simocrane drive-based technology · pdf file · 2017-06-19crane technology crane...

SIMOCRANEDrive-Based TechnologyV1.0 SP2Description and Tutorial

© Siemens AG 2017May 2017 Siemens Cranes

SIM

OC

RA

NE

Motion Controller

Drive Controller

Drives

Pla

tfo

rm

CraneTechnology

CraneManagementSystemAdvancedTechnology

Motors

BasicTechnology

Sway Control

Skew Control

2D-Trajectory

Book-sizeChassis

CraneCabinetModules

Basic Technology

SIMOTION D435-2

1PH8

ECO Technology

Truck Position System

1LA8/1LL8

(Remote) CMS CMS Lean

1LP4/61LG4/6

Drive-Based Technology

CU310-2

PM340/PM Chassis

PM250

Mid PerformanceHigh Performance

Drive-Based Sway Control

PM240-2(FSA-FSF)

AdvancedCUD

CU320-2

DCM

V1.0 SP2V1.0 SP2

SIMOCRANE Product Portfolio


Control Units

AC/AC drives

SIMOCRANE Drive-Based Technology V1.0 SP1 HF2on base of SINAMICS FW V4.7 HF11 Cranes

PM340/PM Chassis

PM250 PM240-2(FSA-FSC)

Single-axis Solution

Package:6GA7270-1AA11-0AA0

- CU310-2


Control Units

AC/AC drives

SIMOCRANE Drive-Based Technology V1.0 SP2on base of SINAMICS FW V4.8 standard

PM340/PM Chassis

PM240-2(FSA-FSF)

Single-axis SolutionPackage:6GA7270-1AA20-0AA0

Control Units

DC/AC drives

Book-sizeChassisCrane CabinetModules

- CU320-2- CU310-2

Multi-axis SolutionPackage:6GA7270-1AA20-0AA0

PM250

© Siemens AG 2017 siemens.com/answers

Product Introduction


Functional Scope DBT V1.0 SP2 (part 1)

§ Crane midrange solution isØ A drive-based solution in SINAMICS S120 environmentØ For both Single-axis (CU310-2) and Multi-axis (CU320-2) solution,Ø Standard SINAMICS Firmware V4.8ØCrane specialized technologies in DCC-blocks

• SINAMICS FW V4.8 can operateØWith PM340 and PM ChassisØWith PM240-2 (Frame size A – Frame size F)ØWith Motor Module and cabinet modulesØWith temperature sensor PT1000Ø But not with PM250

§ Crane technology in DCC-Blocks• Load-dependent field weakening• Pre-limit switch (selectable limiting)• Start pulse• Master switch• Over-speed monitoring (not a fail-safe function)• Current distribution monitoring (for double Axes)

Drive Control Chart


Functional Scope DBT V1.0 SP2 (part 2)

§ Standard application for Single-axis via I/O-onboard or via Profibus• Selectable via I/O-onboard or via Profibus• Selectable with analogue or digital master-switch• Selectable for Hoist/Trolley/Gantry• Combination of Startpulse with brake control• Configuration via scripting

Ø Standard application for multi-axis via ProfiNet§ for Hoist, Trolley and Gantry§ application for Master-Slave torque control§ Configuration via scripting

§ The Crane DCC-chart is know-how protected, therefore, it can not be opened. The customizedDCC application can be made in another DCC-chart under other Drive-Object (e.g. CU).

§ The grab function and synchronous operation are not parts of this product.


Scope of Supply

Ø Memory card (CF card)• SINAMICS FW V4.8 (Standard)

Ø CD with• Cranes DCC blocks• Standard applications• Documentation

Package for DBT V1.0 SP2Order number: 6GA7270-1AA20-0AA0


SIMOCRANE Drive-Based TechnologyOperation Manuals and Application note


Ø Video Downloadhttps://w3.siemens.com/mcms/mc-solutions/de/maschinenbau/kranloesungen/video/Seiten/krane-videos.aspx

Ø Training Course in SiTrain-NL

Ø Training slides – Description and Tutorial

SIMOCRANE Drive-Based TechnologyTraining Possibilities


§ For training of commissioningØ with BOP 20

Ø with Starter

Ø with Sinamics web server

§ For test of customized adaptation

§ For customer presentation

§ ComponentsØ PM340 * 1AC 230V

Ø Asynchronmotor 1LA7060 -4.. with/without encoder

Ø CU310-2 DP with BOP 20

Ø Emergency Stop Pushbutton (Safety integrated function)

Ø Switches hard-wired to CU310-2 DP

SIMOCRANE Drive-Based TechnologyDemo-kit


Application examples


Use Case 1Simple OHBC with hanging key button


SIMOCRANE Drive-Based TechnologyReady to Apply Solution on CU310-2 DP

Ø Standard application for Single-axisü Controlled via onboard-I/Oü Digital Master-switch up to 4 speed-levelsü Combination of Startpulse with brake controlü With encoder

Ø Start commissioning after few steps in engineering and crane installation

Ø Simple commissioning via onboard Basic Operator Panel BOP20

Ø Optional commissioning via SINAMICS web server on PC or Tablet


Configuration Example for Use Case 1 (single-axis)OHBC with Onboard I/O- Signals

Hoist

SINAMICSCU310-2

SINAMICS

CU310-2SINAMICSCU310-2

Meisterschalter

Cross travel Long travel


Use Case 2OHBC crane with remote control

Waste incineration plant crane


Configuration Example of OHBC for Use Case 2with PLC via Profibus (Single-axis)

SINAMICSCU310-2 DP

SINAMICSCU310-2 DP

SINAMICSCU310-2 DP

SINAMICSCU310-2 DP

SIMOCRANECMS LeanSIMATIC

S7-300

Main

Hoist

AuxiliaryHoist Cross Travel Long Travel 1

SINAMICSCU310-2 DP

Long Travel 2


SIMOCRANE Drive-Based TechnologyReady to Apply Solution for Multi-axis

Pre-configuring via script

Application note for multi-axis


Configuration Example for Use Case 2OHBC with PLC via Profinet RT (Multi-axis)

1 1SIMATICS7-300

1 1

Hoist Trolley Gantry 1 Gantry 2

Common DC-Bus

CU320-2 PN

1


Ø Product News about Delivery release (including slides)https://support.industry.siemens.com/cs/ww/de/view/109747918

Ø Operation instructionhttps://support.industry.siemens.com/cs/de/en/view/109747425

Ø Flyerhttp://w3app.siemens.com/mcms/infocenter/content/en/Pages/order_form.aspx?nodeKey=key_9180778&infotype=brochures

Ø Catalogue CR 1 Edition 2015http://w3app.siemens.com/mcms/infocenter/dokumentencenter/mc/Documentsu20Catalogs/CR1-2015-en.pdf

Product Support forSIMOCRANE Drive-Based Technology


SIMOCRANE Product SupportØ SIMOCRANE Product-Support (news, FAQs, Manuals, application note..) in Internethttps://support.industry.siemens.com/cs/ww/de/ps/20087

Ø SIMOCRANE Traininghttp://www.corporate.siemens.nl/nl/siemens-in-nederland/ons-portfolio/cross-sector-services/siemens-training/cranes.htm

Ø Support request via Internet (Product à Simocrane)http://support.automation.siemens.com

Ø Hotline EUROPA– Telefon: +49 (0) 911 895 7 222

– Fax: +49 (0) 911 895 7 223

– Email: [email protected]

Ø Hotline AMERICA– Telefon: +1 423 262 5710

– Fax: +1 423 262 2231


Ø Hotline ASIA / PACIFIC– Telefon: +86 10 6475 7575

– Fax: +86 10 6474 7474



Commissioning Guideline


SIMOCRANE Drive-Based TechnologyOverview of Commissioning Guideline

Import Standard project

Run Script file

Commissioning Drive

Parametrizing DBT

Compile and download

SIMOCRANE (Chapter 6)

SINAMICS (Getting Started)

Configurate DO

Adobe AcrobatDocumentStart

Step 1

Step 2

Step 3

Step 4

Step 5

Step 6


Step 1 - Import Standard projectImport project with the IMPORT function

1. Start the engineering tool STARTER

2. Actual project must be closed, then import the project

Simocrane


Step 2 - Configurate DOConfiguration of the Drive Object (DO)

Sinamics


Step 2 - Configurate DOSelect control method

Sinamics


Step 2 - Configurate DOConfiguring of the power unit and drive properties

Sinamics


Step 2 - Configurate DOConfiguring of motor Sinamics


Step 2 - Configurate DOConfiguring of holding brake and encoder

Sinamics


Step 2 - Configurate DOSelect drive functions, communication frame type ..

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Step 2 - Configurate DOSummary

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Step 2 - Configurate DOCheck Topology

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Step 3 - Run Script fileExecute Script file

Simocrane


Step 3 - Run Script fileScript file window

Simocrane


Step 3 - Run Script fileRunning script

In the script window all parameter settings will beshown.A log-file can be saved for documentation

Simocrane


Step 3 - Run Script fileSetpoint channel in CU310-2 after running script (via Profibus control)

Simocrane


Step 3 - Run Script fileSetpoint channel in CU310-2 after running script (with digital master-switch,Brake control and StartPulse)

Combination of Brakecontrol and StartPulseDigital Master-Switch

Simocrane


Step 4 - Compile and downloadDownload into CF-card

Save and compile the project and then the projectcan be downloaded in two ways:

1. With STARTER go online via Profibus toSINAMICS CU310-2 and download theproject into the device.

2. Put the Compact Flash card into a card reader and download theproject direct to the CF card and then put the CF card into the device.

Sinamics


Step 4 - Compile and downloadCommunication Interface via Profibus

For online download the profibus address must be configured as follows:

Sinamics


Step 4 - Compile and downloadCommunication Interface via Profibus

§The profibus address is entered here. (This must correspond to the profibusaddress found on the CU310-2)

§The profibus address can be set on the CU310-2 by setting the switches foundunderneath the BOP.

Sinamics


Step 4 - Compile and downloadCommunication interface via Ethernet (1)

§For using an Ethernet connection to connect to the control unit select theaccessible nodes button to find device.

Sinamics



§If the device is not found immediately:1. Set access point to device in the accessible nodes tab.

Sinamics



2. Set the PG/PC interface in the accessible nodes tab. (Tip: Selectcomponent which has <Active> written after it).

Sinamics



3. Select search for accessible nodes again.4. When the device is found note the IP address.

Sinamics



5.Adjust the PG/PC IP address so that it will have the same first 3 numbers asthe address of the device but with a different fourth number. (E. g. If the deviceaddress is 169.254.11.22 then the PC/PG address should be changedaccordingly to an address with the same first 3 numbers but a different fourth e.g. 169.254.11.1)6.Highlight device in accessible nodes tab and accept device into project.

Sinamics


Step 5 - Commissioning DriveOverview of drive navigator

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Step 5 - Commissioning DriveOverview of I/O-Signals

Analogue

Digital

Sinamics


Step 5 - Commissioning DriveOverview of parameter list

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Step 5 - Commissioning DriveMainstream of speed setpoint and closed-loop control

Speed controller Torque setpoints Torque limiting

DRIVE-CLiQ

Current setpoint filter Current controller Power unit

Ramp function generator

Setpoint filter+precontrol

Speed setpoint

M

Sinamics


Step 5 - Commissioning DriveSpeed setpoint

Sinamics


Step 5 - Commissioning DriveRamp-function generator

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Step 5 - Commissioning DriveRamp-function generator

Simple ramp-functiongenerator

Extended ramp-function generator

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Step 5 - Commissioning DriveSpeed controller

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Step 5 - Commissioning DriveUpper and Lower Torque Limit

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Step 5 - Commissioning DriveIntroduction stationary measurement

Sinamics


Step 5 - Commissioning DrivePurpose of stationary measurement (refer to Chapter 6.3)

• SINAMICS Drive Object• Stationary measurement

• Equivalent circuit diagram data• Total resistance for:

• power cable resistance and• stator resistance

• IGBT on-state voltage or compensation for the IGBT lockout times• Control Panel (speed direction check, if necessary directional change,

p1821)

Sinamics


Step 5 - Commissioning DriveStart stationary measurement

1.Select stationery measurement from the drop down menu.2.Activate measurement.

Sinamics


Step 5 - Commissioning DriveResults of the stationary measurement

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Step 5 - Commissioning DriveStart stationary measurement

1.Select control panel.2.Select assume control priority.3.Tick the enables box.4.Select the green I button and the test begins.

Sinamics


Step 5 - Commissioning DrivePurpose of rotating measurement (refer to Chapter 6.3)

• SINAMICS Drive Object• Rotating Measurement and Speed Controller Optimization

• Measurement of magnetization characteristic• Measurement of magnetization current• Speed controller optimization• Acceleration pre-control setting• Setting for ratio between the total moment of inertia and that for the

motor

Sinamics


Step 5 - Commissioning DriveStart turning measurement

1.After stationery measurement select deactivate measurement.2.Then select next measurement.§Repeat steps taken for stationery except select turning measurement withencoder from the drop down menu,

Sinamics


Step 5 - Commissioning DriveErrors in rotating measurement

§If errors occur in rotating measurement test make sure that all steps have beenfollowed correctly.§Check drive diagnostics in control panel.

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Step 5 - Commissioning DriveErrors in rotating measurement

§Use alarm screen and click on error message for help to troubleshoot fault.

§To attempt rotating test again make sure to acknowledge errors in alarmsscreen.

Sinamics


Step 5 - Commissioning DriveResults of the rotating measurement

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Step 6 - Parametrizing DBTAlternative to rotating measurement (refer to Chapter 6.3)

If the rotating measurement cannot be performed, it is possible to correct manually themissed rotating measurement settings:

- To correct manually the magnetizing current and magnetizinginductance

- Speed control optimization by re-calculating the controlparameters (p0340) or by optimizing manually the controller

Refer to the manual “SIMOCRANE Drive-Based Technology”, Chapter 6.3

Simocrane


Step 6 - Parametrizing DBTOpen the Expert list

Select DriveAxis with the rightmouse, a new window will beopened.

Select Expert and Expert list

Simocrane


Step 6 - Parametrizing DBTDCC Parameters in the Expert list

Simocrane


Step 6 - Parametrizing DBTDCC_MasterSwitch (refer to Chapter 4.2)

In order that for low deflection angles lower speed setpoints are obtained than those that correspond linearly to thedeflection angle, the master switch setpoint is modeled through a non-linear function. This allows the drive to beprecisely positioned in the manual mode.

Simocrane


Step 6 - Parametrizing DBTDCC_DigitalMasterSwitch (refer to Chapter 7.1.1)

Simocrane

DI0

DI0

+D

I2

P. Speed 1

P. Speed 4

P. Speed 2

Digtal Input

P. Speed 3

N. Speed 4

N. Speed 1

N. Speed 3N. Speed 2

Speed

DI0

+D

I2+

DI3

DI0

+D

I2+

DI3

+D

I8

DI1

+D

I2

DI1

+D

I2+

DI3

DI1

+D

I2+

DI3

+D

I8

DI1


Step 6 - Parametrizing DBTDCC_Startpulse (refer to Chapter 4.3)

For hoists, when starting (i.e. opening the hoisting gear brake) with freely suspended load, often theload undesirably sags. The reason for this is that the torque is not available when starting.When starting with a suspended load, the torque must be quickly established.

Simocrane


Step 6 - Parametrizing DBTDCC_Startpulse in combination of Brake control

Brake Control

Start Pulse

Brake open

Simocrane

Brake close


Step 6 - Parametrizing DBTDCC_PreLimitSwitch (refer to Chapter 4.4)

This function prevents that the drive moves with full speed to the limit switch or to the safety buffer. Atotal of 4 different speed limits can be configured. Interconnect the maximum speed with speed limit 1.This limits speed to the maximum value.

Simocrane


Step 6 - Parametrizing DBTDCC_Overspeed (refer Chapter 4.5)

Function 1

to monitor the actual velocity for anoverspeed condition. Compared value can beeither in range of the rated speed or in fieldweakening area.

Function 2

to monitor continuously setpoint-actual valuedeviation

Simocrane


Step 6 - Parametrizing DBTDCC_CurrentDistributionMon (refer to Chapter 4.6)

This function can be used for master-slave operation orsynchronous operation. The block monitors that the totalcurrent of both drives is distributed evenly.

In synchronous operation, the current setpoint value ismonitored for the two drives. In master-slave operation, thecurrent actual values of two drives are monitored.

If the difference of the setpoint or actual currents of bothdrives exceeds the configured values for deviation andtime, then output r22037 "boFaultCurrentMonitoring" is set.

Simocrane


Step 6 - Parametrizing DBTDCC_LoadDependingFieldWeak (refer to Chapter 4.7 and 6.5)

When selecting field weakening, e.g. using the master switch, a supplementary speed setpoint for fieldweakening, which is permissible for the actual load, is generated.

Theoretical basics and equations

The steady-state load torque is calculatedas follows:

MM = MLoad + MFrictionMM: Motor torqueMLoad: Load torqueMFriction: Frictional torque

Commissioning instructions

1. To generate the measured variables (refer to chapter 6.5.2.1)2. Compensating the frictional torque (refer to chapter 6.5.2.2)3. Correcting the efficiency (refer to chapter 6.5.2.3)4. Calculating the physical size of the load (refer to chapter 6.5.2.4)

Simocrane


After commissioning save the project

After the Commissioning is finished, following steps must be done:Ø Copy RAM to ROM (all settings will

be saved on CF card)

Ø If the parameter settings in the CU310are changed online, then upload theproject to PG and save the project inthe STARTER.

Ø Do a copy of the complete CF flash cardto the hard-disc as a backup.

Sinamics


Thank you for your attention!

Dr. Qing Chen

Product Manager

PD LD CR PSM PRM

E-Mail: [email protected]

siemens.com/answers