Start-Up SIMODRIVE base line - Siemens Automation and Drives ...

Start-Up 03/2003 Edition 

simodrive 

SIMODRIVE base line

SIMODRIVE base line 

Start-Up 

Technical Manual 

Valid for 

Servo Drive 


03.2003 Edition 

Introduction 1 

Installation 2 

Technical description 3 

Servomotor 

4

SIMODRIVE base line® Documentation 

Key to editions 

The editions listed below have been published prior to the current edition. 

The column headed “Note” lists the amended sections, with reference to the previous edition. 

Marking of edition in the “Note” column: 

A .... New documentation 

B .... Unchanged reprint with new order number 

C .... Revised edition of new issue 

If any technical details presented on one of these pages have been changed with reference to 

the previous edition, it is indicated by another edition number in the header of the respective 

page. 

Edition 

03.2003 

Order No. 

6SN1197-0AB21-0BP0 

You will find additional information in the Internet under: 

http://www.ad.siemens.de/simodrive 

The reproduction, transmission or use of this document or its contents is 

not permitted without express written authority. Offenders will be liable for 

damages. All rights, including rights created by patent grant or registration 

of a utility model or design, are reserved. 

© Siemens AG 2003. All rights reserved. 

Order No. 6SN1197-0AB21-0BP0 

Printed in the Federal Republic of Germany 

Note 

A 

Functions may be executable in the control but are not described in this 

documentation. No claims can be made on these functions if included with a new 

shipment or when involved with service. 

We have checked the contents of this document to ensure that they coincide with 

the described hardware and software. The information in this document is regularly 

checked and necessary corrections are included in reprints. 

We are thankful for any recommendations for improvement. 

Subject to change without prior notice. 

Siemens-Aktiengesellschaft.

Safety information To safeguard your own personal safety as well as protect the product 

described and all connected equipment and machines against damage, 

please read and observe the following warnings and safety information. 

! 

! 

! 

Danger 

Indicates an imminently hazardous situation which, if not avoided, will 

result in death or serious injury or in substantial property damage. 

Warning 

Indicates a potentially hazardous situation which, if not avoided, could 

result in death or serious injury or in substantial property damage. 

Caution 

Used with the safety alert symbol indicates a potentially hazardous 

situation which, if not avoided, may result in minor or moderate injury or 

in property damage. 

Notice 

Notice refers to an important item of information about the product, 

handling of the product or part of the documentation which is particularly 

relevant in the current context. 

Qualified person Only the qualified person may install, start-up and operate the 

equipment. The “qualified person “ is someone who is familiar with the 

installation, mounting, start-up and operation of the equipment and the 

hazards involve. 

Applicatin scope 

! 

Warning 

The information and instructions in all of the documentation supplied and 

any other instructions must always be observed to eliminate hazardous 

situations and damage. 

Perfect, safe and reliable operation of this equipment assumes that it has 

been professionally transported, sorted, mounted and installed as well as 

careful operator control and service.

Contents 

Contents 

1. INTRODUCTION ...................................................................................................................1-1 

1.1. COMPONENTS OF SIMODRIVE BASE LINE.........................................................................1-1 

1.2. TECHNICAL DATA ..............................................................................................................1-3 

1.3. ORDER NUMBER ...............................................................................................................1-5 

2. INSTALLATION.....................................................................................................................2-1 

2.1. INSTALLATION OF SIMODRIVE BASE LINE .........................................................................2-1 

2.2. INSTALLATION OF ACCESSORIES ........................................................................................2-4 

2.3. START-UP OF SIMODRIVE BASE LINE ..............................................................................2-5 

2.4. INTERFACES AND CABLING.................................................................................................2-7 

2.5. CONNECTING CABLE .......................................................................................................2-10 

2.6. INTERFACE DESCRIPTION.................................................................................................2-11 

2.6.1. control module interface........................................................................................2-11 

2.6.2. Infeed module interface.........................................................................................2-17 

2.7. POWER SUPPLY ..............................................................................................................2-18 

2.8. GROUNDING ...................................................................................................................2-25 

3. TECHNICAL DESCRIPTION ................................................................................................3-1 

3.1. CLOSED-LOOP CONTROL WITH RESOLVER ..........................................................................3-1 

3.2. INFEED MODULE................................................................................................................3-2 

3.3. CONTROL MODULE............................................................................................................3-4 

4. SERVOMOTOR.....................................................................................................................4-1

�� Introduction 

�� Components of SIMODRIVE base line 

Introduction 

What is SIMODRIVE SIMODRIVE base line is a compact AC Servo drive. It applies to 

base line economical CNC lathe, milling machine and drilling machine. It can also 

be adapted to control diverse production machines. 

Components SIMODRIVE base line is designed in a compact structure. It is inside 

consisted of the following modules: 

� Control module 

� Infeed module 

� Power module 

Fig.1-1 SIMODIVE base line (2-axis module, V2/V3) 

SIMODRIVE base line SIMODRIVE base line can be ordered with the following versions: 

Version 

� V1�1-axis version, motor static torque of 11Nm; 

� V2�2-axis version, motor static torque of 6Nm + 8Nm; 

� V3�2-axis version, motor static torque of 6Nm + 3Nm; 

SIMODIVE base line SIMODRIVE base line is applied mainly together with SINUMERIK 

application 802C and SINUMERIK 802Ce at present. With the application of 

SIMODRIVE base line the solution shows the outstanding performance 

price ratio. 

SIEMENS 1FK7 AC servomotor is supplied to configure with 

SIMODRIVE base line. 

SIMODRIVE base line Start-Up 2003.03 1-1

Introduction 

Fig. 1-2 Solution sample 

1-2 SIMODRIVE base line Start-Up 2003.03

�� Technical data 

Connected load Table 1-1 connected load 

Introduction 

Parameter Min Type Max Unit Remarks 

Supply voltage 360 400/ 

415 

456 V Power 

derating in 

case of 

under 360V 

Input frequency 45 50 66 Hz 

Output power of 

Infeed mould 

5 10 KW 

Current consumption 

of 1-axis power 

module 

9 18 A V1 

Current consumption 

of 2-axis power 

module 

5 10 A V2 or V3 

Mechanical data Table 1-2 mechanical data 

Parameter Dimension ( W x 

H x D, mm) 

Weight (Kg) Remarks 

1-axis 

SIMODRIVE base 

line 

110 x 483 x 271 11 V1 

2-axis 

SIMODRIVE base 

line 

110 x 483 x 271 11.5 V2 or V3 

Environment 

operating conditions Table 1-3 environment operating conditions 

Designation Description Remarks 

Temperature 0°C + 40°C�Max.+55°C� Power derating in 

range 

range 40°C�+55°C 

Relative 

humidity 

Annual average: U=75%�td 

=17°C 

td : Moisture 

condensation 

On 30 days (24h) over the temperature; 

year: U=95%; td =24°C; 

these days should be 

naturally distributed over the 

year. 

On all other days (

Introduction 

Transport and 

storage conditions Table 1-4 transport and storage conditions 

Designation Description Remarks 

Temperature 

range 

-40��+70� 

Relative 

humidity 

Annual average: U=75%�td 

=17°C 

td : Moisture 

condensation 

On 30 days (24h) over the temperature; 

year: U=95%; td =24°C; 

these days should be 

naturally distributed over the 

year. 

On all other days (

�� Order number 

Introduction 

General SIMODRIVE base line is delivered in 3 different versions. They are 

adapted to diverse application field, for example, the machine tools with 

1-axis and 2-axis control. Moreover, the accessories and cables should 

be ordered separately by the customers. The order number can be seen 

in the following table. 

Table 1-5 order number 

No. Designation MLFB Remarks 

1 V1: 1-axis module 6FC5548-0AC11-0AA0 11 Nm 

2 V2: 2-axis module 6FC5548-0AC12-0AA0 6 Nm+8 Nm 

3 V3: 2-axis module 6FC5548-0AC13-0AA0 6 Nm+3 Nm; 

Axis 1 should be set always for 

6 Nm, Axis 2 for 3 Nm. 

4 Position feedback cable 6FX5002-2CJ00-1 0 : 

AF – 5 m; 

AH – 7 m; 

BA – 10 m; 

BF – 15 m; 

5 Speed setpoint cable 6FX2002-3AD01-1 0 : 

AB – 1 m; 

AD – 3 m; 

AF – 5 m; 

AH – 7 m; 

BA – 10 m; 

BF – 15 m; 

6 Encoder cable 6FX5002-2CF02-1 0 : 

AF – 5 m; 

BA – 10 m; 

BF – 15 m; 

7 Motor power cable 6FX5002-5 A01-1 0 : 

AF – 5 m; 

BA – 10 m; 

BF – 15 m; 

BJ – 18 m; 

CF – 25 m; 

� 

C – without brake; 

D – with brake; 

8 Transformer JBK3 See table 2-8. 

9 SIEMENS matching 4AU3695-0SB10-0CN2 Protection class IP00 

transformer (8.2kW) 4AU3695-0SB12-0CN2 Protection class IP23 

4AU3695-0SB18-0CN2 Protection class IP20 

10 SIEMENS filter 6SN1111-0AA01-1BA0 

11 1FK7 motor 

1FK7042-5AF71-1T 0 � 

1FK7060-5AF71-1T 0 A – with key/without brake; 

1FK7063-5AF71-1T 0 B – with key/with brake; 

1FK7080-5AF71-1T 0 G – plain shaft/without brake; 

H – plain shaft /with brake; 


�� Installation 

�� Installation of SIMODRIVE base line 

Installation 

Obvious check Please check the packaging prior to the installation of SIMODRIVE base 

line and make sure that the complete goods are delivered according to 

the packing list. They should be complete and properly. 

! 

Warning 

Observe the following sequence when mounting and dismounting the 

equipment: 

1. Make use of the original packaging at transportation; 

2. Keep distance from the motion equipment while power is switching on; 

3. Disassembling may not start until the power has been switched off 

for 30 minutes; 

4. Cut off the line power supply voltage of servo drive in case of the longterm 

standstill of servomotor; 

5. The protective ground conductor should be connected properly. 

Mounting place SIMODRIVE base line is of a modular design, so that the installation is 

very simple. To fix the servo drive in the cabinet, 4 screws (M6) are only 

required. 

! 

The vertical mounting in the cabinet is recommended. To ensure 

sufficient cooling, a clearance of at least 100 mm must be kept above, 

below and between the modules (see Fig.2-1). 

Caution 

It must fulfil the environment conditions in the cabinet as follows: 

1. The permissible surroundings temperature of servo drive is 0~55°C, 

but the power is to be de-rated in case above 40°C; 

2. The relative humidity is 75% in annual average; 

3. Vibration of cabinet within 0.5G (4.9m/s 2 ); 

4. No condensation and icing present; 

5. To guarantee the long-term stable work of servo drive, please keep the 

surrounding temperature below 40°C; 


Installation 

Mounting The mounting dimensions are shown in the following figures. 

dimensions 

Fig. 2-1 Mounting dimensions 

Clearance space for sufficient cooling 


Fig.2-2 Mounting dimensions (continously) 

2-axis module 1-axis module 

Installation 


Installation 

�� Installation of accessories 

General The accessories below should be applied in compliance with the local 

power supply system and the environment conditions. 

Line fuse Prior to connection with the power supply system, the fuse with rating of 

16A, 410/415VAC is recommended to be adopted. The relevant technical 

data refer to chapter 2.7 “Power supply – fuse /breaker”. 

Breaker Breaker can be used to protect the circuit securely if no fuse is adopted. 

The rating value is 16A, 415VAC, maximal temperature is 60°C. The 

recommended breaker by SIEMENS can be seen in chapter 2.7 “Power 

supply – fuse /breaker”. 

Isolating The transformer with isolating wiring is to be adopted, in order to 

transformer eliminate the interference by the low-frequency signals or influence 

radiated by the non-balance 3-phase line power supply system 

(3AC380V → 3AC380V). 

The isolating transformer must be applied in case of the IT or TT line 

power networks. You can learn how to order the transformer in chapter 

2.7 “Power supply – transformer”. 

Line filter The line filter is designed to provide noise suppression for SIMODRIVE 

base line. We recommend customer to use line filter to prevent from the 

high frequency noise. The rating voltage: 400/415VAC, frequency: 

50/60Hz. For the detailed technical data, please refer to chapter 2.7 

“Power supply – line filter”. 

Commutating Since the commutating reactor is built in the Infeed module in 

reactor SIMODRIVE base line, we don’t recommend customer to use external 

commutating reactor. 

Cable SIEMENS cable provides optimum protection against interference, so the 

preassembled cable offered as accessories are recommended for the 

application. 

Shield plate To fulfil the EMC requirements better, the screens of shielded power 

cable are to be connected to the drive converter housing. The shield 

plate has clamp connections and mounting points for brake terminals. 

How to install the shield plate into SIMODRIVE base line, please refer to 

chapter 2.7 “Power supply – shield plate”. 

! 

Caution 

Power and signal cable must always be routed separately from one 

another in the cabinet. 


�� Start-Up of SIMODRIVE base line 

Installation 

General In order to optimize the dynamic characteristic of the servo drive, the 

commissioning is to be carried out as follows: 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

1 

yes 

yes->fault 

no->fault 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 


Installation 

1 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 


�� Interfaces and cabling 

Installation 

General Position of the interfaces and elements on the front panel are shown in 

the following figure. 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

Fig.2-3 Front panel of SIMODRIVE base line (2-axis module left, 1-axis module right) 


Installation 

Interface Control module: 

� X391/X392 – position feedback interface 

15-pin sub-D socket connector, position feeback to NC system. 

� X311/X312 � encoder interface 

25-pin sub-D socket connector, connecting with resolver in 

servomotor. 

� Drift � drift compensation 

Implement the drift compensation when the rated speed is zero 

(short circuit between terminal 56 and 14). Adjustment range: - 

45mV…+45mV� 

� � tachometer 

The actual drive speed for +/-10V speed setpoint can be varied in 

range 0.6 nrated ~1.8 nrated . Customers don’t need to adjust the 

tachometer, as it is already calibrated before delivery. 

� KP � proportional gain 

The proportional gain KP of the speed controller can be set using 

potentiometer KP. It is used to optimize the speed dynamic 

characteristic. Adjustment range: 2.5 ~95. 

� TN � integral action time 

The speed controller integral action time is set using potentiometer 

TN. It is used to optimize the speed dynamic characteristic. 

Adjustment range: 3�40ms 

� X321/X322 � speed setpoint interface 

Terminal 56 and 14 in X321/X322 are the differential input interface 

of speed setpoint. Range: +/-10V. 

� X331/X332 � controller enable interface 

Terminal 9 and 65.1 in X331/X332 is the controller enable interface 

for axis 1; Terminal 9 and 65.2 in X331/X332 is the controller enable 

interface for axis 2; 

� A1(U2,V2,W2)/A2(U2,V2,W2) � power cable interface 

A1(U2,V2,W2) is the power cable interface for axis 1 servomotor; 

A2(U2,V2,W2) is the power cable interface for axis 2 servomotor. 

Infeed module: 

� X131 � grounding terminal for electronics power supply 

Screw M4, is the grounding terminal for electronics power supply. 

� X141A � enable interface terminal 

Terminal 63 is the pulse enable input; Terminal 9 is the enable 

output; Terminal 64 is the drive enable input; R is the reset interface; 

Terminal 19 is the basis grounding. 

� X1(U1,V1,W1) � line power feeder 

For 3-phase 400/415VAC line power feeder. 


Installation 

LED lights 6 LEDs on the front panel indicate and monitor the current status for the 

individual circuits in SIMODRIVE base line. The meaning of the display 

elements is as follows: 

� Spp (red) � Electronics power supply +/- 15V faulted 

� Ext (green) � Ext. Enable signal not available (terminal 63 and /or 

64 missing) 

� (red) � Line supply fault (single or multi-phase line supply 

failure at terminals U1,V1,W1); 

� no commutating reactor, incorrectly installed or 

incorrectly selected; 

� fault level of the line supply or transformer too low; 

� 5V (red) � 5V voltage level faulted; 

� Unit (yellow)� DC link charged; 

� Uzk (red) � DC link overvoltage 


Installation 

�� Connecting cable 

General As a standard configuration of SIMODRIVE base line SINUMERIK 802 

Ce is applied together with SIEMENS servomotors (1FK7) in CNC 

Turning/Milling machine. The components are wired up as shown in the 

connection diagram Fig. 2-4. The required cable for the connection 

between NC, drive and motors is also indicated in the figure. 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

Fig. 2-4 connection diagram for SIMODRIVE base line with 802Ce 


�� Interface description 

�� control module interface 

Installation 

General On the front cover of control module are located different interfaces to 

connect with system control and servomotor. The interface overview can 

be seen from the sequential diagram. 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� N� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

� 

�� 

� 

�� 

�� 

�� 

�� 

�� 

� � 

� � 

Fig. 2-5 interface overview of control module (2-axis) 

SIMODRIVE base line Start-Up 2003.03 2-11 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

� 

�� 

� 

�� 

� 

�� 

� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� set (�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� rated 

�� 

�� 

�� rmax 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

��

Installation 

�� 

�� Position feedback interface - X391/X392 

Connector on the Connector designation: X391/X392 

servodrive side Connector type: 15 –pin Sub-D plug connector 

connector on the Connector designation: X3/X4/X5/X6 

NC side Connector type: 15 –pin Sub-D socket connector 

�� 

�� Encoder interface - X311/X312 

Table 2-2 Pin assignment of the connector X391/X392 

Signal Type Servodrive side NC side 

M Ref.pin 2 11 

A RS422A 3 1 

A_INV RS422A 4 9 

B RS422A 6 10 

B_INV RS422A 7 3 

R RS422A 12 4 

R_INV RS422A 13 12 

READY HCMOS! 1 NC 

ER_IKL HCMOS! 9 NC 

ER_TNL HCMOS! 10 NC 

EN_WSG HCMOS! 11 NC 

Connector on the Connector designation: X311/X312 

servodrive side Connector type: 25 –pin Sub-D plug connector 

Connector on the Connector designation: Encoder connector 

servomotor side Connector type: 12 –pin aero-connector, socket 

Table 2-3 Pin assignment of the connector X311/X312 

Signal Servodrive side Servomotor side 

SIN_PLUS 3 1 

SIN_MINUS 4 2 

M 5,8,24 - 

COS_PLUS 6 11 

COS_MINUS 7 12 

RES_POS 9 10 

RES_NEG 11 7 

TEMP_PLUS 13 8 

TEMP_MINUS 25 9 


�� 

�� Drift compensation �� Drift potentiometer 

General The drift is compensated for nset =0 using a potentiometer. 

�� 

Control range: +/-45mV. 

�� Tachometer �� potentiometer 

Installation 

Setting range The actual drive speed for +/-10V speed setpoint can be varied by the 

rated speed in the range: 0.6 nrated ≤ nactN ≤ 1.8 nrated . 

�� otorN �� otorN � �� 

The following setting ranges are obtained for a ± 10V speed setpoint 

according to the rated speeds. 

� �� 

�� 

�� 

�� 

�� 

�� 

Fig. 2-6 Setting range for a ± 10V speed setpoint 

�� 

�� 

When the speed setpoint is reduced, the setting range is also 

appropriately reduced. We recommend that the motors with a rated 

speed of 2500 RPM are operated using a ± 9V speed setpoint, in order 

to limit the selectable maximum speed. 


Installation 

�� 

�� Proportional gain �� KP potentiometer 

General The proportional gain KP of the speed controller can be set using 

potentiometer KP. The gain, set using the KP potentiometer, is only 

insignificantly influenced by the setting of the TN. 

�� 

K P 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

� 

� � � � � � � � � � �� 

Setting Kp - Poti 

Fig. 2-7 Setting proportional gain KP using Kp potentiometer 

�� Integral action time �� TN potentiometer 

General The speed controller integral action time is set using TN potentiometer. 

T N ms 

�� 

�� 

�� 

�� 

�� 

� 

� � � � � � � � � � �� 

Setting TN potentiometer 

Fig. 2-8 Setting integral action time using TN potentiometer 


�� 

�� Speed setpoint interface - X321/X322 

General The speed setpoint of NC controller is connected to terminal 56 and 

terminal 14 as differential input. 

Installation 

Terminal definition Refer to the table 2-4 for the terminal definition in connector X321/322. 

�� 

Table 2-4 terminal definition 

Ter.No. Designation 

1) 

Function Type 

2) 

Typ./limit 

voltage 

(V) 

56 X321/322 Speed setpoint I 0…±10 1.5 

14 X321/322 Speed setpoint I 0…±10 1.5 

24 X321/322 Speed/current 

setpoint 

I 0…±10 1.5 

20 X321/322 Speed/current 

setpoint 

I 0…±10 1.5 

75 X321/322 Speed actual 

value 

O 0…±10 1.5 

15 X321/322 Reference 

potential 

O 0 1.5 

16 X321/322 Active current 

actual value 

O 0…±10 1.5 

96 X321/322 Power-on Iset 

limiting 

I +13…30 1.5 

9 X321/322 Enable 

potential 

O +24 1.5 

22 X321/322 Changeover, 

speed/current 

control 

I +13…30 1.5 

1) X321 for axis 1, X322 for axis 2 

2) I =Input, O =Output 

�� Controller enable interface - X331/X332 

max. 

crosssection 

(mm 2 ) 

General The pulse enable signal and controller enable signal are to be connected 

with terminals in connector X331/X332. 

Terminal definition Refer to the table 2-5 / 2-6 for the terminal definition in connector 

X331/332. 

Table 2-5 terminal definition for 2-axis module 


9 X331 Enable 

potental 

Function Type 

1) 

Typ./limit 

voltage(V) 

O 24 1.5 

Max. 

crosssection 

(mm 2 ) 


Installation 

663 X331 Pulse enable I +21…30 1.5 

AS1 X331 Relay, start 

inhibit, floating 

contact 

NC Max.250VA 

C/1A 

1.5 

AS2 X331 Relay, start 

inhibit, floating 

contact 

NC Max.250VA 

C/1A 

1.5 

9 X332 Enable 

potential 

O 30VDC/1A 1.5 

65.1 X332 Controller 

enable, axis1 

I +13…30 1.5 

9 X332 Enable 

potential 

O 24 1.5 


enable, axis 2 

I +13…30 1.5 

1) NC =NC contact (for signal: closed = high, open = low) 

For the 1-axis version, the following assignment is obtained for X332. 

Table 2-6 terminal definition for 1-axis 


9 X332 Enable 

potential 


enable 

15 X332 Reference 

potential 

258 X332 Current 

setpoint 

Function Type Typ./limit 

value(V) 

O +24 1.5 

I +13…30 1.5 

O 0 1.5 

O 0…±10 1.5 

max. 

Crosssection 

(mm 2 ) 


�� Infeed module interface 

General The pulse enable and drive enable interface is available in infeed 

module. 

�� 

�� Grounding of electronics power supply - X131 

Installation 

General It is the reference potential terminal for electronics power supply. This 

terminal (screw M4) should be connected with the protective conductor in 

NC using a cable with cross-section 4mm 2 . 

�� 

�� Enable interface terminals - X141A 

General Terminal 63 is used for pulse enable input. Terminal 64 is for drive 

enable input. They can be short-circuited with terminal 9, or controlled by 

PLC. 

Terminal 63 has the highest priority for enabling the pulses for all of the 

modules and acts instantaneously. 

Terminal 64 acts instantaneously on all modules. When the signal is 

withdrawn, nset is set to 0 for all drives, and all of the controllers and 

pulses are inhibited after a selected time has expired (setting when 

supplied: 240 ms). The drive is braked along the current limit. 

Terminal definition Table 2-7 terminal definition 

Ter. 

No. 

Designation 

Function Type 3) Typ./limit 

value(V) 

max. 

Crosssection 

(mm 2 ) 

63 X141A Pulse enable I +13…30 1.5 

9 X141A FR+ 1)2) 

O +24 1.5 

9 X141A FR+ 1)2) 

O +24 1.5 

64 X141A Drive enable 1) 

I +13…30 1.5 

R X141A RESET 1) 

I 0/+24 1.5 

19 X141A FR-, reference 

ground, enable 

signal voltage 

O 0 1.5 

1) Terminal 19 is the reference terminal (this is connected inside the 

module to general reference ground X131 with 10 kΩ) 

2) Max. current load, terminal 9 –terminal 19: 1A 

3) I = Input, O = Output 


Installation 

�� Power supply 

General SIMODRIVE base line can be connected directly to TN line supplies. For 

all other line supply types, an isolating transformer with grounded neutral 

point on the secondary side must be used. The figure 2-9 shows how to 

connect the drive converter to line supply. 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

2-18 SIMODRIVE base line Start-Up 2003.03 

�� 

�� 

M 

3~ 

�� 

�� 

�� 

�� 

�� 

�� 

Fig. 2-9 connecting diagram for line supply (1–axis)

Installation 

Line supply system There are different line supply networks, e.g. TN system, TT system and 

IT system. The TN-C system is applied most widely. 

The various system structures are defined below (see Fig.2-10): 

� TN-C system: it is symmetrical 4-conductor or 5-conductor threephase 

network with grounded, loadable star point. The protective 

and neutral conductors are connected to the star point. 

� TT system: it is symmetrical 3-conductor or 4-conductor three-phase 

network with a directly grounded point, the loads are, e.g., connected 

to groundings which are not electrically connected to the directly 

grounded point of the network. 

� IT system: it is symmetrical 3-conductor or 4-conductor three-phase 

network with no directly grounded point, the loads are, e.g., 

connected to groundings. 



Fig. 2-10 three types line supply system 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

Installation

Installation 

Fuse/circuit Fuse must be used which are designed to protect the line supply feeder 

breaker cables. We recommend the SIEMENS fuse type listed below: 

� Irated �16A; 

� Ifuse0.2s >70A; 

� Ifuse4S > 50A; 

� Ifuse10s > 42A; 

� Ifuse240s > 30A; 

The order No. of the recommended SIEMENS fuse is�16AD01 

Neoz./B.No.5SE2116� 

Or you can choose SIEMENS circuit breaker: 3RV1031-4BA10. 

Isolating SIMODRIVE base line can be connected directly to TN-C line supply 

transformer system. The isolating transformer is used as an option in this line supply 

type. The connecting diagram is shown in the Fig.2-8. But the isolating 

transformer must be used in following cases: 

1. IT line supply system or TT line supply system; 

2. The touchable part in the equipment has potential because of the 

non-balance load current or harmonic current in 3-phase system in 

TN line supply 

3. Upstream devices providing protection against hazardous leakage 

currents or for fire protection doesn’t comply with the requirements 

of DIN EN 50178 

Table 2-8 required technical specifications 

Designation Parameter Unit 

Rated power 

V1 (11Nm)� 4.00 (customer tailored) kVA 

V2 (6Nm +8Nm):4.00 (customer tailored) kVA 

V3 (6Nm +3Nm):2.50 (standard) kVA 

V1+V2(11Nm +6Nm +8Nm): 5.00 

(standard) 

V1+V3(11Nm +6Nm +3Nm): 4.00 

(customer tailored) 

Input voltage 3AC 380 V 

Output 

voltage 

Type JBK3 

Circuit voltage 

UK 

Terminal 

protection 

class 

Endure test 

voltage 

3AC 380 V 

Installation 

Input current 

without load 

Table 2-10 technical specification (SIEMENS filter) 

Designation Parameter Unit 

Rated current 16 A 

Power loss 20 W 

Conductor cross 

section 

PE terminal M6, stud 

Max.4 mm 2 

Weight 3.8 kg 

Dimension 

(WxHxD) 

156x193x81 mm 

System voltage 400/415�±10��3-phase AC V 

Degree of 

protection 

Humidity 

classification 

Permissible 

ambient 

temperature 

Installation 

altitude 

IP20 

3K5, condensation and icing excluded 

� Operation: -0 ~40,max.55 (with 

derating) 

� Storage/transport: -25~70; 

1000, 2000 (with derating) m 

Order No.: 6SN1111-0AA01-1BA0 

Installation 

Commutation The commutation reactor is used to limit system disturbance or instability 

reactor , and store energy for step-up converter operation in conjunction with 

infeed and regenerative feedback modules. 

The commutation reactor is already integrated in the infeed module in 

SIMODRIVE base line. It is not required for customer to install another 

commutation reactor. 

Shield plate in order to meet the requirements of the EC Directive on EMC, the motor 

cable should be shielded. The shielded plate is used to contact the shield 

on shielded motor supply cables. The plates are provided with prepared 

mounting points for brake connection terminals. 

How to mount the plate in SIMODRIVE base line and wire up the cables, 

please refer to Fig.2-12 and Fig.2-13. 

Fig. 2-11 shield plate 


ºC

Installation 

Fig.2-12 mounting shielded plate 

Fig.2-13 connecting the brake terminal 


�� Grounding 

Installation 

General The ground connections must be implemented correctly in the cabinet. 

The grounding terminal X131 is to be connected separately with the 

protective conductor in NC. 

�� 

�� 

�� 

�� 


X312 

PE2 

W2 

V2 

U2 

X311 

PE1 

W2 

V2 

U2 

X131 

Fig. 2-14 Grounding diagram for SIMODRIVE base line (2-axis) 

�� 

�� 

�� 

PE 

W1 

V1 

U1 


G 

M 

3~ 

G 

M 

3~ 

��

�� Technical description 

�� Closed-loop control with resolver 

Technical description 

General This drive variant is intended for applications for which highest encoder 

resolution is not a primary concern. The control has been specially 

designed for use with sine-commutated 1 FK motors. 

Control process 

n + 

- 

Speed 

controller 

Actual 

speed 

+ 

The resolver encoder system integrated in the motor supplies the signals 

required by the control system, such as motor rotor position and actual 

speed, as well as an incremental shaft encoder interface with TTL 

signals for external processing. 

- 

Current 

controller 

Actual 

current 

Coordinator Power 

section 

Gating 

unit 

Rotor 

position 

Motor 

encoder 

measurements 

Fig.3-1 control process in SIMODRIVE base line 

Current 

measurements 

AC 

servomotor 

Resolver 


M 

3~ 

G


�� Infeed module 

General SIMODRIVE base line is connected to the power supply via the infeed 

modules. The infeed module generates the DC voltage 600V from the 

line supply. And the PWM DC link voltage is provided for the stator 

windings in the motor. The resolver built-in the motor switches over the 

current to appropriate phase. 


Monitoring 

Pre-charge 

contactor 

The infeed module is designed with a permissible dynamic overloading 

200% for a short time. The design of heatsink overtemperature - / I 2 t - 

monitoring protect the power part from over heating. 

Drive 

enable 

Pulse resistor controller 

Monitoring 

�� 

Fig.3-2 control process in infeed module 

�� 

�� 

�� 

Pulse 

enable 

Electronics power 

supply 

DC link 

monitoring 

�� 

�� 

�� 

�� 


�� 

��


Enable signal The time diagram of the enable signals in infeed module is shown in the 

Fig.3-3. 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

� � 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

Fig.3-3 Enable signal in infeed module 



�� Control module 

General The control module is intended for feed drives with close-loop control 

function. It can provide the smoothing function for machine tools. 


The speed controller has the PI characteristics. The proportional gain KP, 

integral action time TN, drift compensation and tachometer calibration can 

be set using potentiometer. The dynamic response in low velocity is 

improved through speed-controller- adaption. The speed controller is to 

be optimized through varying integral time and proportional gain. 


�� 

�� 

� �� 

�� 

�� 

� � � �� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

Fig 3-4 block diagram of control module 

�� 

�� 

� �� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 



�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

� 

�� 

�� 

�� 

�� 

�� 

M 

3~ 

R


Enable signal The time diagram of enable signals in control module is shown in fig.3-5. 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

� � 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

�� 

Fig.3-5 Enable signal in control module 

Monitoring function heatsink overtemperature- /I 2 t monitoring 

� Heatsink overtemperature monitoring: 

when the heatsink shutdown temperature is reached, the fault signal is 

output. And the axes are stopped. 

� I 2 t monitoring: 

when the limiting becomes active, the fault signal is output. And the 

axes are stopped. 


�

Motor overtemperature 


� SIMODRIVE base line feed modules with closed-loop control for 

servomotors are equipped with an evaluation circuit for the PTC 

thermistors integrated in the motor windings. The monitoring 

combination is intended to protect the motors against inadmissible 

high winding temperatures (trip temperature 150°C); 


�� Servomotor 

Servomotor 

General SIEMENS 1FK7 servomotors are provided to connect with SIMODRIVE 

base line. 

Technical data 

1FK7 AC servomotors are extremelly compact permanent-field 

synchronous motors. Together with the SIMODRIVE base line, the 1FK7 

motors comprise a powerful system with high functionality. The built-in 

resolver system is used to control the speed and position. 

The motors are designed for operation without external cooling, and the 

heat is dissipated through the motor surface. The 1FK7 motors have a 

high overload capability. 

Table 4�1 technical data of 1FK7 servomotor 

Designation Parameter Remarks 

Rated speed 2500 rpm 

Pole pair 4 

Encoder Resolver, 1 pole pair 

Motor type AC servomotor (permanent-field 

synchronous motor) 

Magnet material Rare-earth magnet material 

Protection degree IP64 According 

to 

EN60034-5 

Insulation of stator 

windings 

(according to 

EN60034-1) 

Cooling type Natural air cooling 

Temperature 

monitoring 

Temperature class F Winding 

temperature 

rise 

T=100K at 

ambint 

temperature 

+40ºC 

KTY84 Temperatur 

e sensor in 

stator 

winding 

Paint finish unpainted Machine 

Tools 

Works 

responsible 

Motor shaft Plain shaft /with fitted key and 

keyway 

Rotational 

accuracy, 

concentricity and 

axial runout 

According 

to DIN748-3 

Tolerance N (normal) According 

to 

DIN42955 


Servomotor 

Vibration severity Grade N (normal) According 

to 

EN60034- 

14 

Sound pressure 

level max. 

1FK704: 55dB� 

1FK706: 65dB� 

1FK708: 70dB� 

According 

to EN21680 

Order data Please refer to the table 4-2 for the ordering data of 1 FK 7 servomotors. 

The speed –torque characteristic can be seen in the fig. 4-1 ~4-4. 

Table 4-2 order data 

Order No. 

1FK7042- 

5AF71-1T 0 

1FK7060- 

5AF71-1T 0 

1FK7063- 

5AF71-1T 0 

1FK7080- 

5AF71-1T 0 

* without brake 

torque [Nm] 

11 

10 

9 

8 

7 

6 

5 

4 

3 

2 

1 

Note: 

The data in the table and figures below are only adapted to the 

application field with SIMODRIVE base line. 

Static torque 

(Nm) 

M0 M0 

Rated 

torque (Nm) 

Mrated(100) 

weight 

* 

(Kg) 

Motor phase 

current (A) 

I0 I0 

Rated 

speed 

1/min 

Pole 

(60) (100) 

(60) (100) 

2.5 3 2.7 4.9 1.8 2.2 2500 8 

5.0 6 5.1 7 3.7 4.5 2500 8 

9.1 11 8.2 11.5 6.6 8.0 2500 8 

6.6 8 6.9 10 4.0 4.8 2500 8 

Max.torque line 

1FK7042 - 5AF71 

S3 - 25% 

S3 - 40% 

S3 - 60% 

S1 (100K) 

S1 (60K) 

0 

0 500 1000 1500 2000 2500 3000 3500 

speed [min-1] 

Fig. 4-1 Speed – torque diagram 1FK7042-5AF71-1T 0 


Remarks in the above graphics (valid for the sequent figures): 

Servomotor 

S1 (60K): torque output during continous operation at temperature rise of 60K; 

S1 (100K): torque output during continous operation at temperature rise of 100K; 

S3 –60%: load cycle in case of intermittent periodic duty, 60% means the ratio of working 

time with constant load to the whole cycle; 





Max.torque line: it is the characteristics line of max. torque, which isn’t permissible to be 

exceeded. 

torque [Nm] 

20 

15 

10 

5 

0 

Max.torque line 

S3 - 25% 

S3 - 40% 

S3 - 60% 

S1 (100K) 

S1 (60K) 

1FK7060 - 5AF71 

0 500 1000 1500 2000 2500 3000 3500 

speed [min-1] 


torque [Nm] 

35 

30 

25 

20 

15 

10 

5 

max.torque line 

1FK7063 - 5AF71 

S3 - 25% 

S3 - 40% 

S3 - 60% 

S1 (100K) 

S1 (60K) 

0 

0 500 1000 1500 2000 2500 3000 3500 

speedl [min-1] 



Servomotor 

torque [Nm] 

25 

20 

15 

10 

5 

max. Torque line 

S3 - 25% 

S3 - 40% 

S3 - 60% 

S1 (100K) 

S1 (60K) 

1FK7080 - 5AF71 

0 

0 500 1000 1500 2000 2500 3000 3500 

speed [min-1] 


Dimension the dimensions of the servomotor can be seen in the fig. 4-1 and the 

table 4-3. 

Fig.4-5 Motor size 

Table 4-3 Motor dimensions 

Order No. a1 b1 c1 e1 f f1 g2 h i2 s2 

1FK7042- 

5AF71-1T 0 

120 80 10 100 96 3 90 48 40 7 

1FK7060- 

5AF71-1T 0 

155 110 10 130 126 3.5 105 63 50 9 

1FK7063- 

5AF71-1T 0 

155 110 10 130 126 3.5 105 63 50 9 

1FK7080- 186 130 13 165 155 3.5 119. 77.5 58 11 

5AF71-1T 0 

5 


Table 4-3 Motor dimensions (continuously) 

Servomotor 

Order No. Without brake With brake d d6 I t u 

k o1 o2 k o1 o2 

1FK7042- 

5AF71-1T 0 

162 101 134 191 101 163 19 M6 40 21.5 6 

1FK7060- 

5AF71-1T 0 

157 93 125 200 93 168 24 M8 50 27 8 

1FK7063- 

5AF71-1T 0 

202 138 170 245 138 213 24 M8 50 27 8 

1FK7080- 

5AF71-1T 0 

156 91 124 184 91 152 32 M12 58 35 10 


SIEMENS AG 

A&D MC BMS 

Postfach 3180 

D–91050 Erlangen 

(Tel. +49 180 / 5050 – 222 [Hotline] 

Fax +49 9131 / 98 – 2176 [Documentation] 

Mailto: motioncontrol.docu@erlf.siemens.de) 

From 

Name 

Company/dept. 

Street 

Zip code: City: 

Telephone: / 

Telefax: / 

Suggestions and/or corrections 

Suggestions 

Corrections 

for Publication/Manual: 


Manufacturer Documentation 

Start-Up 

Order No.: 6SN1197–0AB21–0BP0 

Edition: 03.03 

Should you come across any printing 

errors when reading this publication, 

please notify us on this 

sheet. 

Suggestions for improvement are 

also welcome.

SIMODRIVE base line Document structure 

General Documentation: Catalog 

SINUMERIK 

802S 

Leaflet 

Technical Manual: Start-Up 

SINUMERIK 

802S 

Start-up

Siemens AG 

Automatisierungs- und Antriebstechnik 

Motion Control Systems 

Postfach 3180, D – 91050 Erlangen 

Bundesrepublik Deutschland 

www.ad.siemens.de 

© Siemens AG 2003 

Subject to change without prior notice 

Order No.: 6SN1197-0AB21-0BP0 

Printed in the Federal Republic of Germany

Start-Up SIMODRIVE base line - Siemens Automation and Drives ...

Create successful ePaper yourself

Delete template?

Save as template?