Brochure - SIMODRIVE: For Coordinated, Highly Dynamic Motion Control

Overview · March 2003
For coordinated,
highly dynamic motion control
simodrive
611 UNIVERSAL
External
pulse
resistor
Power module
kg
(100 K)
A
SIMODRIVE 611
power module
Required converter
rated current
Moment of inertia
without brake
Weight
without brake
Servo motor
1FK7 HD
Self-cooling
Motor phase
current
Rated
torque
Torque at
standstill
Rated
power
Order No.
Order No.
3000 1.1
3.5
4.0
4.5
1FK7044-7AF71-1…
1.28
7.5
5
6SN112.-1AA00-0AA1
1.7
5.4
6.4
6.1
1FK7061-7AF71-1…
3.4
10.1
9
6SN112.-1AA00-0BA1
2.51
8.0
12.0
11.0 1FK7064-7AF71-1…
6.5
15.3 18
6SN112.-1AA00-0CA1
2.51
8.0
14.0
10.6 1FK7082-7AF71-1… 14.0
17.2 18
6SN112.-1AA00-0CA1
2.04
6.5
22.0
22.5 1FK7085-7AF71-1… 23.0
23.5 28
6SN112.-1AA00-0DA1
4500 1.23
2.6
3.1
4.5
1FK7043-7AH71-1…
1.01
6.7
5
6SN112.-1AA00-0AA1
1.41
3.0
4.0
6.3
1FK7044-7AH71-1…
1.28
7.5
9
6SN112.-1AA00-0BA1
2.03
4.3
6.4
8.0
1FK7061-7AH71-1…
3.4
10.1
9
6SN112.-1AA00-0BA1
2.36
5.0
12.0
15.0 1FK7064-7AH71-1…
6.5
15.3 18
6SN112.-1AA00-0CA1
6000 0.57
0.9
1.3
2.2
1FK7033-7AK71-1…
0.27
3.1
3
6SN112.-1AA00-0HA1
1.26
2.0
3.1
6.4
1FK7043-7AK71-1…
1.01
6.7
9
6SN112.-1AA00-0BA1
m
lN
1FK7
nN
PN
MN
rpm
kW
Nm
M0
l0
(100 K) (100 K) (100 K)
Nm
A
Order No.
J
10-4
kgm2
kg
(100 K)
A
SIMODRIVE
power module
Synchronous servo motors 1FK7 CT for
SIMODRIVE 611 universal
2.6
3.0
2.2
1FK7042-5AF71-1…
3.01
4.8
3
6SN112.-1AA00-0HA1
1.48
4.7
6.0
4.5
1FK7060-5AF71-1…
7.95
8.0
5
6SN112.-1AA00-0AA1
2.29
7.3
11.0
8.0
1FK7063-5AF71-1…
15.1
12.0
9
6SN112.-1AA00-0BA1
2.14
6.8
8.0
4.8
1FK7080-5AF71-1…
15.0
11.3
5
6SN112.-1AA00-0AA1
3.3
10.5
16.0
10.4 1FK7083-5AF71-1…
27.3
14.0 18
6SN112.-1AA00-0CA1
3.77 12.0
18.0
11.2 1FK7100-5AF71-1…
55.3
18.9 18
6SN112.-1AA00-0CA1
4.87 15.5
27.0
19.0 1FK7101-5AF71-1…
79.9
25.0 28
6SN112.-1AA00-0DA1
4.39 14.0
36.0
27.5 1FK7103-5AF71-1… 105.0
29.0 28
6SN112.-1AA00-0DA1
3.7
1.41
3
2.12
4.5
1.41
3
6000 0.5
6.0
11.0
8.0
16.0
6.2
1FK7060-5AH71-1…
7.95
8.0
9
6SN112.-1AA00-0BA1
12.0 1FK7063-5AH71-1…
15.1
12.0 18
6SN112.-1AA00-0CA1
1FK7080-5AH71-1…
15.0
11.3
9
6SN112.-1AA00-0BA1
15.0 1FK7083-5AH71-1…
27.3
16.0 18
6SN112.-1AA00-0CA1
7.4
1FN3
Order No.
3000 0.82
4500 1.74
SIMODRIVE 611
universal
1-axis or 2-axis
version
A
lN
Required converter
rated current
External
pulse
resistor
Nm
m
Weight
without brake
Monitoring
module
Nm
Moment of inertia
without brake
Pulse resistor
module
kW
J
10-4
kgm2
Servo motor
1FK7 CT
Self-cooling
SIMODRIVE 611 consists of several individual function modules. Power-rated
infeed modules supply a total power of
up to 120 kW.
rpm
M0
l0
(100 K) (100 K) (100 K)
Motor phase
current
Unregulated
infeed module or
regulated
I/RF module
SIMODRIVE 611 is a modular transistor
pulse converter that enables multi-axis
as well as drive combination solutions.
Based on its modular design, SIMODRIVE
always offers flexible, economic drive
solutions tailored to the task at hand.
MN
Torque at
standstill
Conversion
transformer
PN
Rated
torque
Mains filter
HF
commutating
reactor
With the SIMODRIVE® 611 converter
system, you can combine individual drive
systems and easily tune them to the drive
performance and the number of axes on
machines.
nN
Rated
power
3-phase AC mains connection
Rated
speed
SIMODRIVE – the modular, flexible
converter system for your machine
Synchronous servo motors 1FK7 HD for
SIMODRIVE 611 universal
Rated
speed
SIMODRIVE 611:
The drive concept
that moves your machine toward maximum productivity
and flexibility!
0.6
0.85
1.8
1FK7022-5AK71-1…
0.28
1.8
3
6SN112.-1AA00-0HA1
0.38
0.8
1.1
1.7
1FK7032-5AK71-1…
0.61
2.7
3
6SN112.-1AA00-0HA1
0.69
1.1
1.6
2.25 1FK7040-5AK71-1…
1.69
3.4
3
6SN112.-1AA00-0HA1
0.94
1.5
3.0
4.4
1FK7042-5AK71-1…
3.01
4.8
5
6SN112.-1AA00-0AA1
1PH7
Hp = kW * 1.341; Lbf-in = Nm * 8.850; in = mm * 0.03937; Lbs = kg * 2.2046
Other operable motors:
• Permanently energized synchronous motors
(servo, spindle, linear and torque motors):
1FT6, 1FN, 1FE, 1FW6
1FK7
2
1FT6
1PH7
1FN3
• Induction motors:
1PH7, 1LA
1FT6
11
Technology:
the essence of
modularity –
homogeneous system
technology.
Technology you can rely on –
around the world
To make sure the SIMODRIVE 611 universal gets to where it is needed, we offer
you a sophisticated logistics system offering you uncomplicated ordering and ontime delivery to the four corners of the
world.
And to make sure everything goes
smoothly on-site, we offer a worldwide
service program. Do you need a product
expert or service specialist or have a
question? Just get in touch with our
Service & Support Team.
Siemens Helpline (Germany)
Tel. +49 180/5 05 0111
Siemens Dispatch Center (USA)
Tel. +1 800 333 74 21
Infeed modules
Unregulated
Regulated
Rated
DC link
power (S1)
Rated
DC link
power (S1)
kW
kW
Module width
Infeed module
Internal heat dissipation
mm
Order No.
5
–
50
6SN11 46-1AB00-0BA1
10
–
100
6SN11 45-1AA01-0AA1
28
–
200
6SN11 45-1AA00-0CA0
–
16
100
6SN11 45-1BA01-0BA1
–
36
200
6SN11 45-1BA02-0CA1
–
55
300
6SN11 45-1BA01-0DA1
–
80
300
6SN11 45-1BB00-0EA1
–
120
300
6SN11 45-1BB00-0FA1
Power modules
For 1FT6/1FK7/1FN3
synchronous motors
fp = 4 kHz
For 1PH7 motors,
induction motors
fp = 3.2 kHz
Rated
current
Rated
current
A
A
Module width Power module
Internal heat dissipation
mm
Order No.
1-axis version
3
3
50
6SN11 23-1AA00-0HA1
5
5
50
6SN11 23-1AA00-0AA1
9
8
50
6SN11 23-1AA00-0BA1
18
24
50
6SN11 23-1AA00-0CA1
28
30
100
6SN11 23-1AA00-0DA1
42
45
150
6SN11 23-1AA00-0LA1
56
60
150
6SN11 23-1AA00-0EA1
70
85
300
6SN11 23-1AA01-0FA1
100
120
300
6SN11 23-1AA00-0JA1
140
200
300
6SN11 23-1AA00-0KA1
2x3
2x3
50
2x5
2x5
50
6SN11 23-1AB00-0AA1
2x9
2x8
50
6SN11 23-1AB00-0BA1
2 x 18
2 x 24
100
6SN11 23-1AB00-0CA1
Fit for any industry –
passing the test a million times
Highly dynamic positioning
for maximum machine utilization
SIMODRIVE 611 universal –
a concept for all motors
Over a million drives are in operation
with the SIMODRIVE 611 system,
especially in machine tools.
Aside from such classic drive functions as speed and torque control,
SIMODRIVE 611 universal also offers
integrated positioning functions in
further standard versions, helping take
a considerable load off the controller.
The SIMODRIVE power modules can be
set to accommodate any motor. The
SIMODRIVE 611 universal closed-loop
control plug-in unit enables control of all
kinds of motors, including synchronous,
induction, linear or torque motors, for
servo or spindle applications. The induction motors can be operated with or
without an encoder depending on the
application.
The SIMODRIVE 611 universal closed-loop
control plug-in unit is suitable for all threephase motors and offers the ideal drive
solution for any area of application including production machines for printing,
packaging, plastic, glass, ceramic and
stone as well as for presses, material handling, conveyor and transport equipment.
Thanks to the international seals of approval CE, EN, CUL – and a wide range
of line voltage – SIMODRIVE 611 is ready
for operation anywhere in the world.
In the traversing block editor, you
can store up to 64 independent traversing blocks per axis in plain text. The
SimoCom U startup tool, for example,
enables easy entry and storage of the
blocks during commissioning.
Extremely compact with
SIMODRIVE 611 for 2 axes
In addition to the 1-axis version,
SIMODRIVE 611 is also available in a
2-axis version. The 2-axis power module
enables extremely compact set-ups.
2-axis version
6SN11 23-1AB00-0HA1
Hp = kW * 1.341; Lbf-in = Nm * 8.850; in = mm * 0.03937; Lbs = kg * 2.2046
Digital closed-loop control plug-in units SIMODRIVE 611 universal
Designation
Order No.
Closed-loop control plug-in unit with analog speed setpoint interface
1-axis version
2-axis version
resolver, speed/torque setpoint
6SN11 18-0NJ01-0AA0
resolver, speed/torque setpoint, positioning
6SN11 18-1NJ01-0AA0
resolver, speed/torque setpoint
6SN11 18-0NK01-0AA0
resolver, speed/torque setpoint, positioning
6SN11 18-1NK01-0AA0
sin/cos 1 Vpp/Absolute value encoder EnDat,
speed/torque setpoint
6SN11 18-0NH01-0AA0
sin/cos 1 Vpp/Absolute value encoder EnDat,
speed/torque setpoint, positioning
6SN11 18-1NH01-0AA0
Terminal expansion
8 digital inputs/8 digital outputs, 24 V/500 mA (max.)
6SN11 14-0NA00-0AA0
for axis A
isolated, configurable
PROFIBUS DP
Standard slave for up to 2 axes cyclic and acyclic
Optional modules
6SN11 14-0NB00-0AA1
Data exchange up to 12 Mbaud
Motion Control
Clock-synchronized standard slave for up to 2 axes cyclic and
with PROFIBUS DP
acyclic data exchange up to 12 Mbaud, Profidrive profile 3 with DSC
10
6SN11 14-0NB01-0AA0
3
“Modular” is the motto:
a modular system
that gives you
complete freedom
in designing machines.
The SIMODRIVE 611 converter system
mainly consists of infeed modules, power
modules and closed-loop control units.
The range is rounded off by a number of
optional modules.
Mains power connections
for global players
SIMODRIVE 611 takes into account
different mains power supplies, making
it operational all over the world:
• Large range of mains voltage
3 AC 400 V, 3 AC 415 V, 3 AC 480 V
• Direct operation on TN networks
• Also operable on "selective universal
current sensitive residual-current protective devices" in combination with
mains filters tuned to the I/RF module
(16 kW and higher).
I/RF modules for increased operational
safety and a clear reduction of system
perturbation
• Supplied by the closed-loop power interface modules, the drive axes operate
independently of mains tolerances.
• During braking, the excess energy is
fed back into the power network for
added utility.
4
• PROFIBUS DP
Different cooling solutions
for every need
Universal interfaces to higher-level
control systems
Various cooling methods are available
for the I/RF modules and power modules:
SIMODRIVE 611 universal provides a
number of communications interfaces
for flexible connection to higher-level
control systems.
• Internal heat dissipation
• External heat dissipation
• Hose heat dissipation
Internal heat dissipation
With this standard solution, the heat
generated by the power loss of the converter components in the electronics and
in the power section is dissipated to the
interior of the control cabinet.
External heat dissipation
The heat sinks on the modules are installed through the mounting surface
in the control cabinet, allowing the heat
from power loss of the power circuit to
dissipate to an external ventilation
system. The "mechanical interface", the
external heat sink, allows for a degree
of protection IP 54.
Hose heat dissipation
Hose heat dissipation is available for
300 mm modules. The heat generated
by power loss in the power section is
dissipated from the cabinet via flexible
hoses. The "mechanical interface" to the
ambient air allows for a degree of protection IP 54.
• Analog interface ±10 V for setpoint
input (speed/torque setpoint)
This is one of the widely used interfaces
for analog technology. You can use it
to link SIMODRIVE 611 universal to
conventional control concepts.
• Incremental shaft-angle encoder
interface WSG (RS 422)
Used as outputs, differential tracks
A/B/R offer external control pulse encoder simulation, or as inputs, the pulse/
direction signals are analyzed in the
same way as on a stepper motor and
processed as shaft-angle setpoint.
The higher-level control can be a
SIMATIC S7-300 function module,
such as FM 353 or FM 357-2, or in the
simplest scenario a counter module or
a pulse-clocked output. You can link
reference setpoint values or synchronize operation by means of parallel
pulse/direction signals on several
SIMODRIVE 611 universal drives.
• “Starting lockout”
The starting lockout (internal safety
relay) interrupts the power supply from
the drive to the motor. This enables
the “safe standstill” function, in
conjunction with an external circuit,
to be implemented according to
DIN EN 954-1, Category 3.
The PROFIBUS DP interface allows seamless integration of the SIMODRIVE 611
universal into any automation environment. At the entry level, PROFIBUS DP
can be used as a communications bus
for the control via a PLC. Diagnostics
and startup can also be performed via
this bus.
For more complex tasks, you can use
the clock-synchronized "Motion Control
with PROFIBUS DP" to implement a
closed- loop system via a higher-level
control (such as SIMOTION, SIMATIC
or SINUMERIK®). This allows operations such as synchronized operation,
angle synchronization and
interpolation.
Starting lockout
PROFIBUS DP
Analog interfaces
Digital inputs/outputs
WSG
Digital inputs/outputs
• Digital inputs/outputs
SIMODRIVE 611 universal provides
4 digital inputs and 4 digital outputs.
They are freely programmable.
Enables, activation/switching commands and selections can be sent
to the device via the digital inputs.
Digital outputs can be used for output
of status messages (position reached,
permissible torque exceeded etc.),
according to your settings, for further
processing.
The optional terminal expansion module, used in place of the PROFIBUS
module, provides 8 additional inputs
and 8 additional outputs. These can
be used, for example, to call traversing blocks for the positioning of the
inputs and outputs of a PLC.
9
SIMODRIVE 611 universal:
the positioning master!
The universal closed-loop control plugin unit in 1-axis and 2-axis versions
Speed (nsetpoint)/Torque (M mode)
In the "speed/torque setpoint" operating
mode, you can specify a speed/torque
setpoint or a reduction of torque via the
analog inputs 1 and 2 or via PROFIBUS.
Positioning:
extremely convenient implementation
of functions via the powerful traversing block editor of SimoCom U
Coupling
You can enter up to 64 separate traversing blocks per axis and store them in
plain text in the drive with SimoCom U
or using PROFIBUS. You set the blocks
either via digital input terminals or using
PROFIBUS DP. What's more, you can program acceleration, speed and target position (absolute or relative) individually
in each traversing block. Additional
functions include external block exchange, jerk limitation, driving/positioning to a fixed stop and axis coupling.
Positioning
Linear
or rotary
axis
Different types of referencing are
possible:
• Reference point approach to cam or
zero mark with configurable offset
• Reference point setting as a configured
value by signals, terminal/PROFIBUS DP.
Jerk
limitation
v
Axis coupling
SIMODRIVE 611 universal lets you link
drives using PROFIBUS DP or terminals.
Both external drives as well as an internal
2-axis module can be coupled. Axis
coupling via PROFIBUS is based on the
PROFIBUS DP direct slave-to-slave communication. When linked using terminals,
the actual positions are coupled via the
selectable direction incremental shaftangle encoder interface and a torque link
via the integrated analog inputs/outputs.
Teach In
e
8
With “Teach In”, an axis position can be
entered directly into a specific traversing
block as the target position. For example,
the axis can be driven to the desired
position with "JOG" and/or "Incremental
JOG". Then, the command is stored in
the traversing block editor. This enables
you to link the "learned" positions easily
into a traversing program.
The SIMODRIVE 611 universal closedloop control plug-in unit has earned a
name for itself – thanks to the wide
variety of motors it can operate and
the wide range of versions, functions
and interfaces offered.
• Closed-loop control plug-in units for
various encoder systems:
2-pole to 6-pole resolvers, incremental
encoders with sin/cos 1 Vpp signals and
up to 65,535 pulses, absolute value
encoder with sin/cos 1 Vpp and EnDat
protocol. It is also possible to connect
a second, direct measuring system.
• Aside from speed and torque control,
one version of the SIMODRIVE 611
universal features integrated positioning functions.
• The 2-axis closed-loop control plug-in
units feature an especially compact
design. For example, a 4-axis drive combination with a non-regenerative 5 kW
power supply can fit into a space just
15 cm (6 in) wide. That means you can
keep the volume of the control cabinet
to a minimum.
All the data safely in one package
SIMODRIVE 611 universal keeps all its
drive data, such as system software and
user data, safely on one exchangeable
memory module. If need be, the memory
module can be replaced without any
additional aids.
MOTION-CONNECT: customized top
connections for your machines
The new MOTION-CONNECT® connection
technology is the ideal solution for highquality production machines and machine tools.
MOTION-CONNECT lines feature maximum quality and reliability and can meet
all your demands, from an economic
solution for mainly fixed cabling to the
version for extreme acceleration and traversing velocities as is the case with linear
motors, for example.
By using prefabricated MOTIONCONNECT cables, you can save considerable costs for logistics, design,
assembly and purchasing compared
to self-fabricated cables.
“Safe standstill”
The “safe standstill” function is a facility
for avoiding unexpected startup according to EN 60204-1 Section 5.4 and is
used for safe disconnection of the power
supply to the motor in the event of a fault
or in conjunction with a machine function. The starting lockout supports this
“safe standstill” function and is certified
by the German statutory industrial accident insurance institution according to
DIN EN 954-1, Category 3 in conjunction
with an external circuit. In this way it is
possible to dispense with contactors on
the motor side.
5
Integrated communications:
open-ended all the way around.
Totally Integrated Automation:
SIMODRIVE 611 universal fits
seamlessly into your automation environment –
now and in the future.
A first-rate drive should be flexible
enough to fit into any automation solution. The SIMODRIVE 611 fits the bill.
In addition to configuration of the drive
system, SimoCom U offers exceptional
functions such as:
Great connections in
any automation environment
• Automatic speed controller optimization by setting filters at points of
resonance.
Totally Integrated Automation (TIA)
stands for a successful concept from
Siemens for a complete range of automation and drive components offering a
maximum degree of integration.
At the heart of this concept is integrated
data management, configuration and
communication for all components.
That ensures users consistency throughout the entire project and lower costs
thanks to engineering and life-cycle
savings. SIMODRIVE 611 universal is
completely integrated into the TIA
concept.
No matter whether you are integrating
into SIMATIC® or into another automation
system, the SIMODRIVE 611 universal
can be integrated into any automation
environment via PROFIBUS DP or even
CAN bus.
Communication via PROFIBUS DP,
the world's most successful fieldbus
standard
SIMODRIVE 611 universal drives are in
line with PROFIBUS DP, the world's most
successful fieldbus standard, with
12 Mbit/s data throughput. The optional
PROFIBUS module ensures smooth communication, even in synchronous operation or between slaves thanks to direct
slave-to-slave transmission. That enables
the transfer of setpoints from converter
to converter without straining the automation system. Integration into the
SIMATIC automation environment is also
extremely convenient with Drive ES.
• Analysis using FFT (Fast Fourier Transformation) for phase/amplitude response for assessment and optimization of
controlled systems.
• Function generator for assessment of
drives when running-in the mechanical
system.
• Diagnosis via fault memory
An integrated trace memory permits convenient oscilloscope functions for many
drive variables. Transient functions or
signal trends can be displayed directly
on the PC and saved on diskette for documentation purposes. An integrated
function generator lets you specify
various setpoints and fault variables to
assess drive behavior.
A firmware update or comparison of drive
parameters (original data – modified
data) is easy to carry out at any time
using SimoCom U.
SimoCom U – the exceptionally
easy-to-operate and powerful
startup tool
The configuration and startup tool
SimoCom U was developed to be exceptionally easy-to-operate and offer a
maximum of functions.
This powerful software tool for
Windows 95/98/NT/2000/XP features
startup functions, service information
and online help in a simple menu-based
user interface.
6
Download the latest version of
SimoCom U free of charge from the
Internet at:
Drive ES SIMATIC:
configuring communication
Drive ES SIMATIC provides function blocks
and sample projects for the SIMATIC CPU.
These can then be communicated via
PROFIBUS DP with drives from Siemens.
The major advantage is not having to
program all communications – just configure and that's it.
Totally Integrated Automation:
Drive ES makes it all possible
Do you need integrated data management, integrated communication
and integrated configuration? Then
SIMODRIVE 611 universal is the right
choice for you – thanks to the drive engineering system Drive ES. Nothing can
compare for integrating drive technology
more easily, speedily and economically
into the automation environment of
SIMATIC and SIMOTION® – for total
customization.
Drive ES Basic: your gate to the world
of Totally Integrated Automation
Startup, parameter configuration, trace
and fault assessment: the basic package
Drive ES Basic lets you manage your
automation system and your drives on
the interface of the SIMATIC Manager.
Drive ES Basic is the starting point for
shared data archiving from complete
projects and for using the teleservice
of SIMATIC for your drives, too.
http://www.siemens.com/
simodrive
7
Integrated communications:
open-ended all the way around.
Totally Integrated Automation:
SIMODRIVE 611 universal fits
seamlessly into your automation environment –
now and in the future.
A first-rate drive should be flexible
enough to fit into any automation solution. The SIMODRIVE 611 fits the bill.
In addition to configuration of the drive
system, SimoCom U offers exceptional
functions such as:
Great connections in
any automation environment
• Automatic speed controller optimization by setting filters at points of
resonance.
Totally Integrated Automation (TIA)
stands for a successful concept from
Siemens for a complete range of automation and drive components offering a
maximum degree of integration.
At the heart of this concept is integrated
data management, configuration and
communication for all components.
That ensures users consistency throughout the entire project and lower costs
thanks to engineering and life-cycle
savings. SIMODRIVE 611 universal is
completely integrated into the TIA
concept.
No matter whether you are integrating
into SIMATIC® or into another automation
system, the SIMODRIVE 611 universal
can be integrated into any automation
environment via PROFIBUS DP or even
CAN bus.
Communication via PROFIBUS DP,
the world's most successful fieldbus
standard
SIMODRIVE 611 universal drives are in
line with PROFIBUS DP, the world's most
successful fieldbus standard, with
12 Mbit/s data throughput. The optional
PROFIBUS module ensures smooth communication, even in synchronous operation or between slaves thanks to direct
slave-to-slave transmission. That enables
the transfer of setpoints from converter
to converter without straining the automation system. Integration into the
SIMATIC automation environment is also
extremely convenient with Drive ES.
• Analysis using FFT (Fast Fourier Transformation) for phase/amplitude response for assessment and optimization of
controlled systems.
• Function generator for assessment of
drives when running-in the mechanical
system.
• Diagnosis via fault memory
An integrated trace memory permits convenient oscilloscope functions for many
drive variables. Transient functions or
signal trends can be displayed directly
on the PC and saved on diskette for documentation purposes. An integrated
function generator lets you specify
various setpoints and fault variables to
assess drive behavior.
A firmware update or comparison of drive
parameters (original data – modified
data) is easy to carry out at any time
using SimoCom U.
SimoCom U – the exceptionally
easy-to-operate and powerful
startup tool
The configuration and startup tool
SimoCom U was developed to be exceptionally easy-to-operate and offer a
maximum of functions.
This powerful software tool for
Windows 95/98/NT/2000/XP features
startup functions, service information
and online help in a simple menu-based
user interface.
6
Download the latest version of
SimoCom U free of charge from the
Internet at:
Drive ES SIMATIC:
configuring communication
Drive ES SIMATIC provides function blocks
and sample projects for the SIMATIC CPU.
These can then be communicated via
PROFIBUS DP with drives from Siemens.
The major advantage is not having to
program all communications – just configure and that's it.
Totally Integrated Automation:
Drive ES makes it all possible
Do you need integrated data management, integrated communication
and integrated configuration? Then
SIMODRIVE 611 universal is the right
choice for you – thanks to the drive engineering system Drive ES. Nothing can
compare for integrating drive technology
more easily, speedily and economically
into the automation environment of
SIMATIC and SIMOTION® – for total
customization.
Drive ES Basic: your gate to the world
of Totally Integrated Automation
Startup, parameter configuration, trace
and fault assessment: the basic package
Drive ES Basic lets you manage your
automation system and your drives on
the interface of the SIMATIC Manager.
Drive ES Basic is the starting point for
shared data archiving from complete
projects and for using the teleservice
of SIMATIC for your drives, too.
http://www.siemens.com/
simodrive
7
SIMODRIVE 611 universal:
the positioning master!
The universal closed-loop control plugin unit in 1-axis and 2-axis versions
Speed (nsetpoint)/Torque (M mode)
In the "speed/torque setpoint" operating
mode, you can specify a speed/torque
setpoint or a reduction of torque via the
analog inputs 1 and 2 or via PROFIBUS.
Positioning:
extremely convenient implementation
of functions via the powerful traversing block editor of SimoCom U
Coupling
You can enter up to 64 separate traversing blocks per axis and store them in
plain text in the drive with SimoCom U
or using PROFIBUS. You set the blocks
either via digital input terminals or using
PROFIBUS DP. What's more, you can program acceleration, speed and target position (absolute or relative) individually
in each traversing block. Additional
functions include external block exchange, jerk limitation, driving/positioning to a fixed stop and axis coupling.
Positioning
Linear
or rotary
axis
Different types of referencing are
possible:
• Reference point approach to cam or
zero mark with configurable offset
• Reference point setting as a configured
value by signals, terminal/PROFIBUS DP.
Jerk
limitation
v
Axis coupling
SIMODRIVE 611 universal lets you link
drives using PROFIBUS DP or terminals.
Both external drives as well as an internal
2-axis module can be coupled. Axis
coupling via PROFIBUS is based on the
PROFIBUS DP direct slave-to-slave communication. When linked using terminals,
the actual positions are coupled via the
selectable direction incremental shaftangle encoder interface and a torque link
via the integrated analog inputs/outputs.
Teach In
e
8
With “Teach In”, an axis position can be
entered directly into a specific traversing
block as the target position. For example,
the axis can be driven to the desired
position with "JOG" and/or "Incremental
JOG". Then, the command is stored in
the traversing block editor. This enables
you to link the "learned" positions easily
into a traversing program.
The SIMODRIVE 611 universal closedloop control plug-in unit has earned a
name for itself – thanks to the wide
variety of motors it can operate and
the wide range of versions, functions
and interfaces offered.
• Closed-loop control plug-in units for
various encoder systems:
2-pole to 6-pole resolvers, incremental
encoders with sin/cos 1 Vpp signals and
up to 65,535 pulses, absolute value
encoder with sin/cos 1 Vpp and EnDat
protocol. It is also possible to connect
a second, direct measuring system.
• Aside from speed and torque control,
one version of the SIMODRIVE 611
universal features integrated positioning functions.
• The 2-axis closed-loop control plug-in
units feature an especially compact
design. For example, a 4-axis drive combination with a non-regenerative 5 kW
power supply can fit into a space just
15 cm (6 in) wide. That means you can
keep the volume of the control cabinet
to a minimum.
All the data safely in one package
SIMODRIVE 611 universal keeps all its
drive data, such as system software and
user data, safely on one exchangeable
memory module. If need be, the memory
module can be replaced without any
additional aids.
MOTION-CONNECT: customized top
connections for your machines
The new MOTION-CONNECT® connection
technology is the ideal solution for highquality production machines and machine tools.
MOTION-CONNECT lines feature maximum quality and reliability and can meet
all your demands, from an economic
solution for mainly fixed cabling to the
version for extreme acceleration and traversing velocities as is the case with linear
motors, for example.
By using prefabricated MOTIONCONNECT cables, you can save considerable costs for logistics, design,
assembly and purchasing compared
to self-fabricated cables.
“Safe standstill”
The “safe standstill” function is a facility
for avoiding unexpected startup according to EN 60204-1 Section 5.4 and is
used for safe disconnection of the power
supply to the motor in the event of a fault
or in conjunction with a machine function. The starting lockout supports this
“safe standstill” function and is certified
by the German statutory industrial accident insurance institution according to
DIN EN 954-1, Category 3 in conjunction
with an external circuit. In this way it is
possible to dispense with contactors on
the motor side.
5
“Modular” is the motto:
a modular system
that gives you
complete freedom
in designing machines.
The SIMODRIVE 611 converter system
mainly consists of infeed modules, power
modules and closed-loop control units.
The range is rounded off by a number of
optional modules.
Mains power connections
for global players
SIMODRIVE 611 takes into account
different mains power supplies, making
it operational all over the world:
• Large range of mains voltage
3 AC 400 V, 3 AC 415 V, 3 AC 480 V
• Direct operation on TN networks
• Also operable on "selective universal
current sensitive residual-current protective devices" in combination with
mains filters tuned to the I/RF module
(16 kW and higher).
I/RF modules for increased operational
safety and a clear reduction of system
perturbation
• Supplied by the closed-loop power interface modules, the drive axes operate
independently of mains tolerances.
• During braking, the excess energy is
fed back into the power network for
added utility.
4
• PROFIBUS DP
Different cooling solutions
for every need
Universal interfaces to higher-level
control systems
Various cooling methods are available
for the I/RF modules and power modules:
SIMODRIVE 611 universal provides a
number of communications interfaces
for flexible connection to higher-level
control systems.
• Internal heat dissipation
• External heat dissipation
• Hose heat dissipation
Internal heat dissipation
With this standard solution, the heat
generated by the power loss of the converter components in the electronics and
in the power section is dissipated to the
interior of the control cabinet.
External heat dissipation
The heat sinks on the modules are installed through the mounting surface
in the control cabinet, allowing the heat
from power loss of the power circuit to
dissipate to an external ventilation
system. The "mechanical interface", the
external heat sink, allows for a degree
of protection IP 54.
Hose heat dissipation
Hose heat dissipation is available for
300 mm modules. The heat generated
by power loss in the power section is
dissipated from the cabinet via flexible
hoses. The "mechanical interface" to the
ambient air allows for a degree of protection IP 54.
• Analog interface ±10 V for setpoint
input (speed/torque setpoint)
This is one of the widely used interfaces
for analog technology. You can use it
to link SIMODRIVE 611 universal to
conventional control concepts.
• Incremental shaft-angle encoder
interface WSG (RS 422)
Used as outputs, differential tracks
A/B/R offer external control pulse encoder simulation, or as inputs, the pulse/
direction signals are analyzed in the
same way as on a stepper motor and
processed as shaft-angle setpoint.
The higher-level control can be a
SIMATIC S7-300 function module,
such as FM 353 or FM 357-2, or in the
simplest scenario a counter module or
a pulse-clocked output. You can link
reference setpoint values or synchronize operation by means of parallel
pulse/direction signals on several
SIMODRIVE 611 universal drives.
• “Starting lockout”
The starting lockout (internal safety
relay) interrupts the power supply from
the drive to the motor. This enables
the “safe standstill” function, in
conjunction with an external circuit,
to be implemented according to
DIN EN 954-1, Category 3.
The PROFIBUS DP interface allows seamless integration of the SIMODRIVE 611
universal into any automation environment. At the entry level, PROFIBUS DP
can be used as a communications bus
for the control via a PLC. Diagnostics
and startup can also be performed via
this bus.
For more complex tasks, you can use
the clock-synchronized "Motion Control
with PROFIBUS DP" to implement a
closed- loop system via a higher-level
control (such as SIMOTION, SIMATIC
or SINUMERIK®). This allows operations such as synchronized operation,
angle synchronization and
interpolation.
Starting lockout
PROFIBUS DP
Analog interfaces
Digital inputs/outputs
WSG
Digital inputs/outputs
• Digital inputs/outputs
SIMODRIVE 611 universal provides
4 digital inputs and 4 digital outputs.
They are freely programmable.
Enables, activation/switching commands and selections can be sent
to the device via the digital inputs.
Digital outputs can be used for output
of status messages (position reached,
permissible torque exceeded etc.),
according to your settings, for further
processing.
The optional terminal expansion module, used in place of the PROFIBUS
module, provides 8 additional inputs
and 8 additional outputs. These can
be used, for example, to call traversing blocks for the positioning of the
inputs and outputs of a PLC.
9
Technology:
the essence of
modularity –
homogeneous system
technology.
Technology you can rely on –
around the world
To make sure the SIMODRIVE 611 universal gets to where it is needed, we offer
you a sophisticated logistics system offering you uncomplicated ordering and ontime delivery to the four corners of the
world.
And to make sure everything goes
smoothly on-site, we offer a worldwide
service program. Do you need a product
expert or service specialist or have a
question? Just get in touch with our
Service & Support Team.
Siemens Helpline (Germany)
Tel. +49 180/5 05 0111
Siemens Dispatch Center (USA)
Tel. +1 800 333 74 21
Infeed modules
Unregulated
Regulated
Rated
DC link
power (S1)
Rated
DC link
power (S1)
kW
kW
Module width
Infeed module
Internal heat dissipation
mm
Order No.
5
–
50
6SN11 46-1AB00-0BA1
10
–
100
6SN11 45-1AA01-0AA1
28
–
200
6SN11 45-1AA00-0CA0
–
16
100
6SN11 45-1BA01-0BA1
–
36
200
6SN11 45-1BA02-0CA1
–
55
300
6SN11 45-1BA01-0DA1
–
80
300
6SN11 45-1BB00-0EA1
–
120
300
6SN11 45-1BB00-0FA1
Power modules
For 1FT6/1FK7/1FN3
synchronous motors
fp = 4 kHz
For 1PH7 motors,
induction motors
fp = 3.2 kHz
Rated
current
Rated
current
A
A
Module width Power module
Internal heat dissipation
mm
Order No.
1-axis version
3
3
50
6SN11 23-1AA00-0HA1
5
5
50
6SN11 23-1AA00-0AA1
9
8
50
6SN11 23-1AA00-0BA1
18
24
50
6SN11 23-1AA00-0CA1
28
30
100
6SN11 23-1AA00-0DA1
42
45
150
6SN11 23-1AA00-0LA1
56
60
150
6SN11 23-1AA00-0EA1
70
85
300
6SN11 23-1AA01-0FA1
100
120
300
6SN11 23-1AA00-0JA1
140
200
300
6SN11 23-1AA00-0KA1
2x3
2x3
50
2x5
2x5
50
6SN11 23-1AB00-0AA1
2x9
2x8
50
6SN11 23-1AB00-0BA1
2 x 18
2 x 24
100
6SN11 23-1AB00-0CA1
Fit for any industry –
passing the test a million times
Highly dynamic positioning
for maximum machine utilization
SIMODRIVE 611 universal –
a concept for all motors
Over a million drives are in operation
with the SIMODRIVE 611 system,
especially in machine tools.
Aside from such classic drive functions as speed and torque control,
SIMODRIVE 611 universal also offers
integrated positioning functions in
further standard versions, helping take
a considerable load off the controller.
The SIMODRIVE power modules can be
set to accommodate any motor. The
SIMODRIVE 611 universal closed-loop
control plug-in unit enables control of all
kinds of motors, including synchronous,
induction, linear or torque motors, for
servo or spindle applications. The induction motors can be operated with or
without an encoder depending on the
application.
The SIMODRIVE 611 universal closed-loop
control plug-in unit is suitable for all threephase motors and offers the ideal drive
solution for any area of application including production machines for printing,
packaging, plastic, glass, ceramic and
stone as well as for presses, material handling, conveyor and transport equipment.
Thanks to the international seals of approval CE, EN, CUL – and a wide range
of line voltage – SIMODRIVE 611 is ready
for operation anywhere in the world.
In the traversing block editor, you
can store up to 64 independent traversing blocks per axis in plain text. The
SimoCom U startup tool, for example,
enables easy entry and storage of the
blocks during commissioning.
Extremely compact with
SIMODRIVE 611 for 2 axes
In addition to the 1-axis version,
SIMODRIVE 611 is also available in a
2-axis version. The 2-axis power module
enables extremely compact set-ups.
2-axis version
6SN11 23-1AB00-0HA1
Hp = kW * 1.341; Lbf-in = Nm * 8.850; in = mm * 0.03937; Lbs = kg * 2.2046
Digital closed-loop control plug-in units SIMODRIVE 611 universal
Designation
Order No.
Closed-loop control plug-in unit with analog speed setpoint interface
1-axis version
2-axis version
resolver, speed/torque setpoint
6SN11 18-0NJ01-0AA0
resolver, speed/torque setpoint, positioning
6SN11 18-1NJ01-0AA0
resolver, speed/torque setpoint
6SN11 18-0NK01-0AA0
resolver, speed/torque setpoint, positioning
6SN11 18-1NK01-0AA0
sin/cos 1 Vpp/Absolute value encoder EnDat,
speed/torque setpoint
6SN11 18-0NH01-0AA0
sin/cos 1 Vpp/Absolute value encoder EnDat,
speed/torque setpoint, positioning
6SN11 18-1NH01-0AA0
Terminal expansion
8 digital inputs/8 digital outputs, 24 V/500 mA (max.)
6SN11 14-0NA00-0AA0
for axis A
isolated, configurable
PROFIBUS DP
Standard slave for up to 2 axes cyclic and acyclic
Optional modules
6SN11 14-0NB00-0AA1
Data exchange up to 12 Mbaud
Motion Control
Clock-synchronized standard slave for up to 2 axes cyclic and
with PROFIBUS DP
acyclic data exchange up to 12 Mbaud, Profidrive profile 3 with DSC
10
6SN11 14-0NB01-0AA0
3
External
pulse
resistor
Power module
kg
(100 K)
A
SIMODRIVE 611
power module
Required converter
rated current
Moment of inertia
without brake
Weight
without brake
Servo motor
1FK7 HD
Self-cooling
Motor phase
current
Rated
torque
Torque at
standstill
Rated
power
Order No.
Order No.
3000 1.1
3.5
4.0
4.5
1FK7044-7AF71-1…
1.28
7.5
5
6SN112.-1AA00-0AA1
1.7
5.4
6.4
6.1
1FK7061-7AF71-1…
3.4
10.1
9
6SN112.-1AA00-0BA1
2.51
8.0
12.0
11.0 1FK7064-7AF71-1…
6.5
15.3 18
6SN112.-1AA00-0CA1
2.51
8.0
14.0
10.6 1FK7082-7AF71-1… 14.0
17.2 18
6SN112.-1AA00-0CA1
2.04
6.5
22.0
22.5 1FK7085-7AF71-1… 23.0
23.5 28
6SN112.-1AA00-0DA1
4500 1.23
2.6
3.1
4.5
1FK7043-7AH71-1…
1.01
6.7
5
6SN112.-1AA00-0AA1
1.41
3.0
4.0
6.3
1FK7044-7AH71-1…
1.28
7.5
9
6SN112.-1AA00-0BA1
2.03
4.3
6.4
8.0
1FK7061-7AH71-1…
3.4
10.1
9
6SN112.-1AA00-0BA1
2.36
5.0
12.0
15.0 1FK7064-7AH71-1…
6.5
15.3 18
6SN112.-1AA00-0CA1
6000 0.57
0.9
1.3
2.2
1FK7033-7AK71-1…
0.27
3.1
3
6SN112.-1AA00-0HA1
1.26
2.0
3.1
6.4
1FK7043-7AK71-1…
1.01
6.7
9
6SN112.-1AA00-0BA1
m
lN
1FK7
nN
PN
MN
rpm
kW
Nm
M0
l0
(100 K) (100 K) (100 K)
Nm
A
Order No.
J
10-4
kgm2
kg
(100 K)
A
SIMODRIVE
power module
Synchronous servo motors 1FK7 CT for
SIMODRIVE 611 universal
2.6
3.0
2.2
1FK7042-5AF71-1…
3.01
4.8
3
6SN112.-1AA00-0HA1
1.48
4.7
6.0
4.5
1FK7060-5AF71-1…
7.95
8.0
5
6SN112.-1AA00-0AA1
2.29
7.3
11.0
8.0
1FK7063-5AF71-1…
15.1
12.0
9
6SN112.-1AA00-0BA1
2.14
6.8
8.0
4.8
1FK7080-5AF71-1…
15.0
11.3
5
6SN112.-1AA00-0AA1
3.3
10.5
16.0
10.4 1FK7083-5AF71-1…
27.3
14.0 18
6SN112.-1AA00-0CA1
3.77 12.0
18.0
11.2 1FK7100-5AF71-1…
55.3
18.9 18
6SN112.-1AA00-0CA1
4.87 15.5
27.0
19.0 1FK7101-5AF71-1…
79.9
25.0 28
6SN112.-1AA00-0DA1
4.39 14.0
36.0
27.5 1FK7103-5AF71-1… 105.0
29.0 28
6SN112.-1AA00-0DA1
3.7
1.41
3
2.12
4.5
1.41
3
6000 0.5
6.0
11.0
8.0
16.0
6.2
1FK7060-5AH71-1…
7.95
8.0
9
6SN112.-1AA00-0BA1
12.0 1FK7063-5AH71-1…
15.1
12.0 18
6SN112.-1AA00-0CA1
1FK7080-5AH71-1…
15.0
11.3
9
6SN112.-1AA00-0BA1
15.0 1FK7083-5AH71-1…
27.3
16.0 18
6SN112.-1AA00-0CA1
7.4
1FN3
Order No.
3000 0.82
4500 1.74
SIMODRIVE 611
universal
1-axis or 2-axis
version
A
lN
Required converter
rated current
External
pulse
resistor
Nm
m
Weight
without brake
Monitoring
module
Nm
Moment of inertia
without brake
Pulse resistor
module
kW
J
10-4
kgm2
Servo motor
1FK7 CT
Self-cooling
SIMODRIVE 611 consists of several individual function modules. Power-rated
infeed modules supply a total power of
up to 120 kW.
rpm
M0
l0
(100 K) (100 K) (100 K)
Motor phase
current
Unregulated
infeed module or
regulated
I/RF module
SIMODRIVE 611 is a modular transistor
pulse converter that enables multi-axis
as well as drive combination solutions.
Based on its modular design, SIMODRIVE
always offers flexible, economic drive
solutions tailored to the task at hand.
MN
Torque at
standstill
Conversion
transformer
PN
Rated
torque
Mains filter
HF
commutating
reactor
With the SIMODRIVE® 611 converter
system, you can combine individual drive
systems and easily tune them to the drive
performance and the number of axes on
machines.
nN
Rated
power
3-phase AC mains connection
Rated
speed
SIMODRIVE – the modular, flexible
converter system for your machine
Synchronous servo motors 1FK7 HD for
SIMODRIVE 611 universal
Rated
speed
SIMODRIVE 611:
The drive concept
that moves your machine toward maximum productivity
and flexibility!
0.6
0.85
1.8
1FK7022-5AK71-1…
0.28
1.8
3
6SN112.-1AA00-0HA1
0.38
0.8
1.1
1.7
1FK7032-5AK71-1…
0.61
2.7
3
6SN112.-1AA00-0HA1
0.69
1.1
1.6
2.25 1FK7040-5AK71-1…
1.69
3.4
3
6SN112.-1AA00-0HA1
0.94
1.5
3.0
4.4
1FK7042-5AK71-1…
3.01
4.8
5
6SN112.-1AA00-0AA1
1PH7
Hp = kW * 1.341; Lbf-in = Nm * 8.850; in = mm * 0.03937; Lbs = kg * 2.2046
Other operable motors:
• Permanently energized synchronous motors
(servo, spindle, linear and torque motors):
1FT6, 1FN, 1FE, 1FW6
1FK7
2
1FT6
1PH7
1FN3
• Induction motors:
1PH7, 1LA
1FT6
11
You can find more information
on Motion Control systems at:
http://www.siemens.com/
motioncontrol
Addresses of contact partners
can be found at:
http://www.siemens.com/
automation/partner
You can place direct orders electronically
over the Internet in our A&D Mall:
http://www.siemens.com/
automation/mall
Postfach 32 40, D-91050 Erlangen
Responsible for
Technical content:
Siemens AG, A&D MC PM, Erlangen
Editing:
Siemens AG, A&D PT 5, Erlangen
Germany
Order No.: 6ZB5711-0AB02-0BA1
www.siemens.com
Printed in Germany
18401/322134 VOG 0303 3.0
© Siemens AG 2003 All rights reserved
Siemens AG
Automation and Drives
Motion Control Systems
Overview • March 2003
All designations in this overview marked with ® are registered trademarks of Siemens AG.
For coordinated,
highly dynamic motion control
simodrive
611 UNIVERSAL
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