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Commissioning Manual
CHA Servo Actuator
SIEMENS SINAMICS
09/2014
1017923
09/2014
1017923
Content
1.
General ...............................................................................................................3
1.1
1.2
2.
Safety and Installation Instructions ................................................................5
2.1
2.2
2.3
3.
Description of Safety Alert Symbols .......................................................................... 4
Disclaimer and Copyright ............................................................................................ 4
Hazards..........................................................................................................................5
Intended Purpose ........................................................................................................ 6
Non Intended Purpose................................................................................................. 6
Instructions for Third Party Systems ............................................................... 7
3.1
3.2
General .......................................................................................................................... 7
Functional Safety ......................................................................................................... 7
4.
Commissioning ................................................................................................. 8
5.
Drive Parameter for SINAMICS ........................................................................ 8
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
CHA-14A-H-M128S / CHA-14A-H-RES ....................................................................... 9
CHA-17A-H-M128S / CHA-17A-H-RES ....................................................................... 10
CHA-20A-H-C1024 / CHA-20A-H-M512P ................................................................... 11
CHA-25A-H-C1024 / CHA-25A-H-M512P .................................................................. 12
CHA-32A-H-C1024 / CHA-32A-H-M512P .................................................................. 13
CHA-40A-H-C1024 / CHA-40A-H-M512P ................................................................. 14
CHA-50A-H-C1024 / CHA-50A-H-M512P .................................................................. 15
CHA-58A-H-C1024 / CHA-58A-H-M512P .................................................................. 16
2
1.
General
About this documentation
This document contains safety instructions, technical data and operation rules for servo actuators and servo motors of
Harmonic Drive AG.
The documentation is aimed at planners, project engineers, commissioning engineers and machine manufacturers,
offering support during selection and calculation of the servo actuators, servo motors and accessories.
Rules for storage
Please keep this document for the entire life of the product, up to its disposal. Please hand over the documentation
when re-selling the product.
Additional documentation
For the configuration of drive systems using the products of Harmonic Drive AG, you may require additional
documents. Documentation is provided for all products offered by Harmonic Drive AG and can be found on the website.
www.harmonicdrive.de
Third-party systems
Documentation for parts supplied by third party suppliers, associated with Harmonic Drive components, is not
included in our standard documentation and should be requested directly from the manufacturers.
Before commissioning servo actuators and servo motors from Harmonic Drive AG with servo drives, we advise you to
obtain the relevant documents for each device.
Your feedback
Your experiences are important to us. Please send suggestions and comments about the products and
documentation to:
Harmonic Drive AG
Marketing and Communications
Hoenbergstraße 14
65555 Limburg / Lahn
E-Mail: [email protected]
3
1.1
Description of Safety Alert Symbols
Symbol
Meaning
Indicates an imminent hazardous situation. If this is not avoided,
death or serious injury could occur.
Indicates a possible hazard. Care should be taken or death or serious
injury may result.
Indicates a possible hazard. Care should be taken or slight or minor
injury may result.
Describes a possibly harmful situation. Care should be taken to
avoid damage to the system and surroundings.
This is not a safety symbol. This symbol indicates important
information.
Warning of a general hazard. The type of hazard is determined by
the specific warning texts.
Warning of dangerous electrical voltage and its effects.
Beware of hot surfaces.
Beware of suspended loads.
Precautions when handling electrostatic sensitive components.
1.2 Disclaimer and Copyright
The contents, images and graphics contained in this catalogue are protected by copyright. In addition to the copyright,
logos, fonts, company and product names can also be protected by brand law or trademark law. The use of texts,
extracts or graphics requires the permission of the publisher or rights holder.
We have checked the contents of this document. Since errors cannot be ruled out entirely, we do not accept liability for
mistakes which may have occurred. Notification of any mistakes or suggestions for improvements will be gratefully
received and any necessary corrections will be included in subsequent editions.
4
2.
Safety and Installation Instructions
Please take note of the information and instructions in this document. Specialy designed models may differ in
technical detail. If in doubt, we strong recommend that you contact the manufacturer, giving the type designation and
serial number for clarification.
2.1 Hazards
Electric servo actuators and motors have dangerous live rotating parts. All work during connection, operation, repair
and disposal must be carried out by qualified personnel as described in the standartds EN 50110-1 and IEC 60364!
Before starting any work, and especially before opening covers, the actuator must be properly isolated. In addition to
the main circuits, the user also has to pay attention to any auxilliary circuits.
Observing the five safety rules:
• Disconnect mains
• Prevent reconnection
• Test for absence of harmful voltages
• Ground and short circuit
• Cover or close off nearby live parts
The measures taken above should only be withdrawn when the work has been completed and the device is fully
assembled. Improper handling can cause damage to persons and property. The respective national, local and factory
specific regulations must be adhered to.
The surface temperature of the gears, motors and actuators can exceed 55 degrees Celsius. The hot surfaces should
not be touched.
Cables must not come into direct contact with hot surfaces.
Electric, magnetic and electromagnetic fields are dangerous, in particular for persons with pacemakers, implants or
similar. Vulnerable groups must not be in the immediate vicinity of the products themselves.
Built-in holding brakes alone are not safety brakes. Particularly with unsupported vertical axes, the functional safety
and security can only be achieved with additional, external mechanical brakes.
The successful and safe use of gears, motors and servo actuators requires proper transport, storage and assembly as
well as correct operation and maintenance.
5
Use suitable lifting equipment to move and lift gears, motors and servo actuators with a weight > 20kg.
Special versions of products may differ in the specification from the standard. Further applicable data sheets,
catalogues and offers of the special version have to be considered.
2.2 Intended Purpose
The Harmonic Drive® servo actuators and motors are intended for industrial or commercial applications. They comply
with the relevant parts of the harmonised EN 60034 standards series.
Typical areas of application are robotics and handling, machine tools, packaging and food machines and similar
machines.
The servo actuators and motors may only be operated within the operating ranges and environmental conditions shown
in the documentation (altitude, degree of protection, temperature range etc).
Before plant and machinery which have Harmonic Drive® servo actuators and motors built into them are commissioned,
the compliance must be established with the Machinery Directive, Low Voltage Directive and EMC guidelines.
Plant and machinery with inverter driven motors must satisfy the protection requirements in the EMC guidelines. It is
the responsibility of the installer to ensure that installation is undertaken correctly.
Signal and power lines must be shielded. The EMC instructions from the inverter manufacturer must be observed in
order that installation meets the EMC regulations.
2.3 Non Intended Purpose
The use of servo actuators and motors outside the areas of application mentioned above or, inter alia, other than in
the operating areas or environmental conditions described in the documentation is considered as non-intended
purpose.
Direct operating from the mains supply is not allowed.
The following areas of application are, inter alia, those considered as non-intended purpose:
• Aerospace
• Areas at risk of explosion
• Machines specially constructed or used for a nuclear purpose whose breakdown might lead to the emission of
radio-activity
• Vacuum
• Machines for domestic use
• Medical equipment which comes into direct contact with the human body
• Machines or equipment for transporting or lifting people
• Special devices for use in annual markets or leisure parks
6
3.
Instructions for Third Party Systems
3.1 General
Please observe the documentation of the SIEMENS AG and the Harmonic Drive AG before putting the system into
operation.
Quicklink to Engineering Data CHA www.harmonicdrive.de/1010
A detailed description of the electrical connection is given within the "Engineering Data" manual of the selected
product.
3.2 Functional Safety
For the realization of safety-relevant drive systems, the requirements documented in the manual "Safety Integrated"
of the SINAMICS drive system has to be considered.
The motor feedback system C1024, M512P and M128S fulfil the requirement of a pure analogue signal processing and
signal generation. A failure mode effects analysis (FMEA) of the encoder mounting to the motor shaft for the
detection of a secure attachment is not given.
Residual risk for a single-encoder system
Within a single-encoder system:
a) A single electrical fault inside the encoder
b) A break of the encoder shaft, or a loose encoder housing will cause the encoder signals to remain static (that is, they
no longer follow a movement while still returning a correct level), and prevent fault detection while the drive is in
stop state (for example, drive in SOS state). Generally, the drive is held by the active closed-loop control. Especially
for drives with suspended load, from a closed-loop control perspective, it is conceivable that drives such as these
move without this being detected.
The risk of an electrical fault in the encoder as described under a) is only present for few encoder types employing a
specific principal of operation.
All of the faults described above must be included in the risk analysis of the machine manufacturer. Additional safety
measures have to be taken for drives with suspended/vertical or dragging loads in order to exclude the faults
described in a), for example:
● Use of an encoder with analogue signal generation or
● Use of a two-encoder system
In order to exclude the fault described in b), for example:
● Perform an FMEA regarding encoder shaft breakage as well as loose encoder housings and use a fault
exclusion process according to IEC 61800-5-2.
● Implementation of a two-encoder system (the encoders must not be mounted on the same shaft).
With the currently available motor feedback systems for the CHA series safety functions can only be realized by using
a second encoder system. For this purpose, the available option CHA-EC can be used.
7
4.
Commissioning
Commissioning must be executed in accordance with the documentation of Harmonic Drive AG.
Before commissioning, please check that:
• The actuator is properly mounted,
• All electrical connections and mechanical connections are designed according to requirements,
• The protective earth is properly connected,
• All attachments (brakes, etc.) are operational,
• Appropriate measures have been taken to prevent contact with moving and live parts,
• The maximum speed nmax is specified and cannot be exceeded,
• The setup of the drive parameters has been executed,
• The commutation is adjusted correctly.
Check the direction of rotation of the load uncoupled.
In the event of changes in the normal operating behaviour, such as increased temperature, noise or vibration, switch
the actuator off. Determine the cause of the problem and contact the manufacturer if necessary. Even if the actuator
is only on test, do not put safety equipment out of operation.
This list may not be complete. Other checks may also be necessary.
Due to heat generation from the actuator itself, tests outside the final mounting position should be limited to 5
minutes of continuous running at a motor speed of less than 1000 rpm.
These values should not be exceeded in order to avoid thermal damage to the actuator.
5.
Drive Parameter for SINAMICS
For the position control, speed control and current control loop of the SINAMICS® converter system it is necessary to
set the drive parameters according to the following tables.
8
5.1 CHA-14A-H-M128S / CHA-14A-H-RES
MD-Name
MD-Nr.:
Ratio
Symbol
[Unit]
[]
CHA-14A
30
50
80
1001
9999
1
128
100
(RES)
(M128S)
(RES)
(M128S)
0H
2
0
0,6
0,6
0,5
3500
5
0,3
22
0,6
0,6
0,5
0,18
0,17
0,14
8500
1,3
1,0
1,0
100
90
0
1,3
1,0
1,0
0,0000580 (0,0000671 with Brake)
0,0000347 (0,0000438 with Brake)
3,85
11,25
Encoder type selection
p0400
[]
Rotary encoder pulse number
p0408
[I/U]
Encoder inversion actual value
Motor type selection
Motor code number selection
Rated motor current
Rated motor speed
Motor pole pair number
Motor torque constant
Motor voltage constant
Motor stall current
Motor stall torque
Maximum motor speed
Maximum motor current
Motor stall torque correction factor
Optimum motor load angle
Motor reluctance torque constant
Motor limit current
Motor moment of inertia (M128S)
Motor moment of inertia (RES)
Motor stator resistance cold
Motor stator leakage inductance
Current controller adaptation
starting point KP
Current controller adaptation
starting point KP adapted
Current controller adaptation p gain
adaptation
Motor temperature alarm threshold
Motor temperature fault threshold
Comments
p0410
p0300
p0301
p0305
p0311
p0314
p0316
p0317
p0318
p0319
p0322
p0323
p0326
p0327
p0328
p0338
[]
[]
[]
[Arms]
[rpm]
[]
[Nm/Arms]
[V/1000rpm]
[Arms]
[Nm]
[rpm]
[Arms]
[%]
[°]
[mH]
[Arms]
p0341
[kgm²]
p0350
p0356
[Ω]
[mH]
p0391
[Arms]
1,1
1,3
1,0
1,0
p0392
[Arms]
1,1
1,3
1,0
1,0
p0393
[%]
0,9
0,9
0,3
1,1
1,1
100
p0604
[°C]
110
p0605
[°C]
120
All not given values are according to the SIEMENS standard parameters
9
5.2 CHA-17A-H-M128S / CHA-17A-H-RES
MD-Name
MD-Nr.:
Ratio
Symbol
[Unit]
[]
CHA-17A
30
50
80
1001
9999
1
128
100
120
(RES)
(M128S)
(RES)
(M128S)
0H
2
0
1,6
1,0
1,2
1,0
3500
5
0,37
26
1,6
1,0
1,2
1,0
0,57
0,37
0,43
0,37
7300
2,0
1,6
1,6
1,3
100
90
0
1,6
1,0
1,2
1,0
0,0000871 (0,0000973 with brake)
0,0001056 (0,0001158 with brake)
2,4
9
Encoder type selection
p0400
[]
Rotary encoder pulse number
p0408
[I/U]
Encoder inversion actual value
Motor type selection
Motor code number selection
Rated motor current
Rated motor speed
Motor pole pair number
Motor torque constant
Motor voltage constant
Motor stall current
Motor stall torque
Maximum motor speed
Maximum motor current
Motor stall torque correction factor
Optimum motor load angle
Motor reluctance torque constant
Motor limit current
Motor moment of inertia (M128S)
Motor moment of inertia (RES)
Motor stator resistance cold
Motor stator leakage inductance
Current controller adaptation
starting point KP
Current controller adaptation
starting point KP adapted
Current controller adaptation p gain
adaptation
Motor temperature alarm threshold
Motor temperature fault threshold
Comments
p0410
p0300
p0301
p0305
p0311
p0314
p0316
p0317
p0318
p0319
p0322
p0323
p0326
p0327
p0328
p0338
[]
[]
[]
[Arms]
[rpm]
[]
[Nm/Arms]
[V/1000rpm]
[Arms]
[Nm]
[rpm]
[Arms]
[%]
[°]
[mH]
[Arms]
p0341
[kgm²]
p0350
p0356
[Ω]
[mH]
p0391
[Arms]
1,6
2,0
1,6
1,6
1,3
p0392
[Arms]
1,6
2,0
1,6
1,6
1,3
p0393
[%]
1,3
1,3
0,5
1,6
1,3
100
p0604
[°C]
110
p0605
[°C]
120
All not given values are according to the SIEMENS standard parameters
10
5.3 CHA-20A-H-C1024 / CHA-20A-H-M512P
Ratio
Encoder type selection
p0400
Symbol
[Unit]
[]
[]
Rotary encoder pulse number
p0408
[I/U]
Encoder inversion actual value
p0410
[]
Motor type selection
Motor code number selection
Rated motor current
Rated motor speed
Motor pole pair number
Motor torque constant
Motor voltage constant
Motor stall current
Motor stall torque
Maximum motor speed
Maximum motor current
Motor stall torque correction factor
Optimum motor load angle
Motor reluctance torque constant
Motor limit current
Motor moment of inertia (C1024)
Motor moment of inertia (M512P)
Motor stator resistance cold
Motor stator leakage inductance
Current controller adaptation
starting point KP
Current controller adaptation
starting point KP adapted
Current controller adaptation p gain
adaptation
Motor temperature alarm threshold
Motor temperature fault threshold
Comments
p0300
p0301
p0305
p0311
p0314
p0316
p0317
p0318
p0319
p0322
p0323
p0326
p0327
p0328
p0338
[]
[]
[Arms]
[rpm]
[]
[Nm/Arms]
[V/1000rpm]
[Arms]
[Nm]
[rpm]
[Arms]
[%]
[°]
[mH]
[Arms]
p0341
[kgm²]
p0350
p0356
[Ω]
[mH]
p0391
[Arms]
2,9
3,8
3,1
2,8
2,5
2,1
p0392
[Arms]
2,9
3,8
3,1
2,8
2,5
2,1
p0393
[%]
MD-Name
Motor feedback
system
C1024
MD-Nr.:
CHA-20A
30
2,1
2,1
0,8
2,9
2,9
50
80
100
120
9999 user defined
1024
(C1024)
512
(M512P)
0H
3H (for M512P)
2
0
2,1
1,9
1,6
1,4
3500
5
0,36
23
2,1
1,9
1,6
1,4
0,76
0,68
0,58
0,50
6000
3,8
3,1
2,8
2,5
100
90
0
3,8
3,1
2,8
2,5
0,000112 (0,000139 with brake)
0,000232 (0,000259 with brake)
2,95
6
160
1,0
1,0
0,36
2,1
2,1
100
p0604
[°C]
80
p0605
[°C]
90
All not given values are according to the SIEMENS standard parameters
Incremental motor feedback system with reference pulse and C/D track
For the C1024 motor feedback system the following warnings must be deactivated
p2118 (0)

31129
p2118 (1)

31429
p2119 (0)

no report
p2119 (1)

no report
M512P
Upon activation of safety functions the encoder C1024 must be parameterized as a sensor
without commutation track (C / D). To determine the commutation angle a softwarebased commutation method is to be used depends on the application. We propose the
saturation method.
Multi-turn absolute encoder with EnDat interface
The encoder inversion actual value must be set to p0410 = 3H
11
5.4 CHA-25A-H-C1024 / CHA-25A-H-M512P
Ratio
Encoder type selection
p0400
Symbol
[Unit]
[]
[]
Rotary encoder pulse number
p0408
[I/U]
Encoder inversion actual value
p0410
[]
Motor type selection
Motor code number selection
Rated motor current
Rated motor speed
Motor pole pair number
Motor torque constant
Motor voltage constant
Motor stall current
Motor stall torque
Maximum motor speed
Maximum motor current
Motor stall torque correction factor
Optimum motor load angle
Motor reluctance torque constant
Motor limit current
Motor moment of inertia (C1024)
Motor moment of inertia (M512P)
Motor stator resistance cold
Motor stator leakage inductance
Current controller adaptation
starting point KP
Current controller adaptation
starting point KP adapted
Current controller adaptation p gain
adaptation
Motor temperature alarm threshold
Motor temperature fault threshold
Comments
p0300
p0301
p0305
p0311
p0314
p0316
p0317
p0318
p0319
p0322
p0323
p0326
p0327
p0328
p0338
[]
[]
[Arms]
[rpm]
[]
[Nm/Arms]
[V/1000rpm]
[Arms]
[Nm]
[rpm]
[Arms]
[%]
[°]
[mH]
[Arms]
p0341
[kgm²]
p0350
p0356
[Ω]
[mH]
p0391
[Arms]
3,5
4,0
3,4
3,2
2,8
2,2
p0392
[Arms]
3,5
4,0
3,4
3,2
2,8
2,2
p0393
[%]
MD-Name
Motor feedback
system
C1024
MD-Nr.:
CHA-25A
30
2,7
2,7
1,5
3,5
3,5
50
80
100
120
9999 user defined
1024
(C1024)
512
(M512P)
0H
3H (for M512P)
2
0
2,3
2,2
2,2
1,9
3500
6
0,55
37
2,3
2,2
2,2
1,9
1,27
1,21
1,21
1,05
5600
4,0
3,4
3,2
2,8
100
90
0
4,0
3,4
3,2
2,8
0,00032 (0,000388 with brake)
0,00044 (0,00051 with brake)
1,85
4,5
160
1,4
1,4
0,77
2,2
2,2
100
p0604
[°C]
80
p0605
[°C]
90
All not given values are according to the SIEMENS standard parameters
Incremental motor feedback system with reference pulse and C/D track
For the C1024 motor feedback system the following warnings must be deactivated
p2118 (0)

31129
p2118 (1)

31429
p2119 (0)

no report
p2119 (1)

no report
M512P
Upon activation of safety functions the encoder C1024 must be parameterized as a sensor
without commutation track (C / D). To determine the commutation angle a softwarebased commutation method is to be used depends on the application. We propose the
saturation method.
Multi-turn absolute encoder with EnDat interface
The encoder inversion actual value must be set to p0410 = 3H
12
5.5 CHA-32A-H-C1024 / CHA-32A-H-M512P
Ratio
Encoder type selection
p0400
Symbol
[Unit]
[]
[]
Rotary encoder pulse number
p0408
[I/U]
Encoder inversion actual value
p0410
[]
Motor type selection
Motor code number selection
Rated motor current
Rated motor speed
Motor pole pair number
Motor torque constant
Motor voltage constant
Motor stall current
Motor stall torque
Maximum motor speed
Maximum motor current
Motor stall torque correction factor
Optimum motor load angle
Motor reluctance torque constant
Motor limit current
Motor moment of inertia (C1024)
Motor moment of inertia (M512P)
Motor stator resistance cold
Motor stator leakage inductance
Current controller adaptation
starting point KP
Current controller adaptation
starting point KP adapted
Current controller adaptation p gain
adaptation
Motor temperature alarm threshold
Motor temperature fault threshold
Comments
p0300
p0301
p0305
p0311
p0314
p0316
p0317
p0318
p0319
p0322
p0323
p0326
p0327
p0328
p0338
[]
[]
[Arms]
[rpm]
[]
[Nm/Arms]
[V/1000rpm]
[Arms]
[Nm]
[rpm]
[Arms]
[%]
[°]
[mH]
[Arms]
p0341
[kgm²]
p0350
p0356
[Ω]
[mH]
p0391
[Arms]
7,1
9,8
8,8
7,2
6,3
5,3
p0392
[Arms]
7,1
9,8
8,8
7,2
6,3
5,3
p0393
[%]
MD-Name
Motor feedback
system
C1024
MD-Nr.:
CHA-32A
30
3,2
3,2
1,8
7,1
7,1
50
80
100
120
9999 user defined
1024
(C1024)
512
(M512P)
0H
3H (for M512P)
2
0
3,2
3,2
3,2
3,2
3500
6
0,57
37
3,2
3,2
3,2
3,2
1,8
1,8
1,8
1,8
4800
9,8
8,8
7,2
6,3
100
90
0
9,8
8,8
7,2
6,3
0,00049 (0,000588 with brake)
0,00061 (0,00071 with brake)
1,85
4,5
160
2,9
2,9
1,7
5,3
5,3
100
p0604
[°C]
80
p0605
[°C]
90
All not given values are according to the SIEMENS standard parameters
Incremental motor feedback system with reference pulse and C/D track
For the C1024 motor feedback system the following warnings must be deactivated
p2118 (0)

31129
p2118 (1)

31429
p2119 (0)

no report
p2119 (1)

no report
M512P
Upon activation of safety functions the encoder C1024 must be parameterized as a sensor
without commutation track (C / D). To determine the commutation angle a softwarebased commutation method is to be used depends on the application. We propose the
saturation method.
Multi-turn absolute encoder with EnDat interface
The encoder inversion actual value must be set to p0410 = 3H
13
5.6 CHA-40A-H-C1024 / CHA-40A-H-M512P
Ratio
Encoder type selection
p0400
Symbol
[Unit]
[]
[]
Rotary encoder pulse number
p0408
[I/U]
Encoder inversion actual value
p0410
[]
Motor type selection
Motor code number selection
Rated motor current
Rated motor speed
Motor pole pair number
Motor torque constant
Motor voltage constant
Motor stall current
Motor stall torque
Maximum motor speed
Maximum motor current
Motor stall torque correction factor
Optimum motor load angle
Motor reluctance torque constant
Motor limit current
Motor moment of inertia (C1024)
Motor moment of inertia (M512P)
Motor stator resistance cold
Motor stator leakage inductance
Current controller adaptation
starting point KP
Current controller adaptation
starting point KP adapted
Current controller adaptation p gain
adaptation
Motor temperature alarm threshold
Motor temperature fault threshold
Comments
p0300
p0301
p0305
p0311
p0314
p0316
p0317
p0318
p0319
p0322
p0323
p0326
p0327
p0328
p0338
[]
[]
[Arms]
[rpm]
[]
[Nm/Arms]
[V/1000rpm]
[Arms]
[Nm]
[rpm]
[Arms]
[%]
[°]
[mH]
[Arms]
p0341
[kgm²]
p0350
p0356
[Ω]
[mH]
p0391
[Arms]
11,8
9,2
8,1
7,3
5,9
p0392
[Arms]
11,8
9,2
8,1
7,3
5,9
p0393
[%]
MD-Name
Motor feedback
system
C1024
MD-Nr.:
CHA-40A
50
3,6
3,6
3,0
11,8
11,8
80
100
120
160
9999 user defined
1024
(C1024)
512
(M512P)
0H
3H (for M512P)
2
0
3,6
3,6
3,6
3,6
3000
6
0,83
53
3,6
3,6
3,6
3,6
3,0
3,0
3,0
3,0
4000
9,2
8,1
7,3
5,9
100
90
0
9,2
8,1
7,3
5,9
0,00123 (0,00142 with brake)
0,00135 (0,00154 with brake)
1,45
4,5
100
p0604
[°C]
80
p0605
[°C]
90
All not given values are according to the SIEMENS standard parameters
Incremental motor feedback system with reference pulse and C/D track
For the C1024 motor feedback system the following warnings must be deactivated
p2118 (0)

31129
p2118 (1)

31429
p2119 (0)

no report
p2119 (1)

no report
M512P
Upon activation of safety functions the encoder C1024 must be parameterized as a sensor
without commutation track (C / D). To determine the commutation angle a softwarebased commutation method is to be used depends on the application. We propose the
saturation method.
Multi-turn absolute encoder with EnDat interface
The encoder inversion actual value must be set to p0410 = 3H
14
5.7 CHA-50A-H-C1024 / CHA-50A-H-M512P
Ratio
Encoder type selection
p0400
Symbol
[Unit]
[]
[]
Rotary encoder pulse number
p0408
[I/U]
Encoder inversion actual value
p0410
[]
Motor type selection
Motor code number selection
Rated motor current
Rated motor speed
Motor pole pair number
Motor torque constant
Motor voltage constant
Motor stall current
Motor stall torque
Maximum motor speed
Maximum motor current
Motor stall torque correction factor
Optimum motor load angle
Motor reluctance torque constant
Motor limit current
Motor moment of inertia (C1024)
Motor moment of inertia (M512P)
Motor stator resistance cold
Motor stator leakage inductance
Current controller adaptation
starting point KP
Current controller adaptation
starting point KP adapted
Current controller adaptation p gain
adaptation
Motor temperature alarm threshold
Motor temperature fault threshold
Comments
p0300
p0301
p0305
p0311
p0314
p0316
p0317
p0318
p0319
p0322
p0323
p0326
p0327
p0328
p0338
[]
[]
[Arms]
[rpm]
[]
[Nm/Arms]
[V/1000rpm]
[Arms]
[Nm]
[rpm]
[Arms]
[%]
[°]
[mH]
[Arms]
p0341
[kgm²]
p0350
p0356
[Ω]
[mH]
p0391
[Arms]
10,2
8,3
6,9
6,4
5,3
p0392
[Arms]
10,2
8,3
6,9
6,4
5,3
p0393
[%]
MD-Name
Motor feedback
system
C1024
MD-Nr.:
CHA-50A
50
2,9
2,9
4,6
10,2
10,2
80
100
120
160
9999 user defined
1024
(C1024)
512
(M512P)
0H
3H (for M512P)
2
0
3,2
3,2
3,2
3,1
2500
6
1,6
104
3,2
3,2
3,2
3,1
5,1
5,1
5,1
5,0
3500
8,3
6,9
6,4
5,3
100
90
0
8,3
6,9
6,4
5,3
0,00265 (0,00292 with brake)
0,00277 (0,00304 with brake)
1,75
9
100
p0604
[°C]
80
p0605
[°C]
90
All not given values are according to the SIEMENS standard parameters
Incremental motor feedback system with reference pulse and C/D track
For the C1024 motor feedback system the following warnings must be deactivated
p2118 (0)

31129
p2118 (1)

31429
p2119 (0)

no report
p2119 (1)

no report
M512P
Upon activation of safety functions the encoder C1024 must be parameterized as a sensor
without commutation track (C / D). To determine the commutation angle a softwarebased commutation method is to be used depends on the application. We propose the
saturation method.
Multi-turn absolute encoder with EnDat interface
The encoder inversion actual value must be set to p0410 = 3H
15
5.8 CHA-58A-H-C1024 / CHA-58A-H-M512P
Ratio
Encoder type selection
p0400
Symbol
[Unit]
[]
[]
Rotary encoder pulse number
p0408
[I/U]
Encoder inversion actual value
p0410
[]
Motor type selection
Motor code number selection
Rated motor current
Rated motor speed
Motor pole pair number
Motor torque constant
Motor voltage constant
Motor stall current
Motor stall torque
Maximum motor speed
Maximum motor current
Motor stall torque correction factor
Optimum motor load angle
Motor reluctance torque constant
Motor limit current
Motor moment of inertia (C1024)
Motor moment of inertia (M512P)
Motor stator resistance cold
Motor stator leakage inductance
Current controller adaptation
starting point KP
Current controller adaptation
starting point KP adapted
Current controller adaptation p gain
adaptation
Motor temperature alarm threshold
Motor temperature fault threshold
Comments
p0300
p0301
p0305
p0311
p0314
p0316
p0317
p0318
p0319
p0322
p0323
p0326
p0327
p0328
p0338
[]
[]
[Arms]
[rpm]
[]
[Nm/Arms]
[V/1000rpm]
[Arms]
[Nm]
[rpm]
[Arms]
[%]
[°]
[mH]
[Arms]
p0341
[kgm²]
p0350
p0356
[Ω]
[mH]
p0391
[Arms]
14,4
12,8
11,1
10,0
8,1
p0392
[Arms]
14,4
12,8
11,1
10,0
8,1
p0393
[%]
MD-Name
Motor feedback
system
C1024
MD-Nr.:
CHA-58A
50
4,2
4,2
7,14
14,4
14,4
80
100
120
160
9999 user defined
1024
(C1024)
512
(M512P)
0H
3H (for M512P)
2
0
4,6
4,6
4,6
4,6
2000
6
1,7
105
4,6
4,6
4,6
4,6
7,82
7,82
7,82
7,82
3000
12,8
11,1
10,0
8,1
100
90
0
12,8
11,1
10,0
8,1
0,00466 (0,00473 with brake)
0,00478 (0,00485 with brake)
1,2
6,4
100
p0604
[°C]
80
p0605
[°C]
90
All not given values are according to the SIEMENS standard parameters
Incremental motor feedback system with reference pulse and C/D track
For the C1024 motor feedback system the following warnings must be deactivated
p2118 (0)

31129
p2118 (1)

31429
p2119 (0)

no report
p2119 (1)

no report
M512P
Upon activation of safety functions the encoder C1024 must be parameterized as a sensor
without commutation track (C / D). To determine the commutation angle a softwarebased commutation method is to be used depends on the application. We propose the
saturation method.
Multi-turn absolute encoder with EnDat interface
The encoder inversion actual value must be set to p0410 = 3H
16