s
SINAMICSPOLYGONMaster-value-dependent characteristic functionality
Function Manual
10/2015Edition
s
10/2015A5E33270641
SINAMICS
POLYGONMaster-value-dependent characteristic functionality
Function Manual
Preface
Fundamental safety instructions 1
Applications, characteristics 2
Installation and activation 3
Function description and commissioning 4
Parameters 5
Function diagrams 6
Faults and alarms 7
Appendix A
Index
Valid for
OA application Firmware version
POLYGON 1.1
for the drive
SINAMICS S120/S150 from 4.5
SINAMICS Integrated from 4.5
Warning notice system
This manual contains information which you must heed to ensure your own personal safety and to avoid material damage. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to equipment damage have no safety alert symbol. Depending on the hazard level, warnings are indicated in a descending order as follows.
If more than one level of danger is simultaneously applicable, the warning notice for the highest level is used. A warning notice with a safety alert symbol warning of injury to persons may also include a warning relating to property damage.
Qualified personnel
The product/system described in this documentation may only be operated by personnel qualified for the specific task in accordance with the relevant documentation for the specific task, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
Trademarks
All names identified with ® are registered trademarks of Siemens AG. Any other names used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of liability
We have verified that the contents of this document correspond to the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. The information given in this document is reviewed at regular intervals and any corrections that might be necessary are made in the subsequent editions.
DANGER
indicates that death or serious injury will result if proper precautions are not taken.
WARNING
indicates that death or serious injury could result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
WARNING
Siemens products are only permitted to be used for the applications listed in the catalog and in the associated technical documentation. If third-party products and components are deployed, then they must be recommended or approved by Siemens AG. These products can only function correctly and safely if they are transported, stored, set up, mounted, installed, commissioned, operated and maintained correctly. The permissible ambient conditions must be adhered to. Notices in the associated documentation must be observed.
Siemens AGDivision Digital FactoryP.O. Box 48 4890026 NUREMBERGGERMANY
Document order number: A5E3327064110/2015 Subject to change
Copyright © Siemens AG 2015.All rights reserved
Legal information
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Preface
Information about the SINAMICS documentation
The SINAMICS documentation is organized in 2 parts:
• General documentation/catalogs
• Manufacturer/service documentation
This documentation is part of the Technical Customer Documentation for SINAMICS.
In the interests of clarity, this documentation does not contain all the detailed information for all product types and cannot take into account every possible aspect of installation, operation or maintenance.
The contents of this documentation are not part of an earlier or existing agreement, a promise, or a legal agreement, nor do they change this. The Purchase Agreement contains the complete and exclusive obligations of Siemens, including the warranty provisions. These contractual warranty provisions are neither extended nor curbed as a result of the statements made in this documentation.
Target group
This documentation addresses commissioning engineers and service personnel who use SINAMICS.
Objective
This manual contains information about all parameters, function diagrams, faults, and warnings required to commission and service the system.
This manual should be used in addition to the other manuals and tools provided for the product.
Search tools
The following guides are provided to help you locate information in this manual:
1. Table of contents for the complete manual (Page 7)
2. List of abbreviations (Page 64)
3. Index (Page 77)
Technical Support
Country-specific telephone numbers for technical support are provided in the Internet:
http://www.siemens.com/automation/service&support
Preface
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SINAMICS
Information about SINAMICS can be found on the Internet at the following address:
http://www.siemens.com/sinamics
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Table of contents
1 Fundamental safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 General safety instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2 Industrial security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2 Applications, characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3 Installation and activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.1 Installing an OA-application using STARTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163.1.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173.1.2 Installing the OA Support Package in STARTER. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183.1.3 Download the technology package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193.1.4 Activating the OA-application in the drive object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203.1.5 Commissioning of the OA-application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Uninstalling an OA-application using STARTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3 Installation of an OA application via SINUMERIK HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233.3.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233.3.2 Installing the OA application on the drive device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243.3.3 Activating the OA application for the axis (drive object). . . . . . . . . . . . . . . . . . . . . . . . . . . . 253.3.4 Commissioning the OA application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.4 Uninstalling an OA application via SINUMERIK HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4 Function description and commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.1 How POLYGON works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304.1.1 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304.1.2 Conditioning the master value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324.1.3 Parameterizing the characteristic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.2 Examples of scaling the master value in POLYGON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364.2.1 Example 1 – rotary axis with incremental encoders without a gear unit . . . . . . . . . . . . . . . 364.2.2 Example 2 – rotary axis with incremental encoders and a gear unit . . . . . . . . . . . . . . . . . . 374.2.3 Example 3 – referencing of the OA application POLYGON . . . . . . . . . . . . . . . . . . . . . . . . . 374.2.4 Example 4 – referencing the OA application POLYGON using an absolute value encoder 38
4.3 Examples for characteristics for POLYGON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404.3.1 Example 5 – sine with modulo 360 ° . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404.3.2 Example 6 – superimposition of multiple characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . 424.3.3 Example 7 - compensation of transfer function and dead times . . . . . . . . . . . . . . . . . . . . . 45
4.4 Function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.5 Sampling times and number of controllable drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.6 Licensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.7 SINAMICS Safety Integrated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Table of contents
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5 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.1 Overview of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.2 List of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
6 Function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
7 Faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
A Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
A.1 List of abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
A.2 Defining a characteristic (p31245, p31246[0…n]) with script. . . . . . . . . . . . . . . . . . . . . . . . 73A.2.1 Creating and running script . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73A.2.2 Example of a script. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
1
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Fundamental safety instructions
Content
1.1 General safety instructions 10
1.2 Industrial security 11
1 Fundamental safety instructions
1.1 General safety instructions
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1.1 General safety instructions
WARNING
Risk of death if the safety instructions and remaining risks are not carefully observed
If the safety instructions and residual risks are not carefully observed in the associated hardware documentation, accidents involving severe injuries or death can occur.
• Observe the safety instructions provided in the hardware documentation.
• When assessing the risk, take into account residual risks.
WARNING
Danger to life or malfunctions of the machine as a result of incorrect or changed parameter assignment
Machines can malfunction as a result of incorrect or changed parameter assignment, which in turn can lead to injuries or death.
• Protect the parameterization (parameter assignments) against unauthorized access.
• Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY-STOP or EMERGENCY-OFF).
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1 Fundamental safety instructions
1.2 Industrial security
1.2 Industrial security
Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the secure operation of plants, solutions, machines, devices, and/or networks. They are important components in a holistic industrial security concept. With this in mind, Siemens products and solutions undergo continuous development. Siemens strongly recommends that you regularly check for product updates.
To ensure that Siemens products and solutions are operated securely, suitable preventive measures (e.g. cell protection concept) and each component must be integrated into a state-of-the-art holistic industrial security concept. Any third-party products that may be in use must also be taken into account. You will find more information about industrial security at:
http://www.siemens.com/industrialsecurity
To receive information about product updates on a regular basis, register for our product newsletter. You will find more information at:
http://support.automation.siemens.com
WARNING
Danger due to unsafe operating states caused by software manipulation
Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe operating states to develop in your installation which can result in death, severe injuries and/or material damage.
• Update your software regularly.
You can find information and newsletters on this subject at:
http://support.automation.siemens.com
• Integrate the automation and drive components into a holistic, state-of-the-art industrial security concept for the plant or machine.
You can find more detailed information at:
http://www.siemens.com/industrialsecurity
• Make sure that you include all installed products into the integrated industrial security concept.
1 Fundamental safety instructions
1.2 Industrial security
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2
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Applications, characteristics
Applications
For SINAMICS, the OA application "polygonal line" (POLYGON) is an expansion for the SERVO, VECTOR, and HLA drive objects.
The polygonal line application makes it possible to create a master-value-dependent output signal based on a parameterized characteristic in the current controller sampling time (or an integer multiple of the current controller sampling time). The characteristics is defined by up to 10000 equidistantly distributed interpolation points between which linear interpolation is performed. The y-values of the interpolation points can be taken from an Excel sheet using a script.
By interconnecting the output signals to different connector inputs, it is possible to create the different relationships via the characteristic functionality, e.g.:
• Position-position reference
• Position-speed reference
• Position-torque reference
For example, for the following applications:
• Generation of special signal shapes together with the OA application SETPGEN, which generates the setpoint.
• Compensation for dead times and transfer function of speed setpoint oscillation.
• Encoder actual value as the master value for operating on a user-defined torque profile.
• Drive-integrated cam.
2 Applications, characteristics
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Characteristics
• Application of the master value and calculation of the output signal in the current controller sampling time or in discrete integer multiples of the current controller sampling time.
• Specification of the master value as an integer via a connector input. By default, the encoder position actual value Gn_XIST1 (r0479[0]) is interconnected to this input.
• Conversion of the master value into a length or angle unit that is suitable for the application via a rational scaling factor (integer numerator / integer denominator). This scaling factor also considers the gear ratio of a gear unit, if there is one, (gear factor).
• Definition of a reference point possible by taking over a setting value.
• Periodic repetition of the master value on rotary axes by specifying a modulo length.
• Dynamic master value offset possible via a connector input.
• 3 Fixed values available for the static interconnection of the master value, setting value, or master value offset.
• Generation of the output signal via parameterizable characteristic with up to 10000 interpolation points, which are distributed equidistantly over the modulo length. The characteristic is defined by the number of interpolation points and their y-values. Interpolation is performed linearly between the interpolation points.
Takeover of the y-values of the interpolation points from an Excel sheet possible using a script.
• Dynamic scaling of the output value via connector inputs:
– By specifying a factor (amplitude)
– By specifying an offset
• Provision of the scaled output signal via connector outputs for further interconnection as a percentage or integer. These connector outputs can, for example, be interconnected with connector inputs or analog outputs inside the controller.
Additional information about POLYGON
The OA application POLYGON is described in detail in Chapter "Function description and commissioning" (Page 29).
3
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Installation and activation
Table of contents
3.1 Installing an OA-application using STARTER 16
3.2 Uninstalling an OA-application using STARTER 22
3.3 Installation of an OA application via SINUMERIK HMI 23
3.4 Uninstalling an OA application via SINUMERIK HMI 28
3 Installation and activation
3.1 Installing an OA-application using STARTER
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3.1 Installing an OA-application using STARTER
This description to install and commission an OA-application is also applicable for engineering software with integrated STARTER (e. g. SIMOTION SCOUT).
Note
The subsequent description in this chapter refers to the fictitious OA-application "ABC_OA".
The procedure described in this chapter can be correspondingly applied to any real OA-application.
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3 Installation and activation
3.1 Installing an OA-application using STARTER
3.1.1 General information
Terms
• OA-application (OA, Open Architecture)
Software component (technology package) which provides additional functions for the SINAMICS drive system.
• OA Support Package (OASP)
By installing an OA Support Package (OASP), the STARTER commissioning tool is expanded by the corresponding OA-application.
An OA Support Package is only required if the associated OA-application is used. Generally, it can be obtained through your local Siemens office.
Devices
This description is applicable for devices that require a memory card (e.g. S120, automation systems with SINAMICS Integrated).
Requirements
1. The STARTER commissioning tool as of Version V4.2 must be installed.
2. The file for the OA Support Package "oasp_abc_oa_v1_2_oaif04402300.zip" must be located in a known directory.
The file name for the OA Support Package comprises the following elements:
– oasp = OA Support Package
– abc_oa = name of the OA-application
– v1_2 = version of the OA-application
– oaif04402300 = OA-Interface version (OA-interface version)
Version of the SINAMICS firmware from which this OA-application can be used (04402300 = V4.4).
Note
The following description assumes that the commissioning of the control and drive has been completed.
3 Installation and activation
3.1 Installing an OA-application using STARTER
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3.1.2 Installing the OA Support Package in STARTER
In the following, the OA-application is installed in STARTER as a technology package.
Requirements
1. The STARTER commissioning tool has been opened.
2. No project is open.
Procedure
Please proceed as follows:
1. Menu Tools > Select installation of libraries and technology packages ….
Fig. 3-1 Select and install OA Support Package (technology package)
2. Click the Add … button.
3. Open file "oasp_abc_oa_v1_2_oaif04402300.zip".
The technology package belonging to the OA-application ABC is added.
4. Click the Close button.
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3 Installation and activation
3.1 Installing an OA-application using STARTER
3.1.3 Download the technology package
In the following, the OA-application ABC_OA is loaded into the device using STARTER.
Requirements
1. A project matching the device is open.
2. The STARTER commissioning tool is in the ONLINE mode.
Procedure
Please proceed as follows:
1. Select the drive device in the project navigator.
2. In the shortcut menu (right mouse key), call the Select technology packages ….
The "Select technology packages" window opens.
3. For the technology package "ABC_OA", set the action "Load to target device"
Fig. 3-2 Select technology packages
4. Click the Execute actions button.
After successfully performing the action, the "OK" result field is displayed.
5. Then perform a power on (switch off/on) for the target device.
Additional information on the "Select technology package" dialog
• For a technology package, the "Version (online)" column is only populated after executing "Load to target device".
• The version data between "Version (offline)" and "Version (online)" can differ. When downloading the technology package, the version in the target device is always overwritten.
3 Installation and activation
3.1 Installing an OA-application using STARTER
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3.1.4 Activating the OA-application in the drive object
In the following, the OA-application is assigned to a drive object.
Requirements
1. A project matching the device is open.
2. The corresponding drive axes are created in the project.
3. The STARTER commissioning tool is in the OFFLINE mode.
Procedure
Please proceed as follows:
1. In the project navigator, select the drive object for which the OA-functionality is required (e.g. SERVO_03).
2. Select shortcut menu Properties (right mouse key).
3. Select the Technology packages tab.
4. Activate the checkbox for "ABC_OA" (set the check mark).
Fig. 3-3 Object properties
5. Click the OK button.
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3 Installation and activation
3.1 Installing an OA-application using STARTER
6. Checking the expert list of the drive object
The additional parameters of the installed OA-application must now be visible in the expert list of the corresponding drive object.
Fig. 3-4 Expert list
7. Download the project
To activate the OA-application for the drive object, a project download is required (establish the ONLINE mode, download the project).
3.1.5 Commissioning of the OA-application
By setting the corresponding additional parameters, the OA-application ABC_OA can be commissioned using the STARTER commissioning tool via the expert list.
Parameters p30000 … p30003 are available for ABC_OA.
Commissioning POLYGON
For the OA application POLYGON, parameters starting at p31230 are available, see "List of parameters" (Page 53).
Commissioning is described in detail in Chapter "Function description and commissioning" (Page 29).
3 Installation and activation
3.2 Uninstalling an OA-application using STARTER
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3.2 Uninstalling an OA-application using STARTERUninstalling an OA-application using STARTER is performed in the inverse sequence to that of installation.
1. Deactivate the OA-application in the drive object, see "Activating the OA-application in the drive object" (Page 20)
2. Delete the technology package belonging to the OA-application in the drive unit, see "Download the technology package" (Page 19).
– Deactivate the technology package in the OFFLINE mode.
– For the technology package in the ONLINE mode, select the "Delete" action and click the Execute actions button.
3. Uninstall the OA-application in STARTER, see "Installing the OA Support Package in STARTER" (Page 18).
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3 Installation and activation
3.3 Installation of an OA application via SINUMERIK HMI
3.3 Installation of an OA application via SINUMERIK HMI
3.3.1 General information
Terms
• OA application (OA, Open Architecture)
Software component (technology package) which provides additional functions for the SINAMICS drive system.
• Portable service system for NCU
Emergency Boot System (EBS) on a USB memory. If service is required, you can initiate that the NCU powers up from the service system, in order to execute various service tasks (e.g. data backup or update).
Devices
This description applies to SINUMERIK devices with SINAMICS Integrated (e.g. SINUMERIK 840D sl).
Note
The subsequent description in this chapter refers to the fictitious OA application "ABC_OA".
The procedure described in this chapter can be correspondingly applied to any real OA application.
Note
The portable service system for NCU, as well as the procedure to generate it on a USB memory, is described in detail in the following reference:
References: /IM7/ SINUMERIK operating system NCU commissioning manualChapter "Diagnostics and service"
3 Installation and activation
3.3 Installation of an OA application via SINUMERIK HMI
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Preconditions
1. The HMI appropriate for the associated SINUMERIK version must have been installed (e.g. HMI-Operate, used here, or HMI-Advanced).
2. A USB memory, which is installed on the portable service system for the NCU, is available.
3. The file for the OA application ABC_OA "abc_oa_v1_2_oaif04402300.tgz" is copied to the FAT partition of the USB memory with the portable service system.
The file name for the OA application ABC_OA comprises the following elements:
– abc_oa = name of the OA application
– v1_2 = version of the OA application
– oaif04402300 = OA interface version
Version of the SINAMICS firmware from which this OA application can be used (04402300 = V4.4).
3.3.2 Installing the OA application on the drive device
In the following, the OA application is installed on a drive object.
Procedure
1. Connect the USB memory with portable service system to USB interface X125 or X135 of the SINUMERIK NCU.
2. Restart the SINUMERIK NCU:
– Switch off the device and then switch on again.
or
– Press the "Reset" button.
SINUMERIK NCU starts with the service system.
3. In the service system, execute the following actions one after the other:
– In the main menu, select menu item "Update NCU Software and Data".
– Then select menu item "Update system software from USB memory stick".
– Select file "abc_oa_v1_2_oaif04402300.tgz" and acknowledge with "OK".
File "abc_oa.cfs" is extracted from file "abc_oa_v1_2_oaif04402300.tgz", and is saved in the directory "/card/oem/sinamics/oa".
4. Restart SINUMERIK NCU as described under Step 2.
The ABC_OA OA application is installed in the "/card/oem/sinamics/oa" directory when the system boots. The appropriate data is made available in the "abc_oa" subdirectory.
Note
The following description assumes that the commissioning of the control and drive has been completed.
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3 Installation and activation
3.3 Installation of an OA application via SINUMERIK HMI
3.3.3 Activating the OA application for the axis (drive object)
In the following, the ABC_OA OA application is assigned to the desired axes and the appropriate drive objects.
Configuration example
A 3-axis SINUMERIK system comprises the following drive objects, for instance:
• Control Unit (DO_1)
• Infeed (DO_2)
• X axis (DO_3, AX1)
• Y axis (DO_4, AX2)
• Z axis (DO_5, AX3)
Procedure
To activate the OA application on the desired axes, proceed as follows:
1. Deactivate the pulse enable for SINAMICS (e.g. via the EP terminal)
2. Control Unit: Set the configuration for the OA application
– p0009 = 0 → 50
3. Perform the following tasks for the first axis or drive object on which this OA application should be activated (e.g. DO_3, AX1):
– p4956[0] = 0 → 1
For SINUMERIK, this is displayed as follows in the drive machine data:
Fig. 3-5 OA application activated in the drive machine data
3 Installation and activation
3.3 Installation of an OA application via SINUMERIK HMI
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4. For additional axes on which this OA application is to be activated (e.g. DO_4, AX2), repeat step 3.
5. Control Unit: Exit the configuration for the OA application
– p0009 = 50 → 0
6. Backing up the parameters
7. Reactivate the pulse enable for SINAMICS
8. Check the parameter list for AX1
The additional parameters of the installed OA application must now be visible in the parameter list for the axis AX1 (DO_3).
Note
The number of OA applications is displayed in r4950.
r4955[0…8] contains the designation for OA application 1r4955[9…17] contains the designation for OA application 2, etc.
For r4950 = 1, the following applies:
• There is only one OA application.
• In this case, p4956[0] is used to activate an OA application.
For r4950 > 1, the following applies:
• Several OA applications are available.
• The associated index for activating the OA application ABC_OA depends on the designation.
– If "ABC_OA" is in r4955[0…8], the following applies p4956[0]
– If r4955[9…17] contains "ABC_OA", p4956[1] applies, etc.
Note
If extension modules (e.g. NX assembly units) are present, the following is true for axes calculated on these modules:
Commissioning mode (p0009 = 50) must be set for these modules before the OA application for these axes can be activated.
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3.3 Installation of an OA application via SINUMERIK HMI
Fig. 3-6 Expert list
3.3.4 Commissioning the OA application
By setting the corresponding additional parameters, the OA application ABC_OA can be commissioned via HMI Operate.
Parameters p30000 … p30003 are available for ABC_OA.
Commissioning POLYGON
For the OA application POLYGON, parameters starting at p31230 are available, see "List of parameters" (Page 53).
Commissioning is described in detail in Chapter "Function description and commissioning" (Page 29).
3 Installation and activation
3.4 Uninstalling an OA application via SINUMERIK HMI
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3.4 Uninstalling an OA application via SINUMERIK HMI
Procedure
To uninstall an OA application via SINUMERIK HMI, proceed as follows:
1. Deactivate the OA application in the drive object, see "Activating the OA application for the axis (drive object)" (Page 25).
2. Stop the system:
– Connect via Secure Shell (SSH).
– Run the following command: sc stop all.
3. Delete the subdirectory and files on the memory card:
– Select the system data.
– Select directory "/oem/sinamics/oa" under the system CF card.
– Select "abc_oa" and delete.
– Select "abc_oa.cfs" and delete.
4. Carry out a POWER ON (switch off/switch on).
Note
Pay attention to the sequence when deleting:
First the subdirectory and then the file.
4
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Function description and commissioning
Table of contents
4.1 How POLYGON works 30
4.2 Examples of scaling the master value in POLYGON 36
4.3 Examples for characteristics for POLYGON 40
4.4 Function diagrams 47
4.5 Sampling times and number of controllable drives 48
4.6 Licensing 49
4.7 SINAMICS Safety Integrated 50
This chapter describes the method of operation and commissioning of the OA application POLYGON. It complements the following chapters:
• "Applications, characteristics" (Page 13)
• "Installation and activation" (Page 15)
4 Function description and commissioning
4.1 How POLYGON works
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4.1 How POLYGON worksThe OA application POLYGON allows you to generate an output signal depending on a master value via a characteristic. The characteristic is defined via interpolation points.
The master value is typically an encoder position actual value Gn_XIST1 (r0479[0]). In this case, the position actual value depends on the number of encoder pulses p0408 and the fine resolution p0418.
With parameters p31235 and p31236, the encoder position actual value Gn_XIST1 is converted to a length or angle unit suitable for the application, e.g. millidegrees (° / 1000) for rotary movements. If a gear unit is interposed between the motor or encoder and the load, the gear ratio is also considered in these parameters. A certain position actual value can be specified at a reference point by applying a setting value. A periodic signal is generated by defining a modulo length p31244.
Via the master value offset, a specific phase offset can be set during run time, for example, to consider the transfer function of the mechanical structure.
The characteristic if defined by up to 10000 equidistant interpolation points (p31245, POLYGON characteristic number of interpolation points). The y-values are stored in p31246[0…n] (POLYGON characteristic y-value). Interpolation is performed linearly between the interpolation points. The y-values of the interpolation points can be taken from an Excel sheet using a script. Any signal shape can be stored. The output amplitude can be freely scaled.
Superimposition of multiple characteristics is possible. In this way, additional signals can be superimposed on a useful signal. These additional signals can be generated, for example:
• With the OA application POLYGON as master-value-dependent additional signals, i.e. depending e.g. on the momentary angle of rotation.
• With the OA application SETPGEN as time-dependent additional signals that are independent of a master value.
The resulting signal can, for example, be interconnected as a torque, speed, or position actual value.
4.1.1 Commissioning
The following description of the functionality also describes the normal sequence for commissioning the POLYGON.
The "Examples of scaling the master value in POLYGON" (Page 36) and the "Examples for characteristics for POLYGON" (Page 40) are also used as a commissioning guide.
The installed OA application POLYGON is also transferred with the "Load to file system" function. This can be used for a series commissioning.
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4.1 How POLYGON works
Preconditions
The following requirements must be met when commissioning the OA application POLYGON:
• When installed using STARTER:
– The OA application has been installed as a technology package in the STARTER, see "Installing the OA Support Package in STARTER" (Page 18).
– It is loaded into the Control Unit, see "Download the technology package" (Page 19).
– It is assigned to the SERVO, VECTOR, or HLA drive object, see "Activating the OA-application in the drive object" (Page 20).
• For installation using SINUMERIK HMI:
– The OA application has been installed on the drive device, see "Installing the OA application on the drive device" (Page 24)
– It is activated for the axis (drive object), see "Activating the OA application for the axis (drive object)" (Page 25).
Licensing is required, see "Licensing" (Page 49).
Configuration
The configuration of the POLYGON is shown in the following function diagrams:
• "7331 – POLYGON structure" (Page 60).
The settings required for the configuration are as follows:
1. Setting the sampling time for POLYGON
The sampling time is set as a multiple of the current controller sampling time (p0115[0]). The permissible sampling times are listed in detail in the description of p31230, see "List of parameters" (Page 53).
2. Interconnection and conditioning of the master value
– Interconnecting the signal source of the master value (CI: p31234)
– Scaling the master value: p31235, p31236
– Interconnecting the setting value and its application (CI: p31238, BI: p31239)
– Defining the modulo length: p31244
– Interconnecting the master value offset (CI: p31240)
See also Section "Conditioning the master value" (Page 32)
3. Parameterizing the characteristic
– Defining the number of interpolation points (p31245)
– Defining y-values of the interpolation points (p31246[0…n])
– Interconnecting the amplitude and offset (CI: p31247, CI: p31248)
– Enabling (BI: p31231)
See also Section "Parameterizing the characteristic" (Page 34)
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4.1.2 Conditioning the master value
Interconnecting the signal source for the master value
The connector input p31234 is interconnected to the signal source provided by the master value. The master value source must provide the master value as an integer (data type Integer32).
Typical BICO connections include:
• Master value of a real axis
CI: p31234 = r0479[0] (diagnosis encoder position actual value Gn_XIST1, encoder 1)
• Virtual master value based on OA application SETPGEN
CI: p31234 = r31222 (SETPGEN output total integer)
• Virtual master value based on the function module EPOS (r0108.4 = 1)
CI: p31234 = r2665 (EPOS position setpoint)
Scaling the master value
The purpose of scaling is to represent the master value in a length or angle unit that is suitable for the application.
For rotary movements, the position actual value is best represented in angle units. Because of the higher resolution, it is advisable to choose millidegrees (° / 1000) as the unit. The scaling factors p31235 and p31236 will then contain the following values:
• p31235 (POLYGON master value scaling numerator):
The numeric value for 1 revolution is assigned to this parameter in the chosen angle unit.
With millidegrees as the unit, 360000 millidegrees corresponding to one revolution, i.e. p31235 = 360000.
• p31236 (master value scaling denominator):
– In the case of rotary encoders, the numeric value for 1 revolution is assigned to this parameter in encoder increments. This value depends on the resolution of the encoder used, which is specified in the following parameters:
p0408[0] (rotary encoder pulse number)
p0418[0] (fine resolution Gx_XIST1 (in bits))
The number of encoder increments per revolution is p0408[0] · 2p0418[0], i.e. p31236 = p0408[0] · 2p0418[0].
– With a virtual master value based on the OA application SETPGEN, p31236 must be chosen in accordance with the parameterization of SETPGEN.
– With a virtual value based on the function module EPOS, the value of r2524 (LU/revolution) can be assigned to parameter p31236.
Note
After startup, after data set switchover, or after park encoder, the following applies: The new value may only be available after several 100 ms at connecter inputs that are interconnected with connector output r0479[0].
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4 Function description and commissioning
4.1 How POLYGON works
Referencing using the setting value
The setting value and its application provides a way of defining a reference point.
• The setting value is defined in the length or angle units chosen by the user; the corresponding numeric value is, for example, stored in the fixed value p31241[0…2].
• The connector input p31238 (POLYGON master value setting value) is interconnected with the signal source of the setting value (factory setting p31241[0]).
• The setting value is applied with a 0/1 signal at the binector input p31239.
The setting value will be used for future changes to the scaled master value once it has been applied (master value after setting value = scaled master value + setting value – scaled master value on application of the setting value).
Modulo calculation
Modulo calculation permits periodic repetition of the master value for rotary axes. The modulo length depends on the periodic lengths of the master value and the output signal. It is defined in the length or angle unit chosen by the user. The corresponding numeric value is entered in p31244 (POLYGON modulo length).
By default, p31244 = 360000, that is the modulo length corresponds to one revolution in the unit millidegrees.
If the period lengths of the master value and the output signal are different, p31244 must be modified accordingly. For example, the torque characteristic of a cylinder in a 4-stroke internal combustion engine only repeats after 2 revolutions. In this case, the modulo length must be set to 2 revolutions, that is, p31244 = 720000.
The effective master value after modulo generation is displayed at the connector output r31242[0] (POLYGON master value active, master value before position offset).
Master value offset
The master value offset via the connector input p31240 (POLYGON master value offset) permits dynamic phase offset of the master value on rotary axes. The master value offset is defined in the length or angle unit chosen by the user. For static setting of the master value offset, one of the fixed values p31241[0…2] can be used.
The effective master value after master value offset is displayed at the connector output r31242[1] (POLYGON master value active, master value after position offset).
Note
Internally, the scaled master value is represented in data type FloatingPoint to minimize rounding differences.
4 Function description and commissioning
4.1 How POLYGON works
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4.1.3 Parameterizing the characteristic
Define interpolation points
The characteristic is defined via interpolation points.
• Number of interpolation points:
The number of interpolation points is defined in p31245 (POLYGON characteristic number of interpolation points). The interpolation points are equidistantly distributed over the modulo length.
For the following effective master values, the interpolation points are therefore at:
• y-values of the interpolation points
The y-values of the interpolation points are defined in p31246[0…n] (POLYGON characteristic y-value). Interpolation is performed linearly between the interpolation points.
The upper limit of the dynamic index is determined by p31245 (POLYGON characteristic number of interpolation points): .
Importing interpolation points from an Excel sheet
With a large number of interpolation points, manual entry in parameter p31245[1…n] is difficult and error-prone. The values are often calculated or measured values that are already available in a table.
The scripting functionality of the commissioning tool (e.g. STARTER) allows you to edit such tables if they are in the format of the Excel spreadsheet program. Appendix "Defining a characteristic (p31245, p31246[0…n]) with script" (Page 73) contains a script by way of example that takes over values from a column of an Excel sheet and writes them into the specified parameters.
Defining the amplitude and offset
The characteristic can be dynamically scaled via the connector inputs p31247 (POLYGON amplitude) and p31248 (POLYGON offset).
If these connector inputs are not interconnected, their factory settings will apply (1 for p31247 or 0 for p31248).
modulo length · , where
i : number of the interpolation point,
Note
The number 1.0 corresponds to 100 %. This means that, for example, for interconnection as a torque setpoint, a torque of p2003 (reference torque) is specified.
i p31245⁄
i 0, p31245 1–( )[ ]∈
n p31245 1–=
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4 Function description and commissioning
4.1 How POLYGON works
Interconnecting outputs
The scaled output signal is available for further interconnection at the following connector outputs:
• in r31249 (POLYGON output) as the percentage value.
This connector output can be interconnected as follows, for example:
– With connector inputs inside the closed-loop control, e.g.:
Supplementary setpoint (CI: p1075[C])
Supplementary torque (CI: p1511[C])
Speed controller P gain adaptation signal (CI: p1455[C])
Speed controller P gain scaling (CI: p1466[C]
– With connector inputs of other OA applications, e.g.
SETPGEN signal shape amplitude (CI: p31212[0…2])
SETPGEN signal shape offset (CI: p31214[0…2])
– With connector inputs of the OA application POLYGON on another drive object, e.g.
POLYGON amplitude (CI: p31247)
POLYGON offset (CI: p31248)
– With analog outputs, e.g.:
TM31 analog outputs, signal source (CI: p4071[0…1])
• in r31251 (POLYGON output integer) as an integer in format Integer32.
To improve the resolution, the signal can first be scaled with p31250 (POLYGON output integer scaling).
To enable the outputs, the binector input p31231 (POLYGON enable) must be interconnected with a 1 signal
4 Function description and commissioning
4.2 Examples of scaling the master value in POLYGON
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4.2 Examples of scaling the master value in POLYGONFor real axes, the encoder position actual value Gn_XIST1 (r0479[0]) is usually used as the master value. For this purpose, the connector input p31234 (POLYGON master value raw value) is interconnected to r0479[0].
The purpose of scaling is to represent the master value in a length or angle unit that is suitable for the application.
4.2.1 Example 1 – rotary axis with incremental encoders without a gear unit
For rotary movements, the position actual value is best represented in angle units. Because of the higher resolution, it is advisable to choose millidegrees (° / 1000) as the unit. The scaling factors p31235 and p31236 will then contain the following values:
• p31235 (POLYGON master value scaling numerator):
1 Revolution corresponds to 360000 millidegrees
• p31236 (master value scaling denominator):
The numeric value for 1 revolution is assigned to this parameter in the chosen angle unit. This value depends on the resolution of the encoder used:
– p0408[0] (rotary encoder pulse number)
– p0418[0] (fine resolution Gx_XIST1 (in bits))
1 Revolution corresponds to p0408[0] · 2p0418[0].
The scaling factors for a sin/cos encoder with 512 pulses/revolution and a fine resolution of 11 bits are shown in the following table:
p31244 (POLYGON modulo length) permits periodic repetition of the master value for rotary axes. By default p31244 = 360000, that is, the modulo length corresponds to one revolution.
If the period lengths of the master value and the output signal are different, p31244 must be modified accordingly.
Table 4-1 Scaling of the master value for a rotary axis with incremental encoders without a gear unit
Parameter Parameter name Value Comment
p0408[0] Rotary encoder pulse number 512
p0418[0] Fine resolution Gx_XIST1 (in bits) 11 Corresponds to fine resolution 2048
p31234 POLYGON master value raw value r0479[0] Interconnection with encoder position actual value G1_XIST1
p31235 POLYGON master value scaling numerator 360000 1 revolution corresponds to 360000 millidegrees
p31236 POLYGON master value scaling denominator 1048576 1 revolution corresponds to p0408[0] · 2p0418[0] = 512 · 211 = 220.
p31244 POLYGON modulo length 360000 1 revolution
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4 Function description and commissioning
4.2 Examples of scaling the master value in POLYGON
4.2.2 Example 2 – rotary axis with incremental encoders and a gear unit
If a gear unit is installed between the motor and load, the gear ratio is considered in the scaling parameters p31235 and p31236.
• p31235 (POLYGON master value scaling numerator):
The number of revolutions of the load is considered as a factor.
• p31236 (master value scaling denominator):
The number of revolutions of the motor is considered as a factor.
The following table shows the scaling factors:
• Motor encoder is a sin/cos encoder with 512 pulses/revolution and a fine resolution of 11 bits, corresponding to "Example 1 – rotary axis with incremental encoders without a gear unit" (Page 36).
• A gear unit with the following gear factor is additionally installed between the motor and the load: 7 revolutions of the motor cause 3 revolutions of the load.
4.2.3 Example 3 – referencing of the OA application POLYGON
In parameters p31238 (POLYGON master value setting value), p31239 (POLYGON master value apply setting value) and p31241[0…2] (POLYGON fixed value), a reference point can be defined for the OA application POLYGON. Referencing must be performed when the axis is stopped.
General procedure:
• The setting value is defined in the length or angle units chosen by the user; the corresponding numeric value is, for example, stored in the fixed value p31241[0…2].
• The connector input p31238 (POLYGON master value setting value) is interconnected with the signal source of the setting value (factory setting p31241[0]).
• The setting value is applied with a 0/1 signal at the binector input p31239.
Table 4-2 Scaling of the master value for a rotary axis with incremental encoders with a gear unit
Parameter Parameter name Value Comment
p0408[0] Rotary encoder pulse number 512
p0418[0] Fine resolution Gx_XIST1 (in bits) 11
p2504[DDS] LR motor/load motor revolutions 7 7 revolutions of the motor
p2505[DDS] LR motor/load load revolutions 3 3 revolutions of the load
p31234 POLYGON master value raw value r0479[0] Interconnection with encoder position actual value G1_XIST1
p31235 POLYGON master value scaling numerator 1080000 3 load revolutions correspond to 3 · 360000 millidegrees.
p31236 POLYGON master value scaling denominator 7340032 7 revolutions of the motor correspond to 7 · 1048576.
p31244 POLYGON modulo length 360000 1 revolution of the load
4 Function description and commissioning
4.2 Examples of scaling the master value in POLYGON
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4.2.4 Example 4 – referencing the OA application POLYGON using an absolute value encoder
If absolute encoders are used, the function module "Basic positioner, EPOS," can be used to reference the OA application POLYGON.
For example, the following figure shows the screen form "Mechanics" for a drive with modulo length 360000 LU (length units). The modulo length corresponds to 1 revolution of the load.
Fig. 4-1 Screen form "Mechanics" for configuration of the position control
Note
If the function module "Basic positioner, EPOS" or "Position control, LR" is used, please note:
The following settings must be made analogously:
1. For configuration of the drive:
The settings for position control (screen form "Mechanics" in the STARTER commissioning tool).
2. In the OA application POLYGON:
The settings for master value scaling (p31235, p31236) and modulo length (p31244).
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4 Function description and commissioning
4.2 Examples of scaling the master value in POLYGON
Analogous parameterization of the OA application POLYGON is shown in the following table:
For referencing, the position actual value of the position control (r2521[0]) should be used as the setting value for POLYGON. This value must be applied in a 0/1 signal at the digital input 6.
This results in the following parameterization:
Table 4-3 Scaling of the master value in an analogous way to the "Mechanics" screen form
Parameter Parameter name Value Comment
p0408[0] Rotary encoder pulse number 512
p0418[0] Fine resolution Gx_XIST1 (in bits) 11 Corresponds to fine resolution 2048
p31234 POLYGON master value raw value r0479[0] Interconnection with encoder position actual value G1_XIST1
p31235 POLYGON master value scaling numerator 360000 1 revolution corresponds to 360000 millidegrees
Identical with p2506[DDS] (LR length unit LU per load revolution)
p31236 POLYGON master value scaling denominator 1048576 1 revolution corresponds to p0408[0] · 2p0418[0] = 512 · 211 = 220
p31244 POLYGON modulo length 360000 1 revolutions of the load
Identical with p2576 (EPOS modulo correction modulo range)
Table 4-4 Parameterization for application of the setting value
Parameter Parameter name Value Comment
p31238 POLYGON master value setting value r2521[0] Interconnection with LR position actual value
p31239 POLYGON master value apply setting value CU_S: r0722.6 Interconnection with digital input DI 6
4 Function description and commissioning
4.3 Examples for characteristics for POLYGON
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4.3 Examples for characteristics for POLYGON
4.3.1 Example 5 – sine with modulo 360 °
This example shows how a sinusoidal signal with 12 interpolation points (p31245 = 12) is generated via a modulo length of 360 ° (p31244 = 360000). The interpolation points of the characteristic are equidistantly distributed over the modulo length. The y-values of the interpolation points are set in p31246[0…11]. Interpolation is performed linearly between the interpolation points.
Scaling of the master value is performed analogously to the examples in Section "Examples of scaling the master value in POLYGON" (Page 36).
Table 4-5 Parameterization of the characteristics with 12 interpolation points
Parameter Parameter name Value Comment
p31244 POLYGON modulo length 360000
p31245 POLYGON characteristic number of interpolation points
12
p31246[0] POLYGON characteristic y-values(0 degrees)
0.000000 sin (0 °) = 0
p31246[1] POLYGON characteristic y-values(30 degrees)
0.500000 sin (30 °) =
p31246[2] POLYGON characteristic y-values(60 degrees)
0.866025 sin (60 °) =
p31246[3] POLYGON characteristic y-values(90 degrees)
1.000000 sin (90 °) = 1
p31246[4] POLYGON characteristic y-values (120 degrees)
0.866025 sin (120 °) =
p31246[5] POLYGON characteristic y-values (150 degrees)
0.500000 sin (150 °) =
p31246[6] POLYGON characteristic y-values (180 degrees)
0.000000 sin (180 °) = 0
p31246[7] POLYGON characteristic y-values (210 degrees)
sin (210 °) =
p31246[8] POLYGON characteristic y-values (240 degrees)
sin (240 °) =
p31246[9] POLYGON characteristic y-values (270 degrees)
sin (270 °) =
p31246[10] POLYGON characteristic y-values (300 degrees)
sin (300 °) =
p31246[11] POLYGON characteristic y-values (330 degrees)
sin (330 °) =
1 2⁄
3 2⁄
3 2⁄
1 2⁄
0.500000– 1– 2⁄
0.866025– 3– 2⁄
1.000000– 1–
0.866025– 3– 2⁄
0.500000– 1– 2⁄
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4 Function description and commissioning
4.3 Examples for characteristics for POLYGON
The following are shown:
• r31242[1]: POLYGON master value active, master value after position offset (orange)
• r31249: POLYGON output (black)
The zero lines of the signals shown are not identical.
Fig. 4-2 Example of a sinusoidal function with 12 interpolation points per 360 °
The following table shows parameterization of the characteristic with 1200 interpolation points by way of example.
The y-values can be calculated in an Excel sheet, for example, and written into parameter p31246[0…n] using a script. Appendix "Defining a characteristic (p31245, p31246[0…n]) with script" (Page 73) provides an example of a script that takes over values from a column of an Excel sheet and writes them into the specified parameters.
Note
The number 1.0 corresponds to 100 %. This means that, for interconnection as a torque setpoint, a torque of p2003 is specified.
Table 4-6 Parameterization of the characteristic with 1200 interpolation points
Parameter Parameter name Value Comment
p31244 POLYGON modulo length 360000
p31245 POLYGON characteristic number of interpolation points
1200 Taken over from the Excel sheet using a script.
p31246[0…1199] POLYGON characteristic y-values Calculated in an Excel sheet and taken over using a script.
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4.3 Examples for characteristics for POLYGON
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The following are shown:
• r31242[1]: POLYGON master value active, master value after position offset (orange)
• r31249: POLYGON output (black)
The zero lines of the signals shown are not identical.
Fig. 4-3 Example of a sinusoidal function with 1200 interpolation points per 360 °
4.3.2 Example 6 – superimposition of multiple characteristics
The OA application POLYGON can be parameterized on multiple drive objects. This makes it possible to define individual frequencies separately.
Generation and superimposition of 2 master-value-dependent signals are shown below.
• On drive object SERVO_02, the measured torque characteristic of a 4-cylinder 4-stroke internal combustion engine is stored.
– Number of measurement points: 1264.
– The modulo length corresponds to 2 revolutions ( = 720 °).
• A sinusoidal oscillation is parameterized on drive object SERVO_03.
The aim is to generate 12 sine oscillations within the modulo length of the torque characteristic. The modulo length of the sine oscillation is therefore 1/12 of the modulo length of the torque characteristic ( = 60 °).
The following tables show the parameterization of the torque characteristic and the sine oscillation.
Scaling of the master values is performed identically on both drive objects and analogously to the examples in Section "Examples of scaling the master value in POLYGON" (Page 36). In particular, p31234 (POLYGON master value raw value) is interconnected to the same signal source (same drive object).
SINAMICS POLYGON
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4 Function description and commissioning
4.3 Examples for characteristics for POLYGON
The variation over time of the following signals with a frequency of rotation of 20 Hz (cycle duration for 2 revolutions = 100 ms) is shown below:
• r31242[1]: POLYGON master value active, master value after position offset (orange)
• SERVO_02: r31249: POLYGON output (black)(torque characteristic)
• SERVO_03: r31249: POLYGON output (green)(sine oscillation)
Fig. 4-4 Torque characteristic and sine oscillation
To superimpose the sine oscillation of the torque characteristic, drive object SERVO_2 must be parameterized additionally (as shown in the following table):
Table 4-7 Parameterization of the torque characteristic with 1264 interpolation points to drive object SERVO_2
Parameter Parameter name Value Comment
p31244 POLYGON modulo length 720000 2 revolutions
p31245 POLYGON characteristic number of interpolation points
1264 Taken over from the Excel sheet using a script.
p31246[0…1263] POLYGON characteristic y-values Measured values taken over from the Excel sheet using a script.
p31247 POLYGON amplitude 1 Default setting
Table 4-8 Parameterization of the sine function with 1200 interpolation points on drive object SERVO_3
Parameter Parameter name Value Comment
p31244 POLYGON modulo length 60000 12 sine oscillations within 2 revolutions
p31245 POLYGON characteristic number of interpolation points
1200 Taken over from the Excel sheet using a script.
p31246[0…1199] POLYGON characteristic y-values Calculated in an Excel sheet and taken over using a script.
p31247 POLYGON amplitude r2900 Interconnected to fixed value 1 [%]
r2900[DDS] Fixed value 1 27.0 Corresponds to 27.0 %
4 Function description and commissioning
4.3 Examples for characteristics for POLYGON
SINAMICS POLYGON
44 Function Manual (FH15), 10/2015, A5E33270641
The following figure shows the sum signal at a frequency of rotation of 20 Hz (cycle duration for 2 revolutions = 100 ms). The following signals are displayed:
• r31242[1]: POLYGON master value active, master value after position offset (orange)
• SERVO_02: r31249: POLYGON output (red)(torque characteristic with superimposed sine oscillations)
Fig. 4-5 Torque characteristic with superimposed sine oscillation
Table 4-9 Additional parameterization to drive object SERVO_2 for superimposition
Parameter Parameter name Value Comment
p31248 POLYGON offset SERVO_3: r31249
Note
If the superimposing signal is not dependent on the master value (e.g. simulation of a constant resonant frequency), the OA application SETPGEN can also be used to generate it. The offset of POLYGON (p31248) is interconnected with the output signal of SETPGEN (r31215[0…2], r31220).
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4 Function description and commissioning
4.3 Examples for characteristics for POLYGON
4.3.3 Example 7 - compensation of transfer function and dead times
In the case of known setpoint signals that have a sinusoidal curve, amplitude and phase deviations in the leading behavior can be compensated for.
The following figure shows the leading frequency response of a moderately set speed controller in the form of a Bode diagram:
Fig. 4-6 Measured frequency response of a speed controller
In this Bode diagram, for example, at 100 Hz (corresponds to 10 ms cycle duration of one sine oscillation), we can see a phase offset between the input and output signal of -97.9 ° and an amplitude reduction of -3.4 dB.
The following figure explicitly shows the phase offset and the amplitude reduction for a superimposed speed setpoint oscillation of 100 Hz ( = cycle duration 10 ms). The variation over time of the following signals is shown:
• r31242[0]: POLYGON master value active, master value before position offset (green)
• r0062: Speed setpoint after the filter (black)
• r0061[0]: Speed actual value, unsmoothed, encoder 1(red)
Fig. 4-7 Phase offset and amplitude reduction between the setpoint and actual value signals
With the OA application POLYGON, it is possible to generate an additional oscillation with the relevant frequency and a suitable phase offset and amplitude for the existing speed setpoint oscillation, depending on the position actual value. If this additional oscillation is superimposed on the existing oscillation, the amplitude reduction and the phase offset are reduced.
4 Function description and commissioning
4.3 Examples for characteristics for POLYGON
SINAMICS POLYGON
46 Function Manual (FH15), 10/2015, A5E33270641
The following figure shows this principle for the oscillation with 100 Hz by way of example. If the resulting setpoint – corresponding to the leading frequency response – is subject to a phase offset of 97.9 ° and an amplitude increase of 150 % (corresponds to 3.4 dB), the resulting actual value has the correct phase angle and amplitude:
Fig. 4-8 Actual value after phase offset and amplitude increase of the setpoint
This is shown in the following figure. It shows:
• the original setpoint profile
• the actual value profile after adaptation of the phase angle and amplitude of the setpoint profile.
Fig. 4-9 Actual value profile after adaptation of the setpoint profile and original setpoint profile
To arrive at a correct compensation profile for changeable frequencies, the master value offset (CI: p31240) and the amplitude (CI: p31247) must be dynamically defined from outside.
An analog procedure can be used for compensation of dead times.
Note
If the signals are interconnected as a torque setpoint, the transfer function has a substantially higher cut-off frequency because the current controller sampling time is active. However, in this case, too, the effects mentioned are measurable and can be compensated for via this functionality.
SINAMICS POLYGON
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4 Function description and commissioning
4.4 Function diagrams
4.4 Function diagrams
Note
Only the function diagram for the OA application POLYGON is included in this manual, see Chapter "Function diagrams" (Page 59).
The function diagrams for SINAMICS are contained in the relevant product-specific Lists Manuals, for example:
References: /LH1/ SINAMICS S120/S150 List ManualChapter "Function diagrams"
4 Function description and commissioning
4.5 Sampling times and number of controllable drives
SINAMICS POLYGON
48 Function Manual (FH15), 10/2015, A5E33270641
4.5 Sampling times and number of controllable drivesThe sampling time of the OA application POLYGON is entered via p31230 as an integer multiple of the current controller sampling time p0115[0].
The OA application POLYGON requires additional CPU time. This can reduce the maximum number of drive axes that can be controlled.
The remaining CPU time (see r9976) can be used for POLYGON and other options (e.g. DCC).
Examples of additional use of CPU time
The following table lists the values for the additional use of CPU time:
• For different sampling times (p31230 · p0115[0]).
• For 1 axis with OA application POLYGON activated
• For 2 axes with OA application POLYGON activated.
• For 5 axes with activated OA-application POLYGON.
For 5 drives with servo control or hydraulic control (p0115[0, 1] = 125 µs) and infeed unit (p0115[0] = 250 µs), POLYGON can be operated with a sampling time of 125 µs for all SERVO or HLA drive objects.
For 5 drives with vector control (p0115[0] = 500 µs, p0115[1] = 2000 µs) and infeed (p0115[0] = 250 µs), for all VECTOR type drive objects, POLYGON can be operated with a sampling time of 500 µs.
Note:
Information on the system sampling times and the number of drives that can be controlled is provided in the following reference:
References: /FH1/ SINAMICS S120 Function Manual Drive FunctionsChapter "System sampling times and number of drives that can be controlled"
Table 4-10 POLYGON use of CPU time (examples)
Example Current controller
sampling time
POLYGON sampling time Additional use of CPU time(r9976[1])
p0115[0] p31230 p31230 · p0115[0] 1 Axis with POLYGON
2 Axes with POLYGON
5 Axes with POLYGON
1
125 µs a
a. Factory setting for drive object SERVO or HLA.
1 125 µs Approx. 3.2 % Approx. 6.4 % Approx. 16.0 %
2 4 500 µs Approx. 0.8 % Approx. 1.6 % Approx. 4.0 %
3 8 1000 µs Approx. 0.4 % Approx. 0.8 % Approx. 2.0 %
4
500 µs b
b. Factory setting for the VECTOR drive object.
1 500 µs Approx. 0.8 % Approx. 1.6 % Approx. 4.0 %
5 4 2000 µs Approx. 0.2 % Approx. 0.4 % Approx. 1.0 %
6 8 4000 µs Approx. 0.1 % Approx. 0.2 % Approx. 0.5 %
SINAMICS POLYGON
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4 Function description and commissioning
4.6 Licensing
4.6 LicensingA license key is required for the "POLYGON" OA application.
You can generate the appropriate license key using the WEB License Manager. To do this, you require the Certificate of License (CoL).
The order number (MLFB) for the Certificate of License (CoL) is as follows:
6SL3077-0AA00-7AB0
Note
Information and the procedure required for licensing is provided in the following reference:
References: /FH1/ SINAMICS S120 Function Manual Drive FunctionsChapter "Licensing"
4 Function description and commissioning
4.7 SINAMICS Safety Integrated
SINAMICS POLYGON
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4.7 SINAMICS Safety IntegratedThe functions implemented with this OA application are not part of the SINAMICS Safety Integrated functions, and do not influence the SINAMICS Safety Integrated functions.
Note
Information on SINAMICS Safety Integrated is provided in the following reference:
References: /FHS/ SINAMICS S120 Safety Integrated Function Manual
5
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Parameters
Content
5.1 Overview of parameters 52
5.2 List of parameters 53
5 Parameters
5.1 Overview of parameters
SINAMICS POLYGON
52 Function Manual (FH15), 10/2015, A5E33270641
5.1 Overview of parameters
All objects
"All objects" in the following list refers to all drive objects for which the OA application POLYGON has been released.
This comprises the following drive objects:
• HLA
• SERVO
• VECTOR
Note
An overview of the parameters, especially the explanation of the parameter list is contained in the product-specific List Manuals, for example:
References: /LH1/ SINAMICS S120/S150 List ManualChapter "Overview of parameters"
SINAMICS POLYGON
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5 Parameters
5.2 List of parameters
5.2 List of parameters
Product: SINAMICS POLYGON, Version: 1101200, Language: engObjects: SERVO, VECTOR, HLA
Description: Sets the sampling time T for the OA application POLYGON.
The sampling time must be set a multiple of the current controller sampling time (p0115[0]).
Value: 0: Do not calculate1: T = 1 * p0115[0]2: T = 2 * p0115[0]4: T = 4 * p0115[0]8: T = 8 * p0115[0]16: T = 16 * p0115[0]32: T = 32 * p0115[0]64: T = 64 * p0115[0]
Note: POLYGON: Polygonal line (characteristic functionality dependent on the master value)
The characteristic is defined via the modulo length using equidistant interpolation points. The characteristic is linearly interpolated between the interpolation points.
Typical characteristics:
Position-position-reference, position-speed-reference, position-torque-reference
Description: Sets the signal source to enable the calculated values.
p31231 = 0 signal:
A value of 0 is output at connector output r31249/r31251.
p31231 = 1 signal:
The calculated value is output at connector output r31249/r31251.
Dependency: Refer to: p31230
Note: The characteristic is calculated depending on the sampling time setting in p31230.
Note
This chapter only includes the parameters for the OA application POLYGON.
The product-dependent parameters available for SINAMICS should be taken from the online help for the particular control or commissioning tool or, for example, from the following reference:
References: /LH1/ SINAMICS S120/S150 List ManualChapter "List of parameters"
p31230 POLYGON sampling time / Sampling timeAll objects Can be changed: C1(3) Calculated: - Access level: 3
Data type: Integer16 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 64 1
p31231 BI: POLYGON enable / EnableAll objects Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 / Binary Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
5 Parameters
5.2 List of parameters
SINAMICS POLYGON
54 Function Manual (FH15), 10/2015, A5E33270641
Description: Sets the signal source for the master value.
Typical BICO interconnections:
- master value of a real axis
CI: p31234 = r0479[0] (diagnostics encoder position value Gn_XIST1, encoder 1)
- virtual master value based on OA SETPGEN
CI: p31234 = r31222 (SETPGEN output complete integer number)
- virtual master value based on EPOS
CI: p31234 = r2665 (EPOS position setpoint)
Note: EPOS: Basic positioner
SETPGEN: Setpoint generator
Description: Sets the numerator to scale the master value.
With p31235 and p31236, the master value of intrinsic units of the raw signal (e.g. encoder increments) are converted into length or angular units that match the particular application (e.g. millidegrees for rotational movement).
Example of rotational movement:
Master value p31234 = r0479[0] (default setting)
p31235 = 360000 (numerical value for one revolution in millidegrees)
p31236 = p0408[0] * 2^p0418[0] (numerical value for one revolution in encoder increments)
In addition, gearbox ratios can also be taken into account.
Dependency: Refer to: p31234, p31236, p31244
Note: LU: Length Unit
The following should be observed:
p31235 / p31236 < p31244
Description: Sets the denominator to scale the master value.
With p31235 and p31236, the master value of intrinsic units of the raw signal (e.g. encoder increments) are converted into length or angular units that match the particular application (e.g. millidegrees for rotational movement).
Example of rotational movement:
Master value p31234 = r0479[0] (default setting)
p31235 = 360000 (numerical value for one revolution in millidegrees)
p31236 = p0408[0] * 2^p0418[0] (numerical value for one revolution in encoder increments)
In addition, gearbox ratios can also be taken into account.
p31234 CI: POLYGON master value raw value / Mast val raw valAll objects Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 / Integer32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 479[0]
p31235 POLYGON master value scaling numerator / Mast val scal numAll objects Can be changed: T Calculated: - Access level: 3
Data type: Integer32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-2147483648 2147483647 1
p31236 POLYGON master value scaling denominator / MastVal scal denomAll objects Can be changed: T Calculated: - Access level: 3
Data type: Integer32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-2147483648 2147483647 1
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5 Parameters
5.2 List of parameters
Dependency: Refer to: p31234, p31235, p31244
Note: LU: Length Unit
The following should be observed:
p31235 / p31236 < p31244
Description: Sets the signal source for the setting value of the master value.
The setting value is used to reference the master value and is accepted for binector input p31239 = 0/1 signal.
The master value offset is entered in the length or angular unit selected by the user. The corresponding numerical value is saved, for example in fixed value p31241[0...2].
After being transferred, it is used as basis for future changes (using p31235/p31236) to the scaled master value (master value after setting value = scaled master value + setting value - scaled master value for accepting the setting value).
Dependency: Refer to: p31239, p31241, r31242
Note: The setting value is not scaled according to p31235/p31236.
It acts directly on the active master value (r31242[0...1]) before the modulo correction.
Description: Sets the signal source to accept the setting value for the master value (signal edge).
BI: p31239 = 0/1 signal:
The setting value available via connector input p31238 is accepted.
BI: p31239 = 1/0 signal:
No effect. The setting value remains valid.
Dependency: Refer to: p31238
Description: Sets the signal source for the dynamic offset of the master value.
Examples:
- phase offset.
- for taking into account the phase response of subordinate control loops as a function of the frequency.
The master value offset is entered in the length or angular unit selected by the user.
One of the fixed values p31241[0...2] can be used to statically enter the master value offset.
Dependency: Refer to: r31242
Note: It acts directly on the effective master value r31242[0].
p31238 CI: POLYGON master value setting value / Mast val set valAll objects Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 / Integer32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 31241[0]
p31239 BI: POLYGON master value accept setting value / MastVal SetVal accAll objects Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 / Binary Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
p31240 CI: POLYGON master value offset / Mast val offsetAll objects Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 / Integer32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
5 Parameters
5.2 List of parameters
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56 Function Manual (FH15), 10/2015, A5E33270641
Description: Setting, display and connector output for the fixed values.
Index: [0] = Value 0[1] = Value 1[2] = Value 2
Note: Typical BICO interconnections can be established for commissioning and testing:
CI: p31234 = p31241[0...2]
CI: p31238 = p31241[0...2] (factory setting: CI: p31238 = p31241[0])
CI: p31240 = p31241[0...2]
Description: Display and connector output for the active master value (x value).
The value is based on the master value (p31234) and takes into account the selected scaling (p31235, p31236), the setting value (p31238) and the offset (p31240).
Index: [0] = Master value before offset[1] = Master value after offset
Dependency: Refer to: p31234, p31235, p31236, p31238, p31240
Description: Setting the modulo length.
The characteristic is periodically repeated depending on the modulo length.
Example:
p31244 = 360000 (master value, which corresponds to one mechanical revolution)
In this case, the active master value has a value range from 0 to 359999.
Dependency: Refer to: p31235, p31236
Note: The following should be observed:
p31235 / p31236 < p31244
p31241[0...2] CO: POLYGON fixed value / Fixed valueAll objects Can be changed: U, T Calculated: - Access level: 3
Data type: Integer32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-2147483648 2147483647 0
r31242[0...1] CO: POLYGON master value active / Mast val activeAll objects Can be changed: - Calculated: - Access level: 3
Data type: Integer32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
p31244 POLYGON modulo length / Modulo lengthAll objects Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 7200000 360000
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5 Parameters
5.2 List of parameters
Description: Sets the number of interpolation points for the characteristic.
Dependency: Refer to: p31246
Note: The interpolation points are equidistantly distributed over the modulo length.
Description: Sets the y values for the interpolation points of the characteristic.
Dependency: Refer to: p31245
Note: The characteristic is linearly interpolated between the interpolation points (y values).
Description: Sets the signal source for the amplitude to dynamically scale the characteristic.
Description: Sets the signal source for the offset to dynamically offset the characteristic.
p31245 POLYGON characteristic number of interpolation points / Interp points qtyAll objects Can be changed: T Calculated: - Access level: 3
Data type: Unsigned16 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 10000 360
p31246[0...n] POLYGON characteristic y values / Char y valuesAll objects Can be changed: U, T Calculated: - Access level: 3
Data type: FloatingPoint32 Dyn. index: p31245 Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-340.28235E36 340.28235E36 0.000000
p31247 CI: POLYGON amplitude / AmplitudeAll objects Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 / FloatingPoint32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 1
p31248 CI: POLYGON offset / OffsetAll objects Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 / FloatingPoint32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 0
5 Parameters
5.2 List of parameters
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58 Function Manual (FH15), 10/2015, A5E33270641
Description: Display and connector output for the output value.
The value is calculated as follows:
Output p31249 = amplitude * y(x) + offset
Amplitude: p31247
y: p31246
x: r31242[1] (master value effectively offset by p31240)
Offset. p31248
Note: The characteristic is linearly interpolated between the interpolation points (y values).
Description: Sets the scaling of the output value for display as integer number.
Dependency: Refer to: r31249, r31251
Description: Display and connector output for the output value as integer number.
Dependency: Refer to: r31249, p31250
r31249 CO: POLYGON output / OutputAll objects Can be changed: - Calculated: - Access level: 3
Data type: FloatingPoint32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
p31250 POLYGON output integer number scaling / Outp int no. scalAll objects Can be changed: U, T Calculated: - Access level: 3
Data type: Integer32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-2147483648 2147483647 1
r31251 CO: POLYGON output integer number / Outp integer no.All objects Can be changed: - Calculated: - Access level: 3
Data type: Integer32 Dyn. index: - Func. diagram: 7331
P-Group: Functions Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
6
SINAMICS POLYGON
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Function diagrams
Content
7331 – POLYGON structure 60
Note
This chapter only includes the function diagram for the OA-application POLYGON.
The product-dependent function diagrams available for SINAMICS (e.g. function diagram 5020) are included in the following reference:
References: /LH1/ SINAMICS S120/S150 List ManualChapter "Function diagrams"
6F
un
ction dia
gram
s
SIN
AM
ICS
PO
LY
GO
N
60
Function
Manual (F
H15), 10/2
015, A5E
33270641
Fig.6
-173
31 – PO
LYG
ON
structure
- 7331 -Function diagram
87654321fp_7331_95_eng.vsdDO: HLA, SERVO, VECTOR
SINAMICS19.08.15 V01.01.00POLYGON - Structure
p31230 · p0115[0]
<1> p31230 = 1 Factory setting, sampling time = 1 * p0115[0] (Current controller sampling time)p31230 = 0 "Do not calculate"
<2> Calculation of the master value difference between 2 sampling times.<3> The internal calculation is performed with the FloatingPoint data type.<4> The interpolation points are equidistantly distributed over the modulo length.
(0)
Enablep31231
0r31249Output [%]
r31251
Output integer number
Output integer number scalingp31250 (1)
1
0
<1>
y
x
Master value raw value
(r0479[0])p31234
Modulo length1 ... 7200000
p31244 (360000)
Master valuescaling denominator
p31236 (1)
Master value scaling numerator
p31235 (1) Amplitude
(1)p31247
Offset
(0)p31248
Characteristic number of interpolation points
p31245 (360)
Characteristic y values
p31246[0...p31245 - 1] (0.0)
<4>
+ +
++ 180900 270 360
1,0
0,5
Master value offset
(0)p31240
r31242[0]Master value active, before position offset
r31242[1]Master value active, after position offset
Master value setting value
(p31241[0])p31238
(0)
Master value setting value acceptp31239
Example:p31244 = 360p31245 = 12
-0,5
-1,0
<3>
<3> <3>
p31241[0]Fixed value 0
p31241[0](0)
p31241[1]Fixed value 1
p31241[1](0)
p31241[2]Fixed value 2
p31241[2](0)
%
%
<2>
7
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Function Manual (FH15), 10/2015, A5E33270641 61
Faults and alarms
The POLYGON OA application does not have its own faults and alarms (messages).
Note
Information on messages that are output (faults, alarms) should be taken from the online help for the particular control or commissioning tool or, for example, from the following reference:
References: /LH1/ SINAMICS S120/S150 List ManualChapter "List of faults and alarms"
7 Faults and alarms
SINAMICS POLYGON
62 Function Manual (FH15), 10/2015, A5E33270641
A
SINAMICS POLYGON
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Appendix
Table of contents
A.1 List of abbreviations 64
A.2 Defining a characteristic (p31245, p31246[0…n]) with script 73
A Appendix
A.1 List of abbreviations
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64 Function Manual (FH15), 10/2015, A5E33270641
A.1 List of abbreviations
Note
The following list of abbreviations includes all abbreviations and their meanings used in the entire SINAMICS family of drives.
Abbreviation Source of abbreviation Significance
A
A… Alarm Warning
AC Alternating Current Alternating current
ADC Analog Digital Converter Analog-Digital converter
AI Analog Input Analog input
AIM Active Interface Module Active Interface Module
ALM Active Line Module Active Line Module
AO Analog Output Analog output
AOP Advanced Operator Panel Advanced Operator Panel
APC Advanced Positioning Control Advanced Positioning Control
AR Automatic Restart Automatic restart
ASC Armature Short Circuit Armature short-circuit
ASCII American Standard Code for Information Interchange
American coding standard for the exchange of information
AS-i AS-Interface (Actuator Sensor Interface) AS interface (open bus system in automation technology)
ASM Asynchronmotor Induction motor
B
BB Betriebsbedingung Operation condition
BERO - Contactless proximity switch
BI Binector Input Binector input
BIA Berufsgenossenschaftliches Institut für Arbeitssicherheit
BG-Institute for Occupational Safety and Health
BICO Binector Connector Technology Binector connector technology
BLM Basic Line Module Basic Line Module
BO Binector Output Binector output
BOP Basic Operator Panel Basic operator panel
C
C Capacitance Capacitance
C… - Safety message
CAN Controller Area Network Serial bus system
CBC Communication Board CAN Communication Board CAN
CBE Communication Board Ethernet PROFINET communication module (Ethernet)
CD Compact Disc Compact disk
CDS Command Data Set Command data set
CF Card CompactFlash Card CompactFlash card
CI Connector Input Connector input
SINAMICS POLYGON
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A Appendix
A.1 List of abbreviations
CLC Clearance Control Clearance control
CNC Computer Numerical Control Computer-supported numerical control
CO Connector Output Connector output
CO/BO Connector Output / Binector Output Connector Output / Binector Output
COB ID CAN Object-Identification CAN Object-Identification
CoL Certificate of License Certificate of License
COM Common contact of a changeover relay Center contact of a changeover contact
COMM Commissioning Startup
CP Communication Processor Communications processor
CPU Central Processing Unit Central processing unit
CRC Cyclic Redundancy Check Cyclic redundancy check
CSM Control Supply Module Control Supply Module
CU Control Unit Control Unit
CUA Control Unit Adapter Control Unit Adapter
CUD Control Unit DC Control Unit DC
D
DAC Digital Analog Converter Digital analog converter
DC Direct Current DC current
DCB Drive Control Block Drive Control Block
DCBRK DC Brake DC braking
DCC Drive Control Chart Drive Control Chart
DCN Direct Current Negative Direct current negative
DCP Direct Current Positive Direct current positive
DDS Drive Data Set Drive Data Set
DI Digital Input Digital input
DI/DO Digital Input / Digital Output Digital input/output, bidirectional
DMC DRIVE-CLiQ Hub Module Cabinet DRIVE-CLiQ Hub Module Cabinet
DME DRIVE-CLiQ Hub Module External DRIVE-CLiQ Hub Module External
DMM Double Motor Module Double Motor Module
DO Digital Output Digital output
DO Drive Object Drive object
DP Decentralized Peripherals Distributed I/O
DPRAM Dual-Port Random Access Memory Dual-Port Random Access Memory
DQ DRIVE-CLiQ DRIVE-CLiQ
DRAM Dynamic Random Access Memory Dynamic Random Access Memory
DRIVE-CLiQ Drive Component Link with IQ Drive Component Link with IQ
DSC Dynamic Servo Control Dynamic Servo Control
DTC Digital Time Clock Timer
E
EASC External Armature Short-Circuit External armature short-circuit
EDS Encoder Data Set Encoder data set
EEPROM Electrically Erasable Programmable Read-Only Memory
Electrically Erasable Programmable Read-Only-Memory
Abbreviation Source of abbreviation Significance
A Appendix
A.1 List of abbreviations
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EGB Elektrostatisch gefährdete Baugruppen Electrostatic sensitive devices
ELCB Earth Leakage Circuit-Breaker Residual current operated circuit breaker
ELP Earth Leakage Protection Ground-fault monitoring
EMC Electromagnetic Compatibility Electromagnetic compatibility
EMF Electromotive Force Electromotive force
EMK Elektromotorische Kraft Electromotive force
EMV Elektromagnetische Verträglichkeit Electromagnetic compatibility
EN Europäische Norm European Standard
EnDat Encoder-Data-Interface Encoder interface
EP Enable Pulses Pulse enable
EPOS Einfachpositionierer Basic positioner
ES Engineering System Engineering system
ESB Ersatzschaltbild Equivalent circuit diagram
ESD Electrostatic Sensitive Devices Electrostatic sensitive devices
ESM Essential Service Mode Essential service mode
ESR Extended Stop and Retract Extended stop and retract
F
F… Fault Fault
FAQ Frequently Asked Questions Frequently Asked Questions
FBLOCKS Free Blocks Free function blocks
FCC Function Control Chart Function control chart
FCC Flux Current Control Flux current control
FD Function Diagram Function diagram
F-DI Failsafe Digital Input Failsafe digital input
F-DO Failsafe Digital Output Fail-safe digital output
FEPROM Flash-EPROM Non-volatile write and read memory
FG Function Generator Function Generator
FI - Fault current
FOC Fiber-Optic Cable Fiber-optic cable
FP Funktionsplan Function diagram
FPGA Field Programmable Gate Array Field Programmable Gate Array
FW Firmware Firmware
G
GB Gigabyte Gigabyte
GC Global Control Global control telegram (broadcast telegram)
GND Ground Reference potential for all signal and operating voltages, usually defined as 0 V (also referred to as M)
GSD Gerätestammdatei Generic Station Description: Describes the features of a PROFIBUS slave
GSV Gate Supply Voltage Gate supply voltage
GUID Globally Unique Identifier Globally Unique Identifier
Abbreviation Source of abbreviation Significance
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A Appendix
A.1 List of abbreviations
H
HF High frequency High frequency
HFD Hochfrequenzdrossel Radio frequency reactor
HLA Hydraulic Linear Actuator Hydraulic linear actuator
HLG Hochlaufgeber Ramp-function Generator
HM Hydraulic Module Hydraulic Module
HMI Human Machine Interface Human Machine Interface
HTL High-Threshold Logic Logic with high interference threshold
HW Hardware Hardware
I
i. V. In Vorbereitung Under development: This property is currently not available
I/O Input/Output Input/output
I2C Inter-Integrated Circuit Internal serial data bus
IASC Internal Armature Short-Circuit Internal armature short-circuit
IBN Inbetriebnahme Startup
ID Identifier Identification
IE Industrial Ethernet Industrial Ethernet
IEC International Electrotechnical Commission International Electrotechnical Commission
IF Interface Interface
IGBT Insulated Gate Bipolar Transistor Insulated gate bipolar transistor
IGCT Integrated Gate-Controlled Thyristor Semiconductor power switch with integrated control electrode
IL Impulslöschung Pulse suppression
IP Internet Protocol Internet protocol
IPO Interpolator Interpolator
IT Isolé Terre Non-grounded three-phase line supply
IVP Internal Voltage Protection Internal voltage protection
J
JOG Jogging Jogging
K
KDV Kreuzweiser Datenvergleich Data cross-check
KHP Know-how protection Know-how protection
KIP Kinetische Pufferung Kinetic buffering
Kp - Proportional gain
KTY - Special temperature sensor
L
L - Symbol for inductance
LED Light Emitting Diode Light emitting diode
LIN Linearmotor Linear motor
LR Lageregler Position controller
LSB Least Significant Bit Least Significant Bit
LSC Line-Side Converter Line-side converter
Abbreviation Source of abbreviation Significance
A Appendix
A.1 List of abbreviations
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LSS Line-Side Switch Line-side switch
LU Length Unit Length unit
LWL Lichtwellenleiter Fiber-optic cable
M
M - Symbol for torque
M Masse Reference potential for all signal and operating voltages, usually defined as 0 V (also referred to as GND)
MB Megabyte Megabyte
MCC Motion Control Chart Motion Control Chart
MDI Manual Data Input Manual data input
MDS Motor Data Set Motor data set
MLFB Maschinenlesbare Fabrikatebezeichnung Machine-readable product code
MM Motor Module Motor Module
MMC Man-Machine Communication Man-machine communication
MMC Micro Memory Card Micro memory card
MSB Most Significant Bit Most significant bit
MSC Motor-Side Converter Motor-side converter
MSCY_C1 Master Slave Cycle Class 1 Cyclic communication between master (class 1) and slave
MSR Motorstromrichter Motor-side converter
MT Messtaster Probe
N
N. C. Not Connected Not connected
N… No Report No report or internal message
NAMUR Normenarbeitsgemeinschaft für Mess- und Regeltechnik in der chemischen Industrie
Standardization association for measurement and control in chemical industries
NC Normally Closed (contact) NC contacts
NC Numerical Control Numerical control
NEMA National Electrical Manufacturers Association Standardization association in USA (United States of America)
NM Nullmarke Zero mark
NO Normally Open (contact) NO contacts
NSR Netzstromrichter Line-side converter
NVRAM Non-Volatile Random Access Memory Non-volatile read/write memory
O
OA Open Architecture Software component (technology package) which provides additional functions for the SINAMICS drive system
OAIF Open Architecture Interface Version of the SINAMICS firmware as of which the OA-application can be used
OASP Open Architecture Support Package Expands the STARTER commissioning tool by the corresponding OA-application
OC Operating Condition Operation condition
OEM Original Equipment Manufacturer Original equipment manufacturer
Abbreviation Source of abbreviation Significance
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Function Manual (FH15), 10/2015, A5E33270641 69
A Appendix
A.1 List of abbreviations
OLP Optical Link Plug Bus connector for fiber-optic cable
OMI Option Module Interface Option Module Interface
P
p… - Adjustable parameters
P1 Processor 1 CPU 1
P2 Processor 2 CPU 2
PB PROFIBUS PROFIBUS
PcCtrl PC Control Master control
PD PROFIdrive PROFIdrive
PDS Power unit Data Set Power unit data set
PE Protective Earth Protective ground
PELV Protective Extra Low Voltage Safety extra-low voltage
PFH Probability of dangerous failure per hour Probability of dangerous failure per hour
PG Programmiergerät Programming device
PI Proportional Integral Proportional integral
PID Proportional Integral Differential Proportional integral differential
PLC Programmable Logical Controller Programmable logic controller
PLL Phase-Locked Loop Phase-locked loop
PM Power Module Power Module
PMSM Permanent-magnet synchronous motor Permanent-magnet synchronous motor
PN PROFINET PROFINET
PNO PROFIBUS Nutzerorganisation PROFIBUS user organization
PPI Point to Point Interface Point-to-point interface
PRBS Pseudo Random Binary Signal White noise
PROFIBUS Process Field Bus Serial data bus
PS Power Supply Power supply
PSA Power Stack Adapter Power Stack Adapter
PTC Positive Temperature Coefficient Positive temperature coefficient
PTP Point To Point Point-to-point
PWM Pulse Width Modulation Pulse width modulation
PZD Prozessdaten Process data
Q
R
r… - Display parameters (read only)
RAM Random Access Memory Speicher zum Lesen und Schreiben
RCCB Residual Current Circuit Breaker Residual current operated circuit breaker
RCD Residual Current Device Residual current operated circuit breaker
RCM Residual Current Monitor Residual current monitor
REL Reluctance motor textile Reluctance motor textile
RESM Reluctance synchronous motor Synchronous reluctance motor
RFG Ramp-Function Generator Ramp-function Generator
Abbreviation Source of abbreviation Significance
A Appendix
A.1 List of abbreviations
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RJ45 Registered Jack 45 Term for an 8-pin socket system for data transmission with shielded or non-shielded multi-wire copper cables
RKA Rückkühlanlage Cooling unit
RLM Renewable Line Module Renewable Line Module
RO Read Only Read only
ROM Read-Only Memory Read-only memory
RPDO Receive Process Data Object Receive Process Data Object
RS232 Recommended Standard 232 Interface standard for a cable-connected serial data transmission between a sender and receiver (also known as EIA232)
RS485 Recommended Standard 485 Interface standard for a cable-connected differential, parallel, and/or serial bus system (data transmission between a number of senders and receivers, also known as EIA485)
RTC Real Time Clock Real-time clock
RZA Raumzeigerapproximation Space-vector approximation
S
S1 - Continuous operation
S3 - Intermittent duty
SAM Safe Acceleration Monitor Safe acceleration monitoring
SBC Safe Brake Control Safe brake control
SBH Sicherer Betriebshalt Safe operating stop
SBR Safe Brake Ramp Safe brake ramp monitoring
SBT Safe Brake Test Safe brake test
SCA Safe Cam Safe cam
SD Card SecureDigital Card Secure digital memory card
SDI Safe Direction Safe motion direction
SE Sicherer Software-Endschalter Safe software limit switch
SESM Separately-excited synchronous motor Separately excited synchronous motor
SG Sicher reduzierte Geschwindigkeit Safely-limited speed
SGA Sicherheitsgerichteter Ausgang Safety-related output
SGE Sicherheitsgerichteter Eingang Safety-related input
SH Sicherer Halt Safe stop
SI Safety Integrated Safety Integrated
SIL Safety Integrity Level Safety Integrity Level
SLM Smart Line Module Smart Line Module
SLP Safely-Limited Position Safely Limited Position
SLS Safely-Limited Speed Safely-limited speed
SLVC Sensorless Vector Control Sensorless vector control
SM Sensor Module Sensor Module
SMC Sensor Module Cabinet Sensor Module Cabinet
SME Sensor Module External Sensor Module External
SMI SINAMICS Sensor Module Integrated SINAMICS Sensor Module Integrated
Abbreviation Source of abbreviation Significance
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Function Manual (FH15), 10/2015, A5E33270641 71
A Appendix
A.1 List of abbreviations
SMM Single Motor Module Single Motor Module
SN Sicherer Software-Nocken Safe software cam
SOS Safe Operating Stop Safe operating stop
SP Service Pack Service pack
SP Safe Position Safe position
SPC Setpoint Channel Setpoint channel
SPI Serial Peripheral Interface Serial peripheral interface
SPS Speicherprogrammierbare Steuerung Programmable logic controller
SS1 Safe Stop 1 Safe Stop 1 (monitored for time and ramp)
SS2 Safe Stop 2 Safe Stop 2
SSI Synchronous Serial Interface Synchronous serial interface
SSM Safe Speed Monitor Safe feedback from speed monitor
SSP SINAMICS Support Package SINAMICS support package
STO Safe Torque Off Safe torque off
STW Steuerwort Control word
T
TB Terminal Board Terminal Board
TIA Totally Integrated Automation Totally Integrated Automation
TM Terminal Module Terminal module
TN Terre Neutre Grounded three-phase line supply
Tn - Integral time
TPDO Transmit Process Data Object Transmit Process Data Object
TT Terre Terre Grounded three-phase line supply
TTL Transistor-Transistor-Logic Transistor-Transistor-Logik
Tv - Rate time
U
UL Underwriters Laboratories Inc. Underwriters Laboratories Inc.
UPS Uninterruptible Power Supply Uninterruptible power supply
USV Unterbrechungsfreie Stromversorgung Uninterruptible power supply
UTC Universal Time Coordinated Universal time coordinated
V
VC Vector Control Vector control
Vdc - DC-link voltage
VdcN - Partial DC-link voltage negative
VdcP - Partial DC-link voltage positive
VDE Verband Deutscher Elektrotechniker Verband Deutscher Elektrotechniker [Association of German Electrical Engineers]
VDI Verein Deutscher Ingenieure Verein Deutscher Ingenieure [Association of German Engineers]
VPM Voltage Protection Module Voltage Protection Module
Vpp Volt peak to peak Volt peak to peak
VSM Voltage Sensing Module Voltage Sensing Module
Abbreviation Source of abbreviation Significance
A Appendix
A.1 List of abbreviations
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W
WEA Wiedereinschaltautomatik Automatic restart
WZM Werkzeugmaschine Machine tool
X
XML Extensible Markup Language Extensible markup language (standard language for Web publishing and document management)
Y
Z
ZK Zwischenkreis DC link
ZM Zero Mark Zero mark
ZSW Zustandswort Status Word
Abbreviation Source of abbreviation Significance
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Function Manual (FH15), 10/2015, A5E33270641 73
A Appendix
A.2 Defining a characteristic (p31245, p31246[0…n]) with script
A.2 Defining a characteristic (p31245, p31246[0…n]) with script
A.2.1 Creating and running script
Creating a script folder
You must first create the folder, in which to store the scripts, in the commissioning tool STARTER or SIMOTION SCOUT.
Proceed as follows:
1. Select the drive device in the project navigator.
2. Select Expert > Insert script folder from the shortcut menu.
The folder SCRIPTS will be created below the drive device. The script described below will be stored in this folder.
Creating and running the script
Proceed as follows to create a script in this folder:
1. Select the SCRIPTS folder in the project navigator and choose Insert new object > Script from the shortcut menu.
2. Define the name of the script (e.g. Get_Excel_Data) and confirm with OK.
Names of scripts must comply with the following rules for identifiers:
– They are made up of letters (A … Z, a … z), numerals (0 … 9), and underscores ( _ ).
– The first character must be a letter or underscore.
– This can be followed by as many letters, digits or underscores as needed in any order.
– Exception: You must not use more than one underscore in succession.
– Both upper- and lower-case letters are allowed. There is no distinction between upper and lower case notation.
3. Select a script and choose Open from the shortcut menu.
4. Edit the content of the script.
For example, you can copy the script printed in Section "Example of a script" (Page 74) and modify it to meet your requirements.
5. Select the script in the project navigator and choose Accept and execute from the shortcut menu.
Note
You will find more information on scripting in the online help of the commissioning tool.
A Appendix
A.2 Defining a characteristic (p31245, p31246[0…n]) with script
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A.2.2 Example of a script
The following example contains a script that has the following effect:
• The Excel file "D:\Project_folder\characterics_values.xls" opens and the table "Sample 1" is read.
• All values that are in rows 6 to 1205, column "C" of this table are read and written into a dynamic array.
• The upper limit of the array is calculated and written into parameter p31245 of drive "SERVO_02" of device "DEVICE-1".
• The values of the array are written into parameter p31246[0…n] of the same drive.
Table A-1 Example script
' Get_Excel_Data Option Explicit ' All variables must be declared '#region declaration
Dim oExcel ' Object for Excel applicationDim oBook ' Object for Excel workbookDim oSheet ' Object for Excel sheetDim oCell ' Object for cell of the Excel sheetDim iCountRow ' Counter for rows of the Excel sheetDim Values() ' Dynamic array for imported valuesDim iCountValue ' Counter for the index of array "Values()"
Const XLS_FILE_NAME = "D:\Project_folder\characterics_values.xls"
' Path and filename of the Excel workbookConst SHEET_NAME = "Sample 1" ' Name of the sheetConst COLUMN_VALUE = "C" ' Column with the values to be importedConst START_ROW = 6 ' First row with the values to be importedConst END_ROW = 1205 ' Last row with the values to be importedConst PRECISION = 1 ' Size of steps of the import
' ( = precision of the interpolation)Const DEVICE_NAME = "DEVICE-1" ' Name of the drive unitConst DRIVE_NAME = "SERVO_02" ' Name of the drive
'#endregion #declaration# '#region Initial
Set oExcel = CreateObject("Excel.Application") oExcel.Visible = False oExcel.Workbooks.Open(XLS_FILE_NAME)
Set oBook = oExcel.Workbooks(1) Set oSheet = oBook.Worksheets(SHEET_NAME)
'#endregion #Initial# ' Continued: Next page
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A Appendix
A.2 Defining a characteristic (p31245, p31246[0…n]) with script
'######################################################################################## ' Read values from the column of the Excel sheet and write them into the array "Values()" '######################################################################################## ' Initialization of the counteriCountRow = START_ROW ' Counter for rows of the Excel sheetiCountValue = 0 ' Counter for the index of array "Values()" ' All cells in the column "COLUMN_VALUE"For Each oCell In oSheet.Range(COLUMN_VALUE & ":" & COLUMN_VALUE) ' Abort if the value range is too large
If ((END_ROW - START_ROW + 1) / PRECISION) > 10000 Then MsgBox "Error: Value range exceeded! Max. 10000 values!" Exit For
End If ' Abort if cell empty (no content)
If Len(oCell.Value) = 0 And oCell.Row >= START_ROW And oCell.Row <= END_ROW Then MsgBox "Error: Empty cell " & COLUMN_VALUE & oCell.Row & "!" iCountValue = iCountValue - 1 Exit For
End If ' Regular end of processing when last row reached
If oCell.Row > END_ROW Then Exit For
End If ' Condition as to whether cell will be read and the value written into the array
If oCell.Row >= START_ROW And iCountRow = oCell.Row Then ReDim Preserve Values(iCountValue)
' Adapt upper limit of the dynamic array "Values()"Values(iCountValue) = oSheet.Range(COLUMN_VALUE & oCell.Row).Value
' Read value of the current cell of the Excel sheet' Write value into the highest element of the array "Values()"
' Increment the array index counter:
iCountValue = iCountValue + 1 ' Counter for the index of array "Values()"iCountRow = iCountRow + PRECISION ' Counter for rows of the Excel sheet,
' Size of steps PRECISIONEnd If
Next ' End of the For loop ' After regular exit of the For loop, the following applies: ' The counter "iCountValue" contains the number of interpolation points AddAParameterToDevice Values ' Call of function "AddAParameterToDevice" '#region dispose
Set oSheet = Nothing Set oBook = Nothing oExcel.Quit Set oExcel = Nothing
'#endregion #dispose# ' Continued: Next page
Table A-1 Example script, continued
A Appendix
A.2 Defining a characteristic (p31245, p31246[0…n]) with script
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'########################################################################################## ' Function AddAParameterToDevice ' Transfer of the values of the array into p31245 and p31246[0...n] of the drive object '########################################################################################## Private Function AddAParameterToDevice(Byval Values()) ' Declaration
Dim iCount ' Counter for array index "Values()" and p31246Dim indexParameter ' Variable for string "p31246[icount]"
' Initialization
iCount = 0 ' Abort if reading the Excel sheet was terminated irregularly
If ((END_ROW - START_ROW + 1) / PRECISION) > iCountValue Then MsgBox "Importing of Excel table abnormally terminated!" Exit Function
End If ' Write number of interpolation points (iCountValue) into p31245
PROJ.Devices(DEVICE_NAME).TOs(DRIVE_NAME).Symbols("p31245") = iCountValue ' Write values from array "Values()" into p31246[0...n]
For iCount = 0 To (((END_ROW - START_ROW + 1) / PRECISION) - 1) indexParameter = "p31246[" & iCount & "]" PROJ.Devices(DEVICE_NAME).TOs(DRIVE_NAME).Symbols(indexParameter) = Values(iCount) ' MsgBox "Write p31246[" & iCount & "]"
Next ' End of the For loop
AddAParameterToDevice = True End Function ' End of the script
Table A-1 Example script, continued
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Function Manual (FH15), 10/2015, A5E33270641 77
Index
Numbers7331
POLYGON structure, 60
AABC_OA, 16, 23
Activating via HMI-Operate, 25Activation using STARTER, 20Uninstallation via HMI, 28Uninstalling using STARTER, 22
Additional use of CPU time, 48Address
Technical Support, 5Applications of POLYGON, 13
CCertificate of License, 49Characteristics of POLYGON, 14Commissioning
ABC_OA using STARTER, 21ABC_OA via HMI, 27POLYGON, 21, 27, 30
Conditioning the master valueDescription, 32Examples, 36
Controllable drives (number), 48
DDevices
OA application using STARTER, 17OA application via SINUMERIK HMI, 23
EEmergency Boot System (ESB), 23Engineering software
SCOUT, 16STARTER, 16
ExamplesParameterizing the characteristic, 40Referencing, 37, 38Scaling the master value, 36Use of CPU time, 48
FFunction diagram
POLYGON structure, 60SINAMICS product-specific, 59
GGeneral information
about parameters, 52
HHMI-Advanced, 24HMI-Operate, 24Hotline, 5
IIndustrial security, 11Installation of an OA application
via HMI, 23Installion of an OA application
using STARTER, 16
LLicense key, 49Licensing, 49List
Abbreviations, 64Complete table of contents, 7Index, 77List of abbreviations, 64Parameter, 53
List of abbreviations, 64
NNotes
Hotline, 5Product information, 6Technical Support, 5
Index
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78 Function Manual (FH15), 10/2015, A5E33270641
OOA application
Definition of terms, 17, 23OA application ABC_OA
Activating via HMI-Operate, 25Activation using STARTER, 20Commissioning, 16, 21, 23, 27Installation using STARTER, 16Installation via HMI, 23OA Support Package Installation, 18Technology package download, 19
OA application POLYGONCPU time, 48Function diagram, 60List of parameters, 53
OA interfaceDefinition of terms, 17, 24Example, 17, 24
OA Support PackageDefinition of terms, 17
Objective of this manual, 5Order number, 49
PParameter, 53Parameterizing the characteristic
Description, 34Examples, 40
POLYGONApplications, 13Characteristics, 14Commissioning, 21, 27, 30Configuration, 31CPU time, 48Definition of terms, 13Function diagram, 47, 60Licensing, 49List of parameters, 53Preconditions for commissioning, 31Structure, 60
PreconditionsCommissioning POLYGON, 31Installation of an OA application via
SINUMERIK HMI, 24Product information, 6Pulse enable, 25
RRequirements
Installation of an OA application using STARTER, 17
SSafety instructions
Fundamental, 9General, 10Industrial security, 11
Sampling times, 48Scaling the master value
Description, 32Examples, 36
SCOUT, 16Search tools for this manual, 5Service system
Definition of terms, 23SINAMICS Safety Integrated, 50STARTER, 16Support, 5Support Request, 5System utilization, 48
TTarget group for this manual, 5Technical Support, 5Term
OA application, 17, 23OA interface, 17, 24OA Support Package, 17POLYGON, 13Portable service system for NCU, 23Service system, 23
UUninstalling an OA application
using STARTER, 22via HMI, 28
Use of CPU time (SERVO, VECTOR, HLA), 48
VVersion
HMI, 24List of parameters, 53OA interface, 17, 24SINUMERIK, 24
WWEB License Manager, 49
Siemens AGDigital FactoryMotion ControlP.O. Box 318091050 ERLANGENGERMANY
Subject to change© Siemens AG 2015
www.siemens.com/motioncontrol