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SINAMICS Telegrams

The document lists and describes several SINAMICS telegrams that are commonly used for different drive use cases. Telegram 1 is for a basic speed-controlled drive with ramping inside the drive. Telegram 3 is for position control functionality inside the PLC without isochronous communication activated in the drive. Telegram 5 is similar to Telegram 3 but is for position control functionality inside the drive with isochronous communication activated. Telegram 9 is for basic positioning commands inside the drive like target position, velocity, and acceleration. The document provides details on the data received and sent for each telegram type.

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John Connor
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522 views

SINAMICS Telegrams

The document lists and describes several SINAMICS telegrams that are commonly used for different drive use cases. Telegram 1 is for a basic speed-controlled drive with ramping inside the drive. Telegram 3 is for position control functionality inside the PLC without isochronous communication activated in the drive. Telegram 5 is similar to Telegram 3 but is for position control functionality inside the drive with isochronous communication activated. Telegram 9 is for basic positioning commands inside the drive like target position, velocity, and acceleration. The document provides details on the data received and sent for each telegram type.

Uploaded by

John Connor
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Important telegrams of SINAMICS and their use case

This is a list of some SINAMICS telegrams which are often used, based on my personal knowledge.
This list is not intended to be complete! More telegrams are available.

Telegram 1
To be used for a speed-controlled drive with Ramp-function inside the drive. Included is just the main
basic information for enabling the drive and giving a speed setpoint (you can use it together with the
SIMATIC FB SINA_SPEED).

Receive data:

- Control word 1
- Speed setpoint (16Bit resolution)

Send data:

- Status word 1
- Actual speed (16Bit resolution)

Telegram 3
To be used when having a Technology Object (SIMATIC/SIMOTION) with position control
functionality inside the PLC without having DSC (Dynamic Servo Control – for high dynamic
positioning with isochronous communication) activated in the drive.

Receive data:

- Control word 1
- Speed setpoint (32Bit resolution)
- Control word 2
- Encoder 1 control word

Send data:

- Status word 1
- Actual speed (32Bit resolution)
- Status word 2
- Encoder 1 status word
- Encoder 1 XIST1
- Encoder 1 XIST2

Telegram 4
Same as Telegram 3 but with additional data for a second encoder.
Telegram 5
To be used with a Technology Object with position control functionality inside the drive with DSC
activated (with isochronous communication). Same content like Telegram 3 plus additional
information for:

Receive data:

- XERR (control deviation of position: XERR = Position setpoint – Actual position; used for DSC
position control in the drive)
- KPC (proportional gain for DSC position control)

Telegram 6
Same as Telegram 5 but with additional data for a second encoder.

Telegram 9
To be used as a general PROFIdrive profile for positioning axes where the positioning is done inside
the drive (e.g. basic positioner / EPOS inside SINAMICS). It contains basic information for positioning
commands like traversing block number, target position, velocity, acceleration etc.

Receive data:

- Control word 1
- Traversing block number (designed as Bit selection)
- Control word 2
- MDI Target position
- MDI Velocity
- MDI Acceleration
- MDI Deceleration
- MDI Mode

Send data:

- Status word 1
- Active traversing block number
- Status word 2
- Actual position (32Bit resolution)

Telegram 20
To be used for speed-controlled drives. Comparable to standard telegram 1 but with additional drive
information such as actual current, torque, power. One additional free user word is also included.

(There is a SIMATIC FB for that telegram available in the LSinaExt library)

Telegrams 81, 82, 83


To be used for encoder drive objects. For example, to connect an external encoder (mounted at
SINAMICS) to the Technology Object “External Encoder” of the SIMATIC.
Telegram 105
Same as telegram 5 but with additional setpoint information for torque limitation.

Telegram 106
Same as telegram 105 but with additional data for a second encoder.

Telegram 111
This is a special Siemens telegram for the usage with basic positioner (EPOS). You can use it together
with the SIMATIC FB “SINA_POS”. It contains all necessary commands for the control of the EPOS.

Telegram 352
This one is used for speed-controlled drives like telegram 1 but with additional drive information
such as actual current, torque, warn code and fault code.

There is a SIMATIC FB available for that telegram in the LSinaExt library.

Telegram 370
This telegram is used for Infeed modules with DRIVE-CLiQ (BLM, SLM > 10kW and ALM). You can
enable the infeed by that telegram from the PLC side. The SIMATIC FB “SINA_INFEED” can be used
with that telegram.

Telegrams 39x
These telegrams are used for the Control Unit to share the state of the digital inputs or the global
measuring inputs for example.

Telegram 700/701
This is used for the Safety Info Channel / Safety Control channel.

Telegram 750
This one is used for additional torque data. For example, when using the technology object of the
SIMATIC with the additional torque data option. The additional torque and the both torque limits are
included in this telegram

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