___________________

Preface

Fundamental safety
___________________
instructions 1

SINAMICS
___________________
Overview 2
Startdrive commissioning
___________________
tool 3
S120
Getting Started with Startdrive ___________________
4
Fundamentals

___________________
Commissioning 5
Getting Started

___________________
Performing basic
parameterization 6

___________________
Loading the project to the
target device 7

___________________
Commissioning a drive 8

___________________
Appendix A

Valid as of:
Firmware version 5.1, Startdrive V15

11/2017
6SL3097-4AG30-0BP0
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION
indicates that minor personal injury can result if proper precautions are not taken.

NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:

WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.

Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Siemens AG Document order number: 6SL3097-4AG30-0BP0 Copyright © Siemens AG 2017.

Division Digital Factory Ⓟ 12/2017 Subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface

SINAMICS documentation
The SINAMICS documentation is organized in the following categories:
● General documentation/catalogs
● User documentation
● Manufacturer/service documentation

Additional information
You can find information on the following topics at the following address
(http://w3.siemens.com/mcms/mc-solutions/en/motion-control/support/technical-
documentation/Pages/technical-documentation.aspx):
● Ordering documentation/overview of documentation
● Additional links to download documents
● Using documentation online (find and search in manuals/information)
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address
(mailto:[email protected]).

Siemens MySupport/Documentation
At the following address (http://www.siemens.com/mdm), you can find information on how to
create your own individual documentation based on Siemens' content, and adapt it for your
own machine documentation.

Training
At the following address (http://www.siemens.com/sitrain), you can find information about
SITRAIN (Siemens training on products, systems and solutions for automation and drives).

FAQs
You can find Frequently Asked Questions in the Service&Support pages under Product
Support (https://support.industry.siemens.com/cs/de/en/ps/faq).

SINAMICS
You can find information about SINAMICS at the following address
(http://www.siemens.com/sinamics).

Getting Started with Startdrive

Getting Started, 11/2017, 6SL3097-4AG30-0BP0 5
Preface

Usage phases and their documents/tools (as an example)

Table 1 Usage phases and the available documents/tools

Usage phase Document/tool

Orientation SINAMICS S Sales Documentation
Planning/configuration • SIZER Engineering Tool
• Configuration Manuals, Motors
Deciding/ordering SINAMICS S120 catalogs
• SINAMICS S120 and SIMOTICS (Catalog D 21.4)
• SINAMICS Converters for Single-Axis Drives and SIMOTICS Motors (Catalog D 31)
• SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62)
Installation/assembly • SINAMICS S120 Manual for Control Units and Additional System Components
• SINAMICS S120 Manual for Booksize Power Units
• SINAMICS S120 Manual for Booksize Power Units C/D Type
• SINAMICS S120 Manual for Chassis Power Units, Air-cooled
• SINAMICS S120 Manual for Chassis Power Units, Liquid-cooled
• SINAMICS S120 Manual for AC Drives
• SINAMICS S120 Manual Combi
• SINAMICS S120M Manual Distributed Drive Technology
• SINAMICS HLA System Manual Hydraulic Drive
Commissioning • STARTER Commissioning Tool
• Startdrive commissioning tool
• SINAMICS S120 Getting Started with STARTER
• SINAMICS S120 Getting Started with Startdrive
• SINAMICS S120 Commissioning Manual with STARTER
• SINAMICS S120 Commissioning Manual with Startdrive
• SINAMICS S120 CANopen Commissioning Manual
• SINAMICS S120 Function Manual Drive Functions
• SINAMICS S120 Safety Integrated Function Manual
• SINAMICS S120/S150 List Manual
• SINAMICS HLA System Manual Hydraulic Drive
Usage/operation • SINAMICS S120 Commissioning Manual with STARTER
• SINAMICS S120 Commissioning Manual with Startdrive
• SINAMICS S120/S150 List Manual
• SINAMICS HLA System Manual Hydraulic Drive
Maintenance/servicing • SINAMICS S120 Commissioning Manual with STARTER
• SINAMICS S120 Commissioning Manual with Startdrive
• SINAMICS S120/S150 List Manual
References • SINAMICS S120/S150 List Manual

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6 Getting Started, 11/2017, 6SL3097-4AG30-0BP0
 Preface

Target group
This documentation is intended for machine manufacturers, commissioning engineers, and
service personnel who use the SINAMICS drive system.

Benefits
This manual provides all of the information, procedures and operator actions required for the
particular usage phase.

Standard scope
The scope of the functionality described in this document can differ from that of the drive
system that is actually supplied.
● Other functions not described in this documentation might be able to be executed in the
drive system. However, no claim can be made regarding the availability of these functions
when the equipment is first supplied or in the event of service.
● The documentation can also contain descriptions of functions that are not available in a
particular product version of the drive system. The functionality of the supplied drive
system should only be taken from the ordering documentation.
● Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on
all of the product types, and cannot take into consideration every conceivable type of
installation, operation and service/maintenance.

Technical Support
Country-specific telephone numbers for technical support are provided in the Internet at the
following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact"
area.

Relevant directives and standards

You can obtain an up-to-date list of currently certified components on request from your local
Siemens office. If you have any questions relating to certifications that have not yet been
completed, please ask your Siemens contact person.

Certificates for download

The certificates can be downloaded from the Internet:
Certificates (https://support.industry.siemens.com/cs/ww/de/ps/13206/cert)

EC Declaration of Conformity
You can find the EC Declaration of Conformity for the relevant directives as well as the
relevant certificates, prototype test certificates, manufacturers declarations and test
certificates for functions relating to functional safety ("Safety Integrated") on the Internet at
the following address (https://support.industry.siemens.com/cs/ww/en/ps/13231/cert).

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Preface

The following directives and standards are relevant for SINAMICS S devices:
● European Low Voltage Directive
SINAMICS S devices fulfil the requirements stipulated in the Low-Voltage Directive
2014/35/EU, insofar as they are covered by the application area of this directive.
● European Machinery Directive
SINAMICS S devices fulfil the requirements stipulated in the Low-Voltage Directive
2006/42/EU, insofar as they are covered by the application area of this directive.
However, the use of the SINAMICS S devices in a typical machine application has been
fully assessed for compliance with the main regulations in this directive concerning health
and safety.
● Directive 2011/65/EU
SINAMICS S devices comply with the requirements of Directive 2011/65/EU on the
restriction of the use of certain hazardous substances in electrical and electronic devices
(RoHS II).
● European EMC Directive
SINAMICS S devices comply with the EMC Directive 2014/30/EU.
● EMC requirements for South Korea
SINAMICS S devices with the KC marking on the type plate satisfy the EMC
requirements for South Korea.
● Eurasian conformity
SINAMICS S comply with the requirements of the Russia/Belarus/Kazakhstan customs
union (EAC).

● North American market

SINAMICS S devices provided with one of the test symbols displayed fulfill the
requirements stipulated for the North American market as a component of drive
applications.
You can find the relevant certificates on the Internet pages of the certifier
(http://database.ul.com/cgi-bin/XYV/template/LISEXT/1FRAME/index.html).

● Specification for semiconductor process equipment voltage drop immunity

SINAMICS S devices meet the requirements of standard SEMI F47-0706.
● Australia and New Zealand (RCM formerly C-Tick)
SINAMICS S devices showing the test symbols fulfill the EMC requirements for Australia
and New Zealand.
● Quality systems
Siemens AG employs a quality management system that meets the requirements of ISO
9001 and ISO 14001.

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8 Getting Started, 11/2017, 6SL3097-4AG30-0BP0
 Preface

Not relevant standards

China Compulsory Certification

SINAMICS S devices do not fall in the area of validity of the China Compulsory Certification
(CCC).

EMC limit values in South Korea

The EMC limit values to be observed for Korea correspond to the limit values of the EMC
product standard for variable-speed electric drives EN 61800-3 of category C2 or the limit
value class A, Group 1 to KN11. By implementing appropriate additional measures, the limit
values according to category C2 or limit value class A, Group 1, are observed. Further,
additional measures may be required, such as using an additional radio interference
suppression filter (EMC filter).
The measures for EMC-compliant design of the system are described in detail in this manual
respectively in the EMC Installation Guideline Configuration Manual.
The final statement regarding compliance with the standard is given by the respective label
attached to the individual unit.

Ensuring reliable operation

The manual describes a desired state which, if maintained, ensures the required level of
operational reliability and compliance with EMC limit values.
Should there be any deviation from the requirements in the manual, appropriate actions (e.g.
measurements) must be taken to check/prove that the required level of operational reliability
and compliance with EMC limit values are ensured.

Spare parts
Spare parts are available on the Internet at the following address
(https://www.automation.siemens.com/sow?sap-language=EN).

Product maintenance
The components are subject to continuous further development within the scope of product
maintenance (improvements to robustness, discontinuations of components, etc).
These further developments are "spare parts-compatible" and do not change the article
number.
In the scope of such spare parts-compatible further developments, connector/connection
positions are sometimes changed slightly. This does not cause any problems with proper
use of the components. Please take this fact into consideration in special installation
situations (e.g. allow sufficient clearance for the cable length).

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Preface

Use of third-party products

This document contains recommendations relating to third-party products. Siemens accepts
the fundamental suitability of these third-party products.
You can use equivalent products from other manufacturers.
Siemens does not accept any warranty for the properties of third-party products.

Ground symbols

Table 2 Symbols

Symbol Meaning

Connection for protective conductor

Ground (e.g. M 24 V)

Connection for function potential bonding

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10 Getting Started, 11/2017, 6SL3097-4AG30-0BP0
 Preface

Notation
The following notation and abbreviations are used in this documentation:

Notation for faults and alarms (examples):

• F12345 Fault 12345

• A67890 Alarm 67890
• C23456 Safety message

Notation for parameters (examples):

• p0918 Adjustable parameter 918

• r1024 Display parameter 1024
• p1070[1] Adjustable parameter 1070, index 1
• p2098[1].3 Adjustable parameter 2098, index 1 bit 3
• p0099[0...3] Adjustable parameter 99, indices 0 to 3
• r0945[2](3) Display parameter 945, index 2 of drive object 3
• p0795.4 Adjustable parameter 795, bit 4

Purpose of the document

This documentation is aimed at beginners who want to find out more about the
SINAMICS S120 drive system. The document offers a brief guide to commissioning a
sample project with a simple SINAMICS S120 drive train (CU320-2 PN). By following the
instructions in this document, a beginner will need only a few minutes to engineer and
configure the sample project and start up the motor.

Use of OpenSSL
This product contains software (https://www.openssl.org/) that has been developed by the
OpenSSL project for use in the OpenSSL toolkit.
This product contains cryptographic software (mailto:[email protected]) created by Eric
Young.
This product contains software (mailto:[email protected]) developed by Eric Young.

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Preface

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12 Getting Started, 11/2017, 6SL3097-4AG30-0BP0
Table of contents

Preface ................................................................................................................................................... 5
1 Fundamental safety instructions ............................................................................................................ 17
1.1 General safety instructions .....................................................................................................17
1.2 Equipment damage due to electric fields or electrostatic discharge ......................................22
1.3 Warranty and liability for application examples ......................................................................23
1.4 Industrial security ....................................................................................................................24
1.5 Residual risks of power drive systems....................................................................................25
2 Overview............................................................................................................................................... 27
3 Startdrive commissioning tool ................................................................................................................ 29
3.1 Structure of the user interface ................................................................................................29
3.1.1 Project view for parameterizing the drive................................................................................29
3.1.2 Project navigation ...................................................................................................................30
3.2 User interface - parameterization ...........................................................................................31
3.2.1 Modules in the hardware catalog ............................................................................................31
3.2.2 Device view .............................................................................................................................33
3.2.3 Parameterization editor ...........................................................................................................34
3.2.4 Function view ..........................................................................................................................35
3.2.5 Parameter view .......................................................................................................................36
3.2.6 Inspector window ....................................................................................................................38
3.2.7 Device configuration detection ................................................................................................40
3.3 User interface - Control panel .................................................................................................42
3.4 Information system - online help .............................................................................................43
3.4.1 General remarks on the information system ...........................................................................43
3.4.2 Opening the information system .............................................................................................47
4 Fundamentals ....................................................................................................................................... 49
4.1 Requirements for commissioning ...........................................................................................49
4.2 Safety instructions for commissioning ....................................................................................50
4.3 BICO interconnections ............................................................................................................51
4.3.1 Binectors, Connectors.............................................................................................................51
4.3.2 Interconnect BICO inputs ........................................................................................................53
4.3.3 Interconnecting BICO outputs .................................................................................................55
4.4 Comparing parameter settings ...............................................................................................58
4.5 Permanently save the settings ................................................................................................60
4.6 Restoring factory settings .......................................................................................................61
4.7 Loading project data from a drive unit ....................................................................................62

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Table of contents

5 Commissioning ..................................................................................................................................... 65
5.1 Call Startdrive......................................................................................................................... 65
5.2 Commissioning workflow ....................................................................................................... 66
5.3 Check lists to commission SINAMICS S ................................................................................ 67
5.4 Creating a project offline in Startdrive .................................................................................... 70
5.4.1 Creating a new project ........................................................................................................... 70
5.4.1.1 Creating a new project (in the Portal view) ............................................................................ 70
5.4.1.2 Creating a new project (in the Project view) .......................................................................... 72
5.4.2 Inserting the drive unit offline ................................................................................................. 74
5.4.3 Inserting an infeed ................................................................................................................. 75
5.4.4 Inserting a Motor Module or Power Module ........................................................................... 80
5.4.4.1 Inserting and specifying a Motor Module ............................................................................... 81
5.4.4.2 Inserting and specifying a Power Module .............................................................................. 84
5.4.4.3 Making detailed settings ........................................................................................................ 86
5.4.4.4 Connecting several modules in parallel ................................................................................. 87
5.4.4.5 Changing the drive object type .............................................................................................. 89
5.4.5 Inserting a motor .................................................................................................................... 91
5.4.5.1 Inserting and specifying motors from the motor list ............................................................... 91
5.4.5.2 Inserting and specifying motors that are missing from the motor list..................................... 94
5.4.6 Inserting measuring systems ................................................................................................. 97
5.4.6.1 Overview ................................................................................................................................ 97
5.4.6.2 Inserting an encoder .............................................................................................................. 98
5.4.7 Inserting additional system components .............................................................................. 102
5.4.7.1 Adding a CBE20 Communication Board .............................................................................. 102
5.4.7.2 Adding a Terminal Module ................................................................................................... 104
5.4.7.3 Adding a Terminal Board ..................................................................................................... 105
5.4.7.4 Adding the VSM10 Voltage Sensing Module ....................................................................... 107
5.5 Establishing an online connection to the drive unit .............................................................. 110
5.5.1 Overview .............................................................................................................................. 110
5.5.2 Using an online connection via the Ethernet interface ........................................................ 112
5.6 Alternatively: Creating a project with a device configuration derived from the hardware .... 115
5.6.1 Deriving the hardware device configuration ......................................................................... 115
5.6.2 Transferring the determined device configuration to Startdrive ........................................... 119
5.6.3 Revising the configuration .................................................................................................... 121
6 Performing basic parameterization .......................................................................................................123
6.1 Control Unit .......................................................................................................................... 123
6.1.1 Web server ........................................................................................................................... 123
6.1.1.1 Activating and configuring the web server ........................................................................... 123
6.1.1.2 Setting or changing web server user accounts .................................................................... 126
6.1.2 Configuring inputs/outputs of the Control Unit ..................................................................... 129
6.1.2.1 Isolated digital inputs ........................................................................................................... 129
6.1.2.2 Bidirectional digital inputs/outputs........................................................................................ 130
6.1.2.3 Measuring sockets ............................................................................................................... 131

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 Table of contents

6.2 Infeed unit .............................................................................................................................135

6.2.1 Overview ...............................................................................................................................135
6.2.2 Function modules ..................................................................................................................136
6.2.3 Line data / operating mode ...................................................................................................138
6.2.4 Enable logic ..........................................................................................................................140
6.2.5 Line contactor control............................................................................................................141
6.3 Drive axes .............................................................................................................................142
6.3.1 Servo drives ..........................................................................................................................142
6.3.1.1 Overview ...............................................................................................................................142
6.3.1.2 Function modules ..................................................................................................................143
6.3.1.3 Control mode ........................................................................................................................144
6.3.1.4 Important parameters............................................................................................................145
6.3.1.5 Enable logic ..........................................................................................................................146
6.3.2 Vector drives .........................................................................................................................148
6.3.2.1 Overview ...............................................................................................................................148
6.3.2.2 Function modules ..................................................................................................................149
6.3.2.3 Control mode ........................................................................................................................150
6.3.2.4 Important parameters............................................................................................................151
6.3.2.5 Drive settings ........................................................................................................................152
6.3.2.6 Enable logic ..........................................................................................................................154
7 Loading the project to the target device ............................................................................................... 157
8 Commissioning a drive ........................................................................................................................ 159
8.1 Using the control panel .........................................................................................................159
8.2 Traversing the drive with speed specification .......................................................................162
A Appendix............................................................................................................................................. 163
A.1 List of abbreviations ..............................................................................................................163
A.2 Documentation overview ......................................................................................................172
A.3 Shortcut menus and icons in Startdrive ................................................................................173
A.3.1 Function calls project view ....................................................................................................173
A.3.1.1 Project navigation .................................................................................................................173
A.3.2 BICO interconnections ..........................................................................................................174
A.3.3 Special elements in the screen forms ...................................................................................174
Index................................................................................................................................................... 175

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Table of contents

Getting Started with Startdrive

16 Getting Started, 11/2017, 6SL3097-4AG30-0BP0
Fundamental safety instructions 1
1.1 General safety instructions

WARNING
Electric shock and danger to life due to other energy sources
Touching live components can result in death or severe injury.
• Only work on electrical devices when you are qualified for this job.
• Always observe the country-specific safety rules.
Generally, the following six steps apply when establishing safety:
1. Prepare for disconnection. Notify all those who will be affected by the procedure.
2. Isolate the drive system from the power supply and take measures to prevent it being
switched back on again.
3. Wait until the discharge time specified on the warning labels has elapsed.
4. Check that there is no voltage between any of the power connections, and between any
of the power connections and the protective conductor connection.
5. Check whether the existing auxiliary supply circuits are de-energized.
6. Ensure that the motors cannot move.
7. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water. Switch the energy sources to a safe state.
8. Check that the correct drive system is completely locked.
After you have completed the work, restore the operational readiness in the inverse
sequence.

WARNING
Electric shock due to connection to an unsuitable power supply
When equipment is connected to an unsuitable power supply, exposed components may
carry a hazardous voltage that might result in serious injury or death.
• Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV-
(Protective Extra Low Voltage) output voltages for all connections and terminals of the
electronics modules.

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Fundamental safety instructions
1.1 General safety instructions

WARNING
Electric shock due to equipment damage
Improper handling may cause damage to equipment. For damaged devices, hazardous
voltages can be present at the enclosure or at exposed components; if touched, this can
result in death or severe injury.
• Ensure compliance with the limit values specified in the technical data during transport,
storage and operation.
• Do not use any damaged devices.

WARNING
Electric shock due to unconnected cable shield
Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected
cable shields.
• As a minimum, connect cable shields and the conductors of power cables that are not
used (e.g. brake cores) at one end at the grounded housing potential.

WARNING
Electric shock if there is no ground connection
For missing or incorrectly implemented protective conductor connection for devices with
protection class I, high voltages can be present at open, exposed parts, which when
touched, can result in death or severe injury.
• Ground the device in compliance with the applicable regulations.

WARNING
Arcing when a plug connection is opened during operation
Opening a plug connection when a system is operation can result in arcing that may cause
serious injury or death.
• Only open plug connections when the equipment is in a voltage-free state, unless it has
been explicitly stated that they can be opened in operation.

WARNING
Electric shock due to residual charges in power components
Because of the capacitors, a hazardous voltage is present for up to 5 minutes after the
power supply has been switched off. Contact with live parts can result in death or serious
injury.
• Wait for 5 minutes before you check that the unit really is in a no-voltage condition and
start work.

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 Fundamental safety instructions
1.1 General safety instructions

NOTICE
Property damage due to loose power connections
Insufficient tightening torques or vibration can result in loose power connections. This can
result in damage due to fire, device defects or malfunctions.
• Tighten all power connections to the prescribed torque.
• Check all power connections at regular intervals, particularly after equipment has been
transported.

WARNING
Spread of fire from built-in devices
In the event of fire outbreak, the enclosures of built-in devices cannot prevent the escape of
fire and smoke. This can result in serious personal injury or property damage.
• Install built-in units in a suitable metal cabinet in such a way that personnel are
protected against fire and smoke, or take other appropriate measures to protect
personnel.
• Ensure that smoke can only escape via controlled and monitored paths.

WARNING
Failure of pacemakers or implant malfunctions due to electromagnetic fields
Electromagnetic fields (EMF) are generated by the operation of electrical power equipment,
such as transformers, converters, or motors. People with pacemakers or implants in the
immediate vicinity of this equipment are at particular risk.
• If you have a heart pacemaker or implant, maintain a minimum distance of 2 m from
electrical power equipment.

WARNING
Unexpected movement of machines caused by radio devices or mobile phones
When radio devices or mobile phones with a transmission power > 1 W are used in the
immediate vicinity of components, they may cause the equipment to malfunction.
Malfunctions may impair the functional safety of machines and can therefore put people in
danger or lead to property damage.
• If you come closer than around 2 m to such components, switch off any radios or mobile
phones.
• Use the "SIEMENS Industry Online Support App" only on equipment that has already
been switched off.

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Fundamental safety instructions
1.1 General safety instructions

WARNING
Motor fire in the event of insulation overload
There is higher stress on the motor insulation through a ground fault in an IT system. If the
insulation fails, it is possible that death or severe injury can occur as a result of smoke and
fire.
• Use a monitoring device that signals an insulation fault.
• Correct the fault as quickly as possible so the motor insulation is not overloaded.

WARNING
Fire due to inadequate ventilation clearances
Inadequate ventilation clearances can cause overheating of components with subsequent
fire and smoke. This can cause severe injury or even death. This can also result in
increased downtime and reduced service lives for devices/systems.
• Ensure compliance with the specified minimum clearance as ventilation clearance for
the respective component.

WARNING
Unrecognized dangers due to missing or illegible warning labels
Dangers might not be recognized if warning labels are missing or illegible. Unrecognized
dangers may cause accidents resulting in serious injury or death.
• Check that the warning labels are complete based on the documentation.
• Attach any missing warning labels to the components, where necessary in the national
language.
• Replace illegible warning labels.

NOTICE
Device damage caused by incorrect voltage/insulation tests
Incorrect voltage/insulation tests can damage the device.
• Before carrying out a voltage/insulation check of the system/machine, disconnect the
devices as all converters and motors have been subject to a high voltage test by the
manufacturer, and therefore it is not necessary to perform an additional test within the
system/machine.

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 Fundamental safety instructions
1.1 General safety instructions

WARNING
Unexpected movement of machines caused by inactive safety functions
Inactive or non-adapted safety functions can trigger unexpected machine movements that
may result in serious injury or death.
• Observe the information in the appropriate product documentation before
commissioning.
• Carry out a safety inspection for functions relevant to safety on the entire system,
including all safety-related components.
• Ensure that the safety functions used in your drives and automation tasks are adjusted
and activated through appropriate parameterizing.
• Perform a function test.
• Only put your plant into live operation once you have guaranteed that the functions
relevant to safety are running correctly.

Note
Important safety notices for Safety Integrated functions
If you want to use Safety Integrated functions, you must observe the safety notices in the
Safety Integrated manuals.

WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.
• Protect the parameterization (parameter assignments) against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.

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Fundamental safety instructions
1.2 Equipment damage due to electric fields or electrostatic discharge

1.2 Equipment damage due to electric fields or electrostatic discharge

Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules
or devices that may be damaged by either electric fields or electrostatic discharge.

NOTICE
Equipment damage due to electric fields or electrostatic discharge
Electric fields or electrostatic discharge can cause malfunctions through damaged
individual components, integrated circuits, modules or devices.
• Only pack, store, transport and send electronic components, modules or devices in their
original packaging or in other suitable materials, e.g conductive foam rubber of
aluminum foil.
• Only touch components, modules and devices when you are grounded by one of the
following methods:
– Wearing an ESD wrist strap
– Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring
• Only place electronic components, modules or devices on conductive surfaces (table
with ESD surface, conductive ESD foam, ESD packaging, ESD transport container).

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 Fundamental safety instructions
1.3 Warranty and liability for application examples

1.3 Warranty and liability for application examples

The application examples are not binding and do not claim to be complete regarding
configuration, equipment or any eventuality which may arise. The application examples do
not represent specific customer solutions, but are only intended to provide support for typical
tasks. You are responsible for the proper operation of the described products. These
application examples do not relieve you of your responsibility for safe handling when using,
installing, operating and maintaining the equipment.

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Fundamental safety instructions
1.4 Industrial security

1.4 Industrial security

Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens products and solutions only represent one component of such a
concept.
The customer is responsible for preventing unauthorized access to its plants, systems,
machines and networks. Systems, machines and components should only be connected to
the enterprise network or the internet if and to the extent necessary and with appropriate
security measures (e.g. use of firewalls and network segmentation) in place.
Additionally, Siemens’ guidance on appropriate security measures should be taken into
account. For more information about industrial security, please visit:
Industrial security (http://www.siemens.com/industrialsecurity).
Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends to apply product updates as soon as available and to
always use the latest product versions. Use of product versions that are no longer supported,
and failure to apply latest updates may increase customer’s exposure to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed at:
Industrial security (http://www.siemens.com/industrialsecurity).

WARNING
Unsafe operating states resulting from software manipulation
Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe
operating states in your system that may lead to death, serious injury, and property
damage.
• Keep the software up to date.
• Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine.
• Make sure that you include all installed products into the holistic industrial security
concept.
• Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.

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 Fundamental safety instructions
1.5 Residual risks of power drive systems

1.5 Residual risks of power drive systems

When assessing the machine- or system-related risk in accordance with the respective local
regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer
must take into account the following residual risks emanating from the control and drive
components of a drive system:
1. Unintentional movements of driven machine or system components during
commissioning, operation, maintenance, and repairs caused by, for example,
– Hardware and/or software errors in the sensors, control system, actuators, and cables
and connections
– Response times of the control system and of the drive
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– Parameterization, programming, cabling, and installation errors
– Use of wireless devices/mobile phones in the immediate vicinity of electronic
components
– External influences/damage
– X-ray, ionizing radiation and cosmic radiation
2. Unusually high temperatures, including open flames, as well as emissions of light, noise,
particles, gases, etc., can occur inside and outside the components under fault conditions
caused by, for example:
– Component failure
– Software errors
– Operation and/or environmental conditions outside the specification
– External influences/damage
3. Hazardous shock voltages caused by, for example:
– Component failure
– Influence during electrostatic charging
– Induction of voltages in moving motors
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– External influences/damage

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Fundamental safety instructions
1.5 Residual risks of power drive systems

4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a
risk to people with a pacemaker, implants or metal replacement joints, etc., if they are too
close
5. Release of environmental pollutants or emissions as a result of improper operation of the
system and/or failure to dispose of components safely and correctly
6. Influence of network-connected communication systems, e.g. ripple-control transmitters
or data communication via the network
For more information about the residual risks of the drive system components, see the
relevant sections in the technical user documentation.

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Overview 2
This manual provides instructions on how to commission a simple SINAMICS S120.
To create a sample project the following points are explained:
1. Which hardware components do you need for the sample project?
2. How do you create a simple project in the Startdrive commissioning tool?
3. How do you configure a drive?
4. How do you put the drive into operation?

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Overview

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Startdrive commissioning tool 3
3.1 Structure of the user interface

3.1.1 Project view for parameterizing the drive

The following figure shows an example of the components of the project view:

① Project tree Used to display and edit components and project data.
② Details view Shows the details of an element selected in the project tree.
③ Working area: Used to configure and parameterize a drive.
④ Inspector window: Shows properties and parameters of an object selected in the working area.
Figure 3-1 Overview of Startdrive user interface

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Startdrive commissioning tool
3.1 Structure of the user interface

3.1.2 Project navigation

Description
The project tree is used to display and edit components and project data.
After they have been inserted, drives are hierarchically displayed as follows in the project
tree:

Figure 3-2 Example: Project tree

The most important information of a project:

● Project name
● Name of the new added drive
● Device configuration of the new added drive
● The created drive objects of a drive (automatic speed control, infeed, drive axis...)
● Trace recording of drive

See also
Parameterization editor (Page 34)

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3.2 User interface - parameterization

3.2 User interface - parameterization

3.2.1 Modules in the hardware catalog

As soon as the device configuration is active, a hardware catalog can be displayed/hidden at
the right-hand edge of the program window. The device configuration automatically becomes
active as soon as a drive device was inserted. The required SINAMICS modules can be
transferred from the hardware catalog into a project and specified.
For instance, you can insert an infeed unit from the hardware catalog (see Chapter "Inserting
an infeed (Page 75)").

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3.2 User interface - parameterization

The SINAMICS modules are arranged as follows in the hardware catalog:

① Available Control Units of type SINAMICS CU320-2

② Active, Basic and Smart Line Modules
③ Power Modules (chassis format)
④ Single Motor Modules and Double Motor Modules
⑤ The motors are sorted according to motor type and article number, and are displayed
with a core article number.
Drive-CLiQ motors, Induction motors, Synchronous motors, Reluctance motors,
Motor data input
⑥ Measuring systems (various encoders)
⑦ Supplementary system components (CB, TB, TM, VSM, etc.)

Figure 3-3 SINAMICS hardware components

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 Startdrive commissioning tool
3.2 User interface - parameterization

3.2.2 Device view

Configure the drive line-up in the "Device view". You insert components and edit the DRIVE-
CLiQ connections. You can call the device view by double-clicking the "Device configuration"
entry in the project tree.
The device overview provides a tabular overview of all configured components and their
data.
The following figure shows an overview of the device view.

① Control Unit
② DRIVE-CLiQ interface
③ DRIVE-CLiQ connection
④ Infeed
⑤ Slot for option modules
⑥ Motor
⑦ Encoder
⑧ Bus interface, PROFINET in this case
⑨ Motor Modules, Power Modules
⑩ Zoom, enlarge and reduce the graphic display

Figure 3-4 Device view

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3.2 User interface - parameterization

3.2.3 Parameterization editor

The parameterizing editor comprises 2 tabs, under which you can parameterize the drive:
● In the function view, you parameterize the drive using a graphic user interface. The
individual screen forms are based on the function diagrams – and include the parameters
required.
● All the drive parameters are listed in the parameter view, so that the drive can be
completely parameterized there.
The following figure shows the structure of the parameterizing editor:

① Secondary navigation
For the selected tab, you navigate here through the individual thematically sorted topics.
② Tab Function view
Here, you parameterize the drive on a graphical user interface. Various drive-specific screen forms are displayed
which facilitate parameterization.
③ Tab Parameter view
The drive can be parameterized here directly using the parameters from the parameter list.
Figure 3-5 Parameterizing editor

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3.2 User interface - parameterization

3.2.4 Function view

You parameterize the drive using a graphical user interface in the "Function view". The
individual screen forms are based on function diagrams and contain the required
parameters.

Note
All parameters
You can find all parameters of the drive in the "Parameter view (Page 36)". Experts can then
comprehensively parameterize the drive.

The following figure shows an example of a screen form structure:

① Icon to save data to the nonvolatile memory

② Icon to restore the factory settings
③ Icon to display invalid BICO interconnections.
④ Secondary navigation
⑤ Icon to activate safety processing
⑥ Icon to save safety processing
⑦ Fields for entering parameters / interconnecting BICO signals
⑧ Display parameters
⑨ Button to display parameterizing dialog boxes or screen forms.

Figure 3-6 Function view

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3.2 User interface - parameterization

3.2.5 Parameter view

The "Parameter view" (expert list) provides a clearly organized display of the parameters
available for the device.

Note
Locked parameters
None of the parameters with the padlock icon can be changed OFFLINE. To enter these
parameters offline, use the appropriate screen forms and dialogs in the hardware
configuration that you find in the device view.

The following figure shows the structure of the parameter view:

① Drop-down list to restrict the parameter views: Standard, Extended, Service

② Parameter number
③ Parameter name
④ Button for comparing the parameters of the drive object to another parameter set. "Online", "Offline", and
"Factory setting" can be compared.
⑤ Icon for starting a CSV export.
⑥ Icon to retentively save the parameters (Copy RAM to ROM)
⑦ Icon to restore the factory settings.
⑧ Icon to display invalid BICO interconnections.
⑨ Value of the parameter
⑩ Unit
⑪ Data set:
Indicates the data set (MDS, DDS, etc.) to which the parameter belongs.
⑫ Minimum value
⑬ Maximum value
Figure 3-7 Parameter list

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3.2 User interface - parameterization

Parameter display
The fields of the individual parameters are displayed in the list in color as follows:

Editing level Offline color Online color

Read only Gray Pale orange
Read/write White Orange

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3.2 User interface - parameterization

3.2.6 Inspector window

Properties and parameters of the selected object are displayed in the inspector window. You
can edit these properties and parameters. For example, you can specify non-specified S120
drive objects inserted in the device view.

Structure
The information and parameters in the inspector window are subdivided into various
information types, which are displayed as main tab ① in the inspector window:
● Properties
● Info
● Diagnostics

Figure 3-8 Inspector window

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3.2 User interface - parameterization

Showing or enlarging the inspector window

There are several options available for showing (hiding) the inspector window:
● Use the regular window icons (top right-hand side in the header of the window).
- or -
● Select a non-specified component in the device view and open the "Properties" shortcut
menu.
The inspector window is displayed only partially in the Startdrive when called, due to lack of
space. Display of the inspector window can be maximized (minimized) for specification of the
components:
● To do so, double click on the header of the inspector window (gray bar).

Subdivision of the "Properties" area

For each information type, there are additional subareas that can be displayed via secondary
tabs ②.
The most important information type for SINAMICS S120 drives is the "Properties" area. The
following secondary tabs are displayed in this area:
● General
Display of the properties and settings of the drive device, drive object, or the hardware
component. Here you can enter the settings on the user interface. The secondary
navigation is located in the left-hand part of the inspector window. Information and
parameters are arranged there in the groups. When you click on the arrow icon at the left
next to the group names, if subgroups exist then you can open the group. If you select a
group or a subgroup, then the appropriate information and parameters are displayed in
the right-hand part of the inspector window, where they can also be edited.
For S120 drives, mainly the drive objects used are specified (e.g. an infeed unit) using
this subarea.
● I/O variables
Displaying I/O variables of the PLC. You can assign names to the variables, assign the
variables user-defined variable tables from a drop-down list - and allocate comments to
variables. The I/O variables are also listed in the PLC variable table.
● System constants
Display of the constants required by the system using the hardware identifiers of the
modules. The system constants are also listed in the PLC variable table.
● Texts
Display of the reference language and the specification of the text source for project
texts.

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3.2 User interface - parameterization

3.2.7 Device configuration detection

The results of a detection run (of the device configuration) are listed in the dialog "Detection
of the device configuration". All assignable components are listed in the table and are
assigned as follows:
● Components are assigned to drive objects.
● Drive objects are assigned to drive units.
All components which could not be assigned to a module are deposited in the folder "Non-
assignable components" (refer to Chapter "Deriving the hardware device configuration
(Page 115)").

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3.2 User interface - parameterization

The dialog has the following structure:

① Creation information (optional)

② The components assigned to the modules or main components
③ Non-assignable components
④ Activates the parallel connection view.
In the parallel connection view, only the parallel connection-capable components are displayed.
⑤ Drive object type of the motor controls
⑥ Columns of results table:
• Type of the drive unit
• Component type
• Identification via LED. Is controlled on the Control Unit via parameters p9210 and p9211.
• DRIVE-CLiQ connection of the component
• Article number of the component

Figure 3-9 Device configuration detection

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3.3 User interface - Control panel

3.3 User interface - Control panel

The drive control panel (see Chapter "Using the control panel (Page 159)") is used to control
and monitor individual drives. You traverse drives with the control panel by specifying values.
Depending on the operating mode, these are, for example, speed setpoints.
The following figure shows the various components of the control panel:

① Activate/deactivate master control

② Switch infeed on and off
③ Drive Off (OFF)
④ Set drive enable
⑤ Select operating mode
⑥ Control drive
⑦ Drive status
⑧ Actual values

Figure 3-10 Control panel

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3.4 Information system - online help

3.4 Information system - online help

3.4.1 General remarks on the information system

The information system of the Startdrive in TIA Portal helps you solve your problems and
offers the required help topics at each step of the configuration.
While working with the program, you receive the following support:
● Information system with all background information, step-by-step instructions and
examples required to work with Startdrive.
● Tooltips for information on elements of the user interface, for example text boxes, buttons
and icons. Some of the tooltips are supplemented by cascades containing more precise
information.
● Help on the current context, for example on menu commands when you press the <F1>
key.
● Help regarding messages or diagnostics.
The most important information regarding the Startdrive information system is provided
below. Additional information can be obtained directly in the Startdrive online help by
entering the search term "Help on information system".

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3.4 Information system - online help

Information system
The information system opens in a separate window. The following figure shows the
information system for Startdrive in the TIA Portal:

The information system is divided into the following areas:

● Search area
In the search area, you can perform a full text search across all help topics.
● Navigation area
You can find the table of contents and favorites in the navigation area.
● Content area
The help pages appear in the content area. You can open multiple tabs to view various
help pages at the same time.
The arrows on the window dividers allow you to display and hide the individual sections. You
can open both the search area and the navigation area to increase the contents area as
needed.

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3.4 Information system - online help

Icons in the navigation area

The following icons are available in the navigation area of the information system:

Symbol Function
Search for updates
Starts the search for hardware manuals, which are available as an update.
Print
Prints out pages or sections of the information system.

Icons in the contents area

The following icons are available in the contents area of the information system:

Symbol Function
Synchronize
Displays the position of the open help topic in the table of contents.
Forward / backward
Navigates through the history of the help topics previously opened in this tab.
Favorites
Adds the current help topic to the favorites.
New tab
Opens a new, empty tab.
Home page
Displays the start page of the information system.
Printing
Prints the current help topic.
Help
Displays help on the information system.

Identification of the topics according to the information type

The information system provides you with a wide range of information. The help topics are
identified by different symbols depending on the type of information they contain. Symbols
tell you at a glance what kind of information you have just opened.

Symbol Information type Explanation

Operating instructions Describes the steps to follow in order to carry out a particular
task.
Example Contains a practical application example that explains how to
solve an automation task.
Factual information Includes background information regarding functions of the
Startdrive and provides basic knowledge.
Reference Provides detailed reference information about instructions and
objects for reference.

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3.4 Information system - online help

Tooltip
User interface elements offer brief information in the form of a tooltip.
Tooltips, which have an arrow icon on the left, contain additional information in tooltip
cascades. If you position the mouse pointer briefly over the tooltip or click the arrow icon, this
information is displayed. The automatic display of tooltip cascades can be disabled.
If additional information is available, a link to the corresponding help topic appears in the
cascade. If you click on the link, the corresponding topic opens in the information system.
The following figure shows a tooltip with opened cascade:

Help for messages and diagnostics

Numerous actions in the Startdrive are supported with messages in the inspector window.
The messages give information about whether or not an action was successful. In addition,
you see which changes have been made in the project. Further help is available for some
messages. If further help is available for an message, you access the help by clicking the
question mark symbol.
The following figure shows the "Info" tab in the Inspector window with several messages and
a question mark symbol:

In the same manner, additional support for listed messages can be called in the
"Diagnostics" tab.

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3.4 Information system - online help

3.4.2 Opening the information system

Opening the information system with the menu

To access the information system on the home page, follow these steps:
1. Select "Display help" command from the "Help" menu.
The start page of the information system opens.

Opening the information system with <F1>

To access the information system and help for the current context, proceed as follows:
1. Select an object for which you want to view the help, for example, a menu command or a
program element.
2. Press <F1>.
The information system opens. If information on the current context is available, the
appropriate topic appears. If no information on the current context is available, the home
page of the information system is displayed.

Opening the information system via tooltip cascades

To open the information system from a tooltip cascade, proceed as follows:
1. Move the mouse pointer over an object with a tooltip cascade.
The tooltip cascade opens. If additional information is available, the tooltip cascade
contains links to the corresponding help topics.
2. Click on a link.
The information system opens and the additional help topic appears.

Opening help for error messages

Numerous actions in the Startdrive are supported with messages in the inspector window. If
help on such a message is available, a blue question mark appears behind the message.
To view the help for a message, follow these steps:
1. Display the Inspector window.
2. Click on the blue question mark behind a message.
The information system opens and the help error message appears. It contains an exact
description of cause of the error and how to remedy it.

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Fundamentals 4
4.1 Requirements for commissioning
The following are necessary for commissioning a SINAMICS S drive system:
● A programming device (PG/PC)
● Startdrive commissioning tool
● A communication interface, e.g. PROFINET, Ethernet
● Completely wired-up drive line-up (see SINAMICS S120 manuals)
A configuration example with booksize components and PROFINET communication is
shown in the following figure:

Figure 4-1 Component configuration (example)

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Fundamentals
4.2 Safety instructions for commissioning

4.2 Safety instructions for commissioning

WARNING
Non-observance of the fundamental safety instructions and residual risks
The non-observance of the fundamental safety instructions and residual risks stated in
Section 1 can result in accidents with severe injuries or death.
• Adhere to the fundamental safety instructions.
• When assessing the risk, take into account residual risks.

WARNING
Unexpected movement of the motor during motor data identification
Motor data identification causes movements of the drive, which can result in death, serious
injury, or damage to property.
• Ensure that nobody is in the danger zone and that the mechanical parts can move
freely.
• Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY
STOP or EMERGENCY OFF).

WARNING
Non-observance of safety instructions and residual risks
If the safety instructions and residual risks are not observed in the associated hardware
documentation, accidents involving severe injuries or death can occur.
• Observe the safety instructions provided in the hardware documentation.
• When assessing the risk, take into account residual risks.

Note
Please observe the installation guidelines and safety instructions in the SINAMICS S120
Manuals.

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4.3 BICO interconnections

4.3 BICO interconnections

4.3.1 Binectors, Connectors

Description
Each drive unit contains a large number of connectable input and output variables and
internal control variables.
BICO technology (Binector Connector technology) allows the drive to be adapted to a wide
variety of requirements.
These parameters are identified accordingly in the parameter list or in the function diagrams.

Note
Further information
Detailed information on BICO technology and BICO connections can be found in Section
"Basics of the drive system" in the SINAMICS S120 Drive Functions Function Manual.

In Startdrive for S120, the parameterization is possible via:

● Parameter view
● Function view of a screen form

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4.3 BICO interconnections

Binectors, BI: Binector input, BO: Binector output

A binector is a unitless digital (binary) signal that can assume a value of 0 or 1.
Binectors are subdivided into binector inputs (signal sink) and binector outputs (signal
source).

Binectors

Abbreviation Symbol Name Description

BI Binector input Can be connected with a binector output as source.
Binector Input
(signal sink)
BO Binector output Can be used as a source for a binector input.
Binector Output
(signal source)

Connectors, CI: Connector input, CO: Connector output

A connector is a digital signal, e.g. in the 32-bit format. It can be used to emulate words (16
bits), double words (32 bits), or analog signals.
Connectors are subdivided into connector inputs (signal sink) and connector outputs (signal
source).

Connectors

Abbreviation Symbol Name Description

CI Connector input Can be connected with a connector output as source.
Connector Input
(signal sink)
CO Connector output Can be used as a source for a connector input.
Connector Output
(signal source)

Invalid BICO interconnections

If you click the icon , the message "Invalid BICO wiring" is displayed, which informs you
that there is invalid BICO wiring in the drive screen forms. You can call this symbol from the
symbol bar of the function view and the parameter view.

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4.3 BICO interconnections

4.3.2 Interconnect BICO inputs

Use a connection dialog to connect binector or connector inputs.

Connecting a signal
To make a connection, proceed as follows:
1. Click the binector or connector icon of the signal that you want to connect ( or ).
A connection dialog for the selection of the possible parameters opens. The drive object
for which you want to make a connection is displayed automatically in the "Drive object"
drop-down list on the right.

Figure 4-2 BICO dialog input

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Fundamentals
4.3 BICO interconnections

The last set signal source is displayed in the "Selected source" field. If a connection was
not available previously, the value 0 is displayed.
2. Select the parameter that you want to connect.
If connectable bits of the parameter are available, they are displayed in a drop-down list.

Figure 4-3 BICO dialog input: Parameter bits opened

3. Select the parameter bit that you want to connect.

4. Confirm with OK.
The connection dialog closes.

Result
The binector or connector input is connected to the selected parameter (bit).

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 Fundamentals
4.3 BICO interconnections

4.3.3 Interconnecting BICO outputs

Use the connection dialog to connect binector or connector outputs.

Connecting a signal
To make a connection, proceed as follows:
1. Click the binector or connector icon of the signal that you want to connect ( or ).
A connection dialog for the selection of the possible parameters opens. The drive object
for which you want to make an interconnection is displayed automatically in the "Drive
object" drop-down list on the right.

Figure 4-4 BICO dialog output

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Fundamentals
4.3 BICO interconnections

The last set signal sink is displayed in the "Selected sinks" field. If a connection was not
available previously, the text "No sink selected" is displayed.
2. Activate the check boxes for the parameters that you want to connect.
If connectable bits of the parameter are available, they are displayed in a drop-down list.

Figure 4-5 BICO dialog output: Parameter bits opened

3. Activate the check boxes for the parameter bits that you want to connect.
4. Confirm with OK.
The connection dialog closes.

Result
The binector or connector output is connected to the selected parameter (bit).

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4.3 BICO interconnections

Multiple connections at outputs

Several interconnections can be set simultaneously for a parameter, which for reasons of
space however, cannot be displayed in the interconnections field. Clicking the icon next
to the interconnection field opens a list, which shows all of the active parameter
interconnections.

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Fundamentals
4.4 Comparing parameter settings

4.4 Comparing parameter settings

The current parameter values of a drive object can be compared with another parameter set
using the comparison function in the parameter view. The following comparisons are
possible:
● Offline - Factory setting
● Online - Offline
● Online - Factory setting

Comparing parameters
To compare the parameters of the drive object with another parameter set, proceed as
follows:
1. Open the parameter view for the device whose parameters you want to compare.
2. Click the black arrow icon of the "Compare current parameters of this drive object
with another data set" button.
A selection list containing the comparison options opens:
– Offline - Factory setting (default setting in offline mode)
– Online - Offline (default setting in online mode)
– Online - Factory setting
3. Select a comparison option.
The selected comparison option is executed as follows:
– The "Comparison" column is displayed.
– The comparison result of the selected comparison option is displayed by icons in the
"Comparison" column.

Quick compare depends on parameterization mode:

1. Click the scales icon on the button.
Result:
– Offline mode: By default, the parameters are compared with the factory settings.
– Online mode: By default, the parameters are compared with the offline settings.

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4.4 Comparing parameter settings

Icons in the "Comparison" column

Icon Meaning
The comparison values are equal and error-free.

Offline - Factory setting:

The comparison values are different and error-free.
Online - Offline:
The comparison values are different and error-free.

Online - Factory setting:

The comparison values are different and error-free.
The value of at least one subordinate parameter index is different from the factory
setting.

The value of at least one subordinate parameter index is different from the offline
value.
At least one of the two comparison values has a technological or syntax error.

The comparison cannot be performed. At least one of the two comparison values is
not available (e.g. snapshot).

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4.5 Permanently save the settings

4.5 Permanently save the settings

Saving configurations in the project

In Startdrive, settings are predominantly made via screen forms. The complete project must
be saved in order that the settings made are permanently active.
1. Click "Save project" in the toolbar.
- Or -
2. Select the "Project > Save" or "Project > Save as" menu.

Non-volatile saving to memory card

The settings during parameterization are only saved volatile. They are lost when you switch
off the drive unit.

Saving online data:

Click the icon in the function view of the active Startdrive project.
The current project settings are stored non-volatile on the memory card of the drive unit.

Saving offline data:

For storing in a power-independent manner, it is important that the settings made are not
only saved in the project on the PC, but are also stored permanently on the memory card of
the drive unit (also known as "Copy RAM to ROM"). An online connection must be
established to the drive unit for this purpose.
1. Establish an online connection (Page 110) to your drive unit.
2. Load the project data in your drive unit(s).
Proceed as described in Chapter "Loading the project to the target device (Page 157)" for
this purpose.
3. Click the icon in the function view of the active Startdrive project.
The current project settings are stored non-volatile on the memory card of the drive unit.

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4.6 Restoring factory settings

4.6 Restoring factory settings

In online operation, you can restore the factory settings for the drive control.
1. Establish an online connection (Page 110) to your drive unit.
2. Click the icon in the function view of the active Startdrive project.
The factory settings are restored.

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4.7 Loading project data from a drive unit

4.7 Loading project data from a drive unit

Requirement
● A project is open.
● The hardware configuration and software to be loaded must be compatible with the
Startdrive. If the data on the device was created with a previous program version or with
a different configuration software, please make sure they are compatible.

Uploading project data of a device

To load the project data from a drive unit into your Startdrive project, proceed as follows:
1. Establish an online connection to the drive unit from which you want to download the
project data.
See also Chapter "Establishing an online connection to the drive unit (Page 110) ".
2. Call the shortcut menu "Load from device (software)" or click on the icon (Load from
device) in the toolbar.
The "Upload preview" dialog box opens. Startdrive checks whether all prerequisites for
loading have been met. In the event of any impediments, these are displayed as
messages in the dialog.

Figure 4-6 Example: Upload from device

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4.7 Loading project data from a drive unit

3. Check the alarms in the "Upload preview" dialog, and select the necessary actions in the
"Action" column.
As soon as uploading becomes possible, the "Upload from device" button is enabled.
4. Click the "Upload from device" button.
The loading operation is performed.

Result
The project data has been loaded from the drive unit into your Startdrive project on the PC.

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4.7 Loading project data from a drive unit

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5.1 Call Startdrive

Note
The following procedure is based on the Windows 7 operating system. Operation can
deviate slightly for other operating systems

Call the Startdrive application

1. Click on the Startdrive icon of your user interface.
- or -
2. Call the Startdrive via the Start menu on your PC.
Startdrive opens.

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5.2 Commissioning workflow

5.2 Commissioning workflow

A drive can be commissioned in two ways:
● Create a project offline in Startdrive
The components of the drive are combined offline in Startdrive.
● Create a project by reading out a device configuration
The components of the drive are read-out online and supplemented offline when
required.

Creating a project offline in Startdrive

The following steps are required when commissioning a drive:
1. Create a project with Startdrive (Page 70).
2. Establish an online connection between Startdrive and the target device (Page 110).
3. Perform the basic parameterization of the drive units (Page 123).
4. Download the project to the target device (Page 157).
5. Commission the drive via the control panel (Page 159)
6. Result: The motor turns.

Creating a project by reading out a device configuration

The following steps are necessary for commissioning a drive by reading out a device
configuration:
1. Create a project with Startdrive (Page 70).
2. Optional: Establish an online connection between Startdrive and the target device
(Page 110).
3. Determine the device configuration via an automatic configuration from the target device
(Page 115).
4. Revise the determined device configuration in Startdrive (Page 119).
5. Perform the basic parameterization of the drive units (Page 123).
6. Download the project to the target device (Page 157).
7. Commission the drive via the control panel (Page 159)
8. Result: The motor turns.

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5.3 Check lists to commission SINAMICS S

5.3 Check lists to commission SINAMICS S

Checklist for commissioning booksize power units

The following checklist must be carefully observed. Read the safety instructions in the
manuals before starting any work.

Table 5- 1 Checklist for commissioning (booksize)

Check OK
Are the environmental conditions in the permissible range?
Is the component firmly attached to the fixing points provided?
Is the specified air flow for cooling the devices ensured?
Have the ventilation clearances for the components been observed?
Is the memory card correctly inserted in the Control Unit?
Are all necessary components of the configured drive line-up available, installed and
connected?
Do the temperature monitoring circuits fulfill the specifications of protective separa-
tion?
Have the DRIVE-CLiQ topology rules been observed?
Have the line-side and motor-side power cables been dimensioned and routed in
accordance with the environmental and routing conditions?
Have the maximum permitted cable lengths between the frequency converter and the
motor (depending on the type of cables used) been observed?
Have the power cables been properly connected to the component terminals with the
specified torque?
Have all of the remaining screws been tightened to the specified torque?
Has all wiring work been successfully completed?
Are all connectors correctly plugged in and screwed in place?
Have all the covers for the DC link been closed and latched into place?
Have the shield supports been correctly connected through a large surface area?

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5.3 Check lists to commission SINAMICS S

Checklist for commissioning chassis power units

The following checklist must be carefully observed. Read the safety instructions in the
manuals before starting any work.

Table 5- 2 Checklist for commissioning (chassis)

Activity OK
Are the environmental conditions in the permissible range?
Are the components correctly installed in the cabinets?
Is the specified air flow for cooling the devices ensured?
Is an air short-circuit between the air inlet and outlet for the chassis components pre-
vented by the installation arrangements?
Have the ventilation clearances for the components been observed?
Is the memory card correctly inserted in the Control Unit?
Are all necessary components of the configured drive line-up available, installed and
connected?
Do the temperature monitoring circuits fulfill the specifications of protective separa-
tion?
Have the DRIVE-CLiQ topology rules been observed?
Have the line-side and motor-side power cables been dimensioned and routed in
accordance with the environmental and routing conditions?
Have the maximum permitted cable lengths between the frequency converter and the
motor (depending on the type of cables used) been observed?
Is the ground for the motors directly connected to the ground for the Motor Modules
(shortest distance)?
Are the motors connected with shielded power cables?
Are the power cable shields connected as closely as possible to the terminal box
across a wide area?
Have the power cables been properly connected to the component terminals with the
specified torque?
Have all of the remaining screws been tightened to the specified torque?
Has the total power of the DC busbar been dimensioned sufficiently?
Has the busbar/wiring for the DC connection between the infeed and the Motor Mod-
ules been dimensioned sufficiently with regard to the load and installation conditions?
Are the cables between the low-voltage switchgear and the power unit protected with
line fuses? Line protection1) must be taken into account.
Have measures been taken to relieve strain on the cables?
For external auxiliary infeed: Have the cables for the auxiliary infeed been connected
according to the Equipment Manual?
Have the control cables been connected in accordance with the required interface
configuration and the shield applied?
Have the digital and analog signals been routed with separate cables?

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5.3 Check lists to commission SINAMICS S

Activity OK
Has the distance from power cables been observed?
Has the cabinet been properly grounded at the points provided?
Has the connection voltage for the fans in the chassis components been adapted
accordingly to the supply voltages?
For operation on non-grounded supply systems: Has the connection bracket for the
interference suppression at the Infeed Module or the Power Module been removed?
Is the period from the date of manufacture to the initial commissioning or the downtime
of the power components less than two years2)?
Is the drive operated from a higher-level controller/control room?
1) Combined fuses are recommended for conductor and semi-conductor protection (VDE 636,
Part 10 and Part 40 / EN 60269-4). For information about the relevant fuses, see the catalog.
2) If the downtime period is longer than two years, the DC-link capacitors must be formed (see the
"Maintenance and Servicing" chapter in the Equipment Manual). The rating plate can be used to
ascertain the date of manufacture.

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5.4 Creating a project offline in Startdrive

5.4 Creating a project offline in Startdrive

5.4.1 Creating a new project

5.4.1.1 Creating a new project (in the Portal view)

Precondition
You have opened the Startdrive in the TIA Portal (Page 65) application.

Creating a new project

You can create new projects once the Startdrive application has been opened in the TIA
Portal.
1. Click on "Create new project" in the secondary navigation in the Portal view of Startdrive.
The entry fields for the basic project data are displayed to the right in the detailed view.

Figure 5-1 Entering project data

2. Enter the project data here:

Project name Startdrive automatically counts each new project.

Path The simpler the archive path for the project, the faster the project can be
loaded.
Author The login code for the person entering the data is preassigned.
Comment You can save brief project information here.

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5.4 Creating a project offline in Startdrive

3. Click on "Create" to save basic project data.

The new project is created and simultaneously opened. Possible next steps are displayed
in the detailed view.

Figure 5-2 Getting Started

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5.4 Creating a project offline in Startdrive

5.4.1.2 Creating a new project (in the Project view)

Precondition
You have opened the application Startdrive in the TIA Portal (Page 65) in the Project view.

Creating a new project

You can create new projects once the Startdrive application has been opened in the TIA
Portal.
1. In the Startdrive Project view, select "Project > New".
The "Create a new project" dialog box opens.

Figure 5-3 Creating a new project

2. Enter the project data here:

Project name Startdrive automatically counts each new project.

Path The simpler the archive path for the project, the faster the project can be
loaded.
Author The login code for the person entering the data is preassigned.
Comment You can save brief project information here.

3. Click on "Create" to save basic project data.

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A new project is created in the Project tree and simultaneously opened.

Figure 5-4 Project created (in the Project view)

You an now insert a new drive.

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5.4 Creating a project offline in Startdrive

5.4.2 Inserting the drive unit offline

Requirement
You have created a project (Page 72) or have opened an existing project.

Inserting a drive unit via the project view

Proceed as follows to insert new drive units in the project view:
1. Double-click "Add new device" in the project navigation.
The dialog with the same name opens.
2. Click "Drives" to display the drives available.
3. Select the desired S120 drive unit in the list.

Figure 5-5 Dialog: Adding a new drive unit

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5.4 Creating a project offline in Startdrive

Ensure that the version number indicated on the right in the dialog correlates with the
version number of your memory card on the drive unit. If the version numbers do not
match, it will not be possible to go online later. On creation, the current firmware version
is always suggested. If required, you can change the version number via the "Version"
drop-down list.
4. When required, enter a different device name in the input field at the top left, and then
click "OK".
If the "Open device view" checkbox is activated, the device view is opened automatically
in Startdrive when creating the drive.

Result
The drive unit is inserted.

5.4.3 Inserting an infeed

Requirement
You have created a project and inserted a drive.

Note
Sequence
Generally, the infeed is inserted in the configuration immediately after the drive in the device
view. In this case, the infeed is also automatically wired to the drive (X100).
You can also insert an infeed at a later point in time (for example, after the Motor Module).
The infeed is then no longer automatically wired because the standard interface X100
intended for the infeed is already occupied (e.g. with the Motor Module).
In this case, the device configuration must be changed manually. You can wire the infeed
manually to a free interface. You can also change the wiring of the drive object that is
currently linked to X100 of the drive, to a different interface. X100 would then be free again
and when the infeed is inserted, it is automatically linked to X100.

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5.4 Creating a project offline in Startdrive

Inserting an infeed
You can add an infeed via the hardware catalog.
1. Open the "Line Modules" entry in the hardware catalog.
Active Line Modules, Basic Line Modules and Smart Line Modules can be selected.
2. Select the unspecified infeed in the hardware catalog.

Figure 5-6 Selecting an infeed

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3. Drag the unspecified infeed to the device view.

Figure 5-7 Infeed inserted

Generally, the DRIVE-CLiQ connection is automatically established. The unspecified

infeed must now be specified in more detail.
4. Click the infeed in the DRIVE-CLiQ editor. Make sure that you click in the white area of
the infeed.

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5. In the secondary navigation of the inspector window, select "Line Module - Selection –
ALM"
6. Select your infeed in the list based on the article number.

Figure 5-8 Line Module - Selection

The unspecified infeed is assigned the data of the selected infeed.

The white area turns dark gray.
The DRIVE-CLiQ-connection between the interfaces X100 and X200 is drawn as default
setting.

Result:
The infeed unit is inserted and specified.

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Connecting infeed units in parallel

To connect infeed units (Line Modules) in parallel with already added modules, proceed as
follows:
1. Open "Line Modules" in the hardware catalog.
2. If you have not yet inserted any infeed unit, drag the desired, non-specified infeed unit
into the device view and specify this infeed unit.
3. Drag a non-specified infeed unit into the DRIVE-CLiQ editor in the light gray area of the
existing infeed unit.

Figure 5-9 Connect the infeed in parallel

Then also specify the infeed unit connected in parallel.

You can connect further infeed units in parallel in the same manner.

Result:
The infeed unit connected in parallel is inserted and specified. The white area turns gray.
The infeed units are linked with one another via interfaces X201 and X200.

Note
If required, parallel connection can be activated or deactivated for individual infeed units via
the inspector window (Line Module_xx/drop-down list "Component activation").
For deactivation, the respective infeed unit must be disconnected from the network (using a
contactor, for example). Motor supply cables must be opened.

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5.4 Creating a project offline in Startdrive

5.4.4 Inserting a Motor Module or Power Module

When you create a Power Module or Motor Module, the "SERVO" drive object type (high
dynamic drives) is active by default. However, if you are using the "VECTOR" drive object
type (universal drives) in your hardware device configuration, you can change the type of the
module in Startdrive. Many of the following settings depend on the set drive object type.
Setting the correct type is therefore a prerequisite for all further settings during
commissioning and further parameterization of the Power Module or Motor Module.

Note
Revision of the device configuration for a subsequent change of the drive object type
Make sure that you first set the drive object type in the device configuration, and only then
add and specify the motor, measuring systems or supplementary system components.
If you change the drive object type subsequently, there is a danger that the configuration of
some components is lost and has to be repeated.

Preconditions
● A project has been created.
● The Control Unit is inserted in the device configuration.
● An infeed is inserted.
In case of doubt, you can also add the infeed at a later point in time. However, in this
case, you must manually wire the "infeed" component with the other components.

Note
When you use Power Modules, it is usually possible to dispense with an infeed.

General
The procedure for creating and configuring a device in the device configuration of Startdrive
is almost identical for Motor Modules and Power Modules. The drive device configuration
requires at least one of these modules.
These module types differ mainly by their applications:
● Motor Module:
Single-axis and multiple-axis applications
● Power Module:
Single-axis applications

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5.4.4.1 Inserting and specifying a Motor Module

Using the hardware catalog, you insert a Motor Module in an unspecified form.
1. Open "Motor Modules" in the hardware catalog.
A selection can be made from the following Motor Modules:
– Single Motor Modules
– Double Motor Modules
2. Select the required, unspecified Motor Module in the device overview.

Figure 5-10 Motor Module selected

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3. Drag the unspecified Motor Module into the device view.

Figure 5-11 Motor Module inserted

The DRIVE-CLiQ connection is automatically established.

4. Click the Motor Module in the device view. Ensure that you click in the white area of the
Motor Module.
5. Open the Inspector window if it has still not been opened or displayed.

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6. In the secondary navigation of the inspector window, select "Motor Module - Selection -
xxx".

Figure 5-12 Motor Module specified

All Motor Modules for the "SERVO" drive object type (default setting for first call) are
displayed in the list. If you want to use drive objects of type "VECTOR", you must change
the display of the list.
7. If you are using drive objects of type "VECTOR", select the "VECTOR" option in the
"Selected drive object type" drop-down list.
A confirmation prompt appears as to whether you really want to change the drive object
type.
8. Click "Yes" to confirm the prompt.
The list of Motor Modules is now refreshed. Only Motor Modules of type "VECTOR" are
now available for selection. In the same way, the list can be changed back to modules of
type "SERVO".
9. Select your Motor Module in the list based on the article number.
The data of the selected Motor Module are assigned to the unspecified Motor Module.
The white area turns dark gray.

Result
The Motor Module is inserted and specified.

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5.4.4.2 Inserting and specifying a Power Module

You can add a Power Module in unspecified form via the hardware catalog.
1. Open the "Power Modules" item in the hardware catalog.
The following Power Modules are available for selection:
– AC Power Module
2. Select the required, unspecified Power Module in the device overview.

Figure 5-13 Power Module selected

3. Drag the unspecified Power Module into the device view.

Figure 5-14 Power Module inserted

The DRIVE-CLiQ connection is automatically established.

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4. In the device view, click the Power Module. Make sure that you click on the white area of
the Power Module.
5. Open the Inspector window if it has still not been opened or displayed.
6. In the secondary navigation of the inspector window, select "Power Module - Selection -
xx"

Figure 5-15 Power Module specified

All Power Modules for the "SERVO" drive object type (default setting for first call) are
displayed in the list. If you want to use drive objects of type "VECTOR", you must change
the display of the list.
7. If you are using drive objects of type "VECTOR", select the "VECTOR" option in the
"Selected drive object type" drop-down list.
A confirmation prompt appears as to whether you really want to change the drive object
type.
8. Click "Yes" to confirm the prompt.
The list of Power Modules is now refreshed. Now only Power Modules of type "VECTOR"
are available for selection. In the same way, the list can be changed back to modules of
type "SERVO".
9. Select your Power Module in the list by its article number.
The data of the selected Power Module are assigned to the unspecified Power Module.
The white area turns dark gray.

Result
The Power Module has been inserted and specified.

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5.4.4.3 Making detailed settings

Further detail settings can be carried out in the inspector window for Motor Modules and
Power Modules:
● Motor Module settings/Power Module settings
Allows the modification of the preallocated supply voltage.
Indicates the standard for power settings of converter and motor.
● Motor Module additional data/Power Module additional
Allows filter settings for modules of the VECTOR-type drive object.
The procedure for detail settings is identical for Motor Modules and Power Modules.

Procedure
Parallel connection using a Power Module as an example is explained below.
1. Select the desired Power Module in the device view and open the inspector window.
2. Select the menu "Power Module Details > Power Module Settings" in the inspector
window.
The preallocated supply voltage is displayed in the screen forms:

Figure 5-16 Example: Power Module Settings

3. Enter a new supply voltage as required.

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4. If a drive object type is set for the "VECTOR" module, it is possible to set further
additional data.
Select the menu "Power Module Details > Power Module Additional Data" in the inspector
window.
5. Select a desired filter in the "Output filter" drop-down list.
Additional display or entry fields are now overlaid in accordance with the respective filter
selected.

Figure 5-17 Example: Power Module Additional Data

Now record the respective detail settings for the selected filter.

Result
You have performed the detail settings for a selected Power Module or Motor Module.

5.4.4.4 Connecting several modules in parallel

In Startdrive, several Power Modules or several Motor Modules respectively can be
connected in parallel in vector control. During commissioning, power units connected in
parallel are treated like a power unit on the line or motor side. With parallel connection, the
parameter display for the actual values changes only slightly. Suitable "total values" are
derived from the individual values of the power units.
Functionality of the parallel connection is identical for Motor Modules and Power Modules.

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Connecting Motor Modules or Power Modules in parallel

Parallel connection using a Motor Module as an example is explained below.
1. Open "Motor Modules" in the hardware catalog.
2. If you have not yet inserted any Motor Module in the device configuration, drag the
desired, non-specified Motor Module into the device view and specify it (see Chapter
"Inserting and specifying a Motor Module (Page 81)").
3. Drag a non-specified Motor Module into the DRIVE-CLiQ editor into the light gray area of
the existing Motor Module.

Figure 5-18 Connecting Motor Modules in parallel

Then also specify the Motor Module connected in parallel (refer to Chapter "Inserting and
specifying a Motor Module (Page 81)").
Additional Motor Modules can be connected in parallel in the same manner.

Result
The Motor Module connected in parallel is inserted and specified. The white area turns gray.
The Motor Modules are linked with one another via interfaces X401 and X400.

Note
If required, parallel connection can be activated or deactivated for individual Motor Modules
via the inspector window (Motor Module_xx/drop-down list "Component activation").
For deactivation, the respective Motor Module must be disconnected from the network (using
a contactor, for example). Motor supply cables must be opened.

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5.4.4.5 Changing the drive object type

The drive object type can be changed in the Motor Modules drop-down list or in the Power
Modules drop-down list as well as in the project information of the drive axis.

Requirement
A Power Module or a Motor Module is created and, if required, specified in Startdrive in the
device configuration.

Setting the drive object type in the Motor Modules or Power Modules list
1. If the device configuration is not active in your Startdrive project, call it via the project tree.
2. Select the desired drive axis in the device configuration.
3. Open the Inspector window if it has still not been opened or displayed.
4. In the secondary navigation of the inspector window, select "Motor Module - Selection -
xx" or "Power Module - Selection - xxx".
A list of relevant modules opens:

Figure 5-19 Changing the drive object type in the module list

5. Select the required type ("SERVO" or "VECTOR") in the "Selected drive object type"
drop-down list.
A confirmation prompt appears as to whether you really want to change the drive object
type.
6. Click "Yes" to confirm the prompt.
The Motor/Power Module drop-down list is now refreshed. Only Motor/Power Modules of
the selected type are now available for selection.
7. Save the changes in the project.

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Setting the drive object type in the project information

1. If the device configuration is not active in your Startdrive project, call it via the project tree.
2. Select the desired drive axis in the device configuration.
3. Open the Inspector window if it has still not been opened or displayed.
4. In the secondary navigation of the Inspector window, select "General".

Figure 5-20 Changing the drive object type; Motor Module example

5. Select the desired type from the "Drive object type" drop-down list (generally "VECTOR"
because "SERVO" is set per default via the Motor Module).
A confirmation prompt appears as to whether you really want to change the drive object
type.
6. Click "Yes" to confirm the prompt.
The desired drive object type is set.
7. Save the changes in the project.

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5.4.5 Inserting a motor

5.4.5.1 Inserting and specifying motors from the motor list

Inserting and specifying a motor

You can insert motors in unspecified form using the hardware catalog.
1. Open "Motors" in the hardware catalog.
The following motor types are available for selection:
– DRIVE-CLiQ motors
– Induction motors
– Synchronous motors
– Reluctance motors
– Motor data input (motor data must be entered manually, see Chapter "Inserting and
specifying motors that are missing from the motor list (Page 94)").
2. Select the unspecified motor in the device overview.

Figure 5-21 Motor selected

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3. Drag the unspecified motor to the lower area of the Motor Module.

Figure 5-22 Motor inserted

4. Click the unspecified motor in the device view.

5. Open the Inspector window if it has still not been opened or displayed.

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6. In the secondary navigation of the Inspector window, select "Motor - Selection - ...".
7. Based on the article number, select a motor with the appropriate motor encoder from the
list.

Figure 5-23 Motor specified

The data of the selected motor are assigned to the unspecified motor. The white area
turns dark gray.
If you have selected a motor with encoder, the encoder and the encoder evaluation are
also added automatically.

Result
The motor is inserted and specified. If you have selected a motor without encoder, add an
encoder and an encoder evaluation in the next step.

Motor holding brake

The Inspector window also shows whether a motor holding brake has been parameterized
for this motor. If you want to change this parameterization, click the link next to "Brake
control" to call the masks for the brake control.

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5.4.5.2 Inserting and specifying motors that are missing from the motor list
The mandatory fields for entering motor data manually are pink.

Inserting and specifying a motor via motor data entry

You can insert motors in unspecified form using the hardware catalog.
1. Open the "Motors" item in the hardware catalog and then the subitem "Motor data input".
The motors are presorted according to motor type. A range of induction motors,
synchronous motors and reluctance motors are available for a general selection.
2. Select the unspecified motor in the device overview.

Figure 5-24 Motor selected

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3. Drag the unspecified motor to the lower area of the Motor Module.

Figure 5-25 Motor inserted

4. Click the unspecified motor in the device view.

5. Open the Inspector window if it has still not been opened or displayed.
6. Select the "Motor details" item in the secondary navigation of the Inspector window.
The "Motor details" input screen form is divided into the sections:
– Rating plate values
– Motor brake (see Chapter "Adding a standard motor (Page 91)")
– Optional motor data (can also be activated)
– Equivalent circuit diagram data (can also be activated)

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7. If you also want to acquire the optional motor data and circuit diagram data, activate the
"Activate the display of the ..." options in the "Rating plate values" screen form.
The additionally activated subareas are displayed in the secondary navigation under
"Motor details".

Figure 5-26 Motor specified

8. Acquire the required motor data of the inserted motor.

The pink input fields are mandatory input fields. If appropriate values are not entered in
these fields, the device configuration cannot be completed.

Result
The motor is specified with the manually acquired motor data. The white area turns dark
gray.
If you have selected a motor with encoder, the encoder and the encoder evaluation are also
added automatically.

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5.4.6 Inserting measuring systems

5.4.6.1 Overview

Definition
For encoders, a distinction is made between two basic measuring system types:
● Motor encoders are normally mounted on the motor shaft so that motor motion (angle of
rotation, rotor position, etc.) can be directly measured. Motor encoders supply the speed
actual value that is incorporated in the closed-loop control (closed-loop speed and current
control), so that for fast controllers, the actual speed value must also be supplied fast
enough. This is the reason that high quality encoders must be used for motor encoders.
– Siemens motors that have already been configured are created in the device view with
the matching encoder and the encoder evaluation.
– DRIVE-CLiQ motors are inserted together with an encoder. The drive and encoder
parameters are transferred when you then load the configuration to the drive
(download). The correct motor and encoder configuration are available offline in the
project after an upload.
● Machine encoders are installed in the machine. Using machine encoders, for example,
you synchronize the speed of a belt to another belt, or you determine the position of a
workpiece. Basic, mounted encoders can be used in this case as these values are
normally not required in a fast speed controller or current controller cycle.

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Available measuring systems (encoder)

The following encoder types are supported in Startdrive:
● DRIVE-CLiQ encoder
These encoders are parameterized when downloading - and after an upload, are
correctly displayed.
● SIN/COS encoders
Incremental encoders that supply a sinusoidal/cosinusoidal type signal are also available
with SSI protocol.
● HTL/TTL encoders
Incremental encoders, which supply a square wave pattern, are also available with SSI
protocol.
● Resolvers
Rotary position encoders.
● EnDat 2.1
Absolute encoders, which are controlled via the ENDAT 2.1 protocol.
● SSI encoder
Absolute encoders, which are controlled via the SSI protocol.
● Distance-coded zero marks
Zero marks are used when homing is not possible or accepted.

Note
Encoders from the hardware catalog
All of the encoders, which are listed in the hardware catalog, no longer have to be
parameterized, as they are already preassigned the appropriate settings.
For user-defined encoders (third-party encoders), the parameters must be entered as
subsequently described.

5.4.6.2 Inserting an encoder

Requirement
● A project has been created.
● The Control Unit is inserted in the device configuration.
● An infeed is inserted.
In case of doubt, you can also add the infeed at a later point in time. However, in this
case, you must manually wire the "infeed" component with the other components.
● A Motor Module is inserted.
● A motor is inserted (optional).

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Utilizing this procedure, you insert the encoder after the motor (see Chapter "Inserting and
specifying motors from the motor list (Page 91)").

Inserting and specifying an encoder

Using the hardware catalog, you insert an encoder in an unspecified form.
1. Open "Measuring systems" in the hardware catalog.
One of the following measuring systems can be selected:
– DRIVE-CLiQ encoder
– SIN/COS encoders
– SSI encoder
– SIN/COS + SSI encoder
– HTL/TTL encoder
– HTL/TTL + SSI encoder
– EnDat 2.1 encoder
– Resolver encoder
2. Select the unspecified encoder in the device overview.

Figure 5-27 Encoder selected

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3. Drag the unspecified encoder to the lower area of the Motor Module.

Figure 5-28 Encoder inserted

An encoder and a Sensor Module are created.

4. Click the unspecified encoder in the device view.
5. Open the Inspector window if it has still not been opened or displayed.

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6. In the secondary navigation of the Inspector window, select "Measuring system -

Selection - ...".

Figure 5-29 Encoder specified

7. Select the required encoder in the "Measuring system - Selection - ..." list.
The data of the selected encoder are assigned to the unspecified encoder. The white
area turns dark gray.
Further, a Sensor Module - encoder evaluation is inserted

Result
The encoder is inserted and specified.

Adding additional encoders

If you require additional encoders for your device configuration, then you can configure these
in the same way. These encoders are then normally used as machine encoders.

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5.4.7 Inserting additional system components

Various system components can be inserted (additionally) in the device configuration of your
drive:
● CBE20 Communication Board
● Terminal Module
● Terminal Board
● VSM10 Voltage Sensing Module
Since the handling of these system components differs when inserting, the insertion
procedure is described separately in the following for each system component.

5.4.7.1 Adding a CBE20 Communication Board

Requirement
● A project has been created.
● A Control Unit is contained in the device configuration.
● No Terminal Board TB30 is contained in the device configuration.
TB30 and CBE20 cannot be created simultaneously in the device configuration.

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Inserting the CBE20 in the Control Unit

The CBE20 is a versatile Communication Board that can be used in Startdrive with the
"SINAMICS-Link" communication profile.
1. Open "Supplementary system components > Communication Boards" in the hardware
catalog.
2. Select the "CBE20 Communication Board" in the device overview.
3. Drag the "Communication Board CBE20" into the device view into the light gray border
area of the Control Unit.
The CBE20 is inserted in the drive.

Figure 5-30 CBE20 Communication Board

The CBE20 does not have to be specified any further.

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5.4.7.2 Adding a Terminal Module

Requirement
● A project has been created.
● A Control Unit is contained in the device configuration.

Adding Terminal Modules

With Terminal Modules, you can expand the interfaces of the Control Unit. They are
connected to the Control Unit via DRIVE-CLiQ. Terminal Modules do not have to be
specified any further.
1. Open "Additional system components > Terminal Modules" in the hardware catalog.
The following Terminal Modules can be selected:
– Terminal Module TM15
– Terminal Module TM31
– Terminal Module TM41
– TM120 Terminal Module
– TM150 Terminal Module
2. Select the Terminal Module in the device overview.

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3. Drag the Terminal Module to the device view.

The DRIVE-CLiQ connections are drawn automatically.

Figure 5-31 Terminal Module

5.4.7.3 Adding a Terminal Board

Requirement
● A project has been created.
● A Control Unit is contained in the device configuration.
● No Communication Board CBE20 is contained in the device configuration.
TB30 and CBE20 cannot be created simultaneously in the device configuration.

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Adding a Terminal Board

Terminal Board TB30 is a terminal module with which it is possible to expand the interfaces
of the Control Unit. The Terminal Board is inserted into the option slot of the Control Unit.
The Terminal Board does not have to be specified any further.
1. Open "Additional system components > Terminal Boards" in the hardware catalog.
The "TB30 Terminal Board" entry is displayed.
2. Select the TB30 Terminal Board in the device overview.
3. Drag the Terminal Board to the device view.

Figure 5-32 Terminal Board

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5.4.7.4 Adding the VSM10 Voltage Sensing Module

Voltage Sensing Modules (VSM) can be used for 2 different drive objects:
● Infeed unit
Is used for voltage measurement, e.g. for the "mains transformer" function.
A VSM10 allows an exact recording of the line voltage curve and supports the fault-free
operation of the Line Modules in unfavorable network conditions.
● Motor Modules of the VECTOR type
Required for the functions "synchronize" and "flying restart".

Note
Voltage Sensing Modules are inserted automatically with Active Line Modules of chassis
format.

Requirement
● A project has been created.
● The Control Unit is inserted in the device configuration.
● An infeed is available.
Alternatively: A Motor Module of drive object type VECTOR is available.

Inserting a VSM in a drive object

1. Open "Supplementary system components > Voltage Sensing Modules" in the hardware
catalog.
2. Select the "VSM10 Voltage Sensing Module" in the device overview.
3. Drag the "Voltage Sensing Module VSM10" into the device view on the infeed unit, or
alternatively on a VECTOR-type Motor Module.

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Result
The VSM10 is inserted in the selected drive object. The required DRIVE-CLiQ connections
are drawn automatically.

Figure 5-33 Example: Voltage Sensing Module VSM10 inserted in infeed unit

The VSM10 does not have to be specified any further.

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Operation of several VSMs per Line Module

You can add a total of up to three VSMs to each Line Module using drag and drop.

Note
Activating the "Line transformer" function module
If you operate several VSMs on one Line Module, you must activate the "Line transformer"
function module in the basic parameterization of the Line Module.

Note
Deleting additional Voltage Sensing Modules
If you delete additional VSMs, you must deactivate the "Line transformer" function module in
the basic parameterization. Otherwise the computing power of the Control Unit may be
adversely affected.

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5.5 Establishing an online connection to the drive unit

5.5 Establishing an online connection to the drive unit

5.5.1 Overview

Interfaces for the online connection

2 interfaces are available for CU320-2 PN Control Units, via which you can go online with the
drive:
● Ethernet commissioning interface X127
● PROFINET interface X150
The example given in this Getting Started section relates to interface X127.
First you connect your PC to the appropriate Control Unit interface.

IP addresses of the CU (hardware)

For X127, an IP address and a subnet mask have already been assigned on the Control Unit
in the factory:
● IP address: 169.254.11.22
● Subnet mask: 255.255.0.0

IP addresses in the project

A CU320-2 PN is created with the following IP addresses in a project in TIA Portal:
The addresses correspond to the addresses that have already been assigned in the drive.
● IP address: 169.254.11.22
● Subnet mask: 255.255.0.0

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The PROFINET addresses are in the range of the PROFINET subnet of a SIMATIC S7
controller so that you can network the drive with a controller without having to adapt the
subnet mask and the IP address.

Figure 5-34 CU320-2 PN interfaces

Selecting the preferred PG/PC interface

If you prefer to use a specific network interface of your PG/PC to establish an online
connection, you can preset this interface.
1. Select the "Options > Settings" menu.
The settings of the TIA Portal are displayed.
2. Select the "Online and diagnostics" entry in the area navigation.
3. In the "Preset connection path for online access" area, specify the type of the PG/PC
interface as well as the interface itself.
4. Activate the "Use preset connection path for online access" option.

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5.5.2 Using an online connection via the Ethernet interface

Requirement
You have created a project in Startdrive and inserted a CU320-2 PN. The devices are
connected via the Ethernet commissioning interface X127.
As the Ethernet commissioning interface has already been assigned an IP address, you can
go online directly.
If you are not using a new project and devices have already been created, in the project,
check the IP address of the interface in the Inspector window at "Properties > General >
Ethernet addresses" and the IP address assigned to the device. The addresses and subnet
masks must be identical.

Quick search via "Online access"

In order to obtain a fast overview, you can start a search in "Online access" at the required
interface. If the wiring to your drive is error-free and you have wired the correct drive (LED
flashing for checking), the drive is displayed with the appropriate IP address.

Figure 5-35 Online access

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Going online
1. Select the drive unit with which you want to go online in the project navigation (or in the
device view).
2. Click the button.
The "Go online" dialog opens.

Figure 5-36 Go online

3. If a correctly configured interface has still not been set, then select "Type of the PG/PC
interface" in the drop-down list.
4. If no interface has yet been preset, select the "PG/PC interface" for your PC in the drop-
down list.
5. Select the required "Connection to interface/subnet" from the drop-down list.
For Ethernet/IE, this is X127 of the CU320-2 PN.
6. Select one of the following search options in the "Select target device" drop-down list:
– Show devices with the same addresses
– Show all compatible nodes
– Displaying accessible nodes

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7. In order to search for the drive unit with the set parameters, click "Start search".
The devices that are found are displayed in the table of results.
8. Select your drive unit from the table.
9. To establish an online connection to the drive unit, click "Connect".

Result
An online connection has been established between the PG/PC and the drive unit. The
settings are used automatically the next time you go online and the "Go online" dialog is no
longer displayed.

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5.6 Alternatively: Creating a project with a device configuration derived from the hardware

5.6 Alternatively: Creating a project with a device configuration derived

from the hardware

5.6.1 Deriving the hardware device configuration

Requirement
● A project has been created.
● The Control Unit (S120 drive) is inserted in the device configuration.
● There is a connection to the drive and it has been switched on.
● Optional: An online connection to the target device has been established.

Performing device configuration identification

1. Select the required drive unit in the project tree or in the device configuration.
2. Call the "Device configuration detection" shortcut menu.
The "Go online" dialog is displayed if an online connection to the target device has not
been established yet. An online connection is required for the automatic configuration.
3. If there is no online connection yet, establish an online connection (see Section
"Establishing an online connection to the drive unit (Page 110)").

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5.6 Alternatively: Creating a project with a device configuration derived from the hardware

Result
The topology of the drive unit is read out. Existing DRIVE-CLiQ interconnections are
transferred directly from the actual topology of the drive unit.
The "Device configuration detection" dialog opens.

Figure 5-37 Example: Device configuration detection - all components assigned

All components found in the actual topology of the drive unit are displayed in an overview
(for details, see Section "Device configuration detection (Page 40)"). The list shows all
components which could be assigned to a main component (e.g. infeed unit).
Components that are not automatically assigned to a main component during device
configuration detection are listed at "Non-assignable components". These components can
be manually assigned via drag-and-drop or via the shortcut menu of a main component.

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Selecting the drive object type of the motor controls

After the device configuration has been read out, the drive object type in the header of the
dialog box is automatically set to "High dynamic (servo)".

Figure 5-38 Default: Drive object type

If you want to set another motor control, proceed as follows:

1. Activate the option of the required drive object type in the dialog header.
– Universal (vector) = VECTOR drive object type
– High dynamic (servo) = SERVO drive object type
– Can be selected = drive object type for each detected drive axis in the table can be
assigned individually
2. If you have selected the "Can be selected" option, select the required drive object type
separately for each drive axis in the column of the same name via a drop-down list.

Configuring the topology

If all components found in the actual topology have been assigned, no further adaptations
must be made in the
"Detection of the device configuration" dialog. The "Create" button can then be selected.
If the "Create" button cannot be selected (i.e. is grayed out), the topology of the components
still has to be adapted:

Changing the assignment of components

1. Select a component in the list that you want to assign to a different main component.
2. Move this component to the desired main component using drag and drop.

Assigning a non-assigned component to a main component

1. Select a component which has not yet been assigned in the "Non-assignable
components" folder.
2. Call the "Assign to / Main component xy" shortcut menu.
"Main component xy" stands for all of the main components used in the list.
The component is assigned to the desired main component in the list.

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Deleting a component
1. Select the components which are to be deleted.
2. Call the "Delete" shortcut menu.
The component is deleted.

Note
All components in the "Non-assignable components" folder prevent the creation of this read-
out actual topology of the drive unit in the device configuration.
If individual components which have not yet been assigned cannot be assigned to a main
component, delete the corresponding list entries in the "Non-assignable components" folder,
in order that the remaining components can be adopted in the device configuration.

Renaming the component

1. Select the components which are to be renamed.
2. Call the "Rename" shortcut menu.
3. Enter a new name for the component.

Connecting components in parallel

The parallel connection view supports you in the parallel connection of components.
1. Activate the "Parallel connection view" option.
The "Connect in parallel at" shortcut menu is now available (see Step 2).
2. The following options are available for connecting components in parallel:
– Drag and drop
Drag the components that can be connected in parallel using drag and drop to
connect them in parallel.
– Shortcut menu:
Right-click the components to be connected in parallel. In the shortcut menu, the
"Connect in parallel" menu item shows all the drive objects to which the selected
component can be connected in parallel.
The "All" item switches the selected power unit parallel to all connectable components.

Cancelling a parallel connection

You can cancel an existing parallel connection as follows:
1. Drag components to the higher-level drive unit using drag and drop.
- Or -
2. Select a component connected in parallel and select the "Disconnect parallel connection"
shortcut menu.

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5.6.2 Transferring the determined device configuration to Startdrive

Note
Overwriting existing data in the device configuration
If components already exist in the device configuration of the drive unit from which you
started discovery of the device configuration, they will be deleted or overwritten when data
are created by the automatic configuration.

Creating the component topology in Startdrive

After you have checked and, if required, corrected the topology determined in the
configuration, you can transfer this topology to a Startdrive project.
1. Make sure that there are no non-assignable components in the "Device configuration
detection" dialog.
Only when there are no non-assignable components is the "Create" button active.
2. Click the "Create" button.

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5.6 Alternatively: Creating a project with a device configuration derived from the hardware

Result
The topology is created in the device configuration of the selected drive unit.
The original status of the online connection is re-established, as it was upon implementation
of "Detection of the device configuration".

Figure 5-39 Example: Apply hardware device configuration to Startdrive configuration

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5.6 Alternatively: Creating a project with a device configuration derived from the hardware

5.6.3 Revising the configuration

Optimally, all components are transferred specified to the device configuration during an
automatic configuration and do not have to be subsequently specified or supplemented. If
this is the case, a message is shown in the message display that the automatic device
configuration has been performed without error.
If, however, not all components of the drive could be read out by the automatic configuration,
although they do exist physically, the components are created unspecified in the device
view. The missing specification must therefore be added in the device configuration.

Specifying unspecified components

To specify, proceed as follows:
1. Click in the inner white area of the unspecified component envelope.
The area is shown as selected.
2. Open the Inspector window if it has still not been opened or displayed.
3. In the secondary navigation of the Inspector window, select "... - Selection".
A selection of the available components is displayed on the right in "... - Selection".
4. Select the component.

Result
● The component is displayed in the device view as specified (the area now has a dark
color). The data are displayed accordingly in the device overview.
● The data of the selected component unit were assigned to the unspecified component
unit.

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5.6 Alternatively: Creating a project with a device configuration derived from the hardware

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6.1 Control Unit

6.1.1 Web server

6.1.1.1 Activating and configuring the web server

The web server provides information on a SINAMICS device via its web pages. Access is via
an Internet browser. The information on the web pages is shown in German or English. For
information about message texts, drive object states and parameter names, there is a
language selection which allows the display to be switched over to the required language
(German, English, Chinese, Italian, French, Spanish).
You configure the web server using a screen form.

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Calling up the web server configuration

1. In the project navigation, select menu "Drive control > Parameter".
The corresponding detailed view is displayed at the right.
2. In the secondary navigation, call menu "Basic parameterization > Web server".
The detailed view is updated. The settings become active for the web server.

Figure 6-1 Web server configuration

Deactivating the web server

The web server is activated as default setting in the configuration. When required, you can
deactivate the web server as follows:
1. In the configuration dialog, deactivate the "Activate" option.
2. Then save the project to accept the settings.

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Restricting web server access to just secure connections

Using the default configuration of the web server, you can access the SINAMICS frequency
converter via an HTTP connection or via the encrypted HTTPS connection. Using the
configuration, access can be restricted so that only a secure HTTPS connection is possible.

NOTICE
Using non-encrypted connections (HTTP)
When using the HTTP protocol, the login data is also sent unencrypted. This facilitates
password theft attacks, for example, and can lead to data manipulation by unauthorized
parties and thus ultimately to damages.
• Limit access to secure connections so that all data is transferred encrypted.

The configuration option provided to limit connections to HTTPS can only be changed when
the web server is active.
● in the Startdrive configuration dialog
● in the web server prior to commissioning for the first time
● via parameter p8986

Note
Access to the web server via PROFINET interface X150
In the parameter view, you can configure HTTP/HTTPS access to the web server via a
PROFINET interface with parameters p8986.1, p8984, and p8985. To do this, you must
activate access to the web server with p8986.0 = 1 or via the screen form "Web Server".

Procedure:
1. In the configuration dialog, activate option "Only permit access via https".

Figure 6-2 HTTPS access

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6.1.1.2 Setting or changing web server user accounts

For SINAMICS S120, the rights of both user accounts "SINAMICS" and "Administrator" are
permanently defined and cannot be changed by users.
The user "Administrator" has full rights by default. However, the standard "SINAMICS" user
only has restricted access rights.
You can make the following settings in Startdrive for the web server user accounts:
● Enable or disable user "SINAMICS" or user "Administrator"
● Set a password for user "SINAMICS" or user "Administrator"
● Change the password of user "SINAMICS" or user "Administrator"
● Delete the password of user "SINAMICS"

Default password settings after first commissioning

● SINAMICS: No password set
It is recommended that you assign a password. This must comprise at least 8 characters.
● Administrator: No password set
A password must be assigned for this user. This must comprise at least 8 characters.

Note
Secure passwords
The password must include the following elements to provide protection against
unauthorized access, e.g. unauthorized persons.
• At least 8 characters
• Uppercase as well as also lowercase letters
• Numbers and special characters (e.g.: ?!%+ ...)
The password must not be used elsewhere.

Enabling users
The "SINAMICS" user and the "Administrator" user can be enabled with their own specific
rights. You can also set whether password protection will be active for the "SINAMICS" user.
To enable a user and activate a password, proceed as follows:
1. Activate the "Enable SINAMICS user" option.
And/Or
2. Activate the "Enable administrator user" option.

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Defining a password for a user

You can create a password for both users "SINAMICS" and "Administrator" as follows:
1. Click on "Specify password".
The "Specify password" dialog opens.

Figure 6-3 Specifying the password

2. Enter the new password in the "New password" input field. Pay attention to upper and
lower case.
3. Repeat the password in the "Confirm password" field.
For security reasons, the password entries displayed in the input fields are encrypted.
4. Click "OK" to confirm the input in the password dialog.
If both password entries were identical, the input dialog box is closed. If both entries do
not match, the input dialog box remains open and an error message is displayed. At the
same time, the two entries in the input dialog are cleared. In this case, you must enter the
password again in the two input fields.
The password is queried once when the corresponding web page is subsequently called.
5. Then save the project to accept the settings.

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Deleting the password for user "SINAMICS"

You can delete the password of user "SINAMICS" as follows:
1. Click the "Delete password" button.
The "Delete password" dialog opens.

Figure 6-4 Deleting the password

2. Enter the password for "SINAMICS".

The entry is checked. If you have entered the correct password, the message "Password
has been deleted" appears.
3. Then save the project to accept the settings.

Note
The user "Administrator" must have a password. If this user is to remain enabled for the web
server after the old password has been deleted, a new password must be assigned.

Changing and existing password

Existing passwords for the users "SINAMICS" and "Administrator" can be changed as long
as the user in question is enabled.
1. Click "Change password".
The "Change Password" dialog box opens.

Figure 6-5 Changing the password

2. In the "Old password" input field, enter the user's existing password.
3. Enter the new password in the "New password" input field. Pay attention to upper and
lower case.

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4. Repeat the password in the "Confirm password" field.

For security reasons, the password entries displayed in the input fields are encrypted.
The entry is checked. If the entry is correct, the message "Password has been changed"
is displayed.
5. Then save the project to accept the settings.

6.1.2 Configuring inputs/outputs of the Control Unit

6.1.2.1 Isolated digital inputs

You can change the interconnection of the digital inputs 0 ... 7, 16, 17 and 20, 21 on the
CU320-2 Control Unit in the "Isolated digital inputs" mask.
● Digital inputs are used for the acquisition of digital signals. For example, drive enables
can be controlled externally. The interconnection of digital inputs is made via BICO
interconnections.
● For every digital input signal there is the corresponding inverted signal which can also be
used for interconnection.

Simulation mode
The selection box for the terminal evaluation / simulation switchover is only visible online.

Interconnecting digital inputs 0 … 7, 16, 17 and 20, 21 (r0722 and r0723)

1. Interconnect the signal sources of the digital inputs 0 ... 7, 16, 17 and 20, 21.
Several interconnections are possible.

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6.1.2.2 Bidirectional digital inputs/outputs

The bidirectional inputs/outputs of terminals X122 and X132 on the CU (DO1) can be used
by a drive object as well as by a higher-level controller (resource sharing). The assignment
to a terminal is defined by means of BICO interconnections which are either connected to a
controller via the DO1 telegram p0922 = 39x or to a drive object.
You can change the interconnection of the bidirectional digital inputs/outputs on the
input/output component.
● You can assign bidirectional digital inputs/outputs in the function. This means they can be
parameterized either as an input or an output.
● Digital inputs are used for the acquisition of digital signals. For example, drive enables
can be controlled externally.
● For every digital input signal there is the corresponding inverted signal which can also be
used for interconnection.
● Digital outputs are used for the feedback of signals such as enables.

Changing the view of the screen form

The view of this screen form can be reduced to the essentials via a checkbox. Changing the
function of one of the bidirectional digital inputs/outputs is not possible in the optimized view.
The view of the screen form can also be switched to a simulation mode. This switchover only
functions in online mode.
1. If you want to optimize the view, activate the "Optimize view" option.
2. If you want to switch to a simulation from the terminal evaluation, select "Simulation" in
the drop-down list of a digital input.

Parameterizing digital inputs 8 … 15 or digital outputs 8 … 15

Each of the bidirectional digital inputs/outputs can be parameterized as an input or output
using the selector.

Selector position Description

Digital input Default setting when calling the screen form the first time.
Digital inputs 8 ... 15 can be interconnected with this switch position. Several
interconnections are possible.
The selector can be switched by clicking from digital input to digital output.
Digital output Digital outputs 8 ... 15 can be interconnected with this switch position. Several
interconnections are possible.
The selector can be switched by clicking from digital output to digital input.

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1. Select the digital input/output on the required terminal.

2. Connect the signal source of the digital input (8 ... 15).
- Or -
3. To change the digital input to a digital output, proceed as follows:
– Click the selector.
– Then connect the signal sink of the digital output (8 ... 15).
– Invert the digital output when required.
4. Repeat steps 2 or 3 for all digital inputs/outputs of the required terminal.

6.1.2.3 Measuring sockets

The measuring sockets output the analog signals. Any freely interconnectable signal can be
output at any measuring socket. A measuring socket can be used, for example, to output the
actual speed value (r0063) to a measuring instrument connected to the measuring socket.

Figure 6-6 Measuring socket

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Note
Only for commissioning and service
The measuring sockets may only be used for commissioning and service purposes. The
measurements may be performed only by appropriately trained skilled personnel.

Limitation on/off (p0784)

With the "Limitation" drop-down list, select whether the output value of the measuring socket
is to be restricted to the limit values of the characteristic curve for the required measuring
socket.
1. Select one of the following settings in the "Limitation" drop-down list of a measuring
socket:
– Limitation On
If signals are output outside the permissible measuring range, the signal is limited to
4.98 V or to 0 V.
– Limitation Off
The output of signals outside the permissible measuring range causes a signal
overflow. In the event of an overflow, the signal jumps from 0 V to 4.98 V or from 4.98
to 0 V.

Select signal source for T0, T1 and T2

The signal to be output via a measuring socket is specified by interconnecting a signal
source p0771[0...2].

Table 6- 1 Important measuring signals (examples):

r0060 CO: Speed setpoint before speed setpoint filter

r0063 CO: Actual speed value
r0069[0...2] CO: Actual phase currents value
r0075 CO: Field-generating current setpoint
r0076 CO: Actual field-generating current value
r0077 CO: Torque-generating current setpoint
r0078 CO: Actual torque-generating current value

1. Select the signal sources whose signal is to be output via the measuring socket for the
respective measuring sockets T0, T1 and T2.

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Define characteristic curve

The scaling specifies the processing of the measured signal. This requires the definition of a
straight line with two points.
1. Click the "Scaling" button in the adjustment range of a measuring socket.
The "Scaling CU320 measuring socket Tx" dialog opens. You can define the values of a
characteristic curve in this dialog.

Figure 6-7 Scaling the measuring socket

2. In the dialog, select individual values within their defined limits, which are displayed in the
relevant tooltips.
– Value X1 (p0777)
– Value X2 (p0779)
– Value Y1 (p0778)
– Value Y2 (p0780)
Example: x1/y1 = 0%/2.49 V x2/y2 = 100%/4.98 V
– 0.0% is mapped to 2.49 V
– 100.0% is mapped to 4.98 V
– -100.0% is mapped to 0.00 V
3. Confirm your entries with "OK".

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Define the offset (p0783)

The offset is applied additively to the signal to be output. The signal to be output can thus be
displayed within the measuring range.
1. Enter the required offset value in the "Offset" field for the relevant measuring socket.

Function diagrams (see SINAMICS S120/S150 List Manual)

• 8134 Diagnostics - measuring sockets (T0, T1, T2)

Overview of important parameters (see SINAMICS S120/S150 List Manual)

Adjustable parameters
• p0771[0...2] CI: Measuring sockets signal source
• p0777[0...2] Measuring sockets characteristic curve value x1
• p0778[0...2] Measuring sockets characteristic curve value y1
• p0779[0...2] Measuring sockets characteristic curve value x2
• p0780[0...2] Measuring sockets characteristic curve value y2
• p0783[0...2] Measuring sockets offset
• p0784[0...2] Measuring sockets limitation on/off
Display parameters
• r0772[0...2] Measuring sockets signal to be output
• r0774[0...2] Measuring sockets output voltage
• r0786[0...2] Measuring sockets scaling per volt

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6.2 Infeed unit

6.2.1 Overview

Infeed units (Line Modules)

Line Modules contain the central line infeed for the DC link. Various Line Modules can be
selected to address the various application profiles:
● Basic Line Modules (BLM)
● Smart Line Modules (SLM)
● Active Line Modules (ALM)

Basic parameterization of the infeed unit

Define the following data in the basic parameterization of the infeed unit:
● Function modules
● Line data/operating mode
● Enable logic
● Line contactor control

Calling the screen form

1. In the project navigation, select menu "Infeed_x > Parameter".
The corresponding detailed view is displayed at the right.
2. In the secondary navigation, call menu "Basic parameterization > xxx" (xxx stands for the
name of the particular detailed screen form).
The detailed view is updated.

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6.2.2 Function modules

For the infeed, you can activate function modules offline as required. The function modules
that can be activated are listed in the "Function modules" screen form.

Figure 6-8 Example: Function modules for an ALM

Note
Function modules which can be activated are dependent upon the configuration selected for
the infeed unit.

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The function modules that can be used are presorted in two areas:
● Frequently used function modules
– Master/slave
Redundant operation of several ALMs on one DC link.
– External Braking Module
Control of an external Braking Module in order to be able to collect braking energy in
the event of a power failure.
● Additional function modules
– Fault ride-through
For power generation applications in an interconnected system: Functions for fault
ride-through and line monitoring (incl. active anti-islanding) according to power system
guidelines.
– Line droop control; installation, synchronization and operation of stand-alone systems:
Control of line frequency and line voltage in single operation or together with other
generators.
– Line transformer
For power generation applications: Magnetization of a transformer to limit the inrush
current when the line system is connected.
Compensation for direct current components and voltage drops on the transformer in
conjunction with fault ride-through or line droop control.
– Recorder
Recording fault events
– Cosine Phi add-on module
Precise cos(Phi) determination based on fundamental current and voltage
components with BICO-connectable input variables (in contrast to power factor r0038).
– Additional control
For applications with asymmetrical line voltages: A negative sequence system current
controller is used to balance the line currents and reduce the DC-link ripple.
For applications with resonance effects in the current or the filter voltage (e.g. in
systems with low short-circuit power rating): Freely parameterizable band-pass filters
for resonance damping

Activating function modules

1. Activate the required function module by clicking the option.
Repeat this for all additional function modules that you wish to activate.
2. Save the project to backup the settings.

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6.2.3 Line data / operating mode

You set the most important parameters for the operation of an infeed in the function view of
the "Line data / operating mode" screen form. The corresponding parameters are displayed
depending on the infeed type.

Figure 6-9 Example: Network data/operating mode for Active Line Module

The representation of this screen form is dependent upon the respective Line Module being
used:

Setting ALM SLM BLM Explanation

Device supply x x x -
voltage
DC-link voltage x x - The value in this field (p3510) is deter-
setpoint default mined automatically from the defined
setting operating voltage.
Supply/DC-link x x - If the line supply / DC-link identification
identification has already been performed once, then
the value is preset to "OFF".
Operating mode for x - - Presetting of the operating mode is de-
ALM pendent upon the operating voltage of
the ALM:
≤ 415 Veff = Unregulated Udc (Active
Mode) active
≤ 415 Veff = Udc Regulated Udc (Active
Mode) active

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Setting the line data and operating mode

The parameters in this screen form are assigned default values when creating the device.
1. Enter a value for the device supply voltage in the "Device supply voltage" field (p0210).
2. To activate the line/DC link identification, in the drop-down list "Supply/DC link
identification", select option "On".

Selecting the operating mode for ALM

The operating mode depends on the motor voltage.
Example: The DC-link voltage must be lower in the USA. For this reason, you can switch the
mode of an Active Line Module in order to be able to use it as a Smart Line Module (Smart
Mode). You can set the operating mode in this screen form for operating voltages greater
than 415 Vrms (ALM).
1. Set one of the two operating modes:
– "Vdc non-regulated (Smart Mode)"
In Smart Mode, the regenerative capability is maintained, but this results in a lower
DC-link voltage compared to Active Mode. The DC-link voltage depends on the
current supply voltage.
– "Vdc regulated (Active Mode)"
In Active Mode, the DC-link voltage is regulated to a settable setpoint (p3510) to
produce a sinusoidal supply current (cos φ = 1). The size of the reactive current is also
regulated and can be set specifically.

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6.2.4 Enable logic

You can connect several signal sources for the enables in the function view of the "Enable
logic" mask.

Figure 6-10 Enable logic

Procedure
1. Interconnect the signal source via "p0840" for "OFF1 (low active)".
2. Interconnect the 1st signal source via "p0844" for "Instantaneous off (OFF2) signal source
1".
3. Interconnect the 2nd signal source via "p0845" for "Instantaneous off (OFF2) signal
source 2".
4. Interconnect the signal source via "p0852" for "Enable operation".

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6.2.5 Line contactor control

This function allows an external line contactor to be controlled. The closing and opening of
the line contactor can be monitored by evaluating the feedback contact of the line contactor.

Figure 6-11 Infeed: Line contactor control

The line contactor can be controlled with the following drive objects via r0863.1:
● for the infeed drive object
● for the SERVO and VECTOR drive objects

Parameterizing the switch-on delay and the monitoring time

This dialog shows the enable interconnection of the line contactor.
1. Enter in the "Power unit / switch-on delay" (p0862) field, the switch-on delay.
2. Enter in the "Line contactor / monitoring time" (p0861) field, the monitoring time of the line
contactor.
The monitoring time starts for each switching operation of the line contactor (r0863.1). If
no feedback from the line contactor is detected within this time, a message is issued.
3. Connect the binector input for "Line contactor feedback" (p0860).
Use for activated monitoring (BI: p0860 not equal r0863.1), the BO: r0863.1 signal of the
dedicated drive object for controlling the line contactor.
4. Connect the binector output for "Control contactor (r0963.1)".

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6.3 Drive axes

6.3.1 Servo drives

6.3.1.1 Overview

Basic parameterization of the drive axes

You can carry out basic parameterization for the following data of the drive axis/axes:
● Function modules
● Control mode
● Important parameters
● Sampling times/pulse frequency
● Enable logic

Calling the screen form

1. In the project navigation, select menu "Drive axis_x > Parameter".
The corresponding detailed view is displayed at the right.
2. In the secondary navigation, call menu "Basic parameterization > xxx" (xxx stands for the
name of the particular detailed screen form).
The detailed view is updated.

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6.3.1.2 Function modules

For the drive axis used, you can activate function modules offline as required. The function
modules that can be activated are listed in the "Function modules" screen form.

Figure 6-12 Example: Function modules - for drive axes

Note
The display of the function modules that can be activated is dynamic and depends on the
selected drive axis and the configuration of this drive axis.

The function modules that can be used are presorted in two areas:
● Frequently used function modules
● Additional function modules

Activating function modules

1. Activate the required function module by clicking the option.
Repeat this for all additional function modules that you wish to activate.

Note
When the "basic positioner" function module is activated, then the "position control"
function module is automatically activated as well.

2. Save the project to backup the settings.

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6.3.1.3 Control mode

Control types
Speed control (with and without encoder) and torque control are available for SERVO drives.

Figure 6-13 Control mode

● Speed control
The speed control of a variable-speed drive has the task of following the speed according
to a specified setpoint (reference variable) as precisely as possible and without
overshoot.
● Torque control
With torque control, the torque is the reference value and the actual torque value should
follow the torque setpoint with as little ripple as possible and without delay.

Selecting the control type

1. Select one of the following control types (p1300) in the drop-down list:
– Speed control with encoder
– Speed control without encoder
– Torque control with encoder
If you have selected a control type with encoder, this encoder is now shown in the
diagram.

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6.3.1.4 Important parameters

Description
You define the basic properties of the drive control using the important parameters.

Figure 6-14 Important parameters

Parameters Designation Description

p1121 Ramp-down time Ramp-down time which the drive requires to decelerate from max-
imum speed (p1082) to standstill.
p1135 OFF3 ramp- The OFF3 ramp-down time sets the ramp-down time from maxi-
down time mum speed down to standstill for the OFF3 command.

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6.3.1.5 Enable logic

If telegrams were connected during commissioning, these interconnections are displayed
here and an additional specification is not required.
If no telegrams were specified previously, then you must connect the required signal sources
via the enable logic.

Figure 6-15 Enable logic

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Connecting signal sources

1. Connect the signal source for the "Infeed operation" (p0864) command.
2. Connect the signal source for the "OFF1 (low active)" command (p0840).
This command corresponds to control word 1 bit 1 (STW1.1) in the PROFIdrive profile.
3. Connect the 1st signal source for the "OFF2 (low active) signal source 1" command
(p0844).
This command corresponds to control word 1 bit 1 (STW1.1) in the PROFIdrive profile.
4. Connect the 2nd signal source for the "OFF2 (low active) signal source 2" command
(p0845).
5. Connect the 1st signal source for the "OFF3 (low active) signal source 1" command
(p0848).
This command corresponds to control word 1 bit 2 (STW1.2) in the PROFIdrive profile.
6. Connect the 2nd signal source for the "OFF3 (low active) signal source 2" command
(p0849).
This command corresponds to control word 1 bit 2 (STW1.2) in the PROFIdrive profile.
7. Interconnect the signal source for the "Enable operation" command (p0852).
This command corresponds to control word 1 bit 3 (STW1.3) in the PROFIdrive profile.

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6.3 Drive axes

6.3.2 Vector drives

6.3.2.1 Overview

Basic parameterization of the drive axes

You can carry out basic parameterization for the following data of the drive axis/axes:
● Function modules
● Control mode
● Important parameters
● Drive settings
● Enable logic

Calling the screen form

1. In the project navigation, select menu "Drive axis_x > Parameter".
The corresponding detailed view is displayed at the right.
2. In the secondary navigation, call menu "Basic parameterization > xxx" (xxx stands for the
name of the particular detailed screen form).
The detailed view is updated.

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6.3.2.2 Function modules

You can connect various function modules for the associated deployed drive axis or for the
deployed infeed. The function modules that can be activated are listed in the "Function
modules" screen form.

Note
You can only activate or deactivate function modules offline.

Figure 6-16 Function modules

Note
The display of the function modules that can be activated is dynamic and depends on the
selected drive axis and the configuration of this drive axis.

The function modules that can be used are presorted in two areas:
● Frequently used function modules
● Other function modules

Activating a function module

1. Activate the required function module by clicking the option.
Repeat this for all additional function modules that you wish to activate.

Note
When the "basic positioner" function module is activated, then the "position control"
function module is automatically activated as well.

2. Save the project to save the settings.

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6.3 Drive axes

6.3.2.3 Control mode

Control types
The following control types are available for VECTOR drives:
● U/f control with linear characteristic
● U/f control with linear characteristic and FCC
● U/f control with parabolic characteristic
● U/f control with parameterizable characteristic
● U/f control with linear characteristic and ECO
● U/f control for drive requiring a precise frequency (e.g. textiles)
● U/f control for drive requiring a precise frequency and FCC
● U/f control with parabolic characteristic and ECO
● Operation with braking resistor
● I/f control with fixed current
● V/f control with independent voltage setpoint
● Speed control (without encoder)
● Speed control (with encoder)
● Torque control (without encoder)
● Torque control (with encoder)

Figure 6-17 Control mode

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Selecting the control type

1. Select one of the control modes listed above (p1300).
The screen form is structured according to the selected control mode.

Terminology for the use of linear motors

When linear motors are used, a linear motion is executed instead of a rotary motion. The
terms change accordingly:
● Speed corresponds to velocity
● Torque corresponds to force

6.3.2.4 Important parameters

Description
You define the basic properties of the drive control using the important parameters.

Figure 6-18 Important parameters

Number Designation Description

p0640 Current limit Determines the limit value of the motor overload current.
p1080 Minimum speed Setting of the lowest possible speed/velocity. This value is not fallen below in operation.
p1082 Maximum speed Setting of the highest possible speed/velocity. The value is calculated during the commis-
sioning phase in accordance with the motor and drive unit and can only be equal to or
less than the value in p0322 (maximum motor speed).
p1120 Ramp-up time Ramp-up/ramp-down time always refers to the time interval from motor standstill to the set
p1121 Ramp-down time maximum speed (without using roundings).
p1135 OFF3 ramp-down The OFF3 ramp-down time is effective from the maximum speed down to the motor
time standstill.

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6.3 Drive axes

6.3.2.5 Drive settings

No entries are required on this page for motors with DRIVE-CLiQ interface or motors of the
motor database.

Figure 6-19 Drive settings

Setting the automatic calculation of motor/control parameters

1. Select one of the following applications in the "Technology application" (p0500) drop-
down list:
– Standard drive (VECTOR)
– Pumps and fans
– Encoderless control down to f = 0 (passive loads)
– Dynamic response in the field weakening range
– Approach with high break loose torque
– High load inertia
2. In the drop-down list "Motor data identification and rotating measurement" (p1900), select
how the motor data identification is to be carried out for a stopped motor:
– Inhibited
– Motor data ident. (standstill) and speed controller opt.
With this setting, the drive is run up to speed upon 2nd actuation.
– Identify motor data (standstill)
– Optimize the speed controller (rotating)

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6.3 Drive axes

Setting the calculation of the controller data

1. Select one of the following options for the calculation of the controller data in the
"Calculation controller data" (p0340) drop-down list:
– No calculation
The motor data is not calculated. This is the default setting.
– Complete calculation
The equivalent circuit diagram data is also calculated using the motor data.
– Calculation without equivalent circuit diagram data
The equivalent circuit diagram data entered during the parameter assignment of the
motor is not changed. The equivalent circuit diagram data is not calculated.
2. After the calculation type has been set (exception: "No calculation"), you can confirm the
calculation if this has not been done already (red status symbol).
To do this, click the "Confirm calculation" button.
The "Technology application" option is then disabled for the drive functions and the set
application can no longer be changed. The disable can be cancelled via the "Enable"
button. However, the calculation type must then be confirmed again.

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6.3 Drive axes

6.3.2.6 Enable logic

If telegrams were connected during commissioning, these interconnections are displayed
here and an additional specification is not required.
If no telegrams were specified previously, then you must connect the required signal sources
via the enable logic.

Figure 6-20 Enable logic

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Interconnecting signal sources

1. Connect the signal source for the "Infeed operation" (p0864) command.
2. Connect the signal source for the "OFF1 (low active)" command (p0840).
This command corresponds to control word 1 bit 1 (STW1.1) in the PROFIdrive profile.
3. Connect the 1st signal source for the "OFF2 (low active) signal source 1" command
(p0844).
This command corresponds to control word 1 bit 1 (STW1.1) in the PROFIdrive profile.
4. Connect the 2nd signal source for the "OFF2 (low active) signal source 2" command
(p0845).
5. Connect the 1st signal source for the "OFF3 (low active) signal source 1" command
(p0848).
This command corresponds to control word 1 bit 2 (STW1.2) in the PROFIdrive profile.
6. Connect the 2nd signal source for the "OFF3 (low active) signal source 2" command
(p0849).
This command corresponds to control word 1 bit 2 (STW1.2) in the PROFIdrive profile.
7. Interconnect the signal source for the "Enable operation" command (p0852).
This command corresponds to control word 1 bit 3 (STW1.3) in the PROFIdrive profile.

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Loading the project to the target device 7
In order to set up your project, you need to load the project data you generated offline on the
connected drive units. This project data is generated, for example when configuring
hardware, networks, and connections or when programming the user program or when
creating recipes.

Precondition
● The project data is consistent.
● Each drive unit to be loaded can be accessed online.

Perform download
In order to execute this function in the online mode, the following operator actions are
alternatively available:
1. Select one or more drive units in the project tree.
2. Open the shortcut menu "Load to device" or click on the icon (Load to device) in the
toolbar.
– If you have already established an online connection, the "Load preview" dialog
opens. This dialog displays alarms and proposes actions necessary for loading.
– If you have not yet established any online connection, the "Extended loading" dialog
opens and you must first select the interfaces with which the online connection to the
device should be established. You have the option of showing all compatible devices
by selecting the corresponding option and clicking the "Start search" command.
See also Section "Establishing an online connection to the drive unit (Page 110) "

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Loading the project to the target device

3. Check the messages in the "Load preview" dialog. Activate the required actions in the
"Action" column to perform a secure download.

Figure 7-1 Example: Load preview

As soon as downloading becomes possible, the "Load" button is enabled.

4. Click "Load".
The loading operation is performed. If there is a need for synchronization, the system
automatically displays the "Synchronization" dialog. This dialog displays messages and
suggests actions that are needed for the synchronization. You have the option of
performing these actions or forcing the download without synchronization by clicking
"Force download to device". If you have performed the suggested actions, you will be
asked whether you want to continue with the download. The "Load results" dialog then
opens. In this dialog, you can check whether the load task was successful and select any
further actions.
5. Click "Finish".

Result
The selected project data has been downloaded to the drive units.

Note
Upload from device
Conversely, the project data of a selected drive unit can also be uploaded into your
Startdrive project on your PC. Proceed as described in Chapter "Loading project data from a
drive unit (Page 62)" for this purpose.

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Commissioning a drive 8
8.1 Using the control panel
Traverse the drive and test the settings that have already been made with the control panel
(see also the overview in Section "Drive control panel (Page 42)").

WARNING
Non-observance of the safety instructions for the drive control panel
The safety shutdowns from the higher-level controller have no effect with this function. The
"Stop with space bar" function is not guaranteed in all operating states. Incorrect operation
by untrained personnel – without taking into account the appropriate safety instructions –
can therefore result in death or severe injury.
• Make sure that this function is only used for commissioning, diagnostic and service
purposes.
• Make sure that this function is only used by trained and authorized skilled personnel.
• Make sure that a hardware device is always available for the EMERGENCY OFF circuit.

Note
Drive reacts immediately
Although all enables are removed before returning the master control, the setpoints and
commands still come from the original parameterized sources after the master control is
returned.

Requirement
● Startdrive is in the online mode (Page 110).

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Commissioning a drive
8.1 Using the control panel

Calling the control panel

1. In the project tree, select the "Drive unit_x > Drive axis_x > Commissioning" menu.
2. In the commissioning secondary navigation, select the "Control panel" menu.
When an online connection has been established, the bar in the header area is shown in
color. The control elements are grayed-out apart from the "Activate" button. The
remaining control elements become active after you have activated the control panel and
set the enables.

Figure 8-1 Control panel

Activating the control panel

When you activate the control panel, you assume master control of the drive. The control
panel can always only be activated for one drive.
To activate the control panel, proceed as follows:
1. Click "Activate" at "Master control".
The "Activate master control" message window opens.
2. Read the warning carefully and check the value for the monitoring time.
The monitoring time specifies the time during which the connection from the PG/PC to the
drive is monitored. The minimum value is 1000 ms.
3. Click "Continue" to confirm the monitoring time.
The message window closes. The control panel is then active.

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8.1 Using the control panel

Activating the infeed

If an infeed is available in your drive, then the infeed must also be activated. If it is not
activated, no further drive release can be set.
1. Click the "1" icon at "Infeed" to switch on the infeed.

Deactivating the control panel

When you deactivate the control panel, you return the master control.
To deactivate the control panel, proceed as follows:
1. Click the "Off" button to switch off the drive.
This is a basic requirement for deactivating the control panel.
2. Click "Deactivate" at "Master control".
The grayed-out user interface of the control panel shows that the master control has been
deactivated.

Setting the enable

To set the required enable for the control panel, proceed as follows.
1. Click "Set" at "Drive enables".
Further areas of the control panel are activated.
2. Click "Acknowledge faults" to acknowledge the currently pending faults.
3. If you no longer require the enables, click "Reset" at "Drive enables".

Result
You can now traverse the drive with the control panel. Enables and faults are displayed at
"Drive status". In addition to "Active fault", the currently pending fault is displayed.

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Commissioning a drive
8.2 Traversing the drive with speed specification

8.2 Traversing the drive with speed specification

After you have set the drive enables, in the "Control Panel" screen form specify the operating
mode and switch on the motor.

Specifying the setpoint

To specify the setpoint, proceed as follows:
1. In the "Operating Mode" drop-down list, select menu item "Speed setpoint specification".
2. Enter a speed setpoint in the "Speed" field with which the motor is to turn.
Once you have specified the speed setpoint, the drive is switched on as soon as you click
one of the buttons "Start backward", "Start forward", "Jog forward" or "Jog backward" for
the first time.
The motor does not accelerate until you click the "Backward" or "Forward" buttons.
– To rotate the motor backwards, click the "Backward" button.
– To rotate the motor forward, click the "Forward" button.
– Click the "Jog forward" button to inch the motor forward.
– Click the "Jog backward" button to inch the motor backward.

Note
Rotation through clicking
The motor continues to rotate while you keep the mouse clicked on the button. Traversing
stops when you release the mouse button.

Stopping the drive

1. Click "Stop" to stop the drive.
2. Click the "Stop" button to switch off the drive.

Viewing actual values of the drive

The current values of various parameters are displayed at "Actual values".

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Appendix A
A.1 List of abbreviations

Note
The following list of abbreviations includes all abbreviations and their meanings used in the
entire SINAMICS family of drives.

Abbreviation Source of abbreviation Meaning

A
A… Alarm Warning
AC Alternating Current Alternating current
ADC Analog Digital Converter Analog digital converter
AI Analog Input Analog input
AIM Active Interface Module Active Interface Module
ALM Active Line Module Active Line Module
AO Analog Output Analog output
AOP Advanced Operator Panel Advanced Operator Panel
APC Advanced Positioning Control Advanced Positioning Control
AR Automatic Restart Automatic restart
ASC Armature Short-Circuit Armature short-circuit
ASCII American Standard Code for Information American coding standard for the exchange of
Interchange information
AS-i AS-Interface (Actuator Sensor Interface) AS-Interface (open bus system in automation
technology)
ASM Asynchronmotor Induction motor
AVS Active Vibration Suppression Active load vibration damping
B
BB Betriebsbedingung Operation condition
BERO - Contactless proximity switch
BI Binector Input Binector input
BIA Berufsgenossenschaftliches Institut für BG Institute for Occupational Safety and Health
Arbeitssicherheit
BICO Binector Connector Technology Binector connector technology
BLM Basic Line Module Basic Line Module
BO Binector Output Binector output
BOP Basic Operator Panel Basic operator panel

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Appendix
A.1 List of abbreviations

C
C Capacitance Capacitance
C… - Safety message
CAN Controller Area Network Serial bus system
CBC Communication Board CAN Communication Board CAN
CBE Communication Board Ethernet PROFINET communication module (Ethernet)
CD Compact Disc Compact disc
CDS Command Data Set Command data set
CF Card CompactFlash Card CompactFlash card
CI Connector Input Connector input
CLC Clearance Control Clearance control
CNC Computerized Numerical Control Computer-supported numerical control
CO Connector Output Connector output
CO/BO Connector Output/Binector Output Connector/binector output
COB-ID CAN Object-Identification CAN Object Identification
CoL Certificate of License Certificate of License
COM Common contact of a change-over relay Center contact of a change-over contact
COMM Commissioning Startup
CP Communication Processor Communications processor
CPU Central Processing Unit Central processing unit
CRC Cyclic Redundancy Check Cyclic redundancy check
CSM Control Supply Module Control Supply Module
CU Control Unit Control Unit
CUA Control Unit Adapter Control Unit Adapter
CUD Control Unit DC Control Unit DC
D
DAC Digital Analog Converter Digital analog converter
DC Direct Current Direct current
DCB Drive Control Block Drive Control Block
DCBRK DC Brake DC braking
DCC Drive Control Chart Drive Control Chart
DCN Direct Current Negative Direct current negative
DCP Direct Current Positive Direct current positive
DDC Dynamic Drive Control Dynamic Drive Control
DDS Drive Data Set Drive Data Set
DI Digital Input Digital input
DI/DO Digital Input/Digital Output Digital input/output, bidirectional
DMC DRIVE-CLiQ Hub Module Cabinet DRIVE-CLiQ Hub Module Cabinet
DME DRIVE-CLiQ Hub Module External DRIVE-CLiQ Hub Module External
DMM Double Motor Module Double Motor Module
DO Digital Output Digital output
DO Drive Object Drive object
DP Decentralized Peripherals Distributed I/O

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A.1 List of abbreviations

DPRAM Dual Ported Random Access Memory Dual-Port Random Access Memory
DQ DRIVE-CLiQ DRIVE-CLiQ
DRAM Dynamic Random Access Memory Dynamic Random Access Memory
DRIVE-CLiQ Drive Component Link with IQ Drive Component Link with IQ
DSC Dynamic Servo Control Dynamic Servo Control
DSM Doppelsubmodul Double submodule
DTC Digital Time Clock Timer
E
EASC External Armature Short-Circuit External armature short-circuit
EDS Encoder Data Set Encoder data set
EEPROM Electrically Erasable Programmable Read-Only Electrically Erasable Programmable Read-Only
Memory Memory
EGB Elektrostatisch gefährdete Baugruppen Electrostatic sensitive devices
ELCB Earth Leakage Circuit Breaker Residual current operated circuit breaker
ELP Earth Leakage Protection Ground-fault monitoring
EMC Electromagnetic Compatibility Electromagnetic compatibility
EMF Electromotive Force Electromotive force
EMK Elektromotorische Kraft Electromotive force
EMV Elektromagnetische Verträglichkeit Electromagnetic compatibility
EN Europäische Norm European standard
EnDat Encoder-Data-Interface Encoder interface
EP Enable Pulses Pulse enable
EPOS Einfachpositionierer Basic positioner
ES Engineering System Engineering system
ESB Ersatzschaltbild Equivalent circuit diagram
ESD Electrostatic Sensitive Devices Electrostatic sensitive devices
ESM Essential Service Mode Essential service mode
ESR Extended Stop and Retract Extended stop and retract
F
F… Fault Fault
FAQ Frequently Asked Questions Frequently Asked Questions
FBLOCKS Free Blocks Free function blocks
FCC Function Control Chart Function control chart
FCC Flux Current Control Flux current control
FD Function Diagram Function diagram
F-DI Failsafe Digital Input Fail-safe digital input
F-DO Failsafe Digital Output Fail-safe digital output
FEPROM Flash-EPROM Non-volatile write and read memory
FG Function Generator Function generator
FI - Fault current
FOC Fiber-Optic Cable Fiber-optic cable
FP Funktionsplan Function diagram
FPGA Field Programmable Gate Array Field Programmable Gate Array

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Appendix
A.1 List of abbreviations

FW Firmware Firmware
G
GB Gigabyte Gigabyte
GC Global Control Global control telegram (broadcast telegram)
GND Ground Reference potential for all signal and operating
voltages, usually defined as 0 V (also referred to
as M)
GSD Gerätestammdatei Generic Station Description: Describes the fea-
tures of a PROFIBUS slave
GSV Gate Supply Voltage Gate supply voltage
GUID Globally Unique Identifier Globally Unique Identifier
H
HF High frequency High frequency
HFD Hochfrequenzdrossel Radio frequency reactor
HLA Hydraulic Linear Actuator Hydraulic linear actuator
HLG Hochlaufgeber Ramp-function generator
HM Hydraulic Module Hydraulic Module
HMI Human Machine Interface Human Machine Interface
HTL High-Threshold Logic Logic with high interference threshold
HW Hardware Hardware
I
i. V. In Vorbereitung Under development: This property is currently not
available
I/O Input/Output Input/output
I2C Inter-Integrated Circuit Internal serial data bus
IASC Internal Armature Short-Circuit Internal armature short-circuit
IBN Inbetriebnahme Startup
ID Identifier Identification
IE Industrial Ethernet Industrial Ethernet
IEC International Electrotechnical Commission International Electrotechnical Commission
IF Interface Interface
IGBT Insulated Gate Bipolar Transistor Insulated gate bipolar transistor
IGCT Integrated Gate-Controlled Thyristor Semiconductor power switch with integrated con-
trol electrode
IL Impulslöschung Pulse suppression
IP Internet Protocol Internet Protocol
IPO Interpolator Interpolator
IT Isolé Terre Non-grounded three-phase line supply
IVP Internal Voltage Protection Internal voltage protection
J
JOG Jogging Jogging
K
KDV Kreuzweiser Datenvergleich Data cross-check
KHP Know-how protection Know-how protection

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KIP Kinetische Pufferung Kinetic buffering

Kp - Proportional gain
KTY84 - Temperature sensor
L
L - Symbol for inductance
LED Light Emitting Diode Light emitting diode
LIN Linearmotor Linear motor
LR Lageregler Position controller
LSB Least Significant Bit Least significant bit
LSC Line-Side Converter Line-side converter
LSS Line-Side Switch Line-side switch
LU Length Unit Length unit
LWL Lichtwellenleiter Fiber-optic cable
M
M - Symbol for torque
M Masse Reference potential for all signal and operating
voltages, usually defined as 0 V (also referred to
as GND)
MB Megabyte Megabyte
MCC Motion Control Chart Motion Control Chart
MDI Manual Data Input Manual data input
MDS Motor Data Set Motor data set
MLFB Maschinenlesbare Fabrikatebezeichnung Machine-readable product code
MM Motor Module Motor Module
MMC Man-Machine Communication Man-machine communication
MMC Micro Memory Card Micro memory card
MSB Most Significant Bit Most significant bit
MSC Motor-Side Converter Motor-side converter
MSCY_C1 Master Slave Cycle Class 1 Cyclic communication between master (class 1)
and slave
MSR Motorstromrichter Motor-side converter
MT Messtaster Probe
N
N. C. Not Connected Not connected
N… No Report No report or internal message
NAMUR Normenarbeitsgemeinschaft für Mess- und Regel- Standardization association for measurement and
technik in der chemischen Industrie control in chemical industries
NC Normally Closed (contact) NC contact
NC Numerical Control Numerical control
NEMA National Electrical Manufacturers Association Standardization association in USA (United States
of America)
NM Nullmarke Zero mark
NO Normally Open (contact) NO contact
NSR Netzstromrichter Line-side converter

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Appendix
A.1 List of abbreviations

NTP Network Time Protocol Standard for synchronization of the time of day
NVRAM Non-Volatile Random Access Memory Non-volatile read/write memory
O
OA Open Architecture Software component which provides additional
functions for the SINAMICS drive system
OAIF Open Architecture Interface Version of the SINAMICS firmware as of which the
OA application can be used
OASP Open Architecture Support Package Expands the STARTER commissioning tool by the
corresponding OA application
OC Operating Condition Operation condition
OCC One Cable Connection One-cable technology
OEM Original Equipment Manufacturer Original equipment manufacturer
OLP Optical Link Plug Bus connector for fiber-optic cable
OMI Option Module Interface Option Module Interface
P
p… - Adjustable parameters
P1 Processor 1 CPU 1
P2 Processor 2 CPU 2
PB PROFIBUS PROFIBUS
PcCtrl PC Control Master control
PD PROFIdrive PROFIdrive
PDC Precision Drive Control Precision Drive Control
PDS Power unit Data Set Power unit data set
PDS Power Drive System Drive system
PE Protective Earth Protective ground
PELV Protective Extra Low Voltage Safety extra-low voltage
PFH Probability of dangerous failure per hour Probability of dangerous failure per hour
PG Programmiergerät Programming device
PI Proportional Integral Proportional integral
PID Proportional Integral Differential Proportional integral differential
PLC Programmable Logical Controller Programmable logic controller
PLL Phase-Locked Loop Phase-locked loop
PM Power Module Power Module
PMSM Permanent-magnet synchronous motor Permanent-magnet synchronous motor
PN PROFINET PROFINET
PNO PROFIBUS Nutzerorganisation PROFIBUS user organization
PPI Point to Point Interface Point-to-point interface
PRBS Pseudo Random Binary Signal White noise
PROFIBUS Process Field Bus Serial data bus
PS Power Supply Power supply
PSA Power Stack Adapter Power Stack Adapter
PT1000 - Temperature sensor
PTC Positive Temperature Coefficient Positive temperature coefficient
PTP Point To Point Point-to-point

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PWM Pulse Width Modulation Pulse width modulation

PZD Prozessdaten Process data
Q
R
r… - Display parameters (read-only)
RAM Random Access Memory Memory for reading and writing
RCCB Residual Current Circuit Breaker Residual current operated circuit breaker
RCD Residual Current Device Residual current device
RCM Residual Current Monitor Residual current monitor
REL Reluctance motor textile Reluctance motor textile
RESM Reluctance synchronous motor Synchronous reluctance motor
RFG Ramp-Function Generator Ramp-function generator
RJ45 Registered Jack 45 Term for an 8-pin socket system for data transmis-
sion with shielded or non-shielded multi-wire cop-
per cables
RKA Rückkühlanlage Cooling unit
RLM Renewable Line Module Renewable Line Module
RO Read Only Read only
ROM Read-Only Memory Read-only memory
RPDO Receive Process Data Object Receive Process Data Object
RS232 Recommended Standard 232 Interface standard for cable-connected serial data
transmission between a sender and receiver (also
known as EIA232)
RS485 Recommended Standard 485 Interface standard for a cable-connected differen-
tial, parallel, and/or serial bus system (data trans-
mission between a number of senders and
receivers, also known as EIA485)
RTC Real Time Clock Real-time clock
RZA Raumzeigerapproximation Space-vector approximation
S
S1 - Continuous operation
S3 - Intermittent duty
SAM Safe Acceleration Monitor Safe acceleration monitoring
SBC Safe Brake Control Safe brake control
SBH Sicherer Betriebshalt Safe operating stop
SBR Safe Brake Ramp Safe brake ramp monitoring
SBT Safe Brake Test Safe brake test
SCA Safe Cam Safe cam
SCC Safety Control Channel Safety Control Channel
SCSE Single Channel Safety Encoder Single-channel safety encoder
SD Card SecureDigital Card Secure digital memory card
SDC Standard Drive Control Standard Drive Control
SDI Safe Direction Safe motion direction
SE Sicherer Software-Endschalter Safe software limit switch
SESM Separately-excited synchronous motor Separately excited synchronous motor

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Appendix
A.1 List of abbreviations

SG Sicher reduzierte Geschwindigkeit Safely limited speed

SGA Sicherheitsgerichteter Ausgang Safety-related output
SGE Sicherheitsgerichteter Eingang Safety-related input
SH Sicherer Halt Safe stop
SI Safety Integrated Safety Integrated
SIC Safety Info Channel Safety Info Channel
SIL Safety Integrity Level Safety Integrity Level
SITOP - Siemens power supply system
SLA Safely-Limited Acceleration Safety limited acceleration
SLM Smart Line Module Smart Line Module
SLP Safely-Limited Position Safely Limited Position
SLS Safely-Limited Speed Safely limited speed
SLVC Sensorless Vector Control Sensorless vector control
SM Sensor Module Sensor Module
SMC Sensor Module Cabinet Sensor Module Cabinet
SME Sensor Module External Sensor Module External
SMI SINAMICS Sensor Module Integrated SINAMICS Sensor Module Integrated
SMM Single Motor Module Single Motor Module
SN Sicherer Software-Nocken Safe software cam
SOS Safe Operating Stop Safe operating stop
SP Service Pack Service pack
SP Safe Position Safe position
SPC Setpoint Channel Setpoint channel
SPI Serial Peripheral Interface Serial peripheral interface
SPS Speicherprogrammierbare Steuerung Programmable logic controller
SS1 Safe Stop 1 Safe Stop 1 (time-monitored, ramp-monitored)
SS1E Safe Stop 1 External Safe Stop 1 with external stop
SS2 Safe Stop 2 Safe Stop 2
SS2E Safe Stop 2 External Safe Stop 2 with external stop
SSI Synchronous Serial Interface Synchronous serial interface
SSL Secure Sockets Layer Encryption protocol for secure data transfer (new
TLS)
SSM Safe Speed Monitor Safe feedback from speed monitor
SSP SINAMICS Support Package SINAMICS support package
STO Safe Torque Off Safe torque off
STW Steuerwort Control word
T
TB Terminal Board Terminal Board
TEC Technology Extension Software component which is installed as an addi-
tional technology package and which expands the
functionality of SINAMICS (previously OA applica-
tion)
TIA Totally Integrated Automation Totally Integrated Automation

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 Appendix
A.1 List of abbreviations

TLS Transport Layer Security Encryption protocol for secure data transfer (previ-
ously SSL)
TM Terminal Module Terminal Module
TN Terre Neutre Grounded three-phase line supply
Tn - Integral time
TPDO Transmit Process Data Object Transmit Process Data Object
TSN Time-Sensitive Networking Time-Sensitive Networking
TT Terre Terre Grounded three-phase line supply
TTL Transistor-Transistor-Logic Transistor-transistor logic
Tv - Rate time
U
UL Underwriters Laboratories Inc. Underwriters Laboratories Inc.
UPS Uninterruptible Power Supply Uninterruptible power supply
USV Unterbrechungsfreie Stromversorgung Uninterruptible power supply
UTC Universal Time Coordinated Universal time coordinated
V
VC Vector Control Vector control
Vdc - DC link voltage
VdcN - Partial DC link voltage negative
VdcP - Partial DC link voltage positive
VDE Verband Deutscher Elektrotechniker Verband Deutscher Elektrotechniker [Association
of German Electrical Engineers]
VDI Verein Deutscher Ingenieure Verein Deutscher Ingenieure [Association of Ger-
man Engineers]
VPM Voltage Protection Module Voltage Protection Module
Vpp Volt peak to peak Volt peak to peak
VSM Voltage Sensing Module Voltage Sensing Module
W
WEA Wiedereinschaltautomatik Automatic restart
WZM Werkzeugmaschine Machine tool
X
XML Extensible Markup Language Extensible markup language (standard language
for Web publishing and document management)
Y
Z
ZK Zwischenkreis DC link
ZM Zero Mark Zero mark
ZSW Zustandswort Status word

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Appendix
A.2 Documentation overview

A.2 Documentation overview

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 Appendix
A.3 Shortcut menus and icons in Startdrive

A.3 Shortcut menus and icons in Startdrive

A.3.1 Function calls project view

A.3.1.1 Project navigation

Shortcut menu
The shortcut menu of a drive in the project navigator contains the following entries:

Menu item Icon (button) in the toolbar Description

Open - Opens the drive device view.
Parameters - Opens the parameter view in the working area.
Cut Cuts the selected content and copies it to the clipboard.
Copy Copies the content to the clipboard.
Paste Inserts the clipboard content into the project navigation.
Delete - Deletes the selected content from the project navigation.
Rename - Permits a designation to be changed.
Go to topology view - Opens the topology view for drives that are networked via
PROFINET.
Go to network view - Opens the network view.
Download to device Loads the data from the project into the drive (only when online).
Upload from device Loads the data from the device into the project (only when online).
(software)
Compile - Compiles existing programs.
Go online Establishes an online connection to the drive.

Go offline Disconnects the online connection - the drive goes offline.

Online & diagnostics - Opens the Online & diagnostics editor; if the drive is not online,
Startdrive tries to establish an online connection.
Browsing a project Opens a search mask You can browse for individual information
about the active project using this mask.
Properties - Opens the Properties dialog of the drive. There, for example you set
bus parameters.

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Appendix
A.3 Shortcut menus and icons in Startdrive

A.3.2 BICO interconnections

The following icons are used for BICO interconnections:

Icon Meaning
Allows the BICO interconnection of a binector input. The interconnection
dialog is opened by clicking on the icon.
Allows the BICO interconnection of a binector output. The interconnection
dialog is opened by clicking on the icon.
Allows the BICO interconnection of a connector input. The interconnection
dialog is opened by clicking on the icon.
Allows the BICO interconnection of a connector output. The interconnec-
tion dialog is opened by clicking on the icon.
Clicking on the icon next to the interconnection field allows a list of all of
the active interconnections of the parameter to be opened/displayed.
Shows that invalid BICO wiring exists in the drive screen forms.

A.3.3 Special elements in the screen forms

User interface elements are used in the Startdrive screen forms, which deviate from a
standard Windows operation. A brief list with explanation is provided below:

Element Explanation
(icon,
button, etc.)
Changeover switch in position 1. Position 0 can be selected with a mouse click.

Changeover switch in position 0. Position 1 can be selected with a mouse click.

Changeover switch in position x. Position y can be selected with a mouse click.

Changeover switch in position y. Position x can be selected with a mouse click.

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Index

Chassis, 68
Commissioning
A Checklist booksize, 67
Checklist chassis, 68
Activating the web server, 123
Creating a Startdrive project, 70, 72
Active Line Module, 135
Deriving the hardware device configuration, 115
ALM, 135
Inserting a motor, 91
Analog output, 131
Inserting a Motor Module, 80
Inserting a Power Module, 80
Inserting an encoder, 99
B
Inserting an infeed, 75
Basic Line Module, 135 Inserting motors and acquiring specific motor
Basic parameter assignment data, 94
Calculation of controller data (VECTOR), 152 Inserting the drive unit offline, 74
Control (SERVO), 144 Loading the project to the drive device, 157
Control (VECTOR), 150 Requirements for commissioning, 49
Enable logic (SERVO), 146 Sequence, 66
Function module (VECTOR), 149 Configuration
Function modules (SERVO), 136 Saving, 60
Important parameters (SERVO), 145 Connector, 52
Line data / operating mode, 138 Input, 51
Basic parameterization Output, 51
Enable logic, 140 Control
Enable logic (VECTOR), 154 SERVO, 144
Function modules (SERVO), 143 VECTOR, 150
Important parameters (VECTOR), 151 Control panel, 42
Web server, 123 Enable, 159
BICO icons Speed specification, 162
Binector input, 174 Copy RAM to ROM, 60
Binector output, 174
Connector input, 174
Connector output, 174 D
Multiple interconnection, 174
Device configuration detection, 40
Bidirectional digital inputs/outputs, 130
Correcting the resulting topology, 117
Binector, 52
Creating the determined topology in the Startdrive
Input, 51
project, 119
Output, 51
Performing, 115
BLM, 135
Revising, 121
Booksize
Diagnostics, 38
Booksize power unit, 67
Digital inputs, 129, 130
Digital outputs, 130
Drive control panel, 42
C
Drive object type
Calculation of the controller data Setting, 89
VECTOR, 152 Drive unit
Changeover switch Inserting offline, 74
Position 0, 174
Position 1, 174

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Index

E Measuring system
Insert, 99
Enable logic
Overview, 97
SERVO, 146
Motor
VECTOR, 154
Inserting, 91
Encoder
Motor Module, 80
Inserting, 99
Detailed settings, 86
Overview, 97
Inserting, 80, 81
Motor Modules
Connecting in parallel, 87
F
Motor temperature monitoring
Function modules Motor temperature, 68
SERVO, 136, 143
VECTOR, 149
O
Online connection
H
CU320-2PN, 110
Help With Ethernet interface, 112
Components of the information system, 43 Online help
Help on messages, 46 Open, 47
Identification of help topics, 45
Tooltip, 46
P
Parallel connection
I
Motor Modules, 87
Important parameters Power Modules, 87
SERVO, 145 Parameter comparison
VECTOR, 151 Offline - Factory setting, 58
infeed Online - Factory setting, 58
Inserting, 75 Online - Offline, 58
Infeed Power Module, 80
Basic parameter assignment, 138 Detailed settings, 86
Infeed units, 135 Insert, 80
Info, 38 Inserting, 84
Information system Power Modules
Components of the information system, 43 Connecting in parallel, 87
Help on messages, 46 Preparing for commissioning, 49
Tooltip, 46 Project data
Inspector window, 38 Download to drive units, 157
Loading from a drive unit, 62
Properties, 38
L
Line contactor control, 141
S
Line Modules, 135
Line protection, 68 Saving
Power unit, 68 Configuration, 60
Non-volatile, 60
Saving a project, 60
M SERVO, 80
Setting
Measuring socket, 131
Drive object type, 89

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176 Getting Started, 11/2017, 6SL3097-4AG30-0BP0
 Index

Settings
Non-volatile backup on memory card, 60
Saving, 60
SLM, 135
Smart Line Module, 135
Startdrive
BICO connection, 51
Binector, 51
Calling, 65
Commissioning sequence, 66
Connector, 51
Creating a project, 70, 72
Device view, 33
Function view, 35
Interconnect BICO input, 53
Interconnect BICO output, 55
Modules in the the hardware catalog, 32
Parameter view, 36
Parameterizing editor, 34
Project tree, 30
Project view, 29

T
Temperature monitoring
Temperature monitoring circuit, 68
Terminal Board
Insert, 106
Terminal Module
Insert, 104

U
Uploading
From a drive unit, 62
Loading project data in the drive unit, 157

V
VECTOR, 80

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