/en/ps/
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 3
Preface
Note
If you want to use this function, you must first register.
Later, you can log on with your login data.
Technical Support
Country-specific telephone numbers for technical support are provided on the Internet under
Contact:
Technical Support (
Websites of third parties
This publication contains hyperlinks to websites of third parties. Siemens does not take any
responsibility for the contents of these websites or adopt any of these websites or their contents
as their own, because Siemens does not control the information on these websites and is also
not responsible for the contents and information provided there. Use of these websites is at
the risk of the person doing so.
Use of OpenSSL
This product contains software (https://www.openssl.org/) that has been developed by the
OpenSSL project for use in the OpenSSL toolkit.
This product contains cryptographic software (mailto:eay@cryptsoft.com) created by Eric
Young.
This product contains software (mailto:eay@cryptsoft.com) developed by Eric Young.
https://support.industry.siemens.com)
SINAMICS S210 servo drive system
4 Operating Instructions, 12/2017, A5E41702836B AA
Table of contents
Preface.........................................................................................................................................................3
1 Fundamental safety instructions.................................................................................................................11
1.1 General safety instructions.....................................................................................................11
1.2 Equipment damage due to electric fields or electrostatic discharge......................................17
1.3 Warranty and liability for application examples......................................................................18
1.4 Industrial security...................................................................................................................19
1.5 Residual risks of power drive systems...................................................................................20
2 Description..................................................................................................................................................21
2.1 System overview....................................................................................................................22
2.2 The scope of supply for the system components...................................................................24
2.3 Motor......................................................................................................................................25
2.4 Converter...............................................................................................................................28
2.5 Connection systems...............................................................................................................31
2.6 Motor-converter combinations................................................................................................32
2.7 Optional accessories..............................................................................................................33
3 Configuring.................................................................................................................................................35
3.1 EMC-compliant installation of a machine or system..............................................................35
3.1.1 Control cabinet.......................................................................................................................35
3.1.2 Cables....................................................................................................................................36
3.1.3 Electromechanical components.............................................................................................38
3.2 Permissible line supplies and connection options..................................................................39
3.2.1 Connection options, 230 V devices........................................................................................40
3.3 Configuring the motor.............................................................................................................44
3.3.1 Configuration sequence.........................................................................................................44
3.3.1.1 Clarification of type of drive....................................................................................................45
3.3.1.2 Specification of the supplementary conditions and integration into the automation system......46
3.3.1.3 Definition of the load, calculation of the maximum load torque and determination of the
motor......................................................................................................................................46
3.4 Configuring the external braking resistor...............................................................................52
3.5 Establishing communication of the converter with the controller...........................................55
4 Safety functions integrated in the drive......................................................................................................57
4.1 Overview of Safety Integrated Functions...............................................................................57
4.2 Basic Functions......................................................................................................................58
4.2.1 Safe Torque Off (STO)...........................................................................................................58
4.2.2 Safe Brake Control (SBC)......................................................................................................61
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 5
Table of contents
4.2.3 Safe Stop 1 (SS1, time-controlled).........................................................................................63
4.3 Configuring the safety functions.............................................................................................68
4.4 Responses to safety faults.....................................................................................................69
4.4.1 Stop responses......................................................................................................................69
4.4.2 Response to a discrepancy when STO is active....................................................................71
4.5 System properties..................................................................................................................73
4.5.1 Response times of the Basic Functions.................................................................................73
4.5.2 Control of the Basic Functions via terminals..........................................................................73
4.5.3 Control of the Basic Functions via PROFIsafe.......................................................................74
4.5.4 PFH values.............................................................................................................................74
4.6 Acceptance - completion of commissioning...........................................................................75
4.6.1 STO acceptance test..............................................................................................................78
4.6.2 SBC acceptance test..............................................................................................................79
4.6.3 SS1 acceptance test..............................................................................................................80
4.7 Functional safety....................................................................................................................81
4.8 Machinery Directive................................................................................................................82
5 Installing.....................................................................................................................................................83
5.1 Safety instructions..................................................................................................................83
5.2 Installing the motor.................................................................................................................84
5.2.1 Checklists prior to assembly..................................................................................................84
5.2.2 Mounting instructions for the motor........................................................................................85
5.2.3 Fitting output elements...........................................................................................................86
5.3 Installing the converter...........................................................................................................87
5.3.1 Installation conditions.............................................................................................................87
5.3.2 Dimension drawings and drilling dimensions.........................................................................88
5.4 Connecting the converter and the motor................................................................................89
5.4.1 Cable lengths.........................................................................................................................89
5.4.2 Connecting the motor.............................................................................................................90
5.4.3 Connecting the converter.......................................................................................................93
5.4.3.1 Connections at the converter.................................................................................................95
5.4.3.2 Connecting the line supply, motor, motor holding brake and encoder to the converter.........98
5.4.3.3 Connections for open-loop and closed-loop control of the converter...................................101
5.4.3.4 Connection example............................................................................................................103
5.4.3.5 Connection example of the fail-safe digital input..................................................................104
6 Commissioning and diagnostics in the Web server..................................................................................105
6.1 Fundamentals......................................................................................................................106
6.2 First login..............................................................................................................................108
6.3 Structure of the Web browser..............................................................................................111
6.3.1 Changing parameter values in dialog input screens............................................................113
6.4 Login/logout..........................................................................................................................114
6.4.1 Users and access rights.......................................................................................................114
6.4.2 Login/logout..........................................................................................................................116
6.5 Commissioning.....................................................................................................................118
6.5.1 Assigning the drive name.....................................................................................................118
SINAMICS S210 servo drive system
6 Operating Instructions, 12/2017, A5E41702836B AA
Table of contents
6.5.2 Performing One Button Tuning............................................................................................119
6.5.3 Using the control panel........................................................................................................122
6.6 Settings................................................................................................................................124
6.6.1 Setting limits.........................................................................................................................124
6.6.2 Setting the brake control......................................................................................................125
6.6.3 Configuring digital inputs......................................................................................................127
6.6.4 Adapt parameter list.............................................................................................................129
6.6.4.1 Configuring the parameter list..............................................................................................130
6.6.4.2 Changing the parameter value.............................................................................................132
6.6.4.3 Filtering the parameter list....................................................................................................132
6.7 Plant-specific settings..........................................................................................................134
6.7.1 Changing the direction of rotation of the motor....................................................................134
6.7.2 Electronic weight counterbalance for a vertical axis............................................................134
6.8 Safety settings......................................................................................................................135
6.8.1 Safety commissioning..........................................................................................................135
6.8.1.1 Overview..............................................................................................................................135
6.8.1.2 Commissioning step 1..........................................................................................................138
6.8.1.3 Commissioning step 2..........................................................................................................140
6.8.1.4 Commissioning step 3..........................................................................................................141
6.8.1.5 Commissioning step 4..........................................................................................................144
6.8.1.6 Commissioning step 5..........................................................................................................145
6.8.1.7 Configuring the safety password..........................................................................................146
6.8.1.8 Checking existing safety settings in the read mode.............................................................148
6.8.2 Safety diagnostics................................................................................................................149
6.9 Diagnostics in the Web server.............................................................................................150
6.9.1 Adapt message list...............................................................................................................150
6.9.1.1 Displaying messages...........................................................................................................150
6.9.1.2 Filtering messages...............................................................................................................151
6.9.2 Displaying communication settings......................................................................................152
6.10 Backup and restore..............................................................................................................153
6.10.1 Backing up the parameter settings externally......................................................................154
6.10.2 Restoring externally backed-up parameter settings.............................................................155
6.10.3 Restoring the factory settings...............................................................................................155
6.11 System settings....................................................................................................................156
6.11.1 Setting or changing user accounts.......................................................................................156
6.11.2 Configuring the IP connection..............................................................................................158
6.11.3 Configuring the system time.................................................................................................160
6.12 Saving permanently.............................................................................................................161
6.13 Calling Support information..................................................................................................162
6.14 Firmware update..................................................................................................................163
7 Diagnostics...............................................................................................................................................165
7.1 Status displays and operating elements on the converter...................................................165
7.1.1 Status display via LEDs.......................................................................................................166
7.2 Message classes in accordance with PROFIdrive...............................................................168
7.3 Correcting faults on the motor..............................................................................................171
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 7
Table of contents
7.4 Alarms..................................................................................................................................173
7.5 Faults...................................................................................................................................174
8 Technical specifications............................................................................................................................175
8.1 Technical data and properties of the motor..........................................................................175
8.1.1 Technical features................................................................................................................175
8.1.2 Permissible environmental conditions for the motor............................................................176
8.1.3 Cooling.................................................................................................................................178
8.1.4 Derating factors....................................................................................................................180
8.1.5 Degree of protection.............................................................................................................180
8.1.6 Balancing.............................................................................................................................181
8.1.7 Vibration response...............................................................................................................182
8.1.8 Shaft extension....................................................................................................................183
8.1.9 Radial eccentricity, concentricity and axial eccentricity........................................................184
8.1.10 Permissible radial and axial forces.......................................................................................185
8.1.11 Available encoders...............................................................................................................185
8.1.12 Brake data............................................................................................................................185
8.1.13 Technical data and characteristics 1FK2 High Dynamic......................................................187
8.1.13.1 1FK2102-0AG......................................................................................................................187
8.1.13.2 1FK2102-1AG......................................................................................................................189
8.1.13.3 1FK2103-2AG......................................................................................................................190
8.1.13.4 1FK2103-4AG......................................................................................................................191
8.1.13.5 1FK2104-4AK.......................................................................................................................192
8.1.13.6 1FK2104-5AK.......................................................................................................................193
8.1.14 Technical data and characteristics 1FK2 Compact..............................................................194
8.1.14.1 1FK2203-2AG......................................................................................................................194
8.1.14.2 1FK2203-4AG......................................................................................................................196
8.2 Technical specifications of the converter.............................................................................197
8.2.1 Electromagnetic compatibility ..............................................................................................199
8.2.2 Converter ambient conditions..............................................................................................200
8.2.3 General data, converter.......................................................................................................202
8.2.4 Specific data, converter........................................................................................................203
8.3 Technical data and properties of the connection system.....................................................204
9 Dimension drawings.................................................................................................................................207
9.1 Dimension drawings of motor...............................................................................................207
9.2 Dimension drawings of converter.........................................................................................210
10 Decommissioning and disposal................................................................................................................213
10.1 Removing and disposing of the motor..................................................................................213
10.2 Disposing of converter.........................................................................................................214
11 Ordering data............................................................................................................................................215
11.1 Ordering data of the motor...................................................................................................215
11.2 Ordering data of the converter.............................................................................................216
11.3 Connection cables between the motor and the converter....................................................217
11.4 Accessories..........................................................................................................................219
11.4.1 Memory cards......................................................................................................................219
SINAMICS S210 servo drive system
8 Operating Instructions, 12/2017, A5E41702836B AA
Table of contents
11.4.2 PROFINET patch cable........................................................................................................219
11.4.3 External line filter..................................................................................................................219
11.4.4 Cabinet bushing via mounting flange...................................................................................220
11.4.5 Degree of protection kit IP65 for the motor..........................................................................220
11.5 Spare parts...........................................................................................................................221
12 Parameters...............................................................................................................................................225
12.1 Parameter overview.............................................................................................................225
12.2 List of parameters................................................................................................................228
13 Faults and alarms.....................................................................................................................................291
13.1 Overview of faults and alarms..............................................................................................291
13.2 List of faults and alarms.......................................................................................................292
A Appendix...................................................................................................................................................737
A.1 Communication telegrams...................................................................................................737
A.1.1 Standard telegrams..............................................................................................................737
A.1.2 Supplementary telegrams....................................................................................................739
A.1.3 PROFIsafe telegrams...........................................................................................................740
A.1.4 Bit assignments of the process data....................................................................................740
A.1.4.1 Control word 1 and status word 1........................................................................................741
A.1.4.2 Control word 2 and status word 2........................................................................................741
A.1.4.3 Encoder 1 - control word and status word............................................................................742
A.1.4.4 Safety control word and status word 1.................................................................................742
A.1.4.5 Safety control word and status word 1B ..............................................................................743
A.1.4.6 Safety status word 2B .........................................................................................................743
A.1.4.7 Safety control word and status word 3B...............................................................................744
A.1.4.8 Message word......................................................................................................................744
A.2 What is the difference between the Emergency Off and Emergency Stop functions?.........745
A.3 Directives and standards......................................................................................................746
A.3.1 Directives, standards and certificates for the converter.......................................................746
A.3.2 Directives, standards and certificates for the motor.............................................................747
A.4 Certifications........................................................................................................................749
A.5 Certificates for the secure data transfer...............................................................................750
A.5.1 Overview..............................................................................................................................750
A.5.2 Using the certificate default configuration............................................................................750
A.6 List of abbreviations.............................................................................................................756
Index.........................................................................................................................................................761
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 9
Table of contents
SINAMICS S210 servo drive system
10 Operating Instructions, 12/2017, A5E41702836B AA
Fundamental safety instructions
1.1 General safety instructions
WARNING
Electric shock and danger to life due to other energy sources
Touching live components can result in death or severe injury.
● Only work on electrical devices when you are qualified for this job.
● Always observe the country-specific safety rules.
Generally, the following six steps apply when establishing safety:
1. Prepare for disconnection. Notify all those who will be affected by the procedure.
2. Isolate the drive system from the power supply and take measures to prevent it being
switched back on again.
3. Wait until the discharge time specified on the warning labels has elapsed.
4. Check that there is no voltage between any of the power connections, and between any
of the power connections and the protective conductor connection.
5. Check whether the existing auxiliary supply circuits are de-energized.
6. Ensure that the motors cannot move.
7. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water. Switch the energy sources to a safe state.
8. Check that the correct drive system is completely locked.
1
After you have completed the work, restore the operational readiness in the inverse sequence.
WARNING
Electric shock due to connection to an unsuitable power supply
When equipment is connected to an unsuitable power supply, exposed components may
carry a hazardous voltage that might result in serious injury or death.
● 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.
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 11
Fundamental safety instructions
1.1 General safety instructions
WARNING
Electric shock due to damaged motors or devices
Improper handling of motors or devices can damage them.
Hazardous voltages can be present at the enclosure or at exposed components on damaged
motors or devices.
● Ensure compliance with the limit values specified in the technical data during transport,
storage and operation.
● Do not use any damaged motors or devices.
WARNING
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 cables that are not used at one end
at the grounded housing potential.
WARNING
Electric shock if there is no ground connection
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
Arcing when a plug connection is opened during operation
Opening a plug connection when a system is operation can result in arcing that may cause
serious injury or death.
● Only open plug connections when the equipment is in a voltage-free state, unless it has
been explicitly stated that they can be opened in operation.
WARNING
Electric shock due to residual charges in power components
Because of the capacitors, a hazardous voltage is present for up to 5 minutes after the power
supply has been switched off. Contact with live parts can result in death or serious injury.
● Wait for 5 minutes before you check that the unit really is in a no-voltage condition and
start work.
SINAMICS S210 servo drive system
12 Operating Instructions, 12/2017, A5E41702836B AA
Fundamental safety instructions
1.1 General safety instructions
WARNING
Spread of fire from built-in devices
In the event of fire outbreak, the enclosures of built-in devices cannot prevent the escape of
fire and smoke. This can result in serious personal injury or property damage.
● Install built-in units in a suitable metal cabinet in such a way that personnel are protected
against fire and smoke, or take other appropriate measures to protect personnel.
● Ensure that smoke can only escape via controlled and monitored paths.
WARNING
Failure of pacemakers or implant malfunctions due to 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 in the
immediate vicinity of this equipment are at particular risk.
● If you have a heart pacemaker or implant, maintain a minimum distance of 2 m from
electrical power equipment.
WARNING
Failure of pacemakers or implant malfunctions due to permanent magnetic fields
Even when switched off, electric motors with permanent magnets represent a potential risk
for persons with heart pacemakers or implants if they are close to converters/motors.
● If you have a heart pacemaker or implant, maintain the minimum distance specified in the
Chapter "Technical data".
● When transporting or storing permanent-magnet motors always use the original packing
materials with the warning labels attached.
● Clearly mark the storage locations with the appropriate warning labels.
● IATA regulations must be observed when transported by air.
WARNING
Unexpected movement of machines caused by radio devices or mobile phones
When radio devices or mobile phones with a transmission power > 1 W are used in the
immediate vicinity of components, they may cause the equipment to malfunction.
Malfunctions may impair the functional safety of machines and can therefore put people in
danger or lead to property damage.
● If you come closer than around 2 m to such components, switch off any radios or mobile
phones.
● Use the "SIEMENS Industry Online Support App" only on equipment that has already been
switched off.
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 13
Fundamental safety instructions
1.1 General safety instructions
WARNING
Motor fire in the event of insulation overload
There is higher stress on the motor insulation through a ground fault in an IT system. If the
insulation fails, it is possible that death or severe injury can occur as a result of smoke and
fire.
● Use a monitoring device that signals an insulation fault.
● Correct the fault as quickly as possible so the motor insulation is not overloaded.
WARNING
Fire due to inadequate ventilation clearances
Inadequate ventilation clearances can cause overheating of components with subsequent
fire and smoke. This can cause severe injury or even death. This can also result in increased
downtime and reduced service lives for devices/systems.
● Ensure compliance with the specified minimum clearance as ventilation clearance for the
respective component.
WARNING
Unrecognized dangers due to missing or illegible warning labels
Dangers might not be recognized if warning labels are missing or illegible. Unrecognized
dangers may cause accidents resulting in serious injury or death.
● Check that the warning labels are complete based on the documentation.
● Attach any missing warning labels to the components, where necessary in the national
language.
● Replace illegible warning labels.
NOTICE
Device damage caused by incorrect voltage/insulation tests
Incorrect voltage/insulation tests can damage the device.
● Before carrying out a voltage/insulation check of the system/machine, disconnect the
devices as all converters and motors have been subject to a high voltage test by the
manufacturer, and therefore it is not necessary to perform an additional test within the
system/machine.
SINAMICS S210 servo drive system
14 Operating Instructions, 12/2017, A5E41702836B AA
Fundamental safety instructions
1.1 General safety instructions
WARNING
Unexpected movement of machines caused by inactive safety functions
Inactive or non-adapted safety functions can trigger unexpected machine movements that
may result in 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.
Note
Important safety notices for Safety Integrated functions
If you want to use Safety Integrated functions, you must observe the safety notices in the Safety
Integrated manuals.
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in turn
can lead to injuries or death.
● Protect the parameterization (parameter assignments) against unauthorized access.
● Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.
WARNING
Injury caused by moving or ejected parts
Contact with moving motor parts or drive output elements and the ejection of loose motor
parts (e.g. feather keys) out of the motor enclosure can result in severe injury or death.
● Remove any loose parts or secure them so that they cannot be flung out.
● Do not touch any moving parts.
● Safeguard all moving parts using the appropriate safety guards.
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 15
Fundamental safety instructions
1.1 General safety instructions
WARNING
Fire due to inadequate cooling
Inadequate cooling can cause the motor to overheat, resulting in death or severe injury as a
result of smoke and fire. This can also result in increased failures and reduced service lives
of motors.
● Comply with the specified cooling requirements for the motor.
WARNING
Fire due to incorrect operation of the motor
When incorrectly operated and in the case of a fault, the motor can overheat resulting in fire
and smoke. This can result in severe injury or death. Further, excessively high temperatures
destroy motor components and result in increased failures as well as shorter service lives of
motors.
● Operate the motor according to the relevant specifications.
● Only operate the motors in conjunction with effective temperature monitoring.
● Immediately switch off the motor if excessively high temperatures occur.
CAUTION
Burn injuries caused by hot surfaces
In operation, the motor can reach high temperatures, which can cause burns if touched.
● Mount the motor so that it is not accessible in operation.
Measures when maintenance is required:
● Allow the motor to cool down before starting any work.
● Use the appropriate personnel protection equipment, e.g. gloves.
SINAMICS S210 servo drive system
16 Operating Instructions, 12/2017, A5E41702836B AA
Fundamental safety instructions
1.2 Equipment damage due to electric fields or electrostatic discharge
1.2 Equipment damage due to electric fields or electrostatic discharge
Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules
or devices that may be damaged by either electric fields or electrostatic discharge.
NOTICE
Equipment damage due to electric fields or electrostatic discharge
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).
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 17
Fundamental safety instructions
1.3 Warranty and liability for application examples
1.3 Warranty and liability for application examples
The application examples are not binding and do not claim to be complete regarding
configuration, equipment or any eventuality which may arise. The application examples do not
represent specific customer solutions, but are only intended to provide support for typical tasks.
You are responsible for the proper operation of the described products. These application
examples do not relieve you of your responsibility for safe handling when using, installing,
operating and maintaining the equipment.
SINAMICS S210 servo drive system
18 Operating Instructions, 12/2017, A5E41702836B AA
1.4 Industrial security
Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens products and solutions only represent one component of such a
concept.
The customer is responsible for preventing unauthorized access to its plants, systems,
machines and networks. Systems, machines and components should only be connected to
the enterprise network or the internet if and to the extent necessary and with appropriate
security measures (e.g. use of firewalls and network segmentation) in place.
Additionally, Siemens’ guidance on appropriate security measures should be taken into
account. For more information about industrial security, please visit:
Industrial security (http://www.siemens.com/industrialsecurity).
Fundamental safety instructions
1.4 Industrial security
Siemens’ products and solutions undergo continuous development to make them more secure.
Siemens strongly recommends to apply product updates as soon as available and to always
use the latest product versions. Use of product versions that are no longer supported, and
failure to apply latest updates may increase customer’s exposure to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed at:
Industrial security (http://www.siemens.com/industrialsecurity).
WARNING
Unsafe operating states resulting from software manipulation
Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating
states in your system that may lead to death, serious injury, and property damage.
● Keep the software up to date.
● Incorporate the automation and drive components into a holistic, state-of-the-art industrial
security concept for the installation or machine.
● Make sure that you include all installed products into the holistic industrial security concept.
● Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 19
Fundamental safety instructions
1.5 Residual risks of power drive systems
1.5 Residual risks of power drive systems
When assessing the machine- or system-related risk in accordance with the respective local
regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer must
take into account the following residual risks emanating from the control and drive components
of a drive system:
1. Unintentional movements of driven machine or system components during commissioning,
operation, maintenance, and repairs caused by, for example,
– Hardware and/or software errors in the sensors, control system, actuators, and cables
and connections
– Response times of the control system and of the drive
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– Parameterization, programming, cabling, and installation errors
– Use of wireless devices/mobile phones in the immediate vicinity of electronic
components
– External influences/damage
– X-ray, ionizing radiation and cosmic radiation
2. Unusually high temperatures, including open flames, as well as emissions of light, noise,
particles, gases, etc., can occur inside and outside the components under fault conditions
caused by, for example:
– Component failure
– Software errors
– Operation and/or environmental conditions outside the specification
– External influences/damage
3. Hazardous shock voltages caused by, for example:
– Component failure
– Influence during electrostatic charging
– Induction of voltages in moving motors
– Operation and/or environmental conditions outside 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
6. Influence of network-connected communication systems, e.g. ripple-control transmitters or
data communication via the network
For more information about the residual risks of the drive system components, see the relevant
sections in the technical user documentation.
SINAMICS S210 servo drive system
20 Operating Instructions, 12/2017, A5E41702836B AA
Description
The components described in this manual – motor, converter and associated connection
cables – are optimally tailored to one another and thereby facilitate the installation and
commissioning in a few steps.
The commissioning and diagnostics are performed with a PC or notebook (commissioning
device) via the web server integrated in the converter. A separate commissioning program or
diagnostics tool is not required.
Correct usage
The components are intended for industrial and commercial use in industrial networks.
The motor is only approved for operation with a converter.
For system-specific setting options, refer to the following Chapter:
Typical applications
● Robots and handling systems
2
Commissioning and diagnostics in the Web server (Page 105).
● Packaging, plastics and textile machines
● Wood, glass, ceramics and stone working machines
● Printing machines
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 21
&RQWUROOHU3/&
HJ6,0$7,&6
2&&FRQQHFWLRQFDEOHIRU
SRZHUFRQQHFWLRQVPRWRUKROGLQJEUDNH
DQGHQFRGHUV
6,1$0,&66FRQYHUWHU
(QJLQHHULQJYLD/$1ZLWKWKH
ZHEVHUYHULQWHJUDWHGLQWKH
FRQYHUWHU
&RPPXQLFDWLRQYLD352),1(7
6,027,&66).PRWRUV
Description
2.1 System overview
2.1 System overview
The drive system comprises the following system components tailored to one another:
● SINAMICS S210 converter
● SIMOTICS S-1FK2 motor
● OCC MOTION-CONNECT cable
The converter and the motor are optimally tailored to one another and are intended for use
with a higher-level controller (PLC). Connection to the controller is via PROFINET:
Prefabricated MOTION-CONNECT cables in various lengths are available to simply connect
the motor to the converter and to ensure safe and reliable operation.
Figure 2-1 System
22 Operating Instructions, 12/2017, A5E41702836B AA
SINAMICS S210 servo drive system
9$&
;
;
;
;3
;
;
;
;3
;
352),1(7
352),VDIH
3(
Description
2.1 System overview
① Fuse or circuit breaker ⑨ OCC connection cable for motor, motor holding
② Line contactor (optional) ⑩ Shield clamp
③ Line filter (optional) ⑪ Shield plate
④ External braking resistor (optional) ⑫ Ferrite core (for frame size FSB)
brake and encoder
⑤ Shaft sealing ring for IP65 (optional) ⑬ 24 V power supply
⑥ 1FK2 servomotor ⑭ SD memory card (optional)
⑦ OCC extension cable (optional) ⑮ Commissioning device
⑧ Mounting flange for control cabinet
Figure 2-2 System components and accessories
bushing (optional)
⑯ Controller, e.g. SIMATIC S7-1500
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 23
Description
2.2 The scope of supply for the system components
2.2 The scope of supply for the system components
You must order the components individually.
Motor
The motor scope of delivery includes:
● A "Safety instructions" sheet
● A sheet referencing links to product information
Converter
The converter scope of delivery includes:
● The Quick Installation Guide (English)
● Shield plate
● A warning label for affixing in the control cabinet
● For FSB a ferrite core for EMC category C2
● The following connectors:
– X1: Line connection and external braking resistor (jumper for internal braking resistor is
enclosed.)
– X2: Motor connection
– X107: Motor holding brake
– X124: 24 V DC supply voltage
– X130: Connector for digital inputs
MOTION-CONNECT cable (OCC cable)
The scope of supply for the prefabricated MOTION-CONNECT cables includes:
● The MOTION-CONNECT cable with assembled connectors for connecting to motors and
encoders
● A shield clamp for the connection of the shield to the shield plate of the converter
● A safety data sheet
Details on the OCC MOTION-CONNECT cables can be found in the following Section:
Connection cables between the motor and the converter (Page 217).
SINAMICS S210 servo drive system
24 Operating Instructions, 12/2017, A5E41702836B AA
2.3 Motor
The SIMOTICS S-1FK2, called "1FK2" in the following, is a permanent-magnet compact
synchronous motor with an integrated encoder and a high degree of protection.
The 1FK2 meets the requirements of standards EN 60034 and EN 60204-1 - and complies
with the Low-Voltage Directive 2014/35/EU.
Failure of pacemakers or implant malfunctions due to electromagnetic fields
Electromagnetic fields (EMF) are generated by the operation of electrical power equipment,
such as converters or motors. People with pacemakers or implants in the immediate vicinity
of this equipment are at particular risk.
Deviating from the notes in Section "General safety instructions (Page 11), applies to the
1FK2 motors:
● If you are affected, stay at a minimum distance of 30 cm from the motors.
Description
2.3 Motor
WARNING
Dynamic versions
● 1FK21 "High Dynamic" with low moment of inertia for a maximum acceleration capability
● 1FK22 "Compact" with average moment of inertia and precise positioning and synchronous
Power range
0.05 kW … 0.75 kW for a line supply voltage of 230 V 1 AC
Degree of protection
● IP64
● IP65 with a radial shaft sealing ring to protect against spray water
For additional information on the degree of protection, see Chapter:
Cooling
The 1FK2 is a non-ventilated motor.
The motor thermal losses are dissipated by thermal conduction, thermal radiation and natural
convection.
in applications with low load moments of inertia
operation characteristics for applications with a high and variable load moment of inertia
"Degree of protection (Page 180)"
If the ambient temperature exceeds 40 °C (104 °F) or the installation altitude 1000 meters
above sea level, you must reduce torque and power of the motor (derating).
Information on derating can be found in Chapter:
"Derating factors (Page 180)"
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 25
Description
2.3 Motor
When mounting the motor, carefully observe the specifications in Chapter:
"Cooling (Page 178)"
Bearing version
The motors have deep groove ball bearings with life-long lubrication.
The average bearing service life is designed for 25000 operating hours.
The motors have spring-loaded bearings in the NDE direction. For version with holding brake,
the NDE bearing is a locating bearing.
The permissible axial and radial forces can be found in the technical data in Chapter:
"Permissible radial and axial forces (Page 185)"
Shaft extension (IEC 60072-1)
● Cylindrical shaft without feather key
● Cylindrical shaft with feather key (half-key balancing)
● Optional for SH30 (1FK2❒03): Cylindrical shaft without feather key, diameter x length:
11 mm x 23 mm
Encoder
Holding brake
For additional information, see Chapter:
"Shaft extension (Page 183)"
The motor encoder resolution is 20 bit (1,048,576) per revolution (singleturn). An optional
multiturn encoder is available that is equipped with an additional 12-bit revolution counter
(traversing range of 4096 revolutions).
The names of these two encoders are as follows:
● AS20DQC: Absolute encoder, singleturn, 20 bit
● AM20DQC: Absolute encoder, 20 bit + 12 bit multiturn
For additional information, see Chapter:
"Available encoders (Page 185)"
The 1FK2 servomotor is available with integrated holding brake. The holding brake is used to
clamp the motor shaft when the motor is at a standstill.
The holding brake closes in the current-free state and locks the motor shaft. It opens as soon
as current is flowing.
SINAMICS S210 controls the holding brake without any additional devices.
The torsional backlash of the holding brake is less than 1°.
The holding brake is not a working brake for braking the rotating motor. However, limited
emergency stop operation is permissible.
SINAMICS S210 servo drive system
26 Operating Instructions, 12/2017, A5E41702836B AA
Rating plate
+
SIMOTICS 1P 1FK2104-4AK00-0CA0
M0 1,27 Nm
Brake 24 VDC
Siemens AG, DE-97616 Bad Neustadt Made in Germany
Encoder AS22DQ35 G95
3 ~ Mot. S YF JO662 2670 01 002
Z:
M
N
1,27 Nm
I0 2,4 A
IN 2,4 A
n
max
7400 /min
nn 3000 /min
UiN108 V Th.Cl.155 (F)
IP 64 IC410
RN 000
m: 3 kg
EN60034
Description
2.3 Motor
The brake data can be found in Chapter:
"Brake data (Page 185)"
The rating plate contains the Article No. and the technical information of the motor.
Figure 2-3 Rating plate
Position Description / technical specifica‐
Position Description / technical specifications
tions
1 Article number 12 Degree of protection
2 ID No., serial number 13 Rated current
3 Additional options specified as a
supplement to the article number
4 Static torque
M
/ Nm 15 Thermal class of the insulation sys‐
0
14 Cooling mode according to EN
60034-6
I
/ A
rated
tem
5 Rated torque
6 Induced voltage at rated speed
M
/ Nm 16 Revision
rated
V
/ V17 Type of balancing (only for motors
IN
with feather key)
7 Motor weight m / kg 18 Rated speed
8 Marking of encoder type 19 Maximum speed
n
rated
/ rpm
n
/ rpm
max
9 Data of the holding brake 20 Certifications
10 Manufacturer's address 21 Standard for all rotating electrical ma‐
chines
11 Stall current
I
/ A 22 Data matrix code
0
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 27
Description
2.4 Converter
2.4 Converter
The converter is a single-axis device (complete converter with integrated infeed). It is
characterized by a compact design, side-by-side installation and high overload capability.
It is intended for use with 1FK2 motors.
● Supply voltage 200 V … 240 V 1 AC ± 10%
●
Power range 100 W … 750 W
Control mode
Servo control, optimized for 1FK2 motors
Integrated safety functions
With firmware version 5.1, the converter provides the following Safety Integrated Basic
Functions:
● STO - Safe Torque Off
● SS1 - Safe Stop 1, time-controlled
● SBC - Safe Brake Control
Safety functions integrated in the drive (Page 57)
Integrated braking resistor
In order to absorb the regenerative load of the motor, converters have an internal braking
resistor (exception: 100 W device).
If the internal braking resistor is not sufficient, you have the option of connecting an external
braking resistor.
Configuring the external braking resistor (Page 52)
Connections at the converter (Page 95)
Communicating with the controller via PROFINET
The converter supports the following functions:
RT (real time)
●
● IRT (isochronous real time)
● MRP (media redundancy) with RT
● MRPD (seamless media redundancy) with IRT
● Shared device
● PROFIsafe
● PROFIenergy
● Automatic telegram selection
SINAMICS S210 servo drive system
28 Operating Instructions, 12/2017, A5E41702836B AA
Loading...